version: 66.09
glider: 181
mission: 6
dive: 136
start: 7 6 111 2 10 39
data:
$ID,181
$MISSION,6
$DIVE,136
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,280
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-40682.676
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2302
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2869
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.82621
$PRESSURE_SLOPE,0.000116609
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,060711,020331,1949.830,11943.541,6,1.2,11,-2.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-70.4
$GPS2,060711,021014,1949.897,11943.288,11,1.4,11,-2.2
$SPEED_LIMITS,0.204,0.329
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,164.6,96933,-16.3,-11.786
$D_GRID,3490
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.60,-219.0,0.0,0.0,0,95,0.00,0.00,-75.75,0.000,2,0.000,0.000,219,2623,2615,0,0,0,0,0,0
$GC,98,-0.60,-219.0,3.8,-4.2,10,138,7.75,2.20,-21.35,0.000,4,0.239,0.045,2102,1183,3765,0,0,0,0,0,0
$GC,162,-0.60,-219.0,32.5,-50.2,19,170,0.00,2.22,0.00,0.000,6,0.000,0.043,2094,2583,3766,0,0,0,0,0,0
$GC,300,-0.60,-219.0,89.2,-45.2,44,309,0.00,1.85,0.00,0.000,4,0.000,0.041,2084,3785,3765,0,0,0,0,0,0
$GC,317,-0.60,-219.0,97.8,-46.8,46,326,0.00,1.85,0.00,0.000,6,0.000,0.025,2084,2551,3766,0,0,0,0,0,0
$GC,456,-0.60,-219.0,153.6,-30.9,71,464,0.00,1.92,0.00,0.000,4,0.000,0.041,2074,3783,3766,0,0,0,0,0,0
$GC,479,-0.60,-219.0,161.7,-33.3,74,487,0.10,1.80,0.00,0.000,6,0.153,0.024,2105,2572,3767,0,0,0,0,0,0
$GC,620,-0.60,-219.0,191.8,-19.1,99,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2569,3767,0,0,0,0,0,0
$GC,761,-0.60,-219.0,221.9,-22.7,116,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2569,3768,0,0,0,0,0,0
$GC,1082,-0.60,-219.0,297.6,-21.0,146,1085,0.00,1.98,0.00,0.000,4,0.000,0.028,2105,1200,3767,0,0,0,0,0,0
$GC,1104,-0.60,-219.0,302.6,-20.6,148,1108,0.00,2.15,0.00,0.000,6,0.000,0.037,2097,2623,3767,0,0,0,0,0,0
$GC,1429,-0.60,-219.0,372.8,-19.3,178,1433,0.00,1.75,0.00,0.000,4,0.000,0.044,2088,3787,3765,0,0,0,0,0,0
$GC,1468,-0.60,-219.0,380.8,-19.6,181,1475,0.00,1.73,0.00,0.000,6,0.000,0.025,2088,2617,3764,0,0,0,0,0,0
$GC,1793,-0.60,-219.0,451.3,-22.9,212,1797,0.00,2.08,0.00,0.000,4,0.000,0.029,2084,1201,3760,0,0,0,0,0,0
$GC,1838,-0.60,-219.0,460.6,-18.9,216,1843,0.00,2.17,0.00,0.000,6,0.000,0.039,2083,2626,3760,0,0,0,0,0,0
$GC,2175,-0.60,-219.0,527.3,-20.7,241,2178,0.00,1.75,0.00,0.000,4,0.000,0.047,2074,3786,3755,0,0,0,0,0,0
$GC,2224,-0.60,-219.0,538.8,-20.4,243,2229,0.10,1.73,0.00,0.000,6,0.138,0.027,2107,2621,3755,0,0,0,0,0,0
$GC,2551,-0.60,-219.0,591.0,-16.4,259,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2617,3750,0,0,0,0,0,0
$GC,2861,-0.60,-219.0,642.6,-16.4,274,2865,0.00,2.08,0.00,0.000,4,0.000,0.033,2107,1204,3746,0,0,0,0,0,0
$GC,2910,-0.60,-219.0,649.9,-13.6,276,2915,0.00,2.20,0.00,0.000,6,0.000,0.040,2100,2613,3745,0,0,0,0,0,0
$GC,3232,-0.60,-219.0,700.4,-15.6,292,3236,0.00,1.77,0.00,0.000,4,0.000,0.049,2091,3783,3741,0,0,0,0,0,0
$GC,3278,-0.60,-219.0,707.2,-14.8,294,3281,0.00,1.70,0.00,0.000,6,0.000,0.028,2091,2612,3740,0,0,0,0,0,0
$GC,3610,-0.60,-219.0,759.6,-15.9,310,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2609,3737,0,0,0,0,0,0
$GC,3921,-0.60,-219.0,807.9,-16.0,325,3925,0.00,2.08,0.00,0.000,4,0.000,0.034,2091,1205,3733,0,0,0,0,0,0
$GC,3970,-0.60,-219.0,815.7,-13.7,327,3975,0.00,2.17,0.00,0.000,6,0.000,0.041,2084,2626,3733,0,0,0,0,0,0
$GC,4292,-0.60,-219.0,867.3,-16.8,343,4296,0.00,1.77,0.00,0.000,4,0.000,0.050,2075,3789,3728,0,0,0,0,0,0
$GC,4316,-0.60,-219.0,871.2,-16.8,344,4320,0.12,1.70,0.00,0.000,6,0.158,0.030,2108,2631,3728,0,0,0,0,0,0
$GC,4648,-0.60,-219.0,916.0,-13.4,360,4652,0.00,2.12,0.00,0.000,4,0.000,0.036,2109,1203,3725,0,0,0,0,0,0
$GC,4709,-0.60,-219.0,923.7,-11.6,362,4716,0.00,2.20,0.00,0.000,6,0.000,0.041,2102,2628,3723,0,0,0,0,0,0
$GC,5025,-0.60,-219.0,965.3,-13.4,378,5029,0.00,1.77,0.00,0.000,4,0.000,0.053,2097,3783,3722,0,0,0,0,0,0
$GC,5075,-0.60,-219.0,971.7,-12.0,380,5079,0.00,1.75,0.00,0.000,6,0.000,0.030,2097,2625,3721,0,0,0,0,0,0
$STATE,5234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5234,begin apogee
$GC,5241,-0.16,0.0,992.6,13.5,388,5417,0.45,0.00,165.48,1.095,4,0.129,0.000,2244,2111,2869,0,0,0,0,0,0
$STATE,5417,end apogee,CONTROL_FINISHED_OK
$STATE,5418,begin climb
$GC,5420,0.60,219.0,1004.3,0.0,396,5606,0.73,2.22,176.52,1.069,4,0.063,0.041,2500,731,1975,0,0,0,0,0,0
$GC,5719,0.61,231.0,982.2,11.3,409,5735,0.00,2.22,11.02,0.948,6,0.000,0.036,2500,2131,1928,0,0,0,0,0,0
$GC,6052,0.61,231.0,939.6,12.6,426,6056,0.00,2.20,0.00,0.000,4,0.000,0.046,2500,3537,1927,0,0,0,0,0,0
$GC,6252,0.61,231.0,909.9,14.7,435,6257,0.00,2.17,0.00,0.000,6,0.000,0.030,2509,2115,1926,0,0,0,0,0,0
$GC,6581,0.61,231.0,862.8,14.5,451,6585,0.00,2.12,0.00,0.000,4,0.000,0.040,2520,710,1925,0,0,0,0,0,0
$GC,6667,0.61,231.0,850.1,14.4,455,6671,0.00,2.15,0.00,0.000,6,0.000,0.037,2520,2109,1922,0,0,0,0,0,0
$GC,6994,0.61,231.0,795.8,17.1,471,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2113,1923,0,0,0,0,0,0
$GC,7303,0.61,231.0,741.9,17.3,486,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2113,1923,0,0,0,0,0,0
$GC,7613,0.61,231.0,686.7,18.4,501,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2113,1921,0,0,0,0,0,0
$GC,7922,0.61,231.0,633.4,16.8,516,7926,0.00,2.15,0.00,0.000,4,0.000,0.039,2530,706,1921,0,0,0,0,0,0
$GC,7982,0.61,231.0,622.9,16.8,518,7991,0.08,2.17,0.00,0.000,6,0.155,0.035,2496,2101,1920,0,0,0,0,0,0
$GC,8299,0.61,231.0,576.4,14.6,534,8303,0.00,2.20,0.00,0.000,4,0.000,0.046,2496,3538,1919,0,0,0,0,0,0
$GC,8339,0.61,231.0,570.3,15.4,536,8343,0.00,2.17,0.00,0.000,6,0.000,0.030,2504,2091,1920,0,0,0,0,0,0
$GC,8667,0.61,231.0,521.7,14.2,552,8670,0.00,2.05,0.00,0.000,4,0.000,0.039,2514,725,1919,0,0,0,0,0,0
$GC,8705,0.61,231.0,516.1,13.8,553,8712,0.00,2.10,0.00,0.000,6,0.000,0.035,2514,2114,1919,0,0,0,0,0,0
$GC,9028,0.61,231.0,469.2,15.1,578,9032,0.00,2.17,0.00,0.000,4,0.000,0.046,2514,3533,1919,0,0,0,0,0,0
$GC,9082,0.61,231.0,460.4,17.3,582,9086,0.00,2.15,0.00,0.000,6,0.000,0.029,2524,2101,1919,0,0,0,0,0,0
$GC,9407,0.61,231.0,409.2,15.0,612,9411,0.00,2.08,0.00,0.000,4,0.000,0.038,2535,713,1919,0,0,0,0,0,0
$GC,9472,0.61,231.0,399.6,13.7,617,9480,0.12,2.10,0.00,0.000,6,0.173,0.035,2503,2101,1919,0,0,0,0,0,0
$GC,9798,0.65,267.0,363.6,10.5,648,9833,0.00,2.15,26.80,0.714,4,0.000,0.036,2510,714,1779,0,0,0,0,0,0
$GC,9858,0.70,303.7,357.3,10.5,653,9893,0.00,2.10,28.73,0.669,6,0.000,0.034,2510,2086,1629,0,0,0,0,0,0
$GC,10211,0.71,314.2,317.2,11.4,686,10227,0.00,2.33,9.82,0.656,4,0.000,0.045,2510,3530,1588,0,0,0,0,0,0
$GC,10294,0.71,314.2,305.8,13.5,693,10301,0.00,2.17,0.00,0.000,6,0.000,0.028,2519,2106,1588,0,0,0,0,0,0
$GC,10620,0.71,314.2,265.1,12.6,724,10624,0.00,2.10,0.00,0.000,4,0.000,0.037,2530,714,1588,0,0,0,0,0,0
$GC,10671,0.73,325.6,259.1,11.4,728,10688,0.00,2.15,10.25,0.636,6,0.000,0.034,2530,2126,1543,0,0,0,0,0,0
$GC,11014,0.76,356.7,219.6,10.7,760,11043,0.00,2.20,23.88,0.604,4,0.000,0.042,2530,3538,1414,0,0,0,0,0,0
$GC,11137,0.76,356.7,204.3,13.2,770,11146,0.00,2.20,0.00,0.000,6,0.000,0.028,2540,2125,1414,0,0,0,0,0,0
$GC,11464,0.78,371.9,164.3,11.2,828,11487,0.00,2.20,12.62,0.591,4,0.000,0.038,2550,720,1351,0,0,0,0,0,0
$GC,11544,0.83,412.5,155.6,10.3,841,11582,0.00,2.15,30.17,0.536,6,0.000,0.033,2550,2101,1186,0,0,0,0,0,0
$GC,11714,0.88,453.9,137.8,10.3,870,11753,0.00,2.28,30.85,0.534,4,0.000,0.041,2550,3546,1018,0,0,0,0,0,0
$GC,11827,0.99,536.6,127.7,8.8,888,11897,0.12,2.22,60.10,0.513,6,0.047,0.028,2634,2124,680,0,0,0,0,0,0
$GC,12029,0.99,536.6,99.1,15.2,921,12037,0.00,2.20,0.00,0.000,4,0.000,0.037,2645,716,678,0,0,0,0,0,0
$GC,12099,0.99,536.6,88.8,13.2,933,12107,0.00,2.12,0.00,0.000,6,0.000,0.032,2645,2073,679,0,0,0,0,0,0
$GC,12239,0.99,536.6,69.7,13.3,958,12248,0.00,2.30,0.00,0.000,4,0.000,0.041,2645,3536,679,0,0,0,0,0,0
$GC,12356,0.99,536.6,53.0,14.1,979,12365,0.10,2.17,0.00,0.000,6,0.117,0.028,2618,2127,679,0,0,0,0,0,0
$GC,12498,1.15,672.7,41.5,6.8,1004,12554,0.15,2.20,43.25,0.494,4,0.074,0.036,2703,729,439,0,0,0,0,0,0
$GC,12653,1.17,689.7,24.2,11.2,1029,12662,0.00,2.12,0.05,0.146,6,0.000,0.031,2703,2095,439,0,0,0,0,0,0
$GC,12794,1.17,689.7,7.9,12.1,1054,12803,0.00,2.28,0.03,0.321,4,0.000,0.041,2703,3538,440,0,0,0,0,0,0
$GC,12812,1.17,689.7,5.6,12.6,1056,12821,0.10,2.22,0.68,0.077,6,0.132,0.027,2680,2090,441,0,0,0,0,0,0
$STATE,12833,end climb,SURFACE_DEPTH_REACHED
$STATE,12833,begin surface coast
$FINISH,0.4,1.020346
$STATE,12856,end surface coast,CONTROL_FINISHED_OK
$STATE,12856,begin surface
$SM_CCo,12933,0.00,0.000,0,0,441,595.59
$SM_GC,0.84,6.38,0.00,0.00,0.035,0.000,0.000,218,2615,441,-6.45,0.42,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,1943.54,11940.43,060711,020212
$TT8_MAMPS,0.035203,0.035203
$HUMID,40.07
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.40
$XPDR_PINGS,1
$24V_AH,24.1,21.317
$10V_AH,10.1,21.873
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,16.300,130.375,630.250,0.000,0.000,0.000,0.000,0.000,0.250,0.000,14.294,2667.366,6877.033,666.891,2553.693,239.892,0.000,1839.666,0.000,1874.396,0.000,0.541,0.000
$DEVICE_MAMPS,238.680,52.785,1095.480,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,736.722,1111.712,1266.369,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322692
$DATA_FILE_SIZE,73657,1063
$CAP_FILE_SIZE,153509,0
$CFSIZE,260165632,238481408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.285,301.3,1
$GPS,060711,054730,1949.068,11942.160,34,1.1,41,-2.2