version: 66.09
glider: 181
mission: 6
dive: 213
start: 7 21 111 9 26 57
data:
$ID,181
$MISSION,6
$DIVE,213
$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,300
$T_MISSION,340
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$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,1
$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,-40787.273
$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,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$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,48
$R_STBD_OVSHOOT,35
$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
$GPS1,210711,091936,1842.171,12033.532,39,1.1,44,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.2
$GPS2,210711,092632,1842.259,12033.643,13,1.1,13,-2.0
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$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,195.0,14749,-15.3,-11.000
$D_GRID,802
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.52,-219.0,0.0,0.0,0,82,0.00,0.00,-63.95,0.000,2,0.000,0.000,212,2603,2292,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.2,-3.6,9,132,7.85,1.85,-29.55,0.000,4,0.226,0.057,2142,3776,3763,0,0,0,0,0,0
$GC,160,-0.52,-219.0,31.3,-46.5,20,168,0.00,1.80,0.00,0.000,6,0.000,0.026,2142,2576,3764,0,0,0,0,0,0
$GC,294,-0.52,-219.0,92.7,-41.6,45,302,0.00,1.90,0.00,0.000,4,0.000,0.044,2133,3774,3764,0,0,0,0,0,0
$GC,351,-0.52,-219.0,116.4,-35.3,55,360,0.00,1.73,0.00,0.000,6,0.000,0.024,2133,2608,3764,0,0,0,0,0,0
$GC,485,-0.52,-219.0,149.3,-21.4,80,493,0.00,2.08,0.00,0.000,4,0.000,0.027,2133,1212,3766,0,0,0,0,0,0
$GC,552,-0.52,-219.0,160.0,-12.6,92,560,0.00,2.25,0.00,0.000,6,0.000,0.035,2125,2654,3766,0,0,0,0,0,0
$GC,687,-0.52,-219.0,184.3,-20.3,117,695,0.00,1.75,0.00,0.000,4,0.000,0.045,2121,3777,3766,0,0,0,0,0,0
$GC,754,-0.52,-219.0,196.3,-15.8,129,762,0.00,1.62,0.00,0.000,6,0.000,0.025,2121,2689,3767,0,0,0,0,0,0
$GC,893,-0.52,-219.0,225.5,-21.5,143,897,0.00,1.67,0.00,0.000,4,0.000,0.044,2113,3784,3767,0,0,0,0,0,0
$GC,931,-0.52,-219.0,234.9,-23.3,146,940,0.10,1.58,0.00,0.000,6,0.127,0.024,2146,2720,3767,0,0,0,0,0,0
$GC,1259,-0.52,-219.0,279.1,-13.3,177,1263,0.00,2.20,0.00,0.000,4,0.000,0.029,2146,1215,3766,0,0,0,0,0,0
$GC,1321,-0.52,-219.0,285.9,-9.3,182,1325,0.00,2.28,0.00,0.000,6,0.000,0.034,2141,2712,3766,0,0,0,0,0,0
$GC,1646,-0.52,-219.0,326.7,-13.8,212,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2713,3764,0,0,0,0,0,0
$GC,1966,-0.52,-219.0,368.0,-13.4,242,1970,0.00,2.22,0.00,0.000,4,0.000,0.030,2141,1213,3760,0,0,0,0,0,0
$GC,1998,-0.52,-219.0,372.5,-12.7,244,2005,0.00,2.28,0.00,0.000,6,0.000,0.037,2135,2689,3760,0,0,0,0,0,0
$GC,2325,-0.52,-219.0,411.3,-10.9,275,2328,0.00,1.65,0.00,0.000,4,0.000,0.047,2138,3777,3756,0,0,0,0,0,0
$GC,2348,-0.52,-219.0,414.0,-10.9,277,2352,0.00,1.62,0.00,0.000,6,0.000,0.028,2138,2695,3756,0,0,0,0,0,0
$GC,2679,-0.52,-219.0,453.2,-13.2,308,2683,0.00,2.17,0.00,0.000,4,0.000,0.031,2139,1218,3752,0,0,0,0,0,0
$GC,2753,-0.52,-219.0,461.2,-9.4,314,2757,0.00,2.22,0.00,0.000,6,0.000,0.037,2139,2670,3752,0,0,0,0,0,0
$GC,3078,-0.52,-219.0,498.3,-11.4,344,3082,0.00,2.17,0.00,0.000,4,0.000,0.032,2138,1219,3749,0,0,0,0,0,0
$GC,3104,-0.52,-219.0,501.6,-11.1,346,3108,0.00,2.22,0.00,0.000,6,0.000,0.039,2138,2664,3749,0,0,0,0,0,0
$GC,3432,-0.52,-219.0,539.5,-11.7,362,3435,0.00,1.70,0.00,0.000,4,0.000,0.050,2139,3776,3745,0,0,0,0,0,0
$GC,3467,-0.52,-219.0,543.5,-11.4,363,3470,0.00,1.65,0.00,0.000,6,0.000,0.026,2138,2658,3745,0,0,0,0,0,0
$GC,3789,-0.52,-219.0,577.0,-10.7,379,3793,0.00,2.12,0.00,0.000,4,0.000,0.031,2138,1213,3742,0,0,0,0,0,0
$GC,3856,-0.52,-219.0,583.6,-8.5,382,3860,0.00,2.22,0.00,0.000,6,0.000,0.038,2138,2660,3742,0,0,0,0,0,0
$GC,4177,-0.52,-219.0,616.5,-11.0,398,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2660,3739,0,0,0,0,0,0
$GC,4487,-0.52,-219.0,647.0,-10.1,413,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2660,3736,0,0,0,0,0,0
$GC,4796,-0.52,-219.0,675.7,-8.5,428,4800,0.00,2.17,0.00,0.000,4,0.000,0.034,2138,1216,3734,0,0,0,0,0,0
$GC,4841,-0.52,-219.0,679.6,-8.2,430,4845,0.00,2.22,0.00,0.000,6,0.000,0.040,2139,2653,3733,0,0,0,0,0,0
$GC,5163,-0.52,-219.0,706.4,-9.4,446,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2653,3731,0,0,0,0,0,0
$GC,5472,-0.52,-219.0,735.4,-9.2,461,5476,0.00,1.73,0.00,0.000,4,0.000,0.051,2138,3774,3729,0,0,0,0,0,0
$GC,5518,-0.52,-219.0,739.0,-7.8,463,5522,0.00,1.65,0.00,0.000,6,0.000,0.028,2138,2656,3728,0,0,0,0,0,0
$GC,5852,-0.52,-219.0,767.6,-9.2,479,5856,0.00,2.15,0.00,0.000,4,0.000,0.033,2138,1212,3727,0,0,0,0,0,0
$GC,5907,-0.52,-219.0,772.3,-8.1,481,5914,0.00,2.20,0.00,0.000,6,0.000,0.039,2139,2640,3727,0,0,0,0,0,0
$GC,6224,-0.52,-219.0,798.3,-8.6,497,6228,0.00,2.15,0.00,0.000,4,0.000,0.034,2139,1213,3725,0,0,0,0,0,0
$GC,6264,-0.52,-219.0,801.5,-7.5,499,6268,0.00,2.20,0.00,0.000,6,0.000,0.040,2138,2638,3724,0,0,0,0,0,0
$STATE,6271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6271,begin apogee
$GC,6278,-0.13,0.0,802.2,7.4,499,6445,0.40,0.00,159.80,0.967,4,0.105,0.000,2275,2125,2870,0,0,0,0,0,0
$STATE,6445,end apogee,CONTROL_FINISHED_OK
$STATE,6446,begin climb
$GC,6448,0.52,219.0,809.9,0.0,507,6625,0.60,2.35,169.18,0.941,4,0.051,0.044,2504,3548,1976,0,0,0,0,0,0
$GC,6648,0.52,219.0,796.2,14.7,517,6652,0.00,2.25,0.00,0.000,6,0.000,0.028,2514,2139,1975,0,0,0,0,0,0
$GC,6975,0.52,219.0,749.6,14.6,533,6979,0.00,2.20,0.00,0.000,4,0.000,0.038,2525,713,1972,0,0,0,0,0,0
$GC,7155,0.52,219.0,723.9,14.1,541,7160,0.12,2.15,0.00,0.000,6,0.166,0.034,2493,2103,1974,0,0,0,0,0,0
$GC,7483,0.52,219.0,684.3,12.0,557,7487,0.00,2.22,0.00,0.000,4,0.000,0.043,2493,3541,1971,0,0,0,0,0,0
$GC,7571,0.52,219.0,672.9,12.3,561,7575,0.00,2.17,0.00,0.000,6,0.000,0.028,2502,2098,1970,0,0,0,0,0,0
$GC,7899,0.52,219.0,632.4,12.9,577,7903,0.00,2.08,0.00,0.000,4,0.000,0.037,2512,722,1969,0,0,0,0,0,0
$GC,8053,0.52,219.0,613.3,12.9,584,8057,0.00,2.08,0.00,0.000,6,0.000,0.034,2512,2080,1967,0,0,0,0,0,0
$GC,8385,0.52,219.0,567.2,13.8,600,8386,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2080,1970,0,0,0,0,0,0
$GC,8695,0.52,219.0,524.9,13.4,615,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2080,1968,0,0,0,0,0,0
$GC,9007,0.52,219.0,483.7,12.8,635,9011,0.00,2.25,0.00,0.000,4,0.000,0.044,2512,3541,1968,0,0,0,0,0,0
$GC,9080,0.52,219.0,473.1,15.2,641,9085,0.12,2.20,0.00,0.000,6,0.174,0.028,2491,2075,1968,0,0,0,0,0,0
$GC,9406,0.54,233.3,437.1,10.5,671,9418,0.00,0.00,10.80,0.725,6,0.000,0.000,2490,2075,1918,0,0,0,0,0,0
$GC,9733,0.54,233.3,399.5,11.5,702,9737,0.00,2.05,0.00,0.000,4,0.000,0.037,2499,719,1920,0,0,0,0,0,0
$GC,9828,0.55,236.2,388.8,10.9,710,9839,0.00,2.08,4.25,0.552,6,0.000,0.033,2500,2081,1904,0,0,0,0,0,0
$GC,10165,0.56,246.5,353.0,10.7,742,10180,0.00,2.30,9.20,0.672,4,0.000,0.044,2499,3535,1864,0,0,0,0,0,0
$GC,10202,0.56,246.5,348.4,11.7,745,10209,0.00,2.20,0.00,0.000,6,0.000,0.028,2509,2073,1863,0,0,0,0,0,0
$GC,10528,0.56,246.5,309.5,11.8,776,10529,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2073,1863,0,0,0,0,0,0
$GC,10848,0.59,270.5,275.4,10.2,806,10873,0.00,2.35,18.70,0.640,4,0.000,0.041,2510,3535,1766,0,0,0,0,0,0
$GC,10897,0.63,303.3,270.4,9.9,810,10933,0.00,2.20,25.08,0.601,6,0.000,0.028,2519,2082,1629,0,0,0,0,0,0
$GC,11252,0.65,322.7,229.9,10.3,843,11277,0.00,2.15,15.57,0.598,4,0.000,0.038,2530,717,1552,0,0,0,0,0,0
$GC,11346,0.66,328.0,220.2,10.8,851,11359,0.00,2.08,5.85,0.481,6,0.000,0.032,2530,2070,1530,0,0,0,0,0,0
$GC,11675,0.66,328.0,181.0,11.5,896,11683,0.00,2.30,0.00,0.000,4,0.000,0.042,2530,3527,1530,0,0,0,0,0,0
$GC,11738,0.66,328.0,173.7,11.9,907,11746,0.00,2.28,0.00,0.000,6,0.000,0.028,2539,2056,1532,0,0,0,0,0,0
$GC,11875,0.66,328.0,158.2,11.2,932,11883,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2056,1532,0,0,0,0,0,0
$GC,12009,0.69,357.5,144.0,10.0,957,12040,0.00,2.33,22.80,0.563,4,0.000,0.040,2539,3543,1410,0,0,0,0,0,0
$GC,12122,0.72,376.7,132.5,10.4,976,12146,0.00,2.28,15.65,0.513,6,0.000,0.028,2549,2076,1332,0,0,0,0,0,0
$GC,12273,0.85,482.6,119.8,7.4,1003,12362,0.12,2.17,76.57,0.511,4,0.087,0.036,2623,719,900,0,0,0,0,0,0
$GC,12408,0.85,482.6,103.2,12.2,1023,12417,0.08,2.17,0.00,0.000,6,0.101,0.032,2593,2086,902,0,0,0,0,0,0
$GC,12545,1.02,626.2,91.5,6.1,1048,12635,0.17,2.38,82.03,0.487,4,0.068,0.040,2676,3536,440,0,0,0,0,0,0
$GC,12711,1.02,626.2,73.5,12.3,1074,12721,0.10,2.22,3.17,0.301,6,0.101,0.028,2648,2122,439,0,0,0,0,0,0
$GC,12849,1.19,758.2,63.4,6.5,1099,12858,0.15,2.22,0.00,0.000,4,0.073,0.038,2734,718,438,0,0,0,0,0,0
$GC,12924,1.19,758.2,54.6,13.1,1112,12933,0.10,2.17,0.00,0.000,6,0.116,0.031,2699,2109,438,0,0,0,0,0,0
$GC,13063,1.19,758.2,38.6,11.4,1137,13071,0.00,2.22,0.00,0.000,4,0.000,0.040,2698,3536,439,0,0,0,0,0,0
$GC,13114,1.19,758.2,32.2,11.8,1146,13123,0.00,2.17,0.03,0.200,6,0.000,0.027,2707,2118,439,0,0,0,0,0,0
$GC,13252,1.21,774.3,17.3,10.5,1171,13260,0.00,2.15,0.00,0.000,4,0.000,0.037,2718,719,440,0,0,0,0,0,0
$GC,13284,1.22,781.0,13.9,10.8,1176,13293,0.00,2.17,0.55,0.078,6,0.000,0.032,2718,2124,441,0,0,0,0,0,0
$STATE,13386,end climb,SURFACE_DEPTH_REACHED
$STATE,13386,begin surface coast
$FINISH,0.2,1.019634
$STATE,13416,end surface coast,CONTROL_FINISHED_OK
$STATE,13416,begin surface
$SM_CCo,13493,0.00,0.000,0,0,442,595.34
$SM_GC,1.11,6.47,0.00,0.00,0.034,0.000,0.000,211,2604,442,-6.50,0.11,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,1839.59,12033.24,210711,040445
$TT8_MAMPS,0.027713,0.027713
$HUMID,40.62
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,24.0,33.969
$10V_AH,10.0,33.234
$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,16.400,135.525,619.225,0.000,0.000,28.010,23.060,214.211,0.000,0.000,16.371,2839.514,6984.518,645.656,3085.458,337.815,0.000,1906.549,0.000,2044.366,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,56.610,966.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,829.260,1266.608,1499.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321788
$DATA_FILE_SIZE,80373,1200
$CAP_FILE_SIZE,154626,0
$CFSIZE,260165632,231096320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210711,131307,1840.825,12033.650,39,0.9,40,-2.0