version: 66.09
glider: 181
mission: 6
dive: 118
start: 7 3 111 5 5 38
data:
$ID,181
$MISSION,6
$DIVE,118
$N_DIVES,125
$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,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,-40600.629
$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,42
$R_STBD_OVSHOOT,39
$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
$GPS1,030711,045936,1956.670,11948.467,35,1.0,36,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-72.6
$GPS2,030711,050513,1956.855,11948.418,11,1.2,11,-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,171.3,107231,-16.3,-11.786
$D_GRID,3499
$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,-0.60,-219.0,0.0,0.0,0,89,0.00,0.00,-71.25,0.000,2,0.000,0.000,208,2608,2451,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.4,-3.8,10,137,7.75,2.17,-25.95,0.000,4,0.236,0.041,2105,1182,3765,0,0,0,0,0,0
$GC,193,-0.60,-219.0,39.5,-29.3,26,201,0.00,2.25,0.00,0.000,6,0.000,0.044,2094,2587,3767,0,0,0,0,0,0
$GC,327,-0.60,-219.0,94.3,-37.4,51,335,0.00,1.88,0.00,0.000,4,0.000,0.045,2085,3787,3766,0,0,0,0,0,0
$GC,388,-0.60,-219.0,117.8,-36.0,62,397,0.00,1.73,0.00,0.000,6,0.000,0.026,2086,2628,3768,0,0,0,0,0,0
$GC,524,-0.60,-219.0,163.9,-32.7,87,532,0.00,1.83,0.00,0.000,4,0.000,0.047,2078,3778,3769,0,0,0,0,0,0
$GC,571,-0.60,-219.0,181.1,-36.7,95,580,0.08,1.65,0.00,0.000,6,0.169,0.025,2101,2669,3769,0,0,0,0,0,0
$GC,712,-0.60,-219.0,219.8,-24.6,114,716,0.00,2.12,0.00,0.000,4,0.000,0.028,2101,1200,3770,0,0,0,0,0,0
$GC,754,-0.60,-219.0,228.3,-20.0,117,758,0.00,2.22,0.00,0.000,6,0.000,0.039,2093,2661,3771,0,0,0,0,0,0
$GC,1080,-0.60,-219.0,299.8,-23.1,147,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2661,3774,0,0,0,0,0,0
$GC,1399,-0.60,-219.0,359.4,-19.1,177,1402,0.00,1.70,0.00,0.000,4,0.000,0.044,2084,3790,3769,0,0,0,0,0,0
$GC,1426,-0.60,-219.0,365.7,-20.5,179,1433,0.00,1.67,0.00,0.000,6,0.000,0.025,2087,2671,3769,0,0,0,0,0,0
$GC,1751,-0.60,-219.0,438.8,-22.9,210,1755,0.00,1.73,0.00,0.000,4,0.000,0.045,2075,3796,3767,0,0,0,0,0,0
$GC,1790,-0.60,-219.0,448.5,-24.3,213,1797,0.10,1.67,0.00,0.000,6,0.147,0.027,2107,2683,3766,0,0,0,0,0,0
$GC,2124,-0.60,-219.0,513.4,-19.4,242,2128,0.00,2.17,0.00,0.000,4,0.000,0.032,2108,1204,3763,0,0,0,0,0,0
$GC,2235,-0.60,-219.0,530.7,-13.4,247,2239,0.00,2.28,0.00,0.000,6,0.000,0.039,2099,2662,3762,0,0,0,0,0,0
$GC,2563,-0.60,-219.0,589.6,-18.2,263,2567,0.00,1.70,0.00,0.000,4,0.000,0.049,2091,3783,3757,0,0,0,0,0,0
$GC,2612,-0.60,-219.0,598.5,-16.0,265,2617,0.00,1.67,0.00,0.000,6,0.000,0.028,2091,2673,3756,0,0,0,0,0,0
$GC,2941,-0.60,-219.0,653.3,-16.3,281,2945,0.00,2.17,0.00,0.000,4,0.000,0.034,2091,1200,3754,0,0,0,0,0,0
$GC,2979,-0.60,-219.0,659.2,-14.1,282,2987,0.00,2.30,0.00,0.000,6,0.000,0.042,2082,2664,3756,0,0,0,0,0,0
$GC,3295,-0.60,-219.0,706.2,-15.2,298,3299,0.00,1.73,0.00,0.000,4,0.000,0.050,2074,3796,3749,0,0,0,0,0,0
$GC,3334,-0.60,-219.0,711.9,-14.1,299,3341,0.12,1.67,0.00,0.000,6,0.162,0.030,2107,2663,3748,0,0,0,0,0,0
$GC,3651,-0.60,-219.0,745.2,-10.1,315,3655,0.00,2.15,0.00,0.000,4,0.000,0.035,2107,1212,3744,0,0,0,0,0,0
$GC,3706,-0.60,-219.0,750.5,-9.0,317,3713,0.00,2.22,0.00,0.000,6,0.000,0.042,2099,2658,3745,0,0,0,0,0,0
$GC,4023,-0.60,-219.0,787.3,-12.1,333,4027,0.00,1.77,0.00,0.000,4,0.000,0.052,2091,3785,3741,0,0,0,0,0,0
$GC,4046,-0.60,-219.0,790.4,-12.4,334,4049,0.00,1.67,0.00,0.000,6,0.000,0.031,2091,2655,3744,0,0,0,0,0,0
$GC,4379,-0.60,-219.0,842.3,-17.2,350,4382,0.00,1.77,0.00,0.000,4,0.000,0.052,2082,3792,3739,0,0,0,0,0,0
$GC,4402,-0.60,-219.0,846.3,-17.5,351,4406,0.00,1.70,0.00,0.000,6,0.000,0.031,2082,2678,3738,0,0,0,0,0,0
$GC,4735,-0.60,-219.0,908.2,-18.5,367,4739,0.00,2.20,0.00,0.000,4,0.000,0.037,2082,1203,3735,0,0,0,0,0,0
$GC,4778,-0.60,-219.0,916.1,-17.0,369,4783,0.12,2.25,0.00,0.000,6,0.166,0.044,2106,2660,3735,0,0,0,0,0,0
$GC,5108,-0.60,-219.0,964.3,-14.3,385,5112,0.00,2.17,0.00,0.000,4,0.000,0.036,2106,1214,3732,0,0,0,0,0,0
$GC,5141,-0.60,-219.0,969.3,-13.1,386,5148,0.00,2.28,0.00,0.000,6,0.000,0.043,2098,2657,3733,0,0,0,0,0,0
$STATE,5311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5311,begin apogee
$GC,5318,-0.16,0.0,991.6,13.3,395,5491,0.45,0.00,167.93,1.102,4,0.132,0.000,2244,2111,2869,0,0,0,0,0,0
$STATE,5491,end apogee,CONTROL_FINISHED_OK
$STATE,5492,begin climb
$GC,5494,0.60,219.0,1000.2,0.0,403,5680,0.73,2.25,177.20,1.072,4,0.065,0.041,2499,740,1976,0,0,0,0,0,0
$GC,5791,0.60,219.0,967.3,16.1,417,5796,0.00,2.22,0.00,0.000,6,0.000,0.037,2500,2129,1974,0,0,0,0,0,0
$GC,6114,0.60,219.0,912.0,17.2,433,6118,0.00,2.17,0.00,0.000,4,0.000,0.040,2510,730,1971,0,0,0,0,0,0
$GC,6348,0.60,219.0,872.7,16.4,443,6356,0.00,2.22,0.00,0.000,6,0.000,0.037,2509,2169,1970,0,0,0,0,0,0
$GC,6665,0.60,219.0,821.5,15.0,459,6669,0.00,2.15,0.00,0.000,4,0.000,0.048,2510,3543,1968,0,0,0,0,0,0
$GC,6692,0.60,219.0,817.2,15.0,460,6696,0.00,2.12,0.00,0.000,6,0.000,0.031,2519,2143,1967,0,0,0,0,0,0
$GC,7018,0.60,219.0,774.2,12.0,476,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2143,1967,0,0,0,0,0,0
$GC,7328,0.64,256.0,740.1,10.4,491,7363,0.00,2.28,28.52,0.940,4,0.000,0.040,2530,718,1825,0,0,0,0,0,0
$GC,7432,0.69,292.8,729.2,10.5,495,7468,0.00,2.20,30.25,0.910,6,0.000,0.037,2530,2130,1676,0,0,0,0,0,0
$GC,7791,0.69,292.8,676.1,17.3,513,7795,0.00,2.20,0.00,0.000,4,0.000,0.047,2530,3536,1675,0,0,0,0,0,0
$GC,7846,0.69,292.8,664.9,20.6,515,7853,0.00,2.12,0.00,0.000,6,0.000,0.029,2539,2146,1674,0,0,0,0,0,0
$GC,8162,0.69,292.8,599.9,21.3,531,8166,0.00,2.17,0.00,0.000,4,0.000,0.038,2550,721,1672,0,0,0,0,0,0
$GC,8201,0.69,292.8,591.5,20.6,532,8208,0.00,2.22,0.00,0.000,6,0.000,0.038,2550,2130,1672,0,0,0,0,0,0
$GC,8517,0.69,292.8,526.7,20.0,548,8521,0.00,2.17,0.00,0.000,4,0.000,0.047,2550,3536,1672,0,0,0,0,0,0
$GC,8534,0.69,292.8,523.2,20.0,549,8539,0.15,2.12,0.00,0.000,6,0.183,0.029,2523,2127,1672,0,0,0,0,0,0
$GC,8856,0.69,292.8,472.5,15.2,573,8860,0.00,2.12,0.00,0.000,4,0.000,0.039,2532,716,1669,0,0,0,0,0,0
$GC,8923,0.69,292.8,462.6,14.0,578,8930,0.00,2.20,0.00,0.000,6,0.000,0.037,2532,2146,1671,0,0,0,0,0,0
$GC,9248,0.69,292.8,412.5,15.3,609,9252,0.00,2.15,0.00,0.000,4,0.000,0.047,2532,3541,1670,0,0,0,0,0,0
$GC,9277,0.69,292.8,407.7,16.7,611,9281,0.00,2.12,0.00,0.000,6,0.000,0.029,2542,2127,1670,0,0,0,0,0,0
$GC,9603,0.69,292.8,352.5,16.9,641,9607,0.00,2.20,0.00,0.000,4,0.000,0.046,2542,3536,1670,0,0,0,0,0,0
$GC,9648,0.69,292.8,344.3,18.8,645,9652,0.00,2.08,0.00,0.000,6,0.000,0.029,2553,2150,1670,0,0,0,0,0,0
$GC,9975,0.69,292.8,289.7,15.2,675,9979,0.00,2.15,0.00,0.000,4,0.000,0.038,2562,714,1669,0,0,0,0,0,0
$GC,10074,0.69,292.8,275.4,13.3,683,10082,0.15,2.17,0.00,0.000,6,0.173,0.036,2524,2143,1670,0,0,0,0,0,0
$GC,10400,0.69,292.8,236.0,13.0,714,10401,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2143,1670,0,0,0,0,0,0
$GC,10718,0.69,292.8,190.3,12.5,751,10726,0.00,2.20,0.00,0.000,4,0.000,0.039,2532,719,1669,0,0,0,0,0,0
$GC,10766,0.72,320.4,185.0,10.8,759,10796,0.00,2.20,20.67,0.616,6,0.000,0.036,2532,2140,1564,0,0,0,0,0,0
$GC,10924,0.86,431.5,170.8,7.8,787,11011,0.12,0.00,82.03,0.568,6,0.096,0.000,2586,2140,1110,0,0,0,0,0,0
$GC,11138,0.86,431.5,144.5,13.4,823,11146,0.00,2.22,0.00,0.000,4,0.000,0.045,2586,3529,1112,0,0,0,0,0,0
$GC,11180,0.86,431.5,138.6,14.9,830,11189,0.00,2.17,0.00,0.000,6,0.000,0.028,2595,2141,1112,0,0,0,0,0,0
$GC,11318,0.86,431.5,119.0,14.6,855,11326,0.00,2.20,0.00,0.000,4,0.000,0.039,2607,727,1112,0,0,0,0,0,0
$GC,11380,0.86,431.5,109.4,14.0,866,11388,0.00,2.25,0.00,0.000,6,0.000,0.034,2607,2161,1112,0,0,0,0,0,0
$GC,11516,0.86,433.1,90.9,11.7,891,11525,0.00,2.20,3.62,0.370,4,0.000,0.044,2607,3535,1103,0,0,0,0,0,0
$GC,11585,0.92,482.1,83.6,10.0,903,11629,0.00,2.08,36.80,0.519,6,0.000,0.028,2616,2185,902,0,0,0,0,0,0
$GC,11758,1.09,620.5,71.0,6.8,933,11846,0.12,2.38,81.78,0.480,4,0.086,0.037,2688,718,437,0,0,0,0,0,0
$GC,11959,1.09,620.5,44.3,14.3,966,11968,0.10,2.28,0.43,0.081,6,0.111,0.032,2654,2162,442,0,0,0,0,0,0
$GC,12096,1.17,684.0,30.1,9.5,991,12105,0.00,2.15,2.70,0.242,4,0.000,0.040,2653,3546,440,0,0,0,0,0,0
$GC,12134,1.24,741.6,26.3,9.7,997,12144,0.08,2.15,0.68,0.077,6,0.054,0.028,2719,2157,441,0,0,0,0,0,0
$GC,12272,1.24,741.6,4.8,16.4,1022,12281,0.00,2.17,0.88,0.083,4,0.000,0.035,2730,722,446,0,0,0,0,0,0
$STATE,12287,end climb,SURFACE_DEPTH_REACHED
$STATE,12287,begin surface coast
$FINISH,0.0,1.010054
$STATE,12304,end surface coast,CONTROL_FINISHED_OK
$STATE,12305,begin surface
$SM_CCo,12384,0.00,0.000,0,0,443,595.10
$SM_GC,0.85,6.62,0.00,0.00,0.041,0.000,0.000,206,2603,443,-6.47,0.08,595.10,0,0,0,0,0,0
$IRIDIUM_FIX,1952.70,11942.70,030711,010158
$TT8_MAMPS,0.027713,0.027713
$HUMID,41.21
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.1,18.344
$10V_AH,10.1,19.575
$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,16.700,138.775,633.475,0.000,0.000,29.577,20.296,151.745,0.000,0.000,13.984,2440.868,6637.823,653.959,2700.156,282.038,0.000,1811.314,0.000,1827.417,0.000,0.541,0.000
$DEVICE_MAMPS,236.385,52.020,1102.365,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,713.992,1083.514,1257.946,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322700
$DATA_FILE_SIZE,70234,1027
$CAP_FILE_SIZE,141202,0
$CFSIZE,260165632,239976448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030711,083306,1957.156,11948.811,26,1.6,27,-2.2