version: 66.09
glider: 181
mission: 6
dive: 123
start: 7 3 111 23 35 9
data:
$ID,181
$MISSION,6
$DIVE,123
$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,-40606.918
$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,39
$R_STBD_OVSHOOT,44
$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
$GPS1,030711,232855,1954.776,11949.534,41,0.9,42,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-70.1
$GPS2,030711,233444,1954.833,11949.486,13,1.3,13,-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,171.9,103206,-16.3,-11.786
$D_GRID,3550
$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,-70.88,0.000,2,0.000,0.000,208,2624,2415,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.1,-3.4,10,137,7.78,2.20,-27.75,0.000,4,0.238,0.040,2104,1174,3765,0,0,0,0,0,0
$GC,214,-0.60,-219.0,43.8,-26.5,30,222,0.00,2.25,0.00,0.000,6,0.000,0.044,2095,2582,3766,0,0,0,0,0,0
$GC,348,-0.60,-219.0,95.1,-41.5,55,356,0.00,1.90,0.00,0.000,4,0.000,0.045,2085,3790,3766,0,0,0,0,0,0
$GC,405,-0.60,-219.0,117.9,-40.1,65,413,0.00,1.83,0.00,0.000,6,0.000,0.026,2087,2578,3770,0,0,0,0,0,0
$GC,540,-0.60,-219.0,165.8,-34.2,90,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2576,3768,0,0,0,0,0,0
$GC,679,-0.60,-219.0,206.8,-26.8,114,682,0.00,1.88,0.00,0.000,4,0.000,0.044,2078,3796,3768,0,0,0,0,0,0
$GC,714,-0.60,-219.0,215.8,-26.2,117,718,0.12,1.73,0.00,0.000,6,0.174,0.025,2109,2606,3769,0,0,0,0,0,0
$GC,1044,-0.60,-219.0,280.3,-20.2,148,1048,0.00,1.83,0.00,0.000,4,0.000,0.045,2102,3792,3770,0,0,0,0,0,0
$GC,1102,-0.60,-219.0,291.9,-19.9,153,1106,0.00,1.73,0.00,0.000,6,0.000,0.025,2102,2598,3770,0,0,0,0,0,0
$GC,1432,-0.60,-219.0,367.3,-24.7,184,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2594,3769,0,0,0,0,0,0
$GC,1753,-0.60,-219.0,441.7,-22.3,214,1757,0.00,1.88,0.00,0.000,4,0.000,0.046,2092,3786,3766,0,0,0,0,0,0
$GC,1792,-0.60,-219.0,450.7,-21.2,217,1799,0.00,1.70,0.00,0.000,6,0.000,0.027,2092,2618,3766,0,0,0,0,0,0
$GC,2118,-0.60,-219.0,511.6,-18.1,245,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2615,3763,0,0,0,0,0,0
$GC,2425,-0.60,-219.0,565.3,-18.2,260,2428,0.00,1.80,0.00,0.000,4,0.000,0.048,2083,3784,3759,0,0,0,0,0,0
$GC,2452,-0.60,-219.0,570.7,-18.7,261,2456,0.00,1.75,0.00,0.000,6,0.000,0.028,2082,2632,3758,0,0,0,0,0,0
$GC,2780,-0.60,-219.0,634.8,-19.2,277,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2628,3755,0,0,0,0,0,0
$GC,3088,-0.60,-219.0,692.5,-18.3,292,3092,0.00,1.80,0.00,0.000,4,0.000,0.050,2074,3789,3752,0,0,0,0,0,0
$GC,3144,-0.60,-219.0,702.4,-16.0,294,3149,0.10,1.77,0.00,0.000,6,0.142,0.029,2107,2616,3751,0,0,0,0,0,0
$GC,3465,-0.60,-219.0,743.7,-13.8,310,3469,0.00,2.10,0.00,0.000,4,0.000,0.033,2107,1193,3747,0,0,0,0,0,0
$GC,3504,-0.60,-219.0,749.0,-13.4,312,3509,0.00,2.22,0.00,0.000,6,0.000,0.041,2100,2643,3747,0,0,0,0,0,0
$GC,3832,-0.60,-219.0,799.1,-15.9,328,3836,0.00,1.77,0.00,0.000,4,0.000,0.051,2092,3774,3743,0,0,0,0,0,0
$GC,3858,-0.60,-219.0,803.9,-16.5,329,3863,0.00,1.75,0.00,0.000,6,0.000,0.029,2092,2625,3743,0,0,0,0,0,0
$GC,4186,-0.60,-219.0,861.5,-18.2,345,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2622,3740,0,0,0,0,0,0
$GC,4496,-0.60,-219.0,915.5,-16.3,360,4500,0.00,2.12,0.00,0.000,4,0.000,0.034,2091,1194,3737,0,0,0,0,0,0
$GC,4545,-0.60,-219.0,923.2,-14.0,362,4549,0.00,2.22,0.00,0.000,6,0.000,0.041,2083,2638,3737,0,0,0,0,0,0
$GC,4868,-0.60,-219.0,969.2,-14.2,378,4872,0.00,1.80,0.00,0.000,4,0.000,0.051,2074,3779,3734,0,0,0,0,0,0
$GC,4917,-0.60,-219.0,976.4,-13.7,380,4922,0.08,1.73,0.00,0.000,6,0.139,0.030,2108,2645,3733,0,0,0,0,0,0
$STATE,5056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5056,begin apogee
$GC,5063,-0.16,0.0,992.1,11.3,387,5236,0.40,0.00,168.20,1.098,4,0.127,0.000,2243,2107,2869,0,0,0,0,0,0
$STATE,5237,end apogee,CONTROL_FINISHED_OK
$STATE,5237,begin climb
$GC,5239,0.60,219.0,1001.1,0.0,395,5425,0.73,2.25,177.32,1.069,4,0.063,0.041,2499,730,1976,0,0,0,0,0,0
$GC,5559,0.60,219.0,973.8,12.3,410,5563,0.00,2.22,0.00,0.000,6,0.000,0.034,2499,2130,1973,0,0,0,0,0,0
$GC,5881,0.60,219.0,930.7,14.0,426,5885,0.00,2.17,0.00,0.000,4,0.000,0.038,2509,729,1970,0,0,0,0,0,0
$GC,6139,0.60,219.0,895.1,13.6,437,6146,0.00,2.15,0.00,0.000,6,0.000,0.034,2509,2129,1970,0,0,0,0,0,0
$GC,6455,0.60,219.0,849.5,14.3,453,6456,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2129,1968,0,0,0,0,0,0
$GC,6764,0.60,219.0,806.4,13.7,468,6768,0.00,2.20,0.00,0.000,4,0.000,0.046,2509,3538,1966,0,0,0,0,0,0
$GC,6787,0.60,219.0,803.0,13.9,469,6791,0.00,2.12,0.00,0.000,6,0.000,0.029,2522,2131,1965,0,0,0,0,0,0
$GC,7114,0.60,219.0,758.4,13.3,485,7118,0.00,2.12,0.00,0.000,4,0.000,0.040,2528,723,1965,0,0,0,0,0,0
$GC,7268,0.60,219.0,738.5,12.8,492,7273,0.12,2.12,0.00,0.000,6,0.178,0.035,2497,2119,1965,0,0,0,0,0,0
$GC,7596,0.62,235.3,701.6,11.2,508,7619,0.00,2.28,12.20,0.883,4,0.000,0.044,2497,3536,1910,0,0,0,0,0,0
$GC,7643,0.62,235.3,695.7,12.2,510,7647,0.00,2.17,0.00,0.000,6,0.000,0.030,2506,2107,1910,0,0,0,0,0,0
$GC,7970,0.62,235.3,652.9,13.3,526,7974,0.00,2.12,0.00,0.000,4,0.000,0.039,2516,713,1910,0,0,0,0,0,0
$GC,8008,0.62,235.3,647.7,13.1,527,8015,0.00,2.17,0.00,0.000,6,0.000,0.036,2516,2135,1910,0,0,0,0,0,0
$GC,8325,0.62,235.3,606.4,12.8,543,8329,0.00,2.15,0.00,0.000,4,0.000,0.045,2516,3535,1908,0,0,0,0,0,0
$GC,8365,0.62,235.3,600.7,14.5,545,8369,0.00,2.15,0.00,0.000,6,0.000,0.030,2525,2112,1908,0,0,0,0,0,0
$GC,8692,0.62,235.3,555.0,13.7,561,8695,0.00,2.12,0.00,0.000,4,0.000,0.040,2536,706,1908,0,0,0,0,0,0
$GC,8820,0.62,235.3,537.8,13.0,566,8828,0.12,2.12,0.00,0.000,6,0.174,0.035,2505,2091,1908,0,0,0,0,0,0
$GC,9136,0.62,235.3,499.8,13.3,582,9140,0.00,2.22,0.00,0.000,4,0.000,0.046,2504,3539,1906,0,0,0,0,0,0
$GC,9163,0.62,235.3,495.0,16.7,584,9170,0.00,2.20,0.00,0.000,6,0.000,0.030,2512,2086,1910,0,0,0,0,0,0
$GC,9489,0.62,235.3,440.4,16.5,615,9492,0.00,2.05,0.00,0.000,4,0.000,0.041,2522,723,1907,0,0,0,0,0,0
$GC,9653,0.62,235.3,414.5,15.8,629,9659,0.00,2.03,0.00,0.000,6,0.000,0.036,2523,2058,1907,0,0,0,0,0,0
$GC,9978,0.62,235.3,363.6,13.9,660,9981,0.00,2.03,0.00,0.000,4,0.000,0.039,2532,719,1907,0,0,0,0,0,0
$GC,10046,0.62,235.3,354.3,13.0,666,10051,0.12,2.00,0.00,0.000,6,0.170,0.035,2499,2038,1907,0,0,0,0,0,0
$GC,10372,0.66,269.0,319.9,10.6,696,10406,0.00,2.38,26.27,0.689,4,0.000,0.047,2500,3536,1772,0,0,0,0,0,0
$GC,10520,0.66,269.0,300.4,13.7,709,10524,0.00,2.28,0.00,0.000,6,0.000,0.030,2504,2043,1773,0,0,0,0,0,0
$GC,10847,0.66,271.3,259.4,11.7,739,10859,0.00,2.38,3.40,0.418,4,0.000,0.041,2509,3532,1763,0,0,0,0,0,0
$GC,10887,0.68,288.1,254.6,11.2,742,10907,0.00,2.28,14.43,0.630,6,0.000,0.030,2518,2062,1694,0,0,0,0,0,0
$GC,11225,0.69,299.3,217.6,11.4,774,11242,0.00,2.10,10.32,0.613,4,0.000,0.039,2528,723,1647,0,0,0,0,0,0
$GC,11359,0.74,340.2,203.9,10.3,786,11396,0.00,2.00,31.10,0.582,6,0.000,0.033,2528,2039,1481,0,0,0,0,0,0
$GC,11705,0.74,340.2,168.5,12.0,848,11714,0.00,2.35,0.00,0.000,4,0.000,0.043,2528,3530,1482,0,0,0,0,0,0
$GC,11867,0.80,385.1,149.4,10.2,878,11911,0.00,2.25,34.20,0.564,6,0.000,0.029,2537,2075,1299,0,0,0,0,0,0
$GC,12041,1.02,563.3,138.7,5.3,908,12180,0.25,2.38,129.10,0.517,4,0.062,0.040,2654,3538,571,0,0,0,0,0,0
$GC,12234,1.02,563.3,105.3,21.0,937,12243,0.10,2.30,0.00,0.000,6,0.133,0.027,2631,2082,571,0,0,0,0,0,0
$GC,12371,1.03,573.9,85.9,11.4,962,12386,0.00,0.00,9.50,0.496,6,0.000,0.000,2631,2081,532,0,0,0,0,0,0
$GC,12516,1.13,655.5,73.1,8.8,988,12539,0.10,0.00,17.35,0.526,6,0.098,0.000,2684,2081,439,0,0,0,0,0,0
$GC,12666,1.13,655.5,52.2,13.6,1015,12674,0.00,2.10,0.00,0.000,4,0.000,0.034,2694,720,440,0,0,0,0,0,0
$GC,12695,1.13,655.5,48.7,13.6,1019,12704,0.08,2.17,0.40,0.083,6,0.111,0.033,2666,2114,441,0,0,0,0,0,0
$GC,12832,1.21,717.5,35.2,9.5,1044,12841,0.00,2.22,0.25,0.113,4,0.000,0.040,2665,3527,444,0,0,0,0,0,0
$GC,12880,1.23,738.4,29.6,11.0,1052,12890,0.00,2.15,2.50,0.210,6,0.000,0.028,2674,2127,438,0,0,0,0,0,0
$GC,13018,1.25,754.2,14.5,11.2,1077,13026,0.00,2.15,0.00,0.000,4,0.000,0.037,2685,722,439,0,0,0,0,0,0
$GC,13086,1.30,795.2,7.4,10.3,1089,13095,0.08,2.10,0.03,0.203,6,0.053,0.030,2742,2088,440,0,0,0,0,0,0
$STATE,13117,end climb,SURFACE_DEPTH_REACHED
$STATE,13117,begin surface coast
$FINISH,0.2,1.020765
$STATE,13141,end surface coast,CONTROL_FINISHED_OK
$STATE,13141,begin surface
$SM_CCo,13218,0.00,0.000,0,0,440,595.83
$SM_GC,1.03,6.57,0.00,0.00,0.037,0.000,0.000,208,2638,440,-6.47,0.99,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,1948.12,11951.80,030711,191955
$TT8_MAMPS,0.027713,0.027713
$HUMID,39.28
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,24.0,19.178
$10V_AH,10.1,20.200
$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,16.750,126.075,636.575,0.000,0.000,30.135,17.122,164.259,0.000,0.000,15.863,2621.152,7092.869,641.800,2898.837,304.443,0.000,1860.651,0.000,1979.896,0.000,0.541,0.000
$DEVICE_MAMPS,237.915,51.255,1097.775,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,761.655,1155.929,1346.914,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322628
$DATA_FILE_SIZE,73882,1098
$CAP_FILE_SIZE,146613,0
$CFSIZE,260165632,239566848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040711,031637,1954.143,11948.438,32,0.9,33,-2.2