version: 66.09
glider: 181
mission: 6
dive: 124
start: 7 4 111 3 22 45
data:
$ID,181
$MISSION,6
$DIVE,124
$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,-40608.176
$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,45
$R_STBD_OVSHOOT,56
$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
$GPS1,040711,031637,1954.143,11948.438,32,0.9,33,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-71.7
$GPS2,040711,032220,1954.326,11948.295,12,1.1,12,-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,170.7,102678,-16.3,-11.786
$D_GRID,3547
$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,-70.95,0.000,2,0.000,0.000,206,2639,2427,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.3,-3.7,10,137,7.80,2.20,-27.05,0.000,4,0.239,0.041,2104,1167,3766,0,0,0,0,0,0
$GC,181,-0.60,-219.0,35.0,-35.1,24,189,0.00,2.25,0.00,0.000,6,0.000,0.044,2094,2574,3767,0,0,0,0,0,0
$GC,315,-0.60,-219.0,88.3,-41.3,49,323,0.00,1.90,0.00,0.000,4,0.000,0.044,2084,3789,3767,0,0,0,0,0,0
$GC,377,-0.60,-219.0,113.5,-41.1,60,385,0.00,1.83,0.00,0.000,6,0.000,0.024,2085,2579,3767,0,0,0,0,0,0
$GC,512,-0.60,-219.0,160.1,-39.4,85,521,0.00,1.90,0.00,0.000,4,0.000,0.043,2077,3787,3768,0,0,0,0,0,0
$GC,559,-0.60,-219.0,177.4,-31.5,93,568,0.08,1.75,0.00,0.000,6,0.174,0.025,2101,2609,3769,0,0,0,0,0,0
$GC,702,-0.60,-219.0,216.8,-25.8,113,706,0.00,2.03,0.00,0.000,4,0.000,0.026,2100,1209,3770,0,0,0,0,0,0
$GC,729,-0.60,-219.0,224.2,-24.8,115,736,0.00,2.17,0.00,0.000,6,0.000,0.038,2093,2590,3770,0,0,0,0,0,0
$GC,1054,-0.60,-219.0,298.1,-24.1,146,1058,0.00,1.83,0.00,0.000,4,0.000,0.046,2085,3789,3770,0,0,0,0,0,0
$GC,1148,-0.60,-219.0,317.2,-17.9,154,1156,0.00,1.75,0.00,0.000,6,0.000,0.024,2084,2605,3770,0,0,0,0,0,0
$GC,1474,-0.60,-219.0,390.6,-23.2,185,1478,0.00,1.80,0.00,0.000,4,0.000,0.044,2074,3783,3769,0,0,0,0,0,0
$GC,1520,-0.60,-219.0,401.4,-23.1,189,1525,0.12,1.67,0.00,0.000,6,0.169,0.026,2107,2631,3769,0,0,0,0,0,0
$GC,1851,-0.60,-219.0,458.5,-17.5,220,1855,0.00,2.10,0.00,0.000,4,0.000,0.031,2107,1195,3766,0,0,0,0,0,0
$GC,1902,-0.60,-219.0,467.4,-16.4,224,1906,0.00,2.20,0.00,0.000,6,0.000,0.039,2099,2637,3765,0,0,0,0,0,0
$GC,2226,-0.60,-219.0,527.3,-18.8,247,2229,0.00,1.73,0.00,0.000,4,0.000,0.047,2090,3777,3762,0,0,0,0,0,0
$GC,2309,-0.60,-219.0,541.0,-13.5,250,2316,0.00,1.70,0.00,0.000,6,0.000,0.028,2095,2641,3760,0,0,0,0,0,0
$GC,2625,-0.60,-219.0,593.4,-16.7,266,2629,0.00,1.75,0.00,0.000,4,0.000,0.048,2081,3777,3757,0,0,0,0,0,0
$GC,2664,-0.60,-219.0,600.3,-17.2,267,2671,0.00,1.65,0.00,0.000,6,0.000,0.028,2081,2651,3756,0,0,0,0,0,0
$GC,2980,-0.60,-219.0,658.7,-20.0,283,2984,0.00,1.75,0.00,0.000,4,0.000,0.050,2072,3787,3753,0,0,0,0,0,0
$GC,3003,-0.60,-219.0,663.4,-20.3,284,3008,0.10,1.70,0.00,0.000,6,0.148,0.029,2104,2652,3752,0,0,0,0,0,0
$GC,3335,-0.60,-219.0,716.9,-16.0,300,3339,0.00,2.15,0.00,0.000,4,0.000,0.034,2104,1202,3749,0,0,0,0,0,0
$GC,3402,-0.60,-219.0,726.4,-12.6,303,3406,0.00,2.22,0.00,0.000,6,0.000,0.041,2098,2657,3748,0,0,0,0,0,0
$GC,3729,-0.60,-219.0,779.3,-16.8,319,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2658,3745,0,0,0,0,0,0
$GC,4039,-0.60,-219.0,827.5,-15.4,334,4042,0.00,1.73,0.00,0.000,4,0.000,0.052,2088,3783,3743,0,0,0,0,0,0
$GC,4071,-0.60,-219.0,832.8,-15.5,335,4075,0.00,1.70,0.00,0.000,6,0.000,0.029,2089,2662,3741,0,0,0,0,0,0
$GC,4394,-0.60,-219.0,879.3,-14.7,351,4398,0.00,2.17,0.00,0.000,4,0.000,0.035,2088,1206,3737,0,0,0,0,0,0
$GC,4421,-0.60,-219.0,883.9,-15.8,352,4425,0.00,2.22,0.00,0.000,6,0.000,0.044,2082,2644,3738,0,0,0,0,0,0
$GC,4748,-0.60,-219.0,933.0,-14.4,368,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2650,3734,0,0,0,0,0,0
$GC,5058,-0.60,-219.0,975.9,-13.8,383,5061,0.00,1.75,0.00,0.000,4,0.000,0.054,2074,3787,3732,0,0,0,0,0,0
$GC,5084,-0.60,-219.0,980.1,-14.1,384,5090,0.08,1.73,0.00,0.000,6,0.148,0.031,2099,2654,3730,0,0,0,0,0,0
$STATE,5183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5183,begin apogee
$GC,5189,-0.16,0.0,992.1,12.1,389,5362,0.45,0.00,168.05,1.095,4,0.132,0.000,2243,2107,2869,0,0,0,0,0,0
$STATE,5363,end apogee,CONTROL_FINISHED_OK
$STATE,5363,begin climb
$GC,5365,0.60,219.0,998.7,0.0,397,5550,0.73,2.22,176.68,1.065,4,0.062,0.041,2503,738,1980,0,0,0,0,0,0
$GC,5696,0.60,219.0,963.5,14.2,412,5703,0.00,2.22,0.00,0.000,6,0.000,0.036,2503,2120,1979,0,0,0,0,0,0
$GC,6013,0.60,219.0,914.1,15.9,428,6017,0.00,2.15,0.00,0.000,4,0.000,0.039,2513,723,1973,0,0,0,0,0,0
$GC,6270,0.60,219.0,873.4,15.0,439,6277,0.00,2.15,0.00,0.000,6,0.000,0.036,2512,2126,1972,0,0,0,0,0,0
$GC,6587,0.60,219.0,823.5,15.5,455,6591,0.00,2.12,0.00,0.000,4,0.000,0.040,2522,730,1970,0,0,0,0,0,0
$GC,6614,0.60,219.0,818.9,15.8,456,6618,0.00,2.15,0.00,0.000,6,0.000,0.037,2522,2137,1969,0,0,0,0,0,0
$GC,6935,0.60,219.0,771.2,14.4,472,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2136,1968,0,0,0,0,0,0
$GC,7244,0.60,219.0,731.3,12.2,487,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2137,1967,0,0,0,0,0,0
$GC,7554,0.60,219.0,693.3,12.5,502,7558,0.00,2.15,0.00,0.000,4,0.000,0.040,2531,725,1966,0,0,0,0,0,0
$GC,7671,0.60,219.0,678.8,12.1,507,7676,0.15,2.12,0.00,0.000,6,0.169,0.037,2492,2123,1966,0,0,0,0,0,0
$GC,7987,0.60,219.0,641.8,12.4,522,7991,0.00,2.17,0.00,0.000,4,0.000,0.047,2492,3539,1965,0,0,0,0,0,0
$GC,8008,0.60,219.0,638.5,12.8,523,8012,0.00,2.10,0.00,0.000,6,0.000,0.030,2500,2140,1965,0,0,0,0,0,0
$GC,8335,0.60,219.0,590.2,15.4,539,8339,0.00,2.15,0.00,0.000,4,0.000,0.041,2511,715,1965,0,0,0,0,0,0
$GC,8376,0.60,219.0,584.0,15.4,541,8380,0.00,2.12,0.00,0.000,6,0.000,0.036,2511,2118,1964,0,0,0,0,0,0
$GC,8703,0.60,219.0,531.7,15.9,557,8707,0.00,2.17,0.00,0.000,4,0.000,0.046,2511,3539,1964,0,0,0,0,0,0
$GC,8766,0.60,219.0,520.8,17.4,560,8770,0.00,2.12,0.00,0.000,6,0.000,0.031,2520,2123,1964,0,0,0,0,0,0
$GC,9089,0.60,219.0,465.6,17.1,584,9090,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2123,1964,0,0,0,0,0,0
$GC,9407,0.60,219.0,414.3,14.7,614,9411,0.00,2.10,0.00,0.000,4,0.000,0.041,2530,722,1963,0,0,0,0,0,0
$GC,9618,0.60,225.9,386.6,11.5,632,9629,0.12,2.15,4.93,0.619,6,0.171,0.036,2499,2134,1947,0,0,0,0,0,0
$GC,9955,0.66,269.3,351.4,10.2,664,9999,0.00,2.28,34.03,0.705,4,0.000,0.039,2507,713,1771,0,0,0,0,0,0
$GC,10048,0.69,297.6,341.3,10.8,672,10076,0.00,2.17,22.65,0.655,6,0.000,0.036,2507,2120,1656,0,0,0,0,0,0
$GC,10395,0.69,297.6,298.3,12.4,704,10399,0.00,2.20,0.00,0.000,4,0.000,0.046,2507,3536,1656,0,0,0,0,0,0
$GC,10459,0.69,297.6,289.7,12.9,709,10466,0.00,2.12,0.00,0.000,6,0.000,0.030,2516,2133,1657,0,0,0,0,0,0
$GC,10785,0.69,297.6,249.9,13.4,740,10789,0.00,2.17,0.00,0.000,4,0.000,0.045,2517,3536,1656,0,0,0,0,0,0
$GC,10829,0.69,297.6,243.2,14.9,743,10836,0.00,2.10,0.00,0.000,6,0.000,0.029,2526,2144,1655,0,0,0,0,0,0
$GC,11154,0.69,297.6,200.1,13.0,774,11158,0.00,2.15,0.00,0.000,4,0.000,0.039,2537,714,1655,0,0,0,0,0,0
$GC,11249,0.69,297.6,188.0,12.1,791,11257,0.00,2.20,0.00,0.000,6,0.000,0.034,2537,2137,1655,0,0,0,0,0,0
$GC,11386,0.69,297.6,171.1,13.2,816,11394,0.00,2.17,0.00,0.000,4,0.000,0.037,2547,720,1655,0,0,0,0,0,0
$GC,11433,0.69,297.6,164.2,13.6,824,11442,0.00,2.12,0.00,0.000,6,0.000,0.034,2546,2096,1655,0,0,0,0,0,0
$GC,11569,0.77,358.1,148.7,9.6,849,11623,0.00,2.28,44.30,0.565,4,0.000,0.044,2546,3542,1411,0,0,0,0,0,0
$GC,11678,0.79,378.8,137.7,11.0,866,11702,0.00,2.15,17.75,0.515,6,0.000,0.030,2556,2161,1323,0,0,0,0,0,0
$GC,11829,0.79,378.8,118.8,14.7,893,11837,0.00,2.17,0.00,0.000,4,0.000,0.041,2556,3528,1325,0,0,0,0,0,0
$GC,11861,0.79,378.8,114.3,14.0,898,11869,0.00,2.12,0.00,0.000,6,0.000,0.028,2565,2160,1325,0,0,0,0,0,0
$GC,12000,1.05,587.0,105.8,4.2,923,12157,0.20,2.35,148.65,0.499,4,0.067,0.036,2665,715,477,0,0,0,0,0,0
$GC,12180,1.05,587.0,78.4,15.5,948,12189,0.00,2.38,0.00,0.000,6,0.000,0.033,2666,2193,475,0,0,0,0,0,0
$GC,12316,1.09,619.1,60.6,10.6,973,12333,0.00,2.10,9.20,0.480,4,0.000,0.041,2665,3535,439,0,0,0,0,0,0
$GC,12367,1.19,702.5,56.2,8.8,981,12375,0.00,2.10,0.00,0.000,6,0.000,0.027,2675,2187,441,0,0,0,0,0,0
$GC,12504,1.20,708.0,42.3,11.6,1006,12512,0.00,2.28,0.00,0.000,4,0.000,0.037,2686,719,439,0,0,0,0,0,0
$GC,12577,1.22,722.9,33.7,11.2,1019,12585,0.00,2.25,0.00,0.000,6,0.000,0.031,2686,2166,440,0,0,0,0,0,0
$GC,12712,1.22,722.9,16.4,13.3,1044,12722,0.00,2.12,0.22,0.118,4,0.000,0.039,2686,3526,441,0,0,0,0,0,0
$GC,12750,1.22,722.9,11.1,13.0,1050,12759,0.00,2.08,0.12,0.103,6,0.000,0.028,2695,2173,441,0,0,0,0,0,0
$STATE,12811,end climb,SURFACE_DEPTH_REACHED
$STATE,12811,begin surface coast
$FINISH,0.4,1.020685
$STATE,12837,end surface coast,CONTROL_FINISHED_OK
$STATE,12837,begin surface
$SM_CCo,12913,0.00,0.000,0,0,442,595.34
$SM_GC,0.96,6.43,0.00,0.00,0.034,0.000,0.000,205,2626,442,-6.46,0.74,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,1945.83,11948.67,030711,232358
$TT8_MAMPS,0.027713,0.027713
$HUMID,40.23
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.30
$XPDR_PINGS,2
$24V_AH,24.1,19.338
$10V_AH,10.1,20.324
$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,16.250,137.225,626.575,0.000,0.000,25.038,25.942,160.820,0.500,0.000,14.831,2534.958,6985.645,647.356,2794.673,285.837,0.000,1843.804,0.000,1906.642,0.000,0.541,0.000
$DEVICE_MAMPS,238.680,53.550,1094.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,739.214,1113.396,1263.169,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322668
$DATA_FILE_SIZE,73707,1065
$CAP_FILE_SIZE,144946,0
$CFSIZE,260165632,239489024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040711,065907,1954.385,11947.731,31,1.3,32,-2.2