version: 66.09
glider: 181
mission: 6
dive: 125
start: 7 4 111 7 7 3
data:
$ID,181
$MISSION,6
$DIVE,125
$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,-40609.434
$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,48
$R_STBD_OVSHOOT,37
$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
$GPS1,040711,065907,1954.385,11947.731,31,1.3,32,-2.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-68.1
$GPS2,040711,070638,1954.597,11947.684,14,1.6,14,-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,170.2,103389,-16.3,-11.786
$D_GRID,3537
$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,-219.0,0.0,0.0,0,89,0.00,0.00,-69.68,0.000,2,0.000,0.000,200,2627,2385,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.1,-3.2,10,137,7.82,2.17,-28.33,0.000,4,0.239,0.040,2103,1191,3764,0,0,0,0,0,0
$GC,228,-0.60,-219.0,49.3,-28.9,33,236,0.00,2.22,0.00,0.000,6,0.000,0.041,2094,2598,3766,0,0,0,0,0,0
$GC,362,-0.60,-219.0,104.9,-43.5,58,370,0.00,1.83,0.00,0.000,4,0.000,0.041,2085,3783,3766,0,0,0,0,0,0
$GC,454,-0.60,-219.0,145.9,-40.4,75,463,0.00,1.80,0.00,0.000,6,0.000,0.024,2085,2575,3767,0,0,0,0,0,0
$GC,590,-0.60,-219.0,188.3,-30.4,100,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2573,3768,0,0,0,0,0,0
$GC,733,-0.60,-219.0,224.8,-24.6,117,737,0.00,1.85,0.00,0.000,4,0.000,0.042,2074,3789,3769,0,0,0,0,0,0
$GC,780,-0.60,-219.0,236.9,-25.3,121,785,0.10,1.83,0.00,0.000,6,0.149,0.024,2105,2562,3770,0,0,0,0,0,0
$GC,1110,-0.60,-219.0,306.1,-19.3,152,1114,0.00,1.88,0.00,0.000,4,0.000,0.043,2097,3790,3770,0,0,0,0,0,0
$GC,1205,-0.60,-219.0,325.5,-18.5,160,1212,0.00,1.80,0.00,0.000,6,0.000,0.024,2098,2576,3769,0,0,0,0,0,0
$GC,1530,-0.60,-219.0,393.3,-20.5,191,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2573,3766,0,0,0,0,0,0
$GC,1850,-0.60,-219.0,455.9,-18.2,221,1854,0.00,1.88,0.00,0.000,4,0.000,0.046,2089,3791,3763,0,0,0,0,0,0
$GC,1877,-0.60,-219.0,461.6,-18.9,223,1884,0.00,1.80,0.00,0.000,6,0.000,0.027,2089,2583,3762,0,0,0,0,0,0
$GC,2212,-0.60,-219.0,523.3,-18.6,249,2216,0.00,1.85,0.00,0.000,4,0.000,0.046,2079,3786,3758,0,0,0,0,0,0
$GC,2284,-0.60,-219.0,537.5,-17.3,252,2289,0.00,1.75,0.00,0.000,6,0.000,0.027,2079,2606,3757,0,0,0,0,0,0
$GC,2612,-0.60,-219.0,606.1,-21.7,268,2616,0.12,1.83,0.00,0.000,4,0.180,0.047,2103,3782,3754,0,0,0,0,0,0
$GC,2684,-0.60,-219.0,619.1,-14.5,271,2688,0.00,1.73,0.00,0.000,6,0.000,0.028,2103,2632,3753,0,0,0,0,0,0
$GC,3011,-0.60,-219.0,675.8,-17.9,287,3015,0.00,2.12,0.00,0.000,4,0.000,0.033,2103,1196,3747,0,0,0,0,0,0
$GC,3052,-0.60,-219.0,682.5,-16.2,289,3056,0.00,2.20,0.00,0.000,6,0.000,0.040,2098,2634,3748,0,0,0,0,0,0
$GC,3378,-0.60,-219.0,737.5,-16.9,305,3382,0.00,1.75,0.00,0.000,4,0.000,0.050,2089,3783,3744,0,0,0,0,0,0
$GC,3451,-0.60,-219.0,748.7,-13.7,308,3455,0.00,1.73,0.00,0.000,6,0.000,0.028,2089,2596,3743,0,0,0,0,0,0
$GC,3778,-0.60,-219.0,799.3,-15.9,324,3782,0.00,1.85,0.00,0.000,4,0.000,0.050,2080,3791,3741,0,0,0,0,0,0
$GC,3801,-0.60,-219.0,802.9,-15.7,325,3805,0.00,1.67,0.00,0.000,6,0.000,0.029,2080,2653,3739,0,0,0,0,0,0
$GC,4134,-0.60,-219.0,854.1,-15.7,341,4138,0.00,2.15,0.00,0.000,4,0.000,0.034,2080,1200,3734,0,0,0,0,0,0
$GC,4197,-0.60,-219.0,863.0,-12.4,344,4202,0.15,2.22,0.00,0.000,6,0.158,0.041,2112,2649,3737,0,0,0,0,0,0
$GC,4526,-0.60,-219.0,899.8,-11.6,360,4530,0.00,1.75,0.00,0.000,4,0.000,0.051,2112,3790,3733,0,0,0,0,0,0
$GC,4565,-0.60,-219.0,904.5,-11.2,361,4571,0.00,1.73,0.00,0.000,6,0.000,0.029,2111,2651,3733,0,0,0,0,0,0
$GC,4881,-0.60,-219.0,943.7,-13.1,377,4885,0.00,2.15,0.00,0.000,4,0.000,0.036,2111,1205,3730,0,0,0,0,0,0
$GC,4924,-0.60,-219.0,949.5,-12.7,379,4929,0.00,2.20,0.00,0.000,6,0.000,0.041,2111,2638,3729,0,0,0,0,0,0
$STATE,5244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5244,begin apogee
$GC,5251,-0.16,0.0,991.0,13.2,395,5423,0.40,0.00,167.27,1.099,4,0.128,0.000,2243,2108,2869,0,0,0,0,0,0
$STATE,5424,end apogee,CONTROL_FINISHED_OK
$STATE,5424,begin climb
$GC,5426,0.60,219.0,1003.5,0.0,403,5612,0.73,2.25,177.57,1.073,4,0.065,0.041,2497,733,1976,0,0,0,0,0,0
$GC,5752,0.60,222.6,979.2,11.7,418,5763,0.00,2.25,4.20,0.715,6,0.000,0.035,2497,2126,1963,0,0,0,0,0,0
$GC,6092,0.60,222.6,932.1,14.4,435,6096,0.00,2.17,0.00,0.000,4,0.000,0.038,2507,732,1960,0,0,0,0,0,0
$GC,6334,0.60,222.6,897.3,14.7,446,6338,0.00,2.15,0.00,0.000,6,0.000,0.035,2507,2128,1959,0,0,0,0,0,0
$GC,6661,0.60,222.6,843.6,17.0,462,6665,0.00,2.20,0.00,0.000,4,0.000,0.046,2507,3535,1961,0,0,0,0,0,0
$GC,6710,0.60,222.6,834.1,18.9,464,6714,0.00,2.12,0.00,0.000,6,0.000,0.030,2516,2132,1957,0,0,0,0,0,0
$GC,7038,0.60,222.6,776.1,17.8,480,7042,0.00,2.12,0.00,0.000,4,0.000,0.039,2527,723,1955,0,0,0,0,0,0
$GC,7205,0.60,222.6,747.6,16.7,487,7213,0.05,2.15,0.00,0.000,6,0.166,0.036,2497,2102,1956,0,0,0,0,0,0
$GC,7522,0.60,222.6,697.4,16.0,503,7526,0.00,2.20,0.00,0.000,4,0.000,0.045,2497,3538,1955,0,0,0,0,0,0
$GC,7565,0.60,222.6,689.8,16.9,505,7569,0.00,2.17,0.00,0.000,6,0.000,0.030,2506,2090,1954,0,0,0,0,0,0
$GC,7893,0.60,222.6,639.7,14.3,521,7897,0.00,2.05,0.00,0.000,4,0.000,0.041,2516,725,1951,0,0,0,0,0,0
$GC,7965,0.60,222.6,629.6,12.9,524,7970,0.00,2.12,0.00,0.000,6,0.000,0.035,2516,2092,1953,0,0,0,0,0,0
$GC,8293,0.60,225.7,588.5,11.7,540,8294,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2092,1952,0,0,0,0,0,0
$GC,8602,0.62,237.9,554.2,11.3,555,8624,0.00,2.33,11.55,0.806,4,0.000,0.045,2516,3546,1900,0,0,0,0,0,0
$GC,8640,0.62,237.9,549.1,12.8,556,8647,0.00,2.25,0.00,0.000,6,0.000,0.030,2526,2063,1902,0,0,0,0,0,0
$GC,8957,0.62,237.9,501.7,16.1,572,8960,0.00,2.03,0.00,0.000,4,0.000,0.040,2537,717,1900,0,0,0,0,0,0
$GC,9014,0.62,237.9,492.3,16.1,576,9019,0.12,2.10,0.00,0.000,6,0.173,0.036,2504,2098,1900,0,0,0,0,0,0
$GC,9345,0.62,237.9,444.7,13.8,607,9349,0.00,2.20,0.00,0.000,4,0.000,0.045,2505,3536,1900,0,0,0,0,0,0
$GC,9388,0.62,237.9,437.8,15.3,610,9396,0.00,2.20,0.00,0.000,6,0.000,0.030,2512,2101,1899,0,0,0,0,0,0
$GC,9714,0.62,237.9,394.3,13.0,641,9718,0.00,2.08,0.00,0.000,4,0.000,0.041,2523,717,1900,0,0,0,0,0,0
$GC,9858,0.62,237.9,375.5,13.7,653,9862,0.00,2.08,0.00,0.000,6,0.000,0.037,2523,2082,1899,0,0,0,0,0,0
$GC,10189,0.62,237.9,325.7,14.2,684,10190,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2083,1899,0,0,0,0,0,0
$GC,10508,0.62,237.9,284.5,13.2,714,10513,0.00,2.22,0.00,0.000,4,0.000,0.045,2523,3538,1900,0,0,0,0,0,0
$GC,10553,0.62,237.9,277.7,14.6,717,10560,0.00,2.20,0.00,0.000,6,0.000,0.030,2533,2071,1899,0,0,0,0,0,0
$GC,10878,0.62,237.9,231.3,13.4,748,10883,0.12,2.05,0.00,0.000,4,0.179,0.040,2509,711,1900,0,0,0,0,0,0
$GC,11011,0.68,285.6,216.8,10.1,759,11055,0.00,2.03,36.45,0.625,6,0.000,0.034,2510,2065,1704,0,0,0,0,0,0
$GC,11367,0.70,300.8,182.9,11.2,809,11391,0.00,2.35,13.07,0.593,4,0.000,0.044,2510,3531,1642,0,0,0,0,0,0
$GC,11435,0.71,311.0,175.2,11.4,820,11451,0.00,2.28,9.62,0.512,6,0.000,0.030,2519,2068,1598,0,0,0,0,0,0
$GC,11578,0.79,377.6,161.1,9.4,846,11637,0.10,2.15,49.97,0.552,4,0.104,0.037,2576,716,1327,0,0,0,0,0,0
$GC,11661,0.79,377.6,151.0,12.8,858,11670,0.00,2.17,0.00,0.000,6,0.000,0.034,2574,2077,1328,0,0,0,0,0,0
$GC,11797,0.79,377.6,131.6,14.7,883,11806,0.00,2.15,0.00,0.000,4,0.000,0.037,2585,710,1329,0,0,0,0,0,0
$GC,11834,0.79,377.6,126.2,13.8,889,11842,0.00,2.12,0.00,0.000,6,0.000,0.033,2585,2064,1329,0,0,0,0,0,0
$GC,11972,0.79,378.0,109.6,11.8,914,11980,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2064,1329,0,0,0,0,0,0
$GC,12105,0.79,378.0,94.9,11.9,939,12114,0.00,2.33,0.00,0.000,4,0.000,0.044,2585,3539,1329,0,0,0,0,0,0
$GC,12200,0.79,378.0,81.7,14.4,956,12209,0.10,2.33,0.00,0.000,6,0.126,0.028,2561,2026,1329,0,0,0,0,0,0
$GC,12337,0.89,455.6,68.0,9.0,981,12403,0.00,2.08,56.88,0.503,4,0.000,0.037,2569,713,1010,0,0,0,0,0,0
$GC,12432,1.03,568.8,60.2,7.7,995,12521,0.15,2.05,81.05,0.458,6,0.045,0.029,2657,2025,549,0,0,0,0,0,0
$GC,12649,1.05,584.7,33.2,11.2,1031,12672,0.00,2.42,13.15,0.483,4,0.000,0.041,2657,3536,484,0,0,0,0,0,0
$GC,12747,1.11,634.9,23.3,10.0,1048,12763,0.00,2.30,10.12,0.454,6,0.000,0.027,2667,2055,438,0,0,0,0,0,0
$GC,12892,1.21,718.8,10.4,8.7,1074,12899,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2054,440,0,0,0,0,0,0
$STATE,12977,end climb,SURFACE_DEPTH_REACHED
$STATE,12977,begin surface coast
$FINISH,0.1,0.997544
$STATE,13011,end surface coast,CONTROL_FINISHED_OK
$STATE,13011,begin surface
$SM_CCo,13088,0.00,0.000,0,0,442,595.59
$SM_GC,0.89,6.43,0.00,0.00,0.037,0.000,0.000,209,2644,442,-6.46,1.24,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,1945.83,11951.80,040711,030337
$TT8_MAMPS,0.027713,0.027713
$HUMID,40.19
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.40
$XPDR_PINGS,1
$24V_AH,24.0,19.499
$10V_AH,10.2,20.453
$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,16.400,129.800,630.925,0.000,0.000,55.045,35.710,158.755,0.250,0.000,17.208,2609.198,7023.664,639.757,2970.354,288.964,0.000,1872.992,0.000,1993.830,0.000,0.542,0.000
$DEVICE_MAMPS,238.680,51.255,1098.540,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,762.107,1160.175,1352.437,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322652
$DATA_FILE_SIZE,73830,1096
$CAP_FILE_SIZE,146701,0
$CFSIZE,260165632,239403008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040711,104636,1954.854,11948.207,40,1.4,46,-2.2