version: 66.09
glider: 181
mission: 6
dive: 127
start: 7 4 111 14 52 39
data:
$ID,181
$MISSION,6
$DIVE,127
$N_DIVES,135
$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,-40642.496
$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,40
$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
$GPS1,040711,144600,1954.860,11948.438,40,1.0,41,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-68.8
$GPS2,040711,145214,1955.015,11948.443,13,1.0,13,-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,171.0,103879,-16.3,-11.786
$D_GRID,3531
$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,-71.15,0.000,2,0.000,0.000,207,2628,2431,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.3,-3.8,10,137,7.80,2.20,-26.58,0.000,4,0.239,0.040,2100,1170,3765,0,0,0,0,0,0
$GC,208,-0.60,-219.0,45.8,-28.2,29,216,0.00,2.25,0.00,0.000,6,0.000,0.041,2089,2584,3766,0,0,0,0,0,0
$GC,342,-0.60,-219.0,104.5,-48.1,54,350,0.00,1.88,0.00,0.000,4,0.000,0.041,2079,3793,3766,0,0,0,0,0,0
$GC,389,-0.60,-219.0,123.5,-38.1,62,397,0.00,1.83,0.00,0.000,6,0.000,0.025,2080,2584,3767,0,0,0,0,0,0
$GC,524,-0.60,-219.0,162.3,-25.8,87,533,0.12,0.00,0.00,0.000,6,0.187,0.000,2109,2583,3768,0,0,0,0,0,0
$GC,659,-0.60,-219.0,191.9,-20.0,112,667,0.00,1.90,0.00,0.000,4,0.000,0.043,2101,3790,3770,0,0,0,0,0,0
$GC,698,-0.60,-219.0,201.6,-22.7,118,706,0.00,1.70,0.00,0.000,6,0.000,0.024,2101,2644,3770,0,0,0,0,0,0
$GC,1025,-0.60,-219.0,269.0,-21.6,149,1029,0.00,1.75,0.00,0.000,4,0.000,0.044,2092,3787,3770,0,0,0,0,0,0
$GC,1063,-0.60,-219.0,278.0,-21.8,152,1072,0.00,1.67,0.00,0.000,6,0.000,0.024,2093,2663,3770,0,0,0,0,0,0
$GC,1389,-0.60,-219.0,344.2,-20.0,183,1392,0.00,1.73,0.00,0.000,4,0.000,0.044,2084,3789,3770,0,0,0,0,0,0
$GC,1458,-0.60,-219.0,357.4,-17.9,189,1462,0.00,1.65,0.00,0.000,6,0.000,0.025,2084,2651,3769,0,0,0,0,0,0
$GC,1789,-0.60,-219.0,424.0,-19.2,220,1792,0.00,1.75,0.00,0.000,4,0.000,0.046,2075,3790,3765,0,0,0,0,0,0
$GC,1812,-0.60,-219.0,428.8,-19.6,222,1816,0.12,1.65,0.00,0.000,6,0.169,0.027,2107,2658,3765,0,0,0,0,0,0
$GC,2144,-0.60,-219.0,485.5,-17.2,253,2147,0.00,1.75,0.00,0.000,4,0.000,0.047,2100,3794,3761,0,0,0,0,0,0
$GC,2167,-0.60,-219.0,489.7,-17.3,255,2171,0.00,1.65,0.00,0.000,6,0.000,0.027,2100,2667,3761,0,0,0,0,0,0
$GC,2501,-0.60,-219.0,548.9,-18.0,274,2505,0.00,2.15,0.00,0.000,4,0.000,0.031,2100,1200,3756,0,0,0,0,0,0
$GC,2528,-0.60,-219.0,554.1,-17.7,275,2532,0.00,2.33,0.00,0.000,6,0.000,0.041,2096,2712,3757,0,0,0,0,0,0
$GC,2850,-0.60,-219.0,612.7,-19.0,291,2854,0.00,2.25,0.00,0.000,4,0.000,0.031,2093,1204,3753,0,0,0,0,0,0
$GC,2894,-0.60,-219.0,620.8,-16.2,293,2898,0.00,2.30,0.00,0.000,6,0.000,0.040,2084,2696,3753,0,0,0,0,0,0
$GC,3222,-0.60,-219.0,678.7,-17.7,309,3226,0.00,1.65,0.00,0.000,4,0.000,0.050,2076,3784,3748,0,0,0,0,0,0
$GC,3249,-0.60,-219.0,684.1,-18.5,310,3254,0.10,1.65,0.00,0.000,6,0.141,0.028,2108,2676,3748,0,0,0,0,0,0
$GC,3577,-0.60,-219.0,727.7,-12.0,326,3581,0.00,2.17,0.00,0.000,4,0.000,0.034,2109,1205,3745,0,0,0,0,0,0
$GC,3640,-0.60,-219.0,734.3,-9.7,329,3644,0.00,2.28,0.00,0.000,6,0.000,0.040,2101,2684,3745,0,0,0,0,0,0
$GC,3973,-0.60,-219.0,773.5,-11.9,345,3977,0.00,1.67,0.00,0.000,4,0.000,0.050,2093,3783,3741,0,0,0,0,0,0
$GC,3997,-0.60,-219.0,776.3,-11.3,346,4000,0.00,1.65,0.00,0.000,6,0.000,0.030,2093,2667,3741,0,0,0,0,0,0
$GC,4329,-0.60,-219.0,823.3,-15.7,362,4333,0.00,2.17,0.00,0.000,4,0.000,0.034,2093,1199,3738,0,0,0,0,0,0
$GC,4369,-0.60,-219.0,829.6,-15.5,364,4373,0.00,2.28,0.00,0.000,6,0.000,0.042,2085,2672,3737,0,0,0,0,0,0
$GC,4696,-0.60,-219.0,885.3,-18.1,380,4699,0.00,1.70,0.00,0.000,4,0.000,0.052,2077,3784,3734,0,0,0,0,0,0
$GC,4751,-0.60,-219.0,895.2,-16.4,382,4755,0.10,1.65,0.00,0.000,6,0.136,0.030,2126,2694,3734,0,0,0,0,0,0
$GC,5072,-0.60,-219.0,936.2,-12.8,398,5076,0.00,2.22,0.00,0.000,4,0.000,0.036,2127,1200,3732,0,0,0,0,0,0
$GC,5149,-0.60,-219.0,946.1,-12.0,401,5153,0.00,2.25,0.00,0.000,6,0.000,0.041,2125,2667,3731,0,0,0,0,0,0
$GC,5472,-0.60,-219.0,984.6,-11.8,417,5476,0.00,2.20,0.00,0.000,4,0.000,0.035,2125,1205,3729,0,0,0,0,0,0
$GC,5505,-0.60,-219.0,988.5,-11.0,418,5512,0.00,2.25,0.00,0.000,6,0.000,0.041,2125,2660,3728,0,0,0,0,0,0
$STATE,5529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5530,begin apogee
$GC,5536,-0.16,0.0,991.1,10.4,420,5709,0.35,0.00,167.82,1.101,4,0.122,0.000,2242,2122,2869,0,0,0,0,0,0
$STATE,5709,end apogee,CONTROL_FINISHED_OK
$STATE,5710,begin climb
$GC,5712,0.60,219.0,1002.7,0.0,428,5897,0.73,2.28,177.40,1.075,4,0.065,0.040,2497,726,1976,0,0,0,0,0,0
$GC,6083,0.60,219.0,964.5,15.5,445,6090,0.00,2.22,0.00,0.000,6,0.000,0.034,2497,2137,1974,0,0,0,0,0,0
$GC,6399,0.60,219.0,913.9,16.1,461,6403,0.00,2.20,0.00,0.000,4,0.000,0.037,2507,724,1971,0,0,0,0,0,0
$GC,6616,0.60,219.0,880.8,15.0,470,6624,0.00,2.22,0.00,0.000,6,0.000,0.036,2506,2132,1971,0,0,0,0,0,0
$GC,6933,0.60,219.0,834.7,14.0,486,6937,0.00,2.17,0.00,0.000,4,0.000,0.047,2506,3538,1969,0,0,0,0,0,0
$GC,6988,0.60,219.0,826.5,14.9,488,6995,0.00,2.12,0.00,0.000,6,0.000,0.031,2516,2143,1968,0,0,0,0,0,0
$GC,7304,0.60,219.0,785.0,12.6,504,7308,0.00,2.15,0.00,0.000,4,0.000,0.040,2527,720,1967,0,0,0,0,0,0
$GC,7393,0.60,222.2,774.3,11.7,508,7398,0.12,2.15,0.00,0.000,6,0.178,0.035,2496,2133,1968,0,0,0,0,0,0
$GC,7716,0.60,226.5,738.7,11.6,524,7724,0.00,0.00,6.00,0.806,6,0.000,0.000,2496,2134,1945,0,0,0,0,0,0
$GC,8023,0.60,226.5,700.5,13.2,539,8027,0.00,2.17,0.00,0.000,4,0.000,0.045,2495,3536,1945,0,0,0,0,0,0
$GC,8039,0.60,226.5,698.0,13.4,539,8046,0.00,2.15,0.00,0.000,6,0.000,0.028,2504,2110,1945,0,0,0,0,0,0
$GC,8355,0.60,226.5,649.1,16.3,555,8357,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2110,1944,0,0,0,0,0,0
$GC,8665,0.60,226.5,598.4,16.7,570,8669,0.00,2.10,0.00,0.000,4,0.000,0.038,2515,710,1944,0,0,0,0,0,0
$GC,8760,0.60,226.5,583.3,15.2,574,8763,0.00,2.12,0.00,0.000,6,0.000,0.034,2515,2115,1944,0,0,0,0,0,0
$GC,9081,0.60,226.5,527.9,17.9,590,9085,0.00,2.17,0.00,0.000,4,0.000,0.045,2515,3535,1944,0,0,0,0,0,0
$GC,9144,0.60,226.5,516.1,18.8,593,9148,0.00,2.12,0.00,0.000,6,0.000,0.029,2524,2120,1944,0,0,0,0,0,0
$GC,9469,0.60,226.5,459.9,16.4,619,9470,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2120,1944,0,0,0,0,0,0
$GC,9786,0.60,226.5,411.9,14.0,649,9790,0.00,2.12,0.00,0.000,4,0.000,0.037,2535,710,1944,0,0,0,0,0,0
$GC,9877,0.60,226.5,399.6,12.8,657,9882,0.15,2.17,0.00,0.000,6,0.168,0.034,2496,2145,1943,0,0,0,0,0,0
$GC,10203,0.64,257.4,367.1,10.7,687,10237,0.00,2.20,24.35,0.721,4,0.000,0.044,2495,3526,1819,0,0,0,0,0,0
$GC,10298,0.64,257.4,354.8,13.9,695,10305,0.00,2.12,0.00,0.000,6,0.000,0.028,2504,2127,1820,0,0,0,0,0,0
$GC,10624,0.64,257.4,304.5,16.3,726,10625,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2127,1819,0,0,0,0,0,0
$GC,10944,0.66,274.5,263.6,11.2,756,10968,0.00,2.22,13.98,0.648,4,0.000,0.038,2514,713,1751,0,0,0,0,0,0
$GC,11059,0.78,365.0,253.2,8.5,766,11133,0.10,2.15,67.85,0.622,6,0.109,0.033,2559,2125,1382,0,0,0,0,0,0
$GC,11454,0.78,365.0,197.9,17.1,803,11462,0.00,2.22,0.00,0.000,4,0.000,0.044,2559,3530,1383,0,0,0,0,0,0
$GC,11496,0.78,365.0,190.0,19.0,810,11504,0.00,2.17,0.00,0.000,6,0.000,0.029,2569,2133,1383,0,0,0,0,0,0
$GC,11632,0.78,365.0,166.3,15.7,835,11641,0.00,2.17,0.00,0.000,4,0.000,0.038,2579,725,1383,0,0,0,0,0,0
$GC,11700,0.78,365.0,155.9,13.7,847,11708,0.00,2.17,0.00,0.000,6,0.000,0.033,2580,2123,1382,0,0,0,0,0,0
$GC,11837,0.78,365.0,138.2,13.6,872,11845,0.00,2.20,0.00,0.000,4,0.000,0.043,2580,3527,1383,0,0,0,0,0,0
$GC,11868,0.78,365.0,133.1,14.5,877,11877,0.10,2.17,0.00,0.000,6,0.143,0.030,2556,2122,1383,0,0,0,0,0,0
$GC,12005,0.81,391.6,117.5,10.8,902,12036,0.00,2.20,21.35,0.562,4,0.000,0.039,2564,716,1271,0,0,0,0,0,0
$GC,12164,0.91,472.9,102.5,8.8,930,12230,0.00,2.12,59.28,0.511,6,0.000,0.031,2565,2082,940,0,0,0,0,0,0
$GC,12359,1.06,598.8,86.9,7.2,963,12454,0.22,2.40,88.65,0.485,4,0.060,0.042,2666,3537,439,0,0,0,0,0,0
$GC,12499,1.06,598.8,65.2,15.8,984,12509,0.10,2.28,0.40,0.081,6,0.122,0.028,2643,2097,440,0,0,0,0,0,0
$GC,12637,1.10,625.4,48.8,10.8,1009,12646,0.00,2.17,0.03,0.317,4,0.000,0.039,2652,711,442,0,0,0,0,0,0
$GC,12675,1.15,670.8,44.9,10.1,1015,12684,0.00,2.17,1.42,0.075,6,0.000,0.030,2652,2107,444,0,0,0,0,0,0
$GC,12812,1.25,749.9,31.6,8.9,1040,12822,0.15,2.22,2.70,0.240,4,0.071,0.038,2731,3540,438,0,0,0,0,0,0
$GC,12881,1.25,749.9,20.6,17.9,1052,12890,0.10,2.17,0.00,0.000,6,0.138,0.028,2708,2131,439,0,0,0,0,0,0
$STATE,12999,end climb,SURFACE_DEPTH_REACHED
$STATE,12999,begin surface coast
$FINISH,0.0,1.009566
$STATE,13022,end surface coast,CONTROL_FINISHED_OK
$STATE,13022,begin surface
$SM_CCo,13099,0.00,0.000,0,0,440,596.08
$SM_GC,0.77,6.50,0.00,0.00,0.036,0.000,0.000,210,2655,440,-6.46,1.55,596.08,0,0,0,0,0,0
$IRIDIUM_FIX,1950.41,11950.95,040711,101059
$TT8_MAMPS,0.027713,0.027713
$HUMID,41.53
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,24.0,19.838
$10V_AH,10.1,20.713
$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,16.875,137.950,631.225,0.000,0.000,27.485,43.427,167.288,0.250,0.000,16.163,2573.868,7101.894,655.969,2845.523,286.866,0.000,1861.723,0.000,1933.264,0.000,0.542,0.000
$DEVICE_MAMPS,239.445,52.020,1100.835,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,750.823,1122.238,1266.171,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73628,1078
$CAP_FILE_SIZE,147351,0
$CFSIZE,260165632,239239168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040711,183207,1954.174,11948.148,31,1.0,32,-2.2