version: 66.09
glider: 181
mission: 6
dive: 121
start: 7 3 111 15 51 53
data:
$ID,181
$MISSION,6
$DIVE,121
$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,-40604.402
$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,52
$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
$GPS1,030711,154522,1956.976,11949.496,6,3.6,26,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-68.9
$GPS2,030711,155128,1957.103,11949.507,15,3.8,34,-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,172.3,107339,-16.3,-11.786
$D_GRID,3514
$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,-71.18,0.000,2,0.000,0.000,204,2618,2420,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.1,-3.3,10,137,7.75,2.20,-27.40,0.000,4,0.236,0.042,2102,1186,3765,0,0,0,0,0,0
$GC,218,-0.60,-219.0,47.5,-26.8,31,226,0.00,2.22,0.00,0.000,6,0.000,0.044,2093,2576,3766,0,0,0,0,0,0
$GC,352,-0.60,-219.0,93.6,-36.0,56,360,0.00,1.90,0.00,0.000,4,0.000,0.047,2084,3781,3767,0,0,0,0,0,0
$GC,414,-0.60,-219.0,115.9,-36.6,67,422,0.00,1.80,0.00,0.000,6,0.000,0.025,2084,2573,3768,0,0,0,0,0,0
$GC,549,-0.60,-219.0,160.6,-34.2,92,557,0.00,1.92,0.00,0.000,4,0.000,0.044,2074,3789,3769,0,0,0,0,0,0
$GC,602,-0.60,-219.0,178.5,-32.2,101,610,0.10,1.75,0.00,0.000,6,0.163,0.025,2107,2616,3770,0,0,0,0,0,0
$GC,742,-0.60,-219.0,214.9,-27.0,122,746,0.00,2.05,0.00,0.000,4,0.000,0.027,2106,1199,3770,0,0,0,0,0,0
$GC,778,-0.60,-219.0,224.5,-23.4,125,786,0.00,2.20,0.00,0.000,6,0.000,0.036,2097,2642,3770,0,0,0,0,0,0
$GC,1104,-0.60,-219.0,300.2,-20.1,156,1108,0.00,1.70,0.00,0.000,4,0.000,0.044,2089,3777,3771,0,0,0,0,0,0
$GC,1150,-0.60,-219.0,309.0,-19.0,160,1153,0.00,1.67,0.00,0.000,6,0.000,0.025,2089,2613,3771,0,0,0,0,0,0
$GC,1481,-0.60,-219.0,383.1,-24.1,191,1484,0.00,1.80,0.00,0.000,4,0.000,0.044,2080,3790,3770,0,0,0,0,0,0
$GC,1549,-0.60,-219.0,397.3,-18.7,197,1553,0.00,1.65,0.00,0.000,6,0.000,0.026,2079,2646,3769,0,0,0,0,0,0
$GC,1879,-0.60,-219.0,468.8,-21.9,228,1883,0.00,2.12,0.00,0.000,4,0.000,0.031,2078,1197,3767,0,0,0,0,0,0
$GC,1930,-0.60,-219.0,478.6,-17.2,232,1935,0.15,2.22,0.00,0.000,6,0.161,0.039,2110,2650,3765,0,0,0,0,0,0
$GC,2257,-0.60,-219.0,532.3,-16.8,254,2258,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2650,3761,0,0,0,0,0,0
$GC,2564,-0.60,-219.0,580.0,-14.8,269,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2650,3757,0,0,0,0,0,0
$GC,2874,-0.60,-219.0,626.7,-14.9,284,2877,0.00,1.73,0.00,0.000,4,0.000,0.050,2110,3777,3753,0,0,0,0,0,0
$GC,2924,-0.60,-219.0,633.6,-12.8,286,2927,0.00,1.70,0.00,0.000,6,0.000,0.028,2110,2612,3753,0,0,0,0,0,0
$GC,3251,-0.60,-219.0,677.6,-13.7,302,3255,0.00,2.08,0.00,0.000,4,0.000,0.034,2111,1204,3749,0,0,0,0,0,0
$GC,3295,-0.60,-219.0,683.4,-12.5,304,3299,0.00,2.20,0.00,0.000,6,0.000,0.041,2110,2637,3749,0,0,0,0,0,0
$GC,3623,-0.60,-219.0,725.5,-13.0,320,3626,0.00,1.75,0.00,0.000,4,0.000,0.050,2110,3779,3746,0,0,0,0,0,0
$GC,3655,-0.60,-219.0,729.9,-12.6,321,3659,0.00,1.73,0.00,0.000,6,0.000,0.028,2110,2637,3745,0,0,0,0,0,0
$GC,3978,-0.60,-219.0,767.5,-11.2,337,3982,0.00,2.12,0.00,0.000,4,0.000,0.033,2111,1199,3742,0,0,0,0,0,0
$GC,4057,-0.60,-219.0,776.0,-9.3,340,4061,0.00,2.17,0.00,0.000,6,0.000,0.040,2110,2618,3742,0,0,0,0,0,0
$GC,4373,-0.60,-219.0,810.4,-11.1,355,4377,0.00,1.83,0.00,0.000,4,0.000,0.050,2103,3780,3739,0,0,0,0,0,0
$GC,4400,-0.60,-219.0,813.5,-10.8,356,4404,0.00,1.73,0.00,0.000,6,0.000,0.029,2101,2604,3738,0,0,0,0,0,0
$GC,4727,-0.60,-219.0,853.1,-12.9,372,4731,0.00,2.10,0.00,0.000,4,0.000,0.034,2101,1202,3736,0,0,0,0,0,0
$GC,4833,-0.60,-219.0,865.6,-11.3,376,4840,0.00,2.17,0.00,0.000,6,0.000,0.041,2098,2602,3733,0,0,0,0,0,0
$GC,5150,-0.60,-219.0,907.9,-13.4,392,5154,0.00,1.85,0.00,0.000,4,0.000,0.051,2089,3779,3732,0,0,0,0,0,0
$GC,5177,-0.60,-219.0,911.9,-13.5,393,5181,0.00,1.77,0.00,0.000,6,0.000,0.028,2089,2600,3733,0,0,0,0,0,0
$GC,5505,-0.60,-219.0,958.2,-14.6,409,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2597,3730,0,0,0,0,0,0
$STATE,5729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5729,begin apogee
$GC,5735,-0.16,0.0,990.3,14.2,420,5908,0.47,0.00,167.82,1.105,4,0.135,0.000,2242,2111,2869,0,0,0,0,0,0
$STATE,5909,end apogee,CONTROL_FINISHED_OK
$STATE,5909,begin climb
$GC,5912,0.60,219.0,999.3,0.0,428,6097,0.73,2.22,177.18,1.074,4,0.065,0.038,2497,739,1978,0,0,0,0,0,0
$GC,6231,0.60,219.0,969.4,13.6,443,6236,0.00,2.20,0.00,0.000,6,0.000,0.035,2497,2127,1976,0,0,0,0,0,0
$GC,6553,0.60,219.0,921.6,14.9,459,6557,0.00,2.22,0.00,0.000,4,0.000,0.046,2497,3544,1973,0,0,0,0,0,0
$GC,6775,0.60,219.0,885.3,16.2,469,6780,0.00,2.17,0.00,0.000,6,0.000,0.028,2506,2144,1970,0,0,0,0,0,0
$GC,7103,0.60,219.0,836.0,15.0,485,7107,0.00,2.15,0.00,0.000,4,0.000,0.037,2517,720,1969,0,0,0,0,0,0
$GC,7180,0.60,219.0,824.2,15.0,488,7188,0.00,2.15,0.00,0.000,6,0.000,0.036,2517,2118,1970,0,0,0,0,0,0
$GC,7496,0.60,219.0,771.9,17.2,504,7500,0.00,2.20,0.00,0.000,4,0.000,0.045,2517,3541,1968,0,0,0,0,0,0
$GC,7514,0.60,219.0,768.8,17.5,505,7519,0.12,2.17,0.00,0.000,6,0.197,0.028,2498,2103,1968,0,0,0,0,0,0
$GC,7841,0.60,219.0,717.5,15.3,521,7845,0.00,2.10,0.00,0.000,4,0.000,0.037,2507,708,1967,0,0,0,0,0,0
$GC,7908,0.60,219.0,707.6,14.1,524,7912,0.00,2.17,0.00,0.000,6,0.000,0.036,2507,2130,1967,0,0,0,0,0,0
$GC,8236,0.60,219.0,668.0,12.0,540,8240,0.00,2.15,0.00,0.000,4,0.000,0.044,2507,3537,1966,0,0,0,0,0,0
$GC,8307,0.60,219.0,658.3,13.4,543,8312,0.00,2.17,0.00,0.000,6,0.000,0.029,2517,2092,1966,0,0,0,0,0,0
$GC,8630,0.60,219.0,619.4,12.1,559,8634,0.00,2.08,0.00,0.000,4,0.000,0.040,2527,713,1966,0,0,0,0,0,0
$GC,8679,0.60,219.0,612.9,12.8,561,8684,0.10,2.17,0.00,0.000,6,0.160,0.034,2496,2115,1966,0,0,0,0,0,0
$GC,9001,0.60,219.0,574.3,12.8,577,9002,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2115,1965,0,0,0,0,0,0
$GC,9310,0.60,219.0,530.9,14.1,592,9314,0.00,2.12,0.00,0.000,4,0.000,0.039,2505,715,1965,0,0,0,0,0,0
$GC,9349,0.60,219.0,525.1,14.8,594,9353,0.00,2.12,0.00,0.000,6,0.000,0.034,2505,2117,1965,0,0,0,0,0,0
$GC,9672,0.60,219.0,479.9,13.0,616,9676,0.00,2.17,0.00,0.000,4,0.000,0.044,2501,3535,1964,0,0,0,0,0,0
$GC,9706,0.60,219.0,475.0,14.3,619,9710,0.00,2.15,0.00,0.000,6,0.000,0.029,2515,2101,1964,0,0,0,0,0,0
$GC,10037,0.68,284.7,438.0,9.4,650,10093,0.00,2.17,48.83,0.770,4,0.000,0.037,2525,716,1709,0,0,0,0,0,0
$GC,10206,0.75,345.4,421.8,9.6,665,10262,0.00,2.15,47.60,0.731,6,0.000,0.034,2525,2107,1461,0,0,0,0,0,0
$GC,10580,0.89,455.5,394.2,7.8,700,10673,0.17,2.30,83.68,0.715,4,0.089,0.037,2604,720,1011,0,0,0,0,0,0
$GC,10706,0.89,455.5,376.9,16.5,711,10714,0.00,2.22,0.00,0.000,6,0.000,0.036,2604,2081,1012,0,0,0,0,0,0
$GC,11032,0.89,455.5,326.4,16.6,742,11036,0.00,2.30,0.00,0.000,4,0.000,0.045,2604,3546,1013,0,0,0,0,0,0
$GC,11084,0.89,455.5,316.7,18.8,746,11088,0.00,2.22,0.00,0.000,6,0.000,0.029,2614,2099,1013,0,0,0,0,0,0
$GC,11409,0.89,455.5,241.8,23.5,776,11410,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2098,1012,0,0,0,0,0,0
$GC,11726,0.89,455.5,176.3,18.0,818,11734,0.00,2.30,0.00,0.000,4,0.000,0.045,2615,3539,1011,0,0,0,0,0,0
$GC,11742,0.89,455.5,173.3,18.2,820,11751,0.10,2.20,0.00,0.000,6,0.152,0.028,2593,2113,1011,0,0,0,0,0,0
$GC,11878,0.89,455.5,153.3,12.8,845,11886,0.00,2.15,0.00,0.000,4,0.000,0.038,2602,717,1011,0,0,0,0,0,0
$GC,11907,0.89,455.5,149.9,12.8,849,11915,0.00,2.22,0.00,0.000,6,0.000,0.034,2602,2145,1011,0,0,0,0,0,0
$GC,12044,0.89,455.5,130.7,15.4,874,12052,0.00,2.17,0.00,0.000,4,0.000,0.045,2603,3530,1011,0,0,0,0,0,0
$GC,12076,0.89,455.5,125.3,15.5,879,12084,0.08,2.12,0.00,0.000,6,0.148,0.028,2587,2149,1012,0,0,0,0,0,0
$GC,12212,0.91,471.5,109.0,11.2,904,12235,0.00,2.22,13.05,0.577,4,0.000,0.037,2597,717,947,0,0,0,0,0,0
$GC,12255,0.96,517.3,104.6,10.1,910,12299,0.00,2.20,34.17,0.522,6,0.000,0.033,2597,2131,759,0,0,0,0,0,0
$GC,12427,1.10,631.2,89.6,7.7,940,12493,0.17,2.25,57.08,0.500,4,0.071,0.042,2678,3538,440,0,0,0,0,0,0
$GC,12580,1.10,631.2,65.3,14.2,965,12589,0.10,2.15,0.45,0.083,6,0.135,0.027,2655,2168,442,0,0,0,0,0,0
$GC,12717,1.23,735.4,52.2,8.0,990,12727,0.12,2.22,2.65,0.243,4,0.085,0.037,2729,717,439,0,0,0,0,0,0
$GC,12761,1.23,735.4,47.0,11.9,997,12770,0.08,2.33,0.00,0.000,6,0.132,0.034,2703,2196,439,0,0,0,0,0,0
$GC,12898,1.23,735.4,27.5,13.6,1022,12905,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2197,440,0,0,0,0,0,0
$GC,13030,1.23,735.4,10.1,12.7,1047,13038,0.00,0.00,0.12,0.155,6,0.000,0.000,2702,2196,441,0,0,0,0,0,0
$STATE,13085,end climb,SURFACE_DEPTH_REACHED
$STATE,13085,begin surface coast
$FINISH,-0.0,1.020853
$STATE,13108,end surface coast,CONTROL_FINISHED_OK
$STATE,13108,begin surface
$SM_CCo,13185,0.00,0.000,0,0,442,595.34
$SM_GC,0.87,6.47,0.00,0.00,0.037,0.000,0.000,212,2642,442,-6.45,1.19,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,1950.41,11954.93,030711,121213
$TT8_MAMPS,0.027713,0.027713
$HUMID,42.12
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.0,18.852
$10V_AH,10.1,19.941
$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,16.725,134.300,632.625,0.000,0.000,30.313,16.582,164.443,0.000,0.000,38.469,2538.381,7281.699,658.408,2780.876,285.741,0.000,1841.644,0.000,1913.312,0.000,0.540,0.000
$DEVICE_MAMPS,236.385,51.255,1105.425,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,739.671,1100.697,1179.659,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322712
$DATA_FILE_SIZE,73860,1061
$CAP_FILE_SIZE,146139,0
$CFSIZE,260165632,239734784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030711,193255,1956.170,11949.700,39,1.8,40,-2.2