version: 66.09
glider: 181
mission: 6
dive: 128
start: 7 4 111 18 38 32
data:
$ID,181
$MISSION,6
$DIVE,128
$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,-40643.758
$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,41
$R_STBD_OVSHOOT,79
$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
$GPS1,040711,183207,1954.174,11948.148,31,1.0,32,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-65.9
$GPS2,040711,183807,1954.269,11948.133,10,1.4,15,-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,170.5,102632,-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,-71.18,0.000,2,0.000,0.000,199,2656,2428,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.1,-3.6,10,137,7.80,2.22,-26.98,0.000,4,0.236,0.040,2103,1185,3765,0,0,0,0,0,0
$GC,191,-0.60,-219.0,38.2,-28.9,26,199,0.00,2.15,0.00,0.000,6,0.000,0.040,2095,2545,3766,0,0,0,0,0,0
$GC,325,-0.60,-219.0,89.3,-38.8,51,333,0.00,1.85,0.00,0.000,4,0.000,0.044,2085,3733,3766,0,0,0,0,0,0
$GC,392,-0.60,-219.0,113.2,-31.5,63,400,0.00,1.65,0.00,0.000,6,0.000,0.024,2085,2628,3767,0,0,0,0,0,0
$GC,527,-0.60,-219.0,150.9,-33.4,88,535,0.00,1.75,0.00,0.000,4,0.000,0.044,2077,3735,3766,0,0,0,0,0,0
$GC,576,-0.60,-219.0,166.8,-34.0,96,585,0.10,1.55,0.00,0.000,6,0.164,0.024,2106,2687,3768,0,0,0,0,0,0
$GC,712,-0.60,-219.0,198.9,-24.0,121,720,0.00,2.20,0.00,0.000,4,0.000,0.027,2106,1202,3770,0,0,0,0,0,0
$GC,742,-0.60,-219.0,207.0,-23.4,124,750,0.00,2.25,0.00,0.000,6,0.000,0.040,2097,2642,3770,0,0,0,0,0,0
$GC,1069,-0.60,-219.0,279.8,-23.5,155,1072,0.00,1.73,0.00,0.000,4,0.000,0.044,2088,3789,3770,0,0,0,0,0,0
$GC,1161,-0.60,-219.0,301.1,-18.4,163,1169,0.00,1.60,0.00,0.000,6,0.000,0.024,2089,2714,3770,0,0,0,0,0,0
$GC,1487,-0.60,-219.0,368.9,-18.3,194,1491,0.00,2.20,0.00,0.000,4,0.000,0.028,2088,1202,3769,0,0,0,0,0,0
$GC,1542,-0.60,-219.0,377.9,-14.0,198,1550,0.12,2.35,0.00,0.000,6,0.165,0.038,2112,2737,3768,0,0,0,0,0,0
$GC,1868,-0.60,-219.0,424.9,-15.4,229,1871,0.00,1.60,0.00,0.000,4,0.000,0.047,2111,3773,3766,0,0,0,0,0,0
$GC,1917,-0.60,-219.0,432.8,-14.3,233,1924,0.00,1.55,0.00,0.000,6,0.000,0.025,2111,2728,3765,0,0,0,0,0,0
$GC,2243,-0.60,-219.0,485.6,-17.0,264,2247,0.00,2.25,0.00,0.000,4,0.000,0.031,2111,1200,3761,0,0,0,0,0,0
$GC,2299,-0.60,-219.0,494.9,-15.2,269,2304,0.00,2.33,0.00,0.000,6,0.000,0.040,2111,2717,3761,0,0,0,0,0,0
$GC,2627,-0.60,-219.0,548.2,-15.7,286,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2717,3757,0,0,0,0,0,0
$GC,2936,-0.60,-219.0,594.2,-14.5,301,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2717,3753,0,0,0,0,0,0
$GC,3245,-0.60,-219.0,637.0,-13.8,316,3249,0.00,2.28,0.00,0.000,4,0.000,0.032,2111,1205,3749,0,0,0,0,0,0
$GC,3300,-0.60,-219.0,643.9,-11.2,318,3304,0.00,2.33,0.00,0.000,6,0.000,0.041,2111,2711,3749,0,0,0,0,0,0
$GC,3616,-0.60,-219.0,683.7,-12.8,333,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2712,3746,0,0,0,0,0,0
$GC,3925,-0.60,-219.0,722.7,-12.8,348,3929,0.00,2.25,0.00,0.000,4,0.000,0.033,2111,1207,3744,0,0,0,0,0,0
$GC,3966,-0.60,-219.0,727.4,-11.5,350,3970,0.00,2.33,0.00,0.000,6,0.000,0.041,2111,2710,3743,0,0,0,0,0,0
$GC,4293,-0.60,-219.0,762.5,-11.1,366,4297,0.00,2.28,0.00,0.000,4,0.000,0.034,2111,1199,3740,0,0,0,0,0,0
$GC,4314,-0.60,-219.0,765.0,-10.9,367,4318,0.00,2.33,0.00,0.000,6,0.000,0.043,2111,2697,3740,0,0,0,0,0,0
$GC,4642,-0.60,-219.0,799.8,-11.3,383,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2696,3737,0,0,0,0,0,0
$GC,4951,-0.60,-219.0,836.8,-12.8,398,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2697,3734,0,0,0,0,0,0
$GC,5260,-0.60,-219.0,878.0,-13.2,413,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2697,3732,0,0,0,0,0,0
$GC,5570,-0.60,-219.0,916.6,-12.3,428,5574,0.00,2.25,0.00,0.000,4,0.000,0.036,2111,1208,3729,0,0,0,0,0,0
$GC,5632,-0.60,-219.0,924.1,-11.1,431,5636,0.00,2.30,0.00,0.000,6,0.000,0.042,2111,2689,3729,0,0,0,0,0,0
$GC,5965,-0.60,-219.0,962.4,-11.4,447,5969,0.00,2.25,0.00,0.000,4,0.000,0.036,2111,1207,3727,0,0,0,0,0,0
$GC,6009,-0.60,-219.0,967.7,-10.6,449,6014,0.00,2.30,0.00,0.000,6,0.000,0.043,2111,2686,3727,0,0,0,0,0,0
$STATE,6226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6226,begin apogee
$GC,6232,-0.16,0.0,990.5,10.5,460,6405,0.40,0.00,167.77,1.102,4,0.126,0.000,2242,2113,2869,0,0,0,0,0,0
$STATE,6406,end apogee,CONTROL_FINISHED_OK
$STATE,6406,begin climb
$GC,6408,0.60,219.0,998.7,0.0,468,6594,0.73,2.28,177.50,1.070,4,0.068,0.041,2495,728,1977,0,0,0,0,0,0
$GC,6734,0.60,219.0,968.2,12.8,483,6742,0.00,2.22,0.00,0.000,6,0.000,0.036,2495,2123,1975,0,0,0,0,0,0
$GC,7050,0.60,219.0,922.7,14.6,499,7054,0.00,2.17,0.00,0.000,4,0.000,0.038,2504,732,1973,0,0,0,0,0,0
$GC,7240,0.60,219.0,894.5,14.2,507,7245,0.00,2.22,0.00,0.000,6,0.000,0.036,2504,2135,1973,0,0,0,0,0,0
$GC,7562,0.60,219.0,847.0,14.8,523,7566,0.00,2.17,0.00,0.000,4,0.000,0.045,2504,3538,1971,0,0,0,0,0,0
$GC,7639,0.60,219.0,834.1,16.1,526,7646,0.00,2.15,0.00,0.000,6,0.000,0.030,2514,2148,1970,0,0,0,0,0,0
$GC,7956,0.60,219.0,782.5,15.8,542,7960,0.00,2.17,0.00,0.000,4,0.000,0.040,2525,712,1969,0,0,0,0,0,0
$GC,8041,0.60,219.0,769.5,15.0,546,8045,0.00,2.17,0.00,0.000,6,0.000,0.036,2524,2133,1969,0,0,0,0,0,0
$GC,8368,0.60,219.0,716.8,16.3,562,8370,0.12,0.00,0.00,0.000,6,0.180,0.000,2494,2133,1969,0,0,0,0,0,0
$GC,8677,0.60,219.0,676.6,12.6,577,8678,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2133,1968,0,0,0,0,0,0
$GC,8986,0.60,219.0,638.6,12.0,592,8990,0.00,2.15,0.00,0.000,4,0.000,0.045,2494,3536,1967,0,0,0,0,0,0
$GC,9053,0.60,219.0,629.7,13.1,595,9057,0.00,2.17,0.00,0.000,6,0.000,0.031,2502,2106,1967,0,0,0,0,0,0
$GC,9380,0.60,219.0,587.8,12.9,611,9384,0.00,2.10,0.00,0.000,4,0.000,0.041,2512,718,1967,0,0,0,0,0,0
$GC,9435,0.60,219.0,580.5,13.1,613,9442,0.00,2.15,0.00,0.000,6,0.000,0.034,2513,2136,1967,0,0,0,0,0,0
$GC,9751,0.60,219.0,539.0,12.4,629,9755,0.00,2.17,0.00,0.000,4,0.000,0.047,2513,3538,1966,0,0,0,0,0,0
$GC,9784,0.60,219.0,534.5,13.0,630,9788,0.00,2.15,0.00,0.000,6,0.000,0.029,2522,2134,1966,0,0,0,0,0,0
$GC,10108,0.60,221.3,494.2,11.7,648,10112,0.00,2.12,0.00,0.000,4,0.000,0.040,2529,716,1966,0,0,0,0,0,0
$GC,10192,0.60,221.3,483.8,12.4,655,10197,0.15,2.15,0.00,0.000,6,0.167,0.035,2494,2133,1966,0,0,0,0,0,0
$GC,10518,0.60,221.3,449.0,11.8,685,10522,0.00,2.15,0.00,0.000,4,0.000,0.045,2494,3540,1966,0,0,0,0,0,0
$GC,10569,0.60,221.3,442.8,12.4,689,10573,0.00,2.10,0.00,0.000,6,0.000,0.030,2502,2135,1965,0,0,0,0,0,0
$GC,10894,0.60,221.3,401.8,12.4,719,10898,0.00,2.12,0.00,0.000,4,0.000,0.039,2512,722,1964,0,0,0,0,0,0
$GC,10966,0.60,221.3,392.6,12.2,725,10974,0.00,2.17,0.00,0.000,6,0.000,0.035,2512,2126,1965,0,0,0,0,0,0
$GC,11293,0.60,221.3,352.6,12.2,756,11296,0.00,2.15,0.00,0.000,4,0.000,0.044,2512,3542,1969,0,0,0,0,0,0
$GC,11370,0.60,221.3,342.2,13.3,762,11377,0.00,2.10,0.00,0.000,6,0.000,0.029,2522,2139,1965,0,0,0,0,0,0
$GC,11696,0.63,250.5,304.0,10.7,793,11729,0.00,2.25,23.40,0.682,4,0.000,0.040,2532,712,1847,0,0,0,0,0,0
$GC,11863,0.63,250.5,285.3,11.9,808,11867,0.00,2.12,0.00,0.000,6,0.000,0.035,2532,2106,1848,0,0,0,0,0,0
$GC,12188,0.63,250.5,241.9,13.6,838,12192,0.00,2.12,0.00,0.000,4,0.000,0.037,2542,714,1848,0,0,0,0,0,0
$GC,12225,0.63,250.5,236.6,13.4,841,12233,0.08,2.15,0.00,0.000,6,0.147,0.034,2510,2099,1848,0,0,0,0,0,0
$GC,12552,0.70,303.4,199.8,9.9,872,12596,0.00,0.00,39.75,0.604,6,0.000,0.000,2509,2099,1633,0,0,0,0,0,0
$GC,12724,0.83,406.4,185.5,8.0,902,12804,0.17,0.00,76.65,0.564,6,0.077,0.000,2581,2100,1211,0,0,0,0,0,0
$GC,12931,0.83,406.4,158.3,11.9,937,12939,0.00,2.30,0.00,0.000,4,0.000,0.044,2581,3533,1214,0,0,0,0,0,0
$GC,12973,0.83,406.4,152.8,13.0,944,12982,0.00,2.25,0.00,0.000,6,0.000,0.028,2591,2097,1215,0,0,0,0,0,0
$GC,13111,0.83,406.4,135.9,13.7,969,13119,0.00,2.12,0.00,0.000,4,0.000,0.038,2602,731,1215,0,0,0,0,0,0
$GC,13137,0.83,406.4,132.1,13.2,973,13146,0.10,2.15,0.00,0.000,6,0.126,0.034,2569,2093,1215,0,0,0,0,0,0
$GC,13275,0.87,438.6,116.5,10.6,998,13307,0.00,2.30,25.45,0.551,4,0.000,0.043,2569,3542,1080,0,0,0,0,0,0
$GC,13414,0.99,542.3,104.0,8.0,1022,13501,0.10,2.17,75.15,0.501,6,0.050,0.028,2638,2140,657,0,0,0,0,0,0
$GC,13629,0.99,542.3,74.0,15.9,1058,13637,0.00,2.22,0.00,0.000,4,0.000,0.037,2649,716,655,0,0,0,0,0,0
$GC,13681,0.99,542.3,66.1,14.7,1067,13689,0.00,2.17,0.00,0.000,6,0.000,0.032,2649,2099,655,0,0,0,0,0,0
$GC,13818,1.03,570.3,48.7,10.8,1092,13849,0.00,2.28,21.67,0.518,4,0.000,0.041,2649,3523,542,0,0,0,0,0,0
$GC,13931,1.14,665.7,38.2,8.3,1111,13962,0.00,2.15,19.80,0.480,6,0.000,0.028,2658,2137,439,0,0,0,0,0,0
$GC,14090,1.33,815.7,27.9,6.3,1139,14100,0.20,2.20,0.05,0.252,4,0.060,0.036,2763,723,441,0,0,0,0,0,0
$GC,14155,1.33,815.7,19.5,14.8,1150,14164,0.10,2.17,0.62,0.077,6,0.138,0.031,2731,2123,442,0,0,0,0,0,0
$STATE,14260,end climb,SURFACE_DEPTH_REACHED
$STATE,14260,begin surface coast
$FINISH,0.1,1.016026
$STATE,14278,end surface coast,CONTROL_FINISHED_OK
$STATE,14278,begin surface
$SM_CCo,14355,0.00,0.000,0,0,442,595.34
$SM_GC,0.91,6.55,0.00,0.00,0.036,0.000,0.000,205,2664,442,-6.45,1.81,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,1948.12,12035.02,040711,141400
$TT8_MAMPS,0.027713,0.027713
$HUMID,40.35
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.0,19.999
$10V_AH,10.1,20.845
$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,16.725,138.375,627.825,0.000,0.000,27.838,38.567,159.381,0.000,0.000,17.574,2772.434,7996.607,654.768,2990.136,293.435,0.000,1923.026,0.000,2046.450,0.000,0.540,0.000
$DEVICE_MAMPS,236.385,46.665,1101.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,816.176,1214.086,1338.543,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322696
$DATA_FILE_SIZE,80273,1172
$CAP_FILE_SIZE,153199,0
$CFSIZE,260165632,239140864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040711,223906,1952.975,11947.828,36,0.9,42,-2.2