version: 66.09
glider: 181
mission: 6
dive: 120
start: 7 3 111 12 13 21
data:
$ID,181
$MISSION,6
$DIVE,120
$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,-40603.145
$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,44
$R_STBD_OVSHOOT,36
$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
$GPS1,030711,120725,1957.288,11949.677,40,1.0,41,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-70.1
$GPS2,030711,121256,1957.457,11949.646,12,1.2,12,-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,172.5,107944,-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,-71.18,0.000,2,0.000,0.000,208,2616,2448,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.4,-3.9,10,137,7.78,2.17,-26.05,0.000,4,0.238,0.043,2103,1185,3765,0,0,0,0,0,0
$GC,218,-0.60,-219.0,48.3,-28.9,31,226,0.00,2.25,0.00,0.000,6,0.000,0.045,2094,2590,3766,0,0,0,0,0,0
$GC,352,-0.60,-219.0,96.7,-32.6,56,360,0.00,1.88,0.00,0.000,4,0.000,0.045,2085,3784,3766,0,0,0,0,0,0
$GC,388,-0.60,-219.0,110.1,-37.1,62,397,0.00,1.83,0.00,0.000,6,0.000,0.025,2084,2561,3767,0,0,0,0,0,0
$GC,524,-0.60,-219.0,153.6,-31.0,87,532,0.00,1.92,0.00,0.000,4,0.000,0.041,2075,3789,3769,0,0,0,0,0,0
$GC,540,-0.60,-219.0,159.3,-31.7,89,549,0.10,1.77,0.00,0.000,6,0.197,0.026,2104,2594,3769,0,0,0,0,0,0
$GC,678,-0.60,-219.0,199.4,-27.9,114,686,0.00,2.05,0.00,0.000,4,0.000,0.028,2104,1212,3770,0,0,0,0,0,0
$GC,697,-0.60,-219.0,205.7,-25.9,116,706,0.00,2.15,0.00,0.000,6,0.000,0.037,2096,2593,3770,0,0,0,0,0,0
$GC,1025,-0.60,-219.0,268.4,-17.7,147,1028,0.00,1.80,0.00,0.000,4,0.000,0.043,2087,3790,3771,0,0,0,0,0,0
$GC,1085,-0.60,-219.0,279.7,-16.5,152,1093,0.00,1.77,0.00,0.000,6,0.000,0.025,2086,2592,3771,0,0,0,0,0,0
$GC,1411,-0.60,-219.0,349.7,-23.2,183,1414,0.00,1.83,0.00,0.000,4,0.000,0.044,2078,3783,3770,0,0,0,0,0,0
$GC,1513,-0.60,-219.0,369.8,-18.2,192,1517,0.08,1.73,0.00,0.000,6,0.146,0.026,2104,2619,3769,0,0,0,0,0,0
$GC,1843,-0.60,-219.0,436.7,-20.8,223,1847,0.00,2.08,0.00,0.000,4,0.000,0.031,2104,1202,3765,0,0,0,0,0,0
$GC,1864,-0.60,-219.0,441.5,-20.4,224,1872,0.00,2.20,0.00,0.000,6,0.000,0.040,2096,2634,3765,0,0,0,0,0,0
$GC,2200,-0.60,-219.0,504.6,-18.0,255,2204,0.00,2.12,0.00,0.000,4,0.000,0.032,2096,1204,3761,0,0,0,0,0,0
$GC,2241,-0.60,-219.0,511.7,-16.8,257,2245,0.00,2.15,0.00,0.000,6,0.000,0.041,2087,2606,3761,0,0,0,0,0,0
$GC,2568,-0.60,-219.0,575.6,-20.1,273,2572,0.00,1.80,0.00,0.000,4,0.000,0.049,2078,3790,3756,0,0,0,0,0,0
$GC,2618,-0.60,-219.0,585.7,-18.9,275,2623,0.12,1.70,0.00,0.000,6,0.162,0.028,2111,2617,3756,0,0,0,0,0,0
$GC,2945,-0.60,-219.0,644.2,-17.9,291,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2613,3753,0,0,0,0,0,0
$GC,3254,-0.60,-219.0,699.1,-17.1,306,3258,0.00,2.10,0.00,0.000,4,0.000,0.035,2111,1201,3749,0,0,0,0,0,0
$GC,3281,-0.60,-219.0,703.5,-15.6,307,3285,0.00,2.17,0.00,0.000,6,0.000,0.042,2111,2622,3749,0,0,0,0,0,0
$GC,3602,-0.60,-219.0,749.1,-14.3,323,3606,0.00,1.77,0.00,0.000,4,0.000,0.052,2111,3780,3745,0,0,0,0,0,0
$GC,3637,-0.60,-219.0,753.5,-12.8,324,3640,0.00,1.67,0.00,0.000,6,0.000,0.031,2111,2639,3745,0,0,0,0,0,0
$GC,3959,-0.60,-219.0,791.5,-12.7,340,3963,0.00,2.12,0.00,0.000,4,0.000,0.036,2111,1205,3741,0,0,0,0,0,0
$GC,4008,-0.60,-219.0,798.0,-12.0,342,4012,0.00,2.20,0.00,0.000,6,0.000,0.042,2111,2628,3742,0,0,0,0,0,0
$GC,4331,-0.60,-219.0,836.5,-12.0,358,4334,0.00,1.77,0.00,0.000,4,0.000,0.053,2110,3780,3738,0,0,0,0,0,0
$GC,4369,-0.60,-219.0,841.3,-11.5,359,4376,0.00,1.75,0.00,0.000,6,0.000,0.030,2111,2628,3738,0,0,0,0,0,0
$GC,4686,-0.60,-219.0,877.4,-11.5,375,4690,0.00,2.12,0.00,0.000,4,0.000,0.037,2110,1201,3735,0,0,0,0,0,0
$GC,4786,-0.60,-219.0,887.6,-9.4,379,4793,0.00,2.17,0.00,0.000,6,0.000,0.043,2111,2611,3734,0,0,0,0,0,0
$GC,5103,-0.60,-219.0,920.4,-11.0,395,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2611,3733,0,0,0,0,0,0
$GC,5412,-0.60,-219.0,954.9,-10.8,410,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2611,3730,0,0,0,0,0,0
$GC,5721,-0.60,-219.0,986.9,-10.5,425,5725,0.00,1.85,0.00,0.000,4,0.000,0.054,2111,3775,3728,0,0,0,0,0,0
$GC,5745,-0.60,-219.0,989.2,-10.3,426,5749,0.00,1.75,0.00,0.000,6,0.000,0.031,2110,2596,3728,0,0,0,0,0,0
$STATE,5753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5753,begin apogee
$GC,5760,-0.16,0.0,990.3,10.5,426,5934,0.40,0.00,167.85,1.105,4,0.123,0.000,2244,2119,2869,0,0,0,0,0,0
$STATE,5934,end apogee,CONTROL_FINISHED_OK
$STATE,5935,begin climb
$GC,5937,0.60,219.0,997.5,0.0,434,6125,0.73,2.28,177.82,1.070,4,0.063,0.042,2500,733,1975,0,0,0,0,0,0
$GC,6293,0.60,219.0,958.0,14.7,451,6297,0.00,2.22,0.00,0.000,6,0.000,0.036,2500,2137,1974,0,0,0,0,0,0
$GC,6621,0.60,219.0,905.8,16.8,467,6625,0.00,2.22,0.00,0.000,4,0.000,0.047,2500,3540,1974,0,0,0,0,0,0
$GC,6630,0.60,219.0,903.9,16.8,467,6635,0.00,2.20,0.00,0.000,6,0.000,0.029,2510,2134,1970,0,0,0,0,0,0
$GC,6952,0.60,219.0,846.3,19.0,483,6956,0.00,2.22,0.00,0.000,4,0.000,0.047,2510,3546,1969,0,0,0,0,0,0
$GC,7136,0.60,219.0,808.8,19.6,491,7140,0.00,2.22,0.00,0.000,6,0.000,0.031,2520,2085,1968,0,0,0,0,0,0
$GC,7458,0.60,219.0,749.6,19.0,507,7462,0.00,2.10,0.00,0.000,4,0.000,0.041,2530,715,1970,0,0,0,0,0,0
$GC,7496,0.60,219.0,741.7,19.4,508,7505,0.10,2.20,0.00,0.000,6,0.155,0.036,2500,2118,1966,0,0,0,0,0,0
$GC,7813,0.60,219.0,691.0,15.7,524,7817,0.00,2.20,0.00,0.000,4,0.000,0.047,2500,3541,1966,0,0,0,0,0,0
$GC,7835,0.60,219.0,687.2,16.0,525,7839,0.00,2.20,0.00,0.000,6,0.000,0.031,2508,2123,1965,0,0,0,0,0,0
$GC,8162,0.60,219.0,635.7,15.4,541,8166,0.00,2.12,0.00,0.000,4,0.000,0.040,2519,710,1965,0,0,0,0,0,0
$GC,8234,0.60,219.0,624.5,14.4,544,8238,0.00,2.15,0.00,0.000,6,0.000,0.037,2519,2114,1964,0,0,0,0,0,0
$GC,8556,0.60,219.0,576.2,14.0,560,8560,0.00,2.20,0.00,0.000,4,0.000,0.047,2519,3539,1962,0,0,0,0,0,0
$GC,8605,0.60,219.0,568.9,14.9,562,8610,0.12,2.20,0.00,0.000,6,0.188,0.030,2498,2082,1964,0,0,0,0,0,0
$GC,8927,0.64,255.3,532.9,10.5,578,8957,0.00,0.00,27.15,0.825,6,0.000,0.000,2498,2082,1826,0,0,0,0,0,0
$GC,9258,0.70,303.2,499.5,10.0,594,9303,0.00,2.12,37.90,0.793,4,0.000,0.038,2507,725,1632,0,0,0,0,0,0
$GC,9331,0.75,345.8,491.5,10.2,600,9372,0.12,2.22,34.42,0.764,6,0.096,0.036,2557,2125,1459,0,0,0,0,0,0
$GC,9690,0.75,345.8,425.6,20.2,634,9694,0.00,2.25,0.00,0.000,4,0.000,0.048,2557,3535,1458,0,0,0,0,0,0
$GC,9723,0.75,345.8,418.3,21.0,636,9730,0.00,2.17,0.00,0.000,6,0.000,0.030,2567,2128,1458,0,0,0,0,0,0
$GC,10048,0.75,345.8,352.2,19.2,667,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2128,1457,0,0,0,0,0,0
$GC,10370,0.75,345.8,294.5,17.8,697,10374,0.00,2.20,0.00,0.000,4,0.000,0.046,2568,3536,1457,0,0,0,0,0,0
$GC,10422,0.75,345.8,283.9,20.6,701,10426,0.12,2.12,0.00,0.000,6,0.182,0.029,2548,2138,1456,0,0,0,0,0,0
$GC,10752,0.75,345.8,227.8,16.2,732,10753,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2138,1455,0,0,0,0,0,0
$GC,11069,0.75,345.8,174.5,16.2,776,11077,0.00,2.17,0.00,0.000,4,0.000,0.038,2556,723,1454,0,0,0,0,0,0
$GC,11166,0.75,345.8,160.6,12.9,794,11175,0.00,2.22,0.00,0.000,6,0.000,0.034,2556,2157,1454,0,0,0,0,0,0
$GC,11303,0.77,360.3,144.4,11.3,819,11319,0.00,2.20,11.57,0.610,4,0.000,0.044,2556,3533,1399,0,0,0,0,0,0
$GC,11338,0.81,392.5,140.3,10.6,824,11368,0.00,2.12,24.98,0.539,6,0.000,0.028,2566,2155,1268,0,0,0,0,0,0
$GC,11496,0.85,429.1,123.7,10.5,852,11526,0.00,0.00,27.88,0.544,6,0.000,0.000,2566,2155,1119,0,0,0,0,0,0
$GC,11654,0.87,442.3,105.6,11.3,880,11671,0.00,2.25,11.40,0.520,4,0.000,0.041,2566,3536,1064,0,0,0,0,0,0
$GC,11710,0.92,479.0,99.9,10.5,889,11748,0.00,2.10,27.95,0.503,6,0.000,0.029,2574,2192,915,0,0,0,0,0,0
$GC,11876,1.03,575.5,85.6,8.3,918,11957,0.17,2.38,70.10,0.497,4,0.070,0.037,2665,717,521,0,0,0,0,0,0
$GC,12064,1.13,657.0,64.8,8.8,949,12087,0.00,2.25,15.98,0.500,6,0.000,0.032,2665,2139,438,0,0,0,0,0,0
$GC,12215,1.13,657.0,47.9,12.6,976,12223,0.00,2.20,0.00,0.000,4,0.000,0.042,2665,3528,440,0,0,0,0,0,0
$GC,12252,1.13,657.0,42.8,13.7,982,12261,0.00,2.12,0.40,0.083,6,0.000,0.028,2675,2160,440,0,0,0,0,0,0
$GC,12389,1.13,657.0,23.7,13.1,1007,12398,0.00,2.25,0.05,0.259,4,0.000,0.038,2685,716,441,0,0,0,0,0,0
$GC,12458,1.13,657.0,14.8,12.5,1019,12466,0.00,2.20,0.32,0.085,6,0.000,0.030,2686,2137,441,0,0,0,0,0,0
$STATE,12554,end climb,SURFACE_DEPTH_REACHED
$STATE,12554,begin surface coast
$FINISH,0.2,1.020779
$STATE,12578,end surface coast,CONTROL_FINISHED_OK
$STATE,12578,begin surface
$SM_CCo,12655,0.00,0.000,0,0,443,595.10
$SM_GC,0.85,6.45,0.00,0.00,0.037,0.000,0.000,205,2618,443,-6.46,0.51,595.10,0,0,0,0,0,0
$IRIDIUM_FIX,1955.00,11950.95,030711,080814
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.96
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.0,18.682
$10V_AH,10.1,19.819
$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,16.300,130.375,635.775,0.000,0.000,23.152,16.042,154.063,0.250,0.000,17.583,2475.257,6877.626,646.443,2696.865,284.276,0.000,1799.226,0.000,1827.191,0.000,0.541,0.000
$DEVICE_MAMPS,237.915,54.315,1105.425,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,724.981,1103.553,1277.487,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322632
$DATA_FILE_SIZE,70229,1041
$CAP_FILE_SIZE,141422,0
$CFSIZE,260165632,239820800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030711,154522,1956.976,11949.496,6,3.6,26,-2.2