version: 66.09
glider: 181
mission: 6
dive: 126
start: 7 4 111 11 2 45
data:
$ID,181
$MISSION,6
$DIVE,126
$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,-40641.238
$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,60
$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
$GPS1,040711,105820,1955.266,11948.238,11,1.3,11,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.6
$GPS2,040711,110220,1955.404,11948.253,15,1.3,15,-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,170.9,104649,-16.3,-11.786
$D_GRID,3520
$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,-70.88,0.000,2,0.000,0.000,218,2640,2427,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.4,-3.6,10,137,7.70,2.20,-26.83,0.000,4,0.237,0.041,2103,1175,3765,0,0,0,0,0,0
$GC,223,-0.60,-219.0,49.2,-26.0,32,231,0.00,2.20,0.00,0.000,6,0.000,0.041,2095,2571,3766,0,0,0,0,0,0
$GC,358,-0.60,-219.0,96.8,-36.0,57,366,0.00,1.90,0.00,0.000,4,0.000,0.046,2085,3784,3764,0,0,0,0,0,0
$GC,466,-0.60,-219.0,131.4,-26.0,77,474,0.00,1.75,0.00,0.000,6,0.000,0.024,2085,2600,3767,0,0,0,0,0,0
$GC,602,-0.60,-219.0,164.1,-24.4,102,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2596,3768,0,0,0,0,0,0
$GC,734,-0.60,-219.0,197.5,-23.4,127,742,0.00,1.85,0.00,0.000,4,0.000,0.043,2076,3783,3768,0,0,0,0,0,0
$GC,763,-0.60,-219.0,205.7,-25.1,130,773,0.10,1.70,0.00,0.000,6,0.149,0.024,2107,2640,3768,0,0,0,0,0,0
$GC,1092,-0.60,-219.0,267.4,-16.9,161,1096,0.00,2.10,0.00,0.000,4,0.000,0.027,2107,1187,3768,0,0,0,0,0,0
$GC,1147,-0.60,-219.0,275.9,-11.9,165,1154,0.00,2.20,0.00,0.000,6,0.000,0.036,2099,2642,3768,0,0,0,0,0,0
$GC,1473,-0.60,-219.0,328.8,-17.3,196,1476,0.00,1.70,0.00,0.000,4,0.000,0.044,2090,3779,3765,0,0,0,0,0,0
$GC,1545,-0.60,-219.0,340.5,-15.0,202,1552,0.00,1.70,0.00,0.000,6,0.000,0.024,2090,2634,3765,0,0,0,0,0,0
$GC,1870,-0.60,-219.0,402.2,-20.2,233,1874,0.00,1.80,0.00,0.000,4,0.000,0.045,2081,3776,3760,0,0,0,0,0,0
$GC,1920,-0.60,-219.0,412.5,-19.2,237,1928,0.00,1.73,0.00,0.000,6,0.000,0.026,2081,2621,3760,0,0,0,0,0,0
$GC,2246,-0.60,-219.0,479.9,-20.7,268,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2618,3756,0,0,0,0,0,0
$GC,2558,-0.60,-219.0,540.6,-19.0,288,2562,0.00,1.77,0.00,0.000,4,0.000,0.047,2072,3776,3751,0,0,0,0,0,0
$GC,2613,-0.60,-219.0,550.7,-17.0,290,2618,0.10,1.70,0.00,0.000,6,0.142,0.027,2105,2644,3750,0,0,0,0,0,0
$GC,2935,-0.60,-219.0,599.1,-15.2,306,2939,0.00,2.12,0.00,0.000,4,0.000,0.031,2106,1194,3747,0,0,0,0,0,0
$GC,2978,-0.60,-219.0,605.9,-14.0,308,2983,0.00,2.20,0.00,0.000,6,0.000,0.040,2098,2634,3746,0,0,0,0,0,0
$GC,3306,-0.60,-219.0,654.0,-14.8,324,3310,0.00,1.77,0.00,0.000,4,0.000,0.049,2090,3772,3742,0,0,0,0,0,0
$GC,3344,-0.60,-219.0,659.8,-14.5,325,3352,0.00,1.73,0.00,0.000,6,0.000,0.028,2090,2623,3742,0,0,0,0,0,0
$GC,3661,-0.60,-219.0,709.8,-16.9,341,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2620,3738,0,0,0,0,0,0
$GC,3970,-0.60,-219.0,760.5,-16.3,356,3974,0.00,1.80,0.00,0.000,4,0.000,0.050,2081,3781,3734,0,0,0,0,0,0
$GC,4003,-0.60,-219.0,766.3,-16.8,357,4007,0.00,1.73,0.00,0.000,6,0.000,0.029,2081,2648,3733,0,0,0,0,0,0
$GC,4325,-0.60,-219.0,818.2,-15.6,373,4329,0.00,2.15,0.00,0.000,4,0.000,0.034,2081,1196,3730,0,0,0,0,0,0
$GC,4366,-0.60,-219.0,824.2,-14.0,375,4371,0.12,2.22,0.00,0.000,6,0.161,0.042,2105,2640,3730,0,0,0,0,0,0
$GC,4695,-0.60,-219.0,860.8,-10.6,391,4698,0.00,1.75,0.00,0.000,4,0.000,0.050,2098,3783,3727,0,0,0,0,0,0
$GC,4734,-0.60,-219.0,865.1,-10.1,392,4741,0.00,1.75,0.00,0.000,6,0.000,0.030,2098,2629,3726,0,0,0,0,0,0
$GC,5050,-0.60,-219.0,898.4,-10.6,408,5054,0.00,2.12,0.00,0.000,4,0.000,0.034,2097,1194,3725,0,0,0,0,0,0
$GC,5082,-0.60,-219.0,902.1,-10.7,409,5089,0.00,2.22,0.00,0.000,6,0.000,0.043,2096,2640,3724,0,0,0,0,0,0
$GC,5399,-0.60,-219.0,934.5,-10.4,425,5403,0.00,1.77,0.00,0.000,4,0.000,0.052,2087,3767,3721,0,0,0,0,0,0
$GC,5427,-0.60,-219.0,937.9,-10.4,426,5430,0.00,1.73,0.00,0.000,6,0.000,0.030,2087,2638,3721,0,0,0,0,0,0
$GC,5754,-0.60,-219.0,976.5,-12.8,442,5758,0.00,2.15,0.00,0.000,4,0.000,0.034,2087,1190,3718,0,0,0,0,0,0
$GC,5794,-0.60,-219.0,981.5,-12.3,444,5798,0.00,2.25,0.00,0.000,6,0.000,0.042,2084,2644,3718,0,0,0,0,0,0
$STATE,5871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5871,begin apogee
$GC,5877,-0.16,0.0,991.3,12.8,448,6049,0.50,0.00,165.90,1.099,4,0.135,0.000,2244,2101,2868,0,0,0,0,0,0
$STATE,6050,end apogee,CONTROL_FINISHED_OK
$STATE,6050,begin climb
$GC,6053,0.60,219.0,999.4,0.0,456,6238,0.73,2.25,176.75,1.070,4,0.063,0.041,2500,728,1977,0,0,0,0,0,0
$GC,6389,0.60,219.0,967.1,13.5,471,6397,0.00,2.22,0.00,0.000,6,0.000,0.034,2500,2134,1975,0,0,0,0,0,0
$GC,6706,0.60,219.0,921.7,14.7,487,6710,0.00,2.20,0.00,0.000,4,0.000,0.038,2509,727,1972,0,0,0,0,0,0
$GC,6948,0.60,219.0,885.9,14.8,498,6952,0.00,2.17,0.00,0.000,6,0.000,0.035,2509,2139,1972,0,0,0,0,0,0
$GC,7275,0.60,219.0,831.9,16.8,514,7279,0.00,2.15,0.00,0.000,4,0.000,0.045,2510,3535,1970,0,0,0,0,0,0
$GC,7298,0.60,219.0,827.8,16.9,515,7302,0.00,2.10,0.00,0.000,6,0.000,0.028,2519,2141,1970,0,0,0,0,0,0
$GC,7626,0.60,219.0,771.3,16.9,531,7630,0.00,2.15,0.00,0.000,4,0.000,0.038,2529,714,1969,0,0,0,0,0,0
$GC,7759,0.60,219.0,749.6,15.9,537,7764,0.15,2.15,0.00,0.000,6,0.174,0.034,2491,2127,1968,0,0,0,0,0,0
$GC,8087,0.62,235.1,709.9,11.2,553,8110,0.00,2.28,12.77,0.892,4,0.000,0.044,2492,3550,1910,0,0,0,0,0,0
$GC,8126,0.62,235.3,705.1,11.8,554,8133,0.00,2.20,0.00,0.000,6,0.000,0.030,2499,2109,1911,0,0,0,0,0,0
$GC,8443,0.65,259.7,669.2,10.9,570,8468,0.00,2.15,20.50,0.881,4,0.000,0.040,2510,721,1807,0,0,0,0,0,0
$GC,8532,0.67,279.1,659.4,11.1,574,8555,0.00,2.15,16.75,0.838,6,0.000,0.034,2510,2112,1729,0,0,0,0,0,0
$GC,8864,0.67,279.1,620.4,12.0,590,8868,0.00,2.22,0.00,0.000,4,0.000,0.046,2510,3533,1730,0,0,0,0,0,0
$GC,8925,0.67,279.1,611.3,14.6,592,8932,0.00,2.17,0.00,0.000,6,0.000,0.030,2519,2114,1729,0,0,0,0,0,0
$GC,9241,0.67,279.1,564.5,15.1,608,9245,0.00,2.10,0.00,0.000,4,0.000,0.037,2530,720,1728,0,0,0,0,0,0
$GC,9336,0.67,279.1,550.4,14.4,612,9340,0.00,2.12,0.00,0.000,6,0.000,0.034,2530,2110,1728,0,0,0,0,0,0
$GC,9658,0.67,279.1,496.6,18.0,628,9662,0.00,2.20,0.00,0.000,4,0.000,0.045,2530,3541,1727,0,0,0,0,0,0
$GC,9690,0.67,279.1,490.0,19.6,630,9697,0.00,2.17,0.00,0.000,6,0.000,0.028,2540,2104,1727,0,0,0,0,0,0
$GC,10016,0.67,279.1,426.9,19.6,661,10020,0.00,2.08,0.00,0.000,4,0.000,0.039,2551,720,1727,0,0,0,0,0,0
$GC,10160,0.67,279.1,401.2,17.6,673,10165,0.12,2.08,0.00,0.000,6,0.174,0.035,2519,2087,1726,0,0,0,0,0,0
$GC,10486,0.67,279.1,348.4,15.4,703,10490,0.00,2.22,0.00,0.000,4,0.000,0.045,2519,3537,1727,0,0,0,0,0,0
$GC,10608,0.67,279.1,329.6,14.6,713,10615,0.00,2.15,0.00,0.000,6,0.000,0.029,2527,2104,1726,0,0,0,0,0,0
$GC,10933,0.67,279.1,285.2,14.2,744,10934,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2104,1726,0,0,0,0,0,0
$GC,11254,0.67,279.1,235.8,15.0,774,11258,0.00,2.08,0.00,0.000,4,0.000,0.039,2543,716,1726,0,0,0,0,0,0
$GC,11297,0.67,279.1,228.9,14.9,777,11304,0.00,2.15,0.00,0.000,6,0.000,0.033,2537,2138,1726,0,0,0,0,0,0
$GC,11621,0.67,279.1,184.8,12.4,819,11629,0.00,2.17,0.00,0.000,4,0.000,0.037,2547,725,1726,0,0,0,0,0,0
$GC,11684,0.69,296.6,177.7,11.1,830,11707,0.00,2.10,14.05,0.618,6,0.000,0.034,2547,2086,1658,0,0,0,0,0,0
$GC,11834,0.69,296.6,159.4,13.9,857,11842,0.00,2.28,0.00,0.000,4,0.000,0.044,2547,3538,1659,0,0,0,0,0,0
$GC,11851,0.69,296.6,157.1,14.2,859,11860,0.10,2.25,0.00,0.000,6,0.147,0.029,2526,2076,1659,0,0,0,0,0,0
$GC,11990,0.81,393.8,144.0,8.3,884,12072,0.12,2.38,71.12,0.552,4,0.094,0.042,2580,3532,1264,0,0,0,0,0,0
$GC,12107,0.81,393.8,127.9,17.4,901,12115,0.00,2.25,0.00,0.000,6,0.000,0.030,2590,2111,1266,0,0,0,0,0,0
$GC,12243,0.83,407.9,110.3,11.3,926,12260,0.00,2.22,12.23,0.535,4,0.000,0.038,2600,714,1207,0,0,0,0,0,0
$GC,12357,0.91,471.0,98.4,9.5,946,12416,0.00,2.20,47.38,0.506,6,0.000,0.034,2600,2106,947,0,0,0,0,0,0
$GC,12544,0.93,491.3,80.8,11.0,978,12567,0.00,2.28,15.77,0.513,4,0.000,0.042,2600,3540,865,0,0,0,0,0,0
$GC,12607,0.97,522.5,74.1,10.7,988,12637,0.00,2.28,24.05,0.470,6,0.000,0.028,2610,2090,738,0,0,0,0,0,0
$GC,12766,1.08,611.7,59.2,8.6,1016,12826,0.12,2.20,53.53,0.473,4,0.084,0.035,2685,716,439,0,0,0,0,0,0
$GC,12866,1.08,611.7,46.5,12.4,1031,12875,0.10,2.20,0.00,0.000,6,0.110,0.030,2650,2110,437,0,0,0,0,0,0
$GC,13006,1.18,692.0,33.6,8.9,1056,13014,0.00,2.25,0.00,0.000,4,0.000,0.040,2650,3538,440,0,0,0,0,0,0
$GC,13048,1.29,784.5,29.7,8.4,1063,13057,0.12,2.20,0.82,0.077,6,0.042,0.026,2735,2115,440,0,0,0,0,0,0
$GC,13185,1.29,784.5,8.2,17.7,1088,13193,0.00,2.12,1.02,0.082,4,0.000,0.033,2748,705,442,0,0,0,0,0,0
$STATE,13220,end climb,SURFACE_DEPTH_REACHED
$STATE,13220,begin surface coast
$FINISH,0.1,1.020715
$STATE,13237,end surface coast,CONTROL_FINISHED_OK
$STATE,13237,begin surface
$SM_CCo,13317,0.00,0.000,0,0,442,595.10
$SM_GC,0.84,6.60,0.00,0.00,0.035,0.000,0.000,209,2632,442,-6.46,0.90,595.10,0,0,0,0,0,0
$IRIDIUM_FIX,1948.12,11946.68,040711,101030
$TT8_MAMPS,0.027713,0.027713
$HUMID,41.49
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,24.1,19.674
$10V_AH,10.1,20.588
$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,16.700,146.825,632.650,0.000,0.000,0.000,0.000,0.000,0.250,0.000,17.798,2617.469,7153.712,672.802,2705.593,243.299,0.000,1912.381,0.000,1979.573,0.000,0.541,0.000
$DEVICE_MAMPS,237.150,52.020,1099.305,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,763.346,1162.734,1352.830,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322732
$DATA_FILE_SIZE,73865,1097
$CAP_FILE_SIZE,161195,0
$CFSIZE,260165632,239304704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040711,144600,1954.860,11948.438,40,1.0,41,-2.2