version: 66.09
glider: 181
mission: 6
dive: 46
start: 6 19 111 4 19 41
data:
$ID,181
$MISSION,6
$DIVE,46
$N_DIVES,55
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,300
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$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,-39575.289
$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,39
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,190611,041237,2107.312,11956.390,31,1.3,32,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-64.5
$GPS2,190611,041844,2107.239,11956.274,12,1.2,12,-2.5
$SPEED_LIMITS,0.191,0.305
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.050,-0.301
$KALMAN_X,-650.6,-650.6,-650.6,-562.3,1068.3
$KALMAN_Y,358.4,358.4,358.4,-5127.7,-588.6
$MHEAD_RNG_PITCHd_Wd,135.9,235737,-16.3,-11.000
$D_GRID,3463
$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,-0.57,-194.6,0.0,0.0,0,95,0.00,0.00,-77.22,0.000,2,0.000,0.000,147,2618,2667,0,0,0,0,0,0
$GC,98,-0.57,-194.6,3.3,-3.6,10,130,8.05,0.00,-18.33,0.000,6,0.240,0.000,2107,2612,3665,0,0,0,0,0,0
$GC,325,-0.57,-194.6,103.9,-38.4,50,332,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2616,3668,0,0,0,0,0,0
$GC,525,-0.57,-194.6,185.4,-33.3,87,533,0.00,2.15,0.00,0.000,4,0.000,0.029,2110,1185,3668,0,0,0,0,0,0
$GC,572,-0.57,-194.6,198.0,-24.3,95,581,0.00,2.22,0.00,0.000,6,0.000,0.042,2097,2596,3669,0,0,0,0,0,0
$GC,774,-0.57,-194.6,240.9,-22.1,132,782,0.00,2.12,0.00,0.000,4,0.000,0.030,2098,1185,3670,0,0,0,0,0,0
$GC,923,-0.57,-194.6,269.7,-16.8,149,932,0.00,2.20,0.00,0.000,6,0.000,0.039,2096,2601,3671,0,0,0,0,0,0
$GC,1249,-0.57,-194.6,333.0,-18.3,180,1252,0.00,1.80,0.00,0.000,4,0.000,0.046,2087,3787,3670,0,0,0,0,0,0
$GC,1295,-0.57,-194.6,341.6,-18.3,184,1299,0.12,1.75,0.00,0.000,6,0.156,0.027,2121,2575,3670,0,0,0,0,0,0
$GC,1625,-0.57,-194.6,390.7,-13.0,215,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2573,3668,0,0,0,0,0,0
$GC,1946,-0.57,-194.6,435.5,-13.9,245,1950,0.00,2.00,0.00,0.000,4,0.000,0.034,2121,1212,3665,0,0,0,0,0,0
$GC,1969,-0.57,-194.6,439.4,-14.3,247,1973,0.00,2.15,0.00,0.000,6,0.000,0.040,2113,2617,3665,0,0,0,0,0,0
$GC,2300,-0.57,-194.6,493.0,-16.7,278,2304,0.00,2.10,0.00,0.000,4,0.000,0.033,2113,1202,3662,0,0,0,0,0,0
$GC,2363,-0.57,-194.6,502.6,-13.9,283,2367,0.00,2.15,0.00,0.000,6,0.000,0.041,2112,2611,3661,0,0,0,0,0,0
$GC,2688,-0.57,-194.6,547.8,-13.2,313,2691,0.00,1.77,0.00,0.000,4,0.000,0.050,2111,3780,3657,0,0,0,0,0,0
$GC,2733,-0.57,-194.6,553.8,-13.1,317,2738,0.00,1.75,0.00,0.000,6,0.000,0.029,2111,2610,3656,0,0,0,0,0,0
$GC,3064,-0.57,-194.6,594.2,-12.0,348,3068,0.00,2.08,0.00,0.000,4,0.000,0.034,2111,1202,3653,0,0,0,0,0,0
$GC,3153,-0.57,-194.6,604.1,-10.5,354,3157,0.00,2.12,0.00,0.000,6,0.000,0.041,2111,2600,3652,0,0,0,0,0,0
$GC,3481,-0.57,-194.6,642.4,-12.1,370,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2603,3649,0,0,0,0,0,0
$GC,3790,-0.57,-194.6,682.3,-12.9,385,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2603,3646,0,0,0,0,0,0
$GC,4099,-0.57,-194.6,720.6,-12.1,400,4102,0.00,1.80,0.00,0.000,4,0.000,0.051,2102,3777,3643,0,0,0,0,0,0
$GC,4137,-0.57,-194.6,725.2,-11.6,401,4145,0.00,1.77,0.00,0.000,6,0.000,0.031,2102,2601,3643,0,0,0,0,0,0
$GC,4453,-0.57,-194.6,763.4,-12.4,417,4457,0.00,2.10,0.00,0.000,4,0.000,0.036,2102,1200,3641,0,0,0,0,0,0
$GC,4527,-0.57,-194.6,772.1,-10.9,420,4531,0.00,2.15,0.00,0.000,6,0.000,0.043,2097,2598,3641,0,0,0,0,0,0
$GC,4844,-0.57,-194.6,806.2,-10.9,435,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2594,3636,0,0,0,0,0,0
$GC,5153,-0.57,-194.6,844.1,-12.6,450,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2598,3635,0,0,0,0,0,0
$GC,5462,-0.57,-194.6,885.9,-13.3,465,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2598,3633,0,0,0,0,0,0
$GC,5771,-0.57,-194.6,927.2,-13.3,480,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2600,3632,0,0,0,0,0,0
$GC,6080,-0.57,-194.6,970.0,-14.0,495,6084,0.00,1.83,0.00,0.000,4,0.000,0.054,2089,3780,3628,0,0,0,0,0,0
$GC,6118,-0.57,-194.6,975.7,-13.9,496,6126,0.00,1.80,0.00,0.000,6,0.000,0.032,2089,2601,3628,0,0,0,0,0,0
$STATE,6228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6228,begin apogee
$GC,6235,-0.16,0.0,991.2,14.5,502,6389,0.45,0.00,149.45,1.117,6,0.133,0.000,2236,2107,2869,0,0,0,0,0,0
$STATE,6389,end apogee,CONTROL_FINISHED_OK
$STATE,6390,begin climb
$GC,6392,0.57,194.6,1000.7,0.0,509,6560,0.73,2.28,160.05,1.082,4,0.074,0.041,2507,729,2075,0,0,0,0,0,0
$GC,6588,0.57,194.6,988.1,12.1,518,6595,0.00,2.28,0.00,0.000,6,0.000,0.036,2502,2127,2069,0,0,0,0,0,0
$GC,6905,0.57,194.6,942.8,14.6,534,6909,0.00,2.25,0.00,0.000,4,0.000,0.047,2501,3540,2065,0,0,0,0,0,0
$GC,6945,0.57,194.6,936.4,16.0,536,6949,0.00,2.17,0.00,0.000,6,0.000,0.032,2511,2131,2062,0,0,0,0,0,0
$GC,7272,0.57,194.6,885.1,15.6,552,7276,0.00,2.17,0.00,0.000,4,0.000,0.042,2522,709,2061,0,0,0,0,0,0
$GC,7390,0.57,194.6,867.0,14.6,557,7395,0.15,2.20,0.00,0.000,6,0.177,0.037,2485,2141,2061,0,0,0,0,0,0
$GC,7706,0.57,194.6,823.8,13.5,572,7707,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2141,2059,0,0,0,0,0,0
$GC,8015,0.57,194.6,781.6,13.6,587,8019,0.00,2.17,0.00,0.000,4,0.000,0.041,2493,718,2058,0,0,0,0,0,0
$GC,8044,0.57,194.6,777.5,14.0,588,8048,0.00,2.15,0.00,0.000,6,0.000,0.037,2493,2122,2058,0,0,0,0,0,0
$GC,8360,0.57,194.6,734.9,13.1,603,8364,0.00,2.17,0.00,0.000,4,0.000,0.047,2489,3538,2057,0,0,0,0,0,0
$GC,8403,0.57,194.6,728.4,14.3,605,8408,0.00,2.17,0.00,0.000,6,0.000,0.031,2502,2127,2057,0,0,0,0,0,0
$GC,8731,0.57,194.6,685.0,13.2,621,8735,0.00,2.12,0.00,0.000,4,0.000,0.041,2513,716,2056,0,0,0,0,0,0
$GC,8816,0.57,194.6,673.7,13.6,625,8821,0.00,2.15,0.00,0.000,6,0.000,0.037,2514,2129,2056,0,0,0,0,0,0
$GC,9144,0.57,194.6,627.5,14.5,641,9148,0.00,2.15,0.00,0.000,4,0.000,0.046,2513,3538,2056,0,0,0,0,0,0
$GC,9184,0.57,194.6,621.1,16.4,643,9189,0.15,2.15,0.00,0.000,6,0.183,0.031,2485,2113,2056,0,0,0,0,0,0
$GC,9505,0.57,194.6,578.1,13.1,666,9509,0.00,2.10,0.00,0.000,4,0.000,0.042,2495,718,2055,0,0,0,0,0,0
$GC,9603,0.57,194.6,566.0,12.7,674,9607,0.00,2.15,0.00,0.000,6,0.000,0.035,2494,2137,2056,0,0,0,0,0,0
$GC,9928,0.57,201.1,527.5,10.8,704,9932,0.00,2.15,0.00,0.000,4,0.000,0.041,2504,719,2055,0,0,0,0,0,0
$GC,9960,0.57,201.1,523.7,11.1,706,9967,0.00,2.15,0.00,0.000,6,0.000,0.037,2505,2126,2055,0,0,0,0,0,0
$GC,10287,0.57,201.1,483.4,12.8,737,10291,0.00,2.15,0.00,0.000,4,0.000,0.046,2504,3535,2055,0,0,0,0,0,0
$GC,10341,0.57,201.1,475.1,14.2,741,10349,0.00,2.15,0.00,0.000,6,0.000,0.031,2514,2131,2055,0,0,0,0,0,0
$GC,10668,0.57,201.1,430.0,13.3,772,10672,0.00,2.12,0.00,0.000,4,0.000,0.041,2525,711,2059,0,0,0,0,0,0
$GC,10925,0.57,201.1,393.6,13.6,794,10933,0.10,2.20,0.00,0.000,6,0.156,0.035,2483,2133,2055,0,0,0,0,0,0
$GC,11251,0.60,224.8,358.5,10.1,825,11278,0.00,2.25,21.35,0.719,4,0.000,0.041,2491,710,1952,0,0,0,0,0,0
$GC,11444,0.62,240.6,339.3,10.4,842,11467,0.00,2.17,13.43,0.669,6,0.000,0.036,2491,2131,1889,0,0,0,0,0,0
$GC,11785,0.62,240.6,299.2,11.9,874,11789,0.00,2.17,0.00,0.000,4,0.000,0.046,2491,3533,1884,0,0,0,0,0,0
$GC,11910,0.62,240.6,282.3,13.6,885,11918,0.00,2.17,0.00,0.000,6,0.000,0.031,2501,2133,1884,0,0,0,0,0,0
$GC,12239,0.62,240.6,244.3,11.1,920,12247,0.00,2.17,0.00,0.000,4,0.000,0.042,2511,719,1884,0,0,0,0,0,0
$GC,12356,0.71,310.7,233.3,8.3,941,12418,0.00,2.17,54.33,0.626,6,0.000,0.034,2511,2125,1601,0,0,0,0,0,0
$GC,12612,0.71,315.0,208.8,10.8,985,12622,0.00,2.28,4.00,0.451,4,0.000,0.039,2521,707,1584,0,0,0,0,0,0
$GC,12674,0.73,329.2,202.2,10.5,995,12698,0.00,2.22,12.43,0.593,6,0.000,0.034,2521,2120,1525,0,0,0,0,0,0
$GC,12892,0.83,408.1,181.9,8.0,1034,12961,0.15,2.30,60.12,0.571,4,0.083,0.044,2588,3527,1205,0,0,0,0,0,0
$GC,12981,0.83,408.1,170.5,14.6,1046,12990,0.00,2.22,0.00,0.000,6,0.000,0.029,2598,2125,1204,0,0,0,0,0,0
$GC,13184,0.83,408.1,140.6,13.0,1083,13192,0.00,2.20,0.00,0.000,4,0.000,0.039,2609,722,1199,0,0,0,0,0,0
$GC,13270,0.83,408.1,129.4,12.9,1098,13278,0.12,2.20,0.00,0.000,6,0.122,0.035,2567,2117,1197,0,0,0,0,0,0
$GC,13472,0.86,431.3,108.0,10.1,1135,13496,0.00,0.00,18.00,0.575,6,0.000,0.000,2567,2119,1108,0,0,0,0,0,0
$GC,13690,0.93,493.1,88.3,8.6,1174,13744,0.10,2.33,46.97,0.516,4,0.097,0.043,2620,3542,857,0,0,0,0,0,0
$GC,13803,0.93,493.1,72.7,14.6,1191,13811,0.00,2.22,0.00,0.000,6,0.000,0.028,2629,2119,855,0,0,0,0,0,0
$GC,14005,0.93,493.1,42.6,14.1,1228,14013,0.00,2.15,0.00,0.000,4,0.000,0.037,2644,726,854,0,0,0,0,0,0
$GC,14032,0.93,493.1,38.9,13.9,1232,14041,0.10,2.17,0.00,0.000,6,0.112,0.033,2601,2124,854,0,0,0,0,0,0
$GC,14235,1.01,556.4,20.3,8.6,1269,14290,0.00,2.20,47.12,0.488,4,0.000,0.038,2603,3537,599,0,0,0,0,0,0
$GC,14325,1.09,620.3,12.4,8.6,1282,14364,0.10,2.20,29.83,0.447,6,0.046,0.028,2679,2118,440,0,0,0,0,0,0
$STATE,14399,end climb,SURFACE_DEPTH_REACHED
$STATE,14399,begin surface coast
$FINISH,0.1,1.021120
$STATE,14418,end surface coast,CONTROL_FINISHED_OK
$STATE,14418,begin surface
$SM_CCo,14495,0.00,0.000,0,0,437,596.57
$SM_GC,0.81,6.47,0.00,0.00,0.032,0.000,0.000,202,2645,437,-6.47,1.16,596.57,0,0,0,0,0,0
$IRIDIUM_FIX,2059.45,11959.59,180611,232311
$TT8_MAMPS,0.027713,0.027713
$HUMID,38.14
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,24.1,7.697
$10V_AH,10.2,7.997
$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,16.800,128.875,617.075,0.000,0.000,25.852,29.205,169.354,0.000,0.000,15.440,3227.887,7383.590,642.615,3289.977,304.624,30.185,1955.842,0.000,2199.469,0.000,0.541,0.000
$DEVICE_MAMPS,240.210,53.550,1116.900,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,900.293,1972.910,1544.579,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323196
$DATA_FILE_SIZE,87203,1296
$CAP_FILE_SIZE,155059,0
$CFSIZE,260165632,246853632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.223,297.0,1
$GPS,190611,082236,2106.565,11956.236,36,1.2,43,-2.5