version: 66.09
glider: 181
mission: 6
dive: 48
start: 6 19 111 12 49 25
data:
$ID,181
$MISSION,6
$DIVE,48
$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,-39577.805
$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,42
$R_STBD_OVSHOOT,74
$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
$GPS1,190611,124207,2105.682,11957.048,24,1.6,25,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-61.8
$GPS2,190611,124826,2105.616,11957.005,12,1.6,12,-2.5
$SPEED_LIMITS,0.191,0.305
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.013,-0.305
$KALMAN_X,-1602.2,489.8,-171.9,-42.9,-177.1
$KALMAN_Y,7222.3,449.4,84.5,-14811.2,3174.4
$MHEAD_RNG_PITCHd_Wd,170.5,232701,-16.3,-11.000
$D_GRID,3464
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.57,-194.6,0.0,0.0,0,94,0.00,0.00,-74.53,0.000,2,0.000,0.000,149,2651,2630,0,0,0,0,0,0
$GC,97,-0.57,-194.6,3.5,-4.0,10,129,7.95,2.25,-19.67,0.000,4,0.236,0.040,2110,1179,3664,0,0,0,0,0,0
$GC,197,-0.57,-194.6,39.1,-27.8,26,205,0.00,2.22,0.00,0.000,6,0.000,0.044,2111,2560,3666,0,0,0,0,0,0
$GC,398,-0.57,-194.6,104.2,-24.4,63,406,0.00,1.92,0.00,0.000,4,0.000,0.044,2101,3787,3667,0,0,0,0,0,0
$GC,610,-0.57,-194.6,161.0,-25.4,102,618,0.00,1.80,0.00,0.000,6,0.000,0.026,2101,2579,3668,0,0,0,0,0,0
$GC,811,-0.57,-194.6,208.4,-23.9,139,819,0.00,2.05,0.00,0.000,4,0.000,0.030,2101,1199,3669,0,0,0,0,0,0
$GC,912,-0.57,-194.6,227.5,-17.1,157,920,0.00,2.20,0.00,0.000,6,0.000,0.038,2097,2612,3669,0,0,0,0,0,0
$GC,1113,-0.57,-194.6,269.4,-21.9,186,1117,0.00,1.77,0.00,0.000,4,0.000,0.046,2089,3787,3669,0,0,0,0,0,0
$GC,1173,-0.57,-194.6,281.6,-17.2,191,1180,0.00,1.75,0.00,0.000,6,0.000,0.025,2089,2605,3669,0,0,0,0,0,0
$GC,1499,-0.57,-194.6,346.1,-20.6,222,1503,0.12,1.83,0.00,0.000,4,0.175,0.046,2114,3783,3668,0,0,0,0,0,0
$GC,1578,-0.57,-194.6,359.2,-14.0,229,1582,0.00,1.73,0.00,0.000,6,0.000,0.027,2114,2591,3668,0,0,0,0,0,0
$GC,1909,-0.57,-194.6,408.4,-13.5,260,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2587,3665,0,0,0,0,0,0
$GC,2229,-0.57,-194.6,448.9,-12.8,290,2233,0.00,1.85,0.00,0.000,4,0.000,0.047,2111,3791,3661,0,0,0,0,0,0
$GC,2275,-0.57,-194.6,455.1,-13.1,294,2279,0.00,1.73,0.00,0.000,6,0.000,0.029,2111,2599,3661,0,0,0,0,0,0
$GC,2606,-0.57,-194.6,500.8,-13.8,325,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2597,3658,0,0,0,0,0,0
$GC,2926,-0.57,-194.6,547.5,-14.7,355,2930,0.00,2.05,0.00,0.000,4,0.000,0.034,2111,1208,3655,0,0,0,0,0,0
$GC,2975,-0.57,-194.6,555.1,-13.9,359,2982,0.00,2.17,0.00,0.000,6,0.000,0.041,2111,2602,3654,0,0,0,0,0,0
$GC,3301,-0.57,-194.6,599.9,-13.5,390,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2604,3650,0,0,0,0,0,0
$GC,3621,-0.57,-194.6,640.3,-12.2,406,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2605,3647,0,0,0,0,0,0
$GC,3930,-0.57,-194.6,680.8,-13.4,421,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2605,3644,0,0,0,0,0,0
$GC,4239,-0.57,-194.6,723.6,-13.9,436,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2605,3645,0,0,0,0,0,0
$GC,4549,-0.57,-194.6,762.6,-12.1,451,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2605,3639,0,0,0,0,0,0
$GC,4858,-0.57,-194.6,795.5,-10.3,466,4862,0.00,2.10,0.00,0.000,4,0.000,0.037,2110,1204,3637,0,0,0,0,0,0
$GC,4880,-0.57,-194.6,797.9,-10.3,467,4884,0.00,2.15,0.00,0.000,6,0.000,0.044,2111,2598,3637,0,0,0,0,0,0
$GC,5207,-0.57,-194.6,831.0,-10.2,483,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2599,3632,0,0,0,0,0,0
$GC,5516,-0.57,-194.6,863.9,-10.8,498,5520,0.00,1.83,0.00,0.000,4,0.000,0.054,2111,3783,3632,0,0,0,0,0,0
$GC,5586,-0.57,-194.6,870.9,-9.6,501,5590,0.00,1.75,0.00,0.000,6,0.000,0.031,2110,2598,3632,0,0,0,0,0,0
$GC,5919,-0.57,-194.6,908.6,-11.8,517,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2595,3629,0,0,0,0,0,0
$GC,6228,-0.57,-194.6,945.2,-11.8,532,6232,0.00,2.08,0.00,0.000,4,0.000,0.037,2115,1202,3627,0,0,0,0,0,0
$GC,6260,-0.57,-194.6,949.0,-11.2,533,6268,0.00,2.17,0.00,0.000,6,0.000,0.044,2110,2604,3625,0,0,0,0,0,0
$GC,6577,-0.57,-194.6,983.6,-10.7,549,6581,0.00,2.10,0.00,0.000,4,0.000,0.038,2110,1208,3626,0,0,0,0,0,0
$GC,6605,-0.57,-194.6,986.9,-10.8,550,6609,0.00,2.15,0.00,0.000,6,0.000,0.044,2110,2603,3625,0,0,0,0,0,0
$STATE,6657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6657,begin apogee
$GC,6664,-0.16,0.0,992.0,10.2,553,6818,0.40,0.00,149.25,1.118,6,0.126,0.000,2244,2115,2869,0,0,0,0,0,0
$STATE,6819,end apogee,CONTROL_FINISHED_OK
$STATE,6819,begin climb
$GC,6821,0.57,194.6,998.7,0.0,560,6989,0.65,2.28,160.30,1.084,4,0.059,0.040,2496,732,2074,0,0,0,0,0,0
$GC,7028,0.57,194.6,982.5,13.9,570,7032,0.00,2.25,0.00,0.000,6,0.000,0.036,2496,2126,2069,0,0,0,0,0,0
$GC,7356,0.57,194.6,933.8,14.9,586,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2126,2063,0,0,0,0,0,0
$GC,7666,0.57,194.6,890.5,13.6,601,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2126,2061,0,0,0,0,0,0
$GC,7975,0.57,194.6,851.2,12.3,616,7979,0.00,2.20,0.00,0.000,4,0.000,0.047,2496,3541,2059,0,0,0,0,0,0
$GC,8046,0.57,194.6,841.4,13.4,619,8050,0.00,2.17,0.00,0.000,6,0.000,0.033,2506,2113,2059,0,0,0,0,0,0
$GC,8368,0.57,194.6,799.4,13.4,635,8372,0.00,2.12,0.00,0.000,4,0.000,0.042,2518,716,2058,0,0,0,0,0,0
$GC,8453,0.57,194.6,788.2,13.0,639,8458,0.12,2.17,0.00,0.000,6,0.177,0.037,2487,2137,2057,0,0,0,0,0,0
$GC,8780,0.57,194.6,747.1,12.5,655,8784,0.00,2.17,0.00,0.000,4,0.000,0.041,2494,715,2057,0,0,0,0,0,0
$GC,8814,0.57,194.6,742.6,13.0,656,8822,0.00,2.17,0.00,0.000,6,0.000,0.037,2495,2126,2057,0,0,0,0,0,0
$GC,9130,0.57,194.6,700.0,13.7,672,9131,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2126,2056,0,0,0,0,0,0
$GC,9439,0.57,194.6,660.1,12.4,687,9440,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2126,2056,0,0,0,0,0,0
$GC,9749,0.57,196.0,625.5,10.9,702,9753,0.00,2.15,0.00,0.000,4,0.000,0.041,2505,713,2055,0,0,0,0,0,0
$GC,9798,0.57,196.0,619.8,11.2,704,9802,0.00,2.20,0.00,0.000,6,0.000,0.037,2505,2129,2055,0,0,0,0,0,0
$GC,10126,0.57,196.0,579.2,13.7,727,10127,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2129,2055,0,0,0,0,0,0
$GC,10446,0.57,196.0,532.9,14.8,757,10452,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2129,2055,0,0,0,0,0,0
$GC,10773,0.57,196.0,487.1,12.9,788,10777,0.00,2.15,0.00,0.000,4,0.000,0.041,2514,716,2058,0,0,0,0,0,0
$GC,10812,0.57,196.0,481.9,12.6,791,10816,0.00,2.15,0.00,0.000,6,0.000,0.037,2514,2131,2055,0,0,0,0,0,0
$GC,11138,0.57,196.0,443.2,11.6,821,11142,0.00,2.15,0.00,0.000,4,0.000,0.041,2524,720,2055,0,0,0,0,0,0
$GC,11221,0.57,196.0,433.3,12.0,828,11230,0.10,2.17,0.00,0.000,6,0.155,0.037,2482,2126,2055,0,0,0,0,0,0
$GC,11547,0.57,196.0,398.3,11.0,859,11551,0.00,2.17,0.00,0.000,4,0.000,0.046,2482,3543,2053,0,0,0,0,0,0
$GC,11669,0.57,196.0,383.6,11.6,869,11677,0.00,2.17,0.00,0.000,6,0.000,0.031,2490,2127,2053,0,0,0,0,0,0
$GC,11995,0.59,213.7,349.5,10.3,900,12013,0.00,2.15,13.27,0.711,4,0.000,0.041,2501,713,1996,0,0,0,0,0,0
$GC,12131,0.59,213.7,334.5,11.2,911,12137,0.00,2.17,0.00,0.000,6,0.000,0.037,2501,2129,1994,0,0,0,0,0,0
$GC,12456,0.59,213.7,296.4,11.1,942,12460,0.00,2.17,0.00,0.000,4,0.000,0.045,2501,3539,1992,0,0,0,0,0,0
$GC,12493,0.59,213.7,291.8,11.6,945,12501,0.00,2.17,0.00,0.000,6,0.000,0.031,2511,2125,1992,0,0,0,0,0,0
$GC,12819,0.59,213.7,250.9,13.0,976,12823,0.00,2.15,0.00,0.000,4,0.000,0.041,2522,710,1992,0,0,0,0,0,0
$GC,12854,0.59,213.7,246.4,13.6,980,12863,0.00,2.17,0.00,0.000,6,0.000,0.036,2522,2120,1992,0,0,0,0,0,0
$GC,13057,0.59,213.7,220.9,11.9,1017,13065,0.00,2.20,0.00,0.000,4,0.000,0.044,2522,3535,1992,0,0,0,0,0,0
$GC,13168,0.59,213.7,206.6,11.7,1037,13177,0.10,2.17,0.00,0.000,6,0.161,0.031,2506,2117,1992,0,0,0,0,0,0
$GC,13372,0.66,268.2,188.6,8.9,1074,13425,0.00,2.20,42.10,0.604,4,0.000,0.038,2509,719,1773,0,0,0,0,0,0
$GC,13583,0.71,310.3,168.6,9.4,1110,13622,0.00,2.20,32.45,0.571,6,0.000,0.035,2510,2123,1605,0,0,0,0,0,0
$GC,13816,0.78,367.3,147.4,8.8,1151,13870,0.12,2.30,44.10,0.549,4,0.091,0.044,2562,3535,1367,0,0,0,0,0,0
$GC,13929,0.78,367.3,132.2,15.9,1168,13937,0.00,2.22,0.00,0.000,6,0.000,0.030,2572,2126,1366,0,0,0,0,0,0
$GC,14131,0.78,367.3,102.0,13.0,1205,14139,0.00,2.20,0.00,0.000,4,0.000,0.040,2583,720,1363,0,0,0,0,0,0
$GC,14173,0.78,367.3,97.0,11.6,1212,14183,0.08,2.22,0.00,0.000,6,0.116,0.034,2557,2133,1363,0,0,0,0,0,0
$GC,14378,0.93,487.8,81.5,6.4,1249,14476,0.12,2.28,88.72,0.500,4,0.089,0.042,2616,3530,880,0,0,0,0,0,0
$GC,14503,0.93,487.8,64.8,14.8,1266,14511,0.00,2.22,0.00,0.000,6,0.000,0.029,2625,2127,877,0,0,0,0,0,0
$GC,14706,0.93,487.8,36.8,13.8,1303,14714,0.00,2.20,0.00,0.000,4,0.000,0.037,2636,713,875,0,0,0,0,0,0
$GC,14772,0.94,499.2,29.4,10.6,1314,14789,0.08,2.20,9.55,0.474,6,0.103,0.033,2605,2121,832,0,0,0,0,0,0
$GC,14984,1.04,579.5,13.2,7.9,1352,15055,0.00,2.28,59.35,0.468,4,0.000,0.042,2605,3536,506,0,0,0,0,0,0
$STATE,15115,end climb,SURFACE_DEPTH_REACHED
$STATE,15116,begin surface coast
$FINISH,1.8,1.021293
$STATE,15125,end surface coast,CONTROL_FINISHED_OK
$STATE,15125,begin surface
$SM_CCo,15202,0.00,0.000,0,0,503,580.38
$SM_GC,0.75,6.53,0.00,0.00,0.054,0.000,0.000,217,2583,503,-6.45,-0.48,580.38,0,0,0,0,0,0
$IRIDIUM_FIX,2101.76,12054.65,190611,080844
$TT8_MAMPS,0.027713,0.027713
$HUMID,38.69
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.1,8.001
$10V_AH,10.2,8.316
$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,16.375,122.625,599.100,0.000,0.000,22.884,39.440,175.130,0.000,0.000,15.217,3387.669,7850.701,628.907,3393.763,308.116,32.340,1945.242,0.000,2220.899,0.000,0.540,0.000
$DEVICE_MAMPS,235.620,53.550,1117.665,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,955.316,2090.751,1686.689,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323232
$DATA_FILE_SIZE,90336,1373
$CAP_FILE_SIZE,154758,0
$CFSIZE,260165632,246673408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,283.7,1
$GPS,190611,170407,2103.684,11956.596,42,1.3,42,-2.4