version: 66.09
glider: 181
mission: 6
dive: 50
start: 6 19 111 21 28 32
data:
$ID,181
$MISSION,6
$DIVE,50
$N_DIVES,60
$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,-39580.32
$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,33
$R_STBD_OVSHOOT,36
$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
$GPS1,190611,212106,2100.730,11955.670,37,0.9,38,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-61.0
$GPS2,190611,212732,2100.666,11955.438,11,1.5,11,-2.4
$SPEED_LIMITS,0.191,0.305
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.180,-0.246
$KALMAN_X,-5247.3,-151.9,178.8,1210.3,-3198.6
$KALMAN_Y,10806.4,-1062.2,-337.5,-25562.5,3412.1
$MHEAD_RNG_PITCHd_Wd,146.3,223616,-16.3,-11.000
$D_GRID,3430
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.57,-194.6,0.0,0.0,0,96,0.00,0.00,-75.62,0.000,2,0.000,0.000,132,2599,2736,0,0,0,0,0,0
$GC,99,-0.57,-194.6,3.5,-4.3,10,131,8.10,2.12,-17.17,0.000,4,0.240,0.037,2108,1159,3665,0,0,0,0,0,0
$GC,221,-0.57,-194.6,47.1,-27.1,30,229,0.00,2.28,0.00,0.000,6,0.000,0.041,2098,2596,3667,0,0,0,0,0,0
$GC,422,-0.57,-194.6,126.4,-43.3,67,430,0.00,1.88,0.00,0.000,4,0.000,0.049,2089,3787,3667,0,0,0,0,0,0
$GC,465,-0.57,-194.6,144.9,-42.0,74,473,0.00,1.83,0.00,0.000,6,0.000,0.026,2089,2563,3667,0,0,0,0,0,0
$GC,666,-0.57,-194.6,198.9,-25.0,111,674,0.00,2.00,0.00,0.000,4,0.000,0.026,2089,1201,3669,0,0,0,0,0,0
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$GC,933,-0.57,-194.6,255.3,-22.8,157,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2602,3670,0,0,0,0,0,0
$GC,1251,-0.57,-194.6,321.3,-18.1,187,1254,0.00,1.80,0.00,0.000,4,0.000,0.048,2111,3784,3670,0,0,0,0,0,0
$GC,1285,-0.57,-194.6,328.1,-19.2,190,1289,0.00,1.73,0.00,0.000,6,0.000,0.028,2111,2595,3669,0,0,0,0,0,0
$GC,1616,-0.57,-194.6,383.4,-15.9,221,1620,0.00,2.03,0.00,0.000,4,0.000,0.031,2111,1205,3668,0,0,0,0,0,0
$GC,1677,-0.57,-194.6,392.3,-13.2,226,1684,0.00,2.17,0.00,0.000,6,0.000,0.040,2111,2601,3668,0,0,0,0,0,0
$GC,2003,-0.57,-194.6,444.3,-17.2,257,2006,0.00,1.80,0.00,0.000,4,0.000,0.050,2110,3784,3665,0,0,0,0,0,0
$GC,2119,-0.57,-194.6,463.5,-15.4,267,2126,0.00,1.77,0.00,0.000,6,0.000,0.028,2104,2589,3663,0,0,0,0,0,0
$GC,2446,-0.57,-194.6,519.5,-16.6,298,2450,0.00,1.85,0.00,0.000,4,0.000,0.048,2096,3790,3660,0,0,0,0,0,0
$GC,2516,-0.57,-194.6,529.9,-13.7,304,2520,0.00,1.73,0.00,0.000,6,0.000,0.028,2095,2602,3660,0,0,0,0,0,0
$GC,2847,-0.57,-194.6,580.0,-15.1,335,2851,0.00,1.83,0.00,0.000,4,0.000,0.049,2087,3784,3656,0,0,0,0,0,0
$GC,2871,-0.57,-194.6,583.2,-14.5,337,2875,0.12,1.73,0.00,0.000,6,0.155,0.030,2121,2610,3655,0,0,0,0,0,0
$GC,3198,-0.57,-194.6,616.8,-10.2,360,3202,0.00,2.08,0.00,0.000,4,0.000,0.034,2122,1199,3652,0,0,0,0,0,0
$GC,3219,-0.57,-194.6,619.4,-10.1,361,3223,0.00,2.15,0.00,0.000,6,0.000,0.041,2113,2603,3652,0,0,0,0,0,0
$GC,3541,-0.57,-194.6,655.8,-12.0,377,3544,0.00,1.80,0.00,0.000,4,0.000,0.052,2111,3777,3649,0,0,0,0,0,0
$GC,3579,-0.57,-194.6,660.5,-11.4,378,3586,0.00,1.77,0.00,0.000,6,0.000,0.031,2111,2598,3649,0,0,0,0,0,0
$GC,3896,-0.57,-194.6,697.7,-11.9,394,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2595,3644,0,0,0,0,0,0
$GC,4205,-0.57,-194.6,736.8,-13.2,409,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2595,3643,0,0,0,0,0,0
$GC,4514,-0.57,-194.6,780.7,-14.5,424,4518,0.00,2.05,0.00,0.000,4,0.000,0.035,2111,1212,3640,0,0,0,0,0,0
$GC,4540,-0.57,-194.6,784.8,-14.1,425,4545,0.00,2.17,0.00,0.000,6,0.000,0.043,2111,2593,3640,0,0,0,0,0,0
$GC,4869,-0.57,-194.6,824.6,-11.3,441,4872,0.00,1.83,0.00,0.000,4,0.000,0.053,2111,3780,3635,0,0,0,0,0,0
$GC,4908,-0.57,-194.6,829.0,-10.8,442,4914,0.00,1.77,0.00,0.000,6,0.000,0.031,2111,2585,3637,0,0,0,0,0,0
$GC,5224,-0.57,-194.6,861.7,-10.4,458,5228,0.00,2.05,0.00,0.000,4,0.000,0.036,2111,1199,3635,0,0,0,0,0,0
$GC,5303,-0.57,-194.6,869.1,-8.7,461,5310,0.00,2.17,0.00,0.000,6,0.000,0.043,2111,2600,3634,0,0,0,0,0,0
$GC,5620,-0.57,-194.6,900.7,-10.3,477,5624,0.00,1.85,0.00,0.000,4,0.000,0.054,2111,3777,3630,0,0,0,0,0,0
$GC,5670,-0.57,-194.6,905.8,-9.7,479,5674,0.00,1.75,0.00,0.000,6,0.000,0.031,2111,2590,3632,0,0,0,0,0,0
$GC,5998,-0.57,-194.6,938.5,-10.4,495,6002,0.00,2.05,0.00,0.000,4,0.000,0.037,2111,1205,3630,0,0,0,0,0,0
$GC,6075,-0.57,-194.6,946.3,-9.2,498,6079,0.00,2.15,0.00,0.000,6,0.000,0.043,2111,2604,3630,0,0,0,0,0,0
$GC,6396,-0.57,-194.6,978.2,-10.2,514,6400,0.00,1.80,0.00,0.000,4,0.000,0.054,2112,3774,3627,0,0,0,0,0,0
$GC,6452,-0.57,-194.6,983.6,-9.2,516,6456,0.00,1.77,0.00,0.000,6,0.000,0.031,2111,2606,3627,0,0,0,0,0,0
$STATE,6526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6526,begin apogee
$GC,6532,-0.16,0.0,990.1,9.1,520,6686,0.40,0.00,149.43,1.114,6,0.126,0.000,2244,2108,2869,0,0,0,0,0,0
$STATE,6687,end apogee,CONTROL_FINISHED_OK
$STATE,6687,begin climb
$GC,6690,0.57,194.6,995.9,0.0,527,6854,0.65,0.00,160.93,1.080,6,0.058,0.000,2489,2108,2076,0,0,0,0,0,0
$GC,7159,0.57,194.6,939.6,14.7,550,7163,0.00,2.28,0.00,0.000,4,0.000,0.045,2488,3539,2065,0,0,0,0,0,0
$GC,7200,0.57,194.6,933.0,16.5,552,7204,0.00,2.17,0.00,0.000,6,0.000,0.032,2498,2134,2064,0,0,0,0,0,0
$GC,7527,0.57,194.6,884.5,14.1,568,7531,0.00,2.17,0.00,0.000,4,0.000,0.041,2509,711,2062,0,0,0,0,0,0
$GC,7638,0.57,194.6,869.4,13.2,573,7642,0.00,2.22,0.00,0.000,6,0.000,0.036,2510,2131,2063,0,0,0,0,0,0
$GC,7965,0.57,194.6,824.1,14.0,589,7969,0.00,2.17,0.00,0.000,4,0.000,0.041,2520,714,2060,0,0,0,0,0,0
$GC,8064,0.57,194.6,809.7,14.4,593,8069,0.12,2.17,0.00,0.000,6,0.177,0.037,2488,2134,2060,0,0,0,0,0,0
$GC,8380,0.57,194.6,766.5,13.9,608,8384,0.00,2.15,0.00,0.000,4,0.000,0.046,2488,3535,2059,0,0,0,0,0,0
$GC,8424,0.57,194.6,759.5,15.2,610,8428,0.00,2.17,0.00,0.000,6,0.000,0.031,2497,2093,2058,0,0,0,0,0,0
$GC,8752,0.57,194.6,712.2,14.0,626,8756,0.00,2.08,0.00,0.000,4,0.000,0.042,2508,722,2058,0,0,0,0,0,0
$GC,8863,0.57,194.6,697.8,12.3,631,8867,0.00,2.17,0.00,0.000,6,0.000,0.035,2508,2151,2058,0,0,0,0,0,0
$GC,9191,0.57,194.6,651.6,14.0,647,9195,0.00,2.12,0.00,0.000,4,0.000,0.045,2506,3538,2057,0,0,0,0,0,0
$GC,9240,0.57,194.6,644.2,14.4,649,9245,0.12,2.17,0.00,0.000,6,0.188,0.031,2487,2126,2057,0,0,0,0,0,0
$GC,9562,0.57,194.6,605.6,12.0,665,9566,0.00,2.12,0.00,0.000,4,0.000,0.042,2497,716,2057,0,0,0,0,0,0
$GC,9624,0.57,194.6,597.8,12.5,668,9628,0.00,2.15,0.00,0.000,6,0.000,0.035,2497,2129,2057,0,0,0,0,0,0
$GC,9955,0.57,194.6,558.5,11.5,699,9959,0.00,2.15,0.00,0.000,4,0.000,0.045,2496,3538,2057,0,0,0,0,0,0
$GC,10029,0.57,194.6,549.1,13.6,705,10033,0.00,2.12,0.00,0.000,6,0.000,0.031,2506,2121,2057,0,0,0,0,0,0
$GC,10354,0.57,194.6,503.8,14.6,735,10355,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2124,2057,0,0,0,0,0,0
$GC,10676,0.57,194.6,458.2,13.5,765,10680,0.00,2.12,0.00,0.000,4,0.000,0.041,2517,715,2057,0,0,0,0,0,0
$GC,10709,0.57,194.6,453.2,13.1,767,10717,0.12,2.15,0.00,0.000,6,0.168,0.034,2485,2131,2057,0,0,0,0,0,0
$GC,11035,0.66,269.6,423.9,8.1,798,11096,0.00,2.22,56.05,0.757,4,0.000,0.038,2493,725,1769,0,0,0,0,0,0
$GC,11133,0.74,335.0,415.4,8.5,806,11191,0.15,2.20,51.70,0.720,6,0.088,0.035,2552,2123,1503,0,0,0,0,0,0
$GC,11508,0.74,335.0,349.6,18.4,841,11512,0.00,2.17,0.00,0.000,4,0.000,0.037,2561,716,1494,0,0,0,0,0,0
$GC,11554,0.74,335.0,341.8,16.8,845,11558,0.00,2.20,0.00,0.000,6,0.000,0.036,2561,2133,1493,0,0,0,0,0,0
$GC,11880,0.74,335.0,287.6,16.8,875,11882,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2135,1491,0,0,0,0,0,0
$GC,12202,0.74,335.0,234.0,16.1,914,12210,0.00,2.20,0.00,0.000,4,0.000,0.037,2570,724,1491,0,0,0,0,0,0
$GC,12229,0.74,335.0,229.4,15.9,918,12238,0.08,2.20,0.00,0.000,6,0.132,0.037,2546,2131,1491,0,0,0,0,0,0
$GC,12431,0.74,335.0,199.8,14.5,955,12439,0.00,2.22,0.00,0.000,4,0.000,0.045,2546,3539,1490,0,0,0,0,0,0
$GC,12506,0.74,335.0,188.1,15.5,968,12514,0.00,2.17,0.00,0.000,6,0.000,0.029,2554,2124,1490,0,0,0,0,0,0
$GC,12708,0.77,357.7,162.1,10.1,1005,12732,0.00,2.15,17.05,0.605,4,0.000,0.037,2564,714,1409,0,0,0,0,0,0
$GC,12863,0.77,361.9,144.8,10.8,1032,12873,0.00,2.20,4.68,0.466,6,0.000,0.033,2564,2130,1392,0,0,0,0,0,0
$GC,13068,0.82,404.8,123.0,9.4,1069,13107,0.00,2.28,33.33,0.554,4,0.000,0.038,2574,714,1220,0,0,0,0,0,0
$GC,13133,0.86,435.8,116.7,9.8,1078,13165,0.00,2.22,24.40,0.504,6,0.000,0.035,2574,2122,1091,0,0,0,0,0,0
$GC,13361,0.94,495.5,95.4,8.7,1118,13416,0.00,2.25,44.95,0.515,4,0.000,0.041,2574,3538,848,0,0,0,0,0,0
$GC,13450,0.98,534.6,86.9,9.5,1131,13489,0.08,2.22,30.33,0.485,6,0.050,0.028,2640,2125,688,0,0,0,0,0,0
$GC,13683,0.98,534.6,50.4,15.8,1172,13692,0.00,2.17,0.00,0.000,4,0.000,0.036,2651,721,684,0,0,0,0,0,0
$GC,13726,0.98,534.6,44.5,13.2,1179,13735,0.08,2.20,0.00,0.000,6,0.113,0.034,2622,2123,682,0,0,0,0,0,0
$GC,13929,1.02,567.6,21.7,9.7,1216,13961,0.00,2.22,25.05,0.511,4,0.000,0.038,2623,3548,555,0,0,0,0,0,0
$GC,14046,1.06,599.1,10.8,9.8,1235,14078,0.00,2.20,22.20,0.495,6,0.000,0.027,2630,2122,440,0,0,0,0,0,0
$STATE,14138,end climb,SURFACE_DEPTH_REACHED
$STATE,14138,begin surface coast
$FINISH,-0.1,1.021314
$STATE,14178,end surface coast,CONTROL_FINISHED_OK
$STATE,14178,begin surface
$SM_CCo,14255,0.00,0.000,0,0,437,596.57
$SM_GC,0.63,6.35,0.00,0.00,0.037,0.000,0.000,211,2654,437,-6.46,1.53,596.57,0,0,0,0,0,0
$IRIDIUM_FIX,2052.52,11953.28,190611,171717
$TT8_MAMPS,0.027713,0.027713
$HUMID,38.97
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.1,8.313
$10V_AH,10.2,8.620
$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,16.475,142.025,620.075,0.000,0.000,24.793,39.981,179.514,0.000,0.000,14.139,3164.404,7285.945,663.018,3216.344,299.853,33.347,1928.318,0.000,2127.135,0.000,0.540,0.000
$DEVICE_MAMPS,240.210,53.550,1113.840,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,873.591,1913.547,1505.521,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323180
$DATA_FILE_SIZE,83760,1257
$CAP_FILE_SIZE,155592,0
$CFSIZE,260165632,246509568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.258,236.2,1
$GPS,200611,012725,2057.813,11954.951,40,1.0,41,-2.4