version: 66.09
glider: 181
mission: 6
dive: 53
start: 6 20 111 10 10 38
data:
$ID,181
$MISSION,6
$DIVE,53
$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,-39584.09
$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,44
$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
$GPS1,200611,100331,2053.857,11953.500,39,1.4,40,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-65.4
$GPS2,200611,100938,2053.760,11953.521,11,1.4,11,-2.4
$SPEED_LIMITS,0.191,0.305
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.246,-0.180
$KALMAN_X,-16755.0,149.3,249.8,9022.3,-4309.5
$KALMAN_Y,10231.4,427.7,-4.9,-39624.0,1140.5
$MHEAD_RNG_PITCHd_Wd,142.6,210989,-16.3,-11.000
$D_GRID,3408
$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,-194.6,0.0,0.0,0,106,0.00,0.00,-87.05,0.000,2,0.000,0.000,138,2617,2807,0,0,0,0,0,0
$GC,109,-0.57,-194.6,3.5,-3.5,11,141,8.07,2.15,-15.45,0.000,4,0.240,0.037,2115,1153,3666,0,0,0,0,0,0
$GC,271,-0.57,-194.6,57.5,-24.6,39,279,0.00,2.28,0.00,0.000,6,0.000,0.044,2111,2582,3668,0,0,0,0,0,0
$GC,472,-0.57,-194.6,124.1,-29.7,76,480,0.00,2.12,0.00,0.000,4,0.000,0.031,2111,1183,3667,0,0,0,0,0,0
$GC,599,-0.57,-194.6,153.9,-18.8,99,607,0.00,2.22,0.00,0.000,6,0.000,0.041,2111,2605,3669,0,0,0,0,0,0
$GC,800,-0.57,-194.6,204.3,-22.2,136,808,0.00,1.83,0.00,0.000,4,0.000,0.045,2103,3780,3668,0,0,0,0,0,0
$GC,822,-0.57,-194.6,209.2,-22.8,139,830,0.00,1.80,0.00,0.000,6,0.000,0.027,2103,2583,3671,0,0,0,0,0,0
$GC,1022,-0.57,-194.6,254.6,-19.9,174,1026,0.00,2.03,0.00,0.000,4,0.000,0.030,2103,1191,3671,0,0,0,0,0,0
$GC,1038,-0.57,-194.6,258.1,-19.4,175,1046,0.00,2.17,0.00,0.000,6,0.000,0.039,2097,2606,3671,0,0,0,0,0,0
$GC,1364,-0.57,-194.6,322.3,-18.1,206,1367,0.00,1.77,0.00,0.000,4,0.000,0.046,2087,3784,3671,0,0,0,0,0,0
$GC,1481,-0.57,-194.6,342.3,-15.6,216,1489,0.08,1.77,0.00,0.000,6,0.133,0.028,2113,2593,3670,0,0,0,0,0,0
$GC,1807,-0.57,-194.6,389.7,-14.3,247,1811,0.00,2.03,0.00,0.000,4,0.000,0.033,2113,1206,3668,0,0,0,0,0,0
$GC,1863,-0.57,-194.6,397.6,-13.0,252,1867,0.00,2.12,0.00,0.000,6,0.000,0.040,2112,2605,3667,0,0,0,0,0,0
$GC,2188,-0.57,-194.6,449.3,-17.0,282,2192,0.00,1.80,0.00,0.000,4,0.000,0.049,2111,3786,3664,0,0,0,0,0,0
$GC,2238,-0.57,-194.6,457.4,-14.8,286,2246,0.00,1.77,0.00,0.000,6,0.000,0.028,2111,2574,3663,0,0,0,0,0,0
$GC,2563,-0.57,-194.6,511.4,-17.1,317,2567,0.00,1.85,0.00,0.000,4,0.000,0.049,2102,3779,3659,0,0,0,0,0,0
$GC,2602,-0.57,-194.6,518.2,-16.3,320,2609,0.00,1.75,0.00,0.000,6,0.000,0.030,2102,2607,3659,0,0,0,0,0,0
$GC,2929,-0.57,-194.6,564.2,-13.0,351,2933,0.00,2.08,0.00,0.000,4,0.000,0.034,2102,1196,3655,0,0,0,0,0,0
$GC,3015,-0.57,-194.6,573.8,-10.0,358,3019,0.00,2.15,0.00,0.000,6,0.000,0.041,2097,2603,3654,0,0,0,0,0,0
$GC,3338,-0.57,-194.6,621.3,-16.3,382,3341,0.00,1.80,0.00,0.000,4,0.000,0.050,2088,3785,3651,0,0,0,0,0,0
$GC,3384,-0.57,-194.6,628.8,-15.4,384,3388,0.10,1.75,0.00,0.000,6,0.160,0.030,2115,2587,3651,0,0,0,0,0,0
$GC,3716,-0.57,-194.6,671.8,-11.9,400,3719,0.00,2.05,0.00,0.000,4,0.000,0.036,2115,1201,3648,0,0,0,0,0,0
$GC,3766,-0.57,-194.6,677.6,-10.7,402,3770,0.00,2.17,0.00,0.000,6,0.000,0.042,2113,2609,3647,0,0,0,0,0,0
$GC,4093,-0.57,-194.6,714.4,-12.0,418,4097,0.00,1.83,0.00,0.000,4,0.000,0.053,2112,3770,3644,0,0,0,0,0,0
$GC,4120,-0.57,-194.6,717.8,-12.1,419,4124,0.00,1.77,0.00,0.000,6,0.000,0.031,2111,2597,3642,0,0,0,0,0,0
$GC,4448,-0.57,-194.6,754.9,-11.2,435,4451,0.00,2.05,0.00,0.000,4,0.000,0.036,2112,1211,3641,0,0,0,0,0,0
$GC,4481,-0.57,-194.6,758.6,-10.9,436,4485,0.00,2.15,0.00,0.000,6,0.000,0.042,2111,2602,3641,0,0,0,0,0,0
$GC,4798,-0.57,-194.6,791.4,-10.2,451,4801,0.00,1.83,0.00,0.000,4,0.000,0.054,2111,3788,3638,0,0,0,0,0,0
$GC,4844,-0.57,-194.6,795.3,-8.3,453,4847,0.00,1.75,0.00,0.000,6,0.000,0.031,2111,2598,3638,0,0,0,0,0,0
$GC,5177,-0.57,-194.6,829.3,-11.1,469,5181,0.00,2.08,0.00,0.000,4,0.000,0.037,2111,1197,3635,0,0,0,0,0,0
$GC,5220,-0.57,-194.6,834.1,-10.5,471,5224,0.00,2.15,0.00,0.000,6,0.000,0.043,2111,2598,3635,0,0,0,0,0,0
$GC,5547,-0.57,-194.6,870.2,-11.5,487,5551,0.00,1.83,0.00,0.000,4,0.000,0.054,2111,3785,3633,0,0,0,0,0,0
$GC,5571,-0.57,-194.6,872.8,-11.6,488,5574,0.00,1.75,0.00,0.000,6,0.000,0.032,2111,2598,3632,0,0,0,0,0,0
$GC,5903,-0.57,-194.6,911.9,-12.1,504,5907,0.00,2.08,0.00,0.000,4,0.000,0.038,2111,1200,3631,0,0,0,0,0,0
$GC,5953,-0.57,-194.6,918.3,-11.8,506,5957,0.00,2.17,0.00,0.000,6,0.000,0.044,2111,2610,3630,0,0,0,0,0,0
$GC,6275,-0.57,-194.6,958.9,-12.8,522,6276,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2611,3628,0,0,0,0,0,0
$STATE,6541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6541,begin apogee
$GC,6548,-0.16,0.0,992.2,12.2,535,6704,0.40,0.00,149.40,1.115,6,0.126,0.000,2244,2121,2869,0,0,0,0,0,0
$STATE,6705,end apogee,CONTROL_FINISHED_OK
$STATE,6705,begin climb
$GC,6707,0.57,194.6,1000.5,0.0,542,6875,0.68,2.28,160.02,1.086,4,0.058,0.041,2505,737,2074,0,0,0,0,0,0
$GC,6890,0.57,194.6,988.5,13.7,551,6895,0.00,2.28,0.00,0.000,6,0.000,0.037,2505,2133,2071,0,0,0,0,0,0
$GC,7218,0.57,194.6,937.3,16.1,567,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2137,2063,0,0,0,0,0,0
$GC,7527,0.57,194.6,886.0,16.4,582,7531,0.00,2.20,0.00,0.000,4,0.000,0.043,2514,725,2061,0,0,0,0,0,0
$GC,7584,0.57,194.6,876.7,16.5,584,7591,0.00,2.20,0.00,0.000,6,0.000,0.039,2514,2132,2061,0,0,0,0,0,0
$GC,7900,0.57,194.6,823.9,16.4,600,7904,0.00,2.20,0.00,0.000,4,0.000,0.048,2514,3537,2060,0,0,0,0,0,0
$GC,7915,0.57,194.6,821.0,16.6,600,7923,0.12,2.17,0.00,0.000,6,0.175,0.033,2488,2142,2059,0,0,0,0,0,0
$GC,8231,0.57,194.6,774.3,14.9,616,8235,0.00,2.17,0.00,0.000,4,0.000,0.041,2498,712,2062,0,0,0,0,0,0
$GC,8287,0.57,194.6,765.7,14.5,618,8295,0.00,2.17,0.00,0.000,6,0.000,0.037,2498,2126,2059,0,0,0,0,0,0
$GC,8603,0.57,194.6,716.9,15.1,634,8607,0.00,2.17,0.00,0.000,4,0.000,0.047,2498,3538,2058,0,0,0,0,0,0
$GC,8646,0.57,194.6,709.8,15.4,636,8650,0.00,2.17,0.00,0.000,6,0.000,0.032,2507,2105,2057,0,0,0,0,0,0
$GC,8974,0.57,194.6,661.5,14.0,652,8978,0.00,2.10,0.00,0.000,4,0.000,0.044,2518,718,2058,0,0,0,0,0,0
$GC,9096,0.57,194.6,645.4,12.7,657,9104,0.08,2.20,0.00,0.000,6,0.159,0.037,2484,2127,2057,0,0,0,0,0,0
$GC,9413,0.63,250.4,615.3,8.9,673,9461,0.00,2.28,42.20,0.883,4,0.000,0.049,2484,3543,1847,0,0,0,0,0,0
$GC,9505,0.63,250.4,605.8,11.3,677,9509,0.00,2.25,0.00,0.000,6,0.000,0.033,2493,2123,1847,0,0,0,0,0,0
$GC,9830,0.63,250.4,569.2,12.5,705,9834,0.00,2.17,0.00,0.000,4,0.000,0.043,2504,710,1840,0,0,0,0,0,0
$GC,9852,0.63,250.4,566.2,12.6,706,9860,0.00,2.22,0.00,0.000,6,0.000,0.037,2504,2120,1839,0,0,0,0,0,0
$GC,10178,0.63,250.4,522.1,14.0,737,10182,0.00,2.15,0.00,0.000,4,0.000,0.041,2513,718,1839,0,0,0,0,0,0
$GC,10217,0.63,250.4,516.7,13.9,740,10221,0.00,2.17,0.00,0.000,6,0.000,0.037,2513,2133,1838,0,0,0,0,0,0
$GC,10544,0.63,250.4,469.3,14.5,770,10545,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2133,1838,0,0,0,0,0,0
$GC,10862,0.63,250.4,418.2,15.9,800,10866,0.00,2.17,0.00,0.000,4,0.000,0.047,2514,3541,1837,0,0,0,0,0,0
$GC,10939,0.63,250.4,404.7,15.8,806,10948,0.00,2.20,0.00,0.000,6,0.000,0.032,2523,2119,1837,0,0,0,0,0,0
$GC,11265,0.63,250.4,357.2,14.9,837,11269,0.00,2.15,0.00,0.000,4,0.000,0.043,2533,716,1836,0,0,0,0,0,0
$GC,11425,0.63,250.4,335.1,14.2,851,11429,0.00,2.15,0.00,0.000,6,0.000,0.037,2533,2130,1836,0,0,0,0,0,0
$GC,11752,0.63,250.4,285.4,15.3,881,11756,0.00,2.17,0.00,0.000,4,0.000,0.041,2543,706,1836,0,0,0,0,0,0
$GC,11881,0.63,250.4,265.7,14.9,892,11886,0.15,2.17,0.00,0.000,6,0.168,0.037,2503,2137,1836,0,0,0,0,0,0
$GC,12207,0.64,256.7,227.8,10.8,941,12216,0.00,2.22,4.55,0.518,4,0.000,0.046,2503,3535,1822,0,0,0,0,0,0
$GC,12338,0.64,256.7,210.8,13.3,964,12346,0.00,2.17,0.00,0.000,6,0.000,0.031,2511,2119,1822,0,0,0,0,0,0
$GC,12541,0.66,273.5,186.4,10.4,1001,12557,0.00,0.00,14.70,0.633,6,0.000,0.000,2512,2120,1753,0,0,0,0,0,0
$GC,12751,0.72,319.8,164.8,9.2,1039,12789,0.00,0.00,36.03,0.575,6,0.000,0.000,2512,2121,1566,0,0,0,0,0,0
$GC,12985,0.79,377.3,143.3,8.8,1080,13040,0.12,2.22,44.65,0.550,4,0.094,0.037,2576,723,1327,0,0,0,0,0,0
$GC,13048,0.79,377.3,134.5,14.8,1088,13057,0.00,2.25,0.00,0.000,6,0.000,0.037,2576,2126,1327,0,0,0,0,0,0
$GC,13250,0.79,377.3,106.7,13.4,1125,13257,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2127,1323,0,0,0,0,0,0
$GC,13451,0.79,377.3,83.1,11.4,1162,13460,0.00,2.20,0.00,0.000,4,0.000,0.039,2586,723,1322,0,0,0,0,0,0
$GC,13515,0.79,377.3,75.7,11.4,1173,13523,0.00,2.20,0.00,0.000,6,0.000,0.034,2586,2133,1321,0,0,0,0,0,0
$GC,13718,0.84,421.4,54.8,9.3,1210,13757,0.00,0.00,32.95,0.522,6,0.000,0.000,2586,2133,1148,0,0,0,0,0,0
$GC,13952,0.96,511.2,34.4,7.6,1251,14028,0.00,2.28,66.25,0.471,4,0.000,0.042,2586,3539,784,0,0,0,0,0,0
$GC,14065,1.09,618.2,26.7,6.9,1267,14134,0.12,2.22,62.58,0.440,6,0.042,0.028,2668,2118,440,0,0,0,0,0,0
$STATE,14243,end climb,SURFACE_DEPTH_REACHED
$STATE,14243,begin surface coast
$FINISH,-0.1,0.998371
$STATE,14268,end surface coast,CONTROL_FINISHED_OK
$STATE,14268,begin surface
$SM_CCo,14345,0.00,0.000,0,0,435,597.06
$SM_GC,0.69,6.47,0.00,0.00,0.036,0.000,0.000,213,2625,435,-6.45,0.71,597.06,0,0,0,0,0,0
$IRIDIUM_FIX,2047.91,11948.98,200611,050506
$TT8_MAMPS,0.027713,0.027713
$HUMID,40.07
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.1,8.779
$10V_AH,10.2,9.100
$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,16.400,138.775,613.325,0.000,0.000,27.788,16.247,174.457,0.000,0.000,14.332,3245.292,7154.739,641.359,3356.629,301.251,33.348,1962.752,0.000,2212.945,0.000,0.541,0.000
$DEVICE_MAMPS,240.210,53.550,1115.370,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,903.976,1978.701,1661.729,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323188
$DATA_FILE_SIZE,87162,1300
$CAP_FILE_SIZE,156240,0
$CFSIZE,260165632,246231040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,197.3,1
$GPS,200611,141101,2051.840,11954.713,40,1.3,40,-2.4