version: 66.09
glider: 181
mission: 6
dive: 55
start: 6 20 111 18 30 50
data:
$ID,181
$MISSION,6
$DIVE,55
$N_DIVES,65
$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,-4
$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,-39586.602
$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,52
$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
$GPS1,200611,182324,2048.838,11953.604,25,1.0,44,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-67.2
$GPS2,200611,182950,2048.647,11953.510,12,1.5,12,-2.4
$SPEED_LIMITS,0.191,0.305
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.027,-0.304
$KALMAN_X,-22971.4,1538.6,439.8,13617.4,-6865.1
$KALMAN_Y,9651.2,15.8,154.0,-48267.6,-828.7
$MHEAD_RNG_PITCHd_Wd,154.2,201535,-16.3,-11.000
$D_GRID,3255
$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,14,begin dive
$GC,16,-0.57,-194.6,0.0,0.0,0,95,0.00,0.00,-76.90,0.000,2,0.000,0.000,130,2633,2699,0,0,0,0,0,0
$GC,99,-0.57,-194.6,3.0,-3.4,10,131,8.15,1.83,-18.33,0.000,4,0.241,0.060,2100,3765,3667,0,0,0,0,0,0
$GC,221,-0.57,-194.6,64.8,-55.2,30,230,0.00,1.80,0.00,0.000,6,0.000,0.028,2100,2586,3669,0,0,0,0,0,0
$GC,359,-0.57,-194.6,119.7,-34.8,55,367,0.00,2.08,0.00,0.000,4,0.000,0.025,2100,1183,3669,0,0,0,0,0,0
$GC,417,-0.57,-194.6,135.6,-26.8,65,426,0.00,2.22,0.00,0.000,6,0.000,0.045,2095,2581,3669,0,0,0,0,0,0
$GC,554,-0.57,-194.6,174.4,-29.5,90,562,0.00,1.88,0.00,0.000,4,0.000,0.046,2086,3780,3671,0,0,0,0,0,0
$GC,597,-0.57,-194.6,186.6,-28.9,97,607,0.08,1.77,0.00,0.000,6,0.151,0.026,2105,2594,3671,0,0,0,0,0,0
$GC,738,-0.57,-194.6,216.5,-21.8,122,746,0.00,1.88,0.00,0.000,4,0.000,0.044,2102,3786,3673,0,0,0,0,0,0
$GC,771,-0.57,-194.6,224.4,-22.0,127,779,0.00,1.77,0.00,0.000,6,0.000,0.026,2102,2591,3669,0,0,0,0,0,0
$GC,914,-0.57,-194.6,257.7,-24.1,150,917,0.00,2.03,0.00,0.000,4,0.000,0.028,2102,1199,3672,0,0,0,0,0,0
$GC,940,-0.57,-194.6,263.8,-20.6,152,949,0.00,2.17,0.00,0.000,6,0.000,0.037,2096,2599,3670,0,0,0,0,0,0
$GC,1139,-0.57,-194.6,305.0,-23.3,171,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2600,3672,0,0,0,0,0,0
$GC,1330,-0.57,-194.6,344.5,-20.3,189,1334,0.00,2.08,0.00,0.000,4,0.000,0.029,2096,1203,3671,0,0,0,0,0,0
$GC,1379,-0.57,-194.6,353.4,-15.8,193,1388,0.12,2.15,0.00,0.000,6,0.157,0.038,2120,2609,3671,0,0,0,0,0,0
$GC,1577,-0.57,-194.6,381.3,-13.9,212,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2611,3670,0,0,0,0,0,0
$GC,1769,-0.57,-194.6,408.9,-14.0,230,1773,0.00,2.08,0.00,0.000,4,0.000,0.032,2121,1208,3668,0,0,0,0,0,0
$GC,1815,-0.57,-194.6,415.1,-13.1,234,1819,0.00,2.12,0.00,0.000,6,0.000,0.038,2114,2603,3668,0,0,0,0,0,0
$GC,2013,-0.57,-194.6,441.5,-13.0,252,2017,0.00,1.80,0.00,0.000,4,0.000,0.048,2112,3784,3666,0,0,0,0,0,0
$GC,2047,-0.57,-194.6,445.7,-12.1,255,2051,0.00,1.73,0.00,0.000,6,0.000,0.028,2112,2594,3664,0,0,0,0,0,0
$GC,2250,-0.57,-194.6,471.1,-13.3,274,2254,0.00,1.83,0.00,0.000,4,0.000,0.047,2110,3780,3663,0,0,0,0,0,0
$GC,2309,-0.57,-194.6,478.2,-11.4,279,2313,0.00,1.73,0.00,0.000,6,0.000,0.028,2111,2590,3663,0,0,0,0,0,0
$GC,2513,-0.57,-194.6,504.8,-13.8,298,2516,0.00,2.03,0.00,0.000,4,0.000,0.032,2111,1210,3660,0,0,0,0,0,0
$GC,2585,-0.57,-194.6,514.0,-11.4,304,2592,0.00,2.17,0.00,0.000,6,0.000,0.040,2111,2604,3660,0,0,0,0,0,0
$GC,2783,-0.57,-194.6,539.4,-12.9,323,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2603,3657,0,0,0,0,0,0
$GC,2974,-0.57,-194.6,563.2,-12.6,341,2978,0.00,2.08,0.00,0.000,4,0.000,0.034,2111,1212,3655,0,0,0,0,0,0
$GC,3007,-0.57,-194.6,567.8,-13.7,343,3014,0.00,2.15,0.00,0.000,6,0.000,0.042,2111,2605,3655,0,0,0,0,0,0
$GC,3205,-0.57,-194.6,596.5,-15.9,362,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2609,3651,0,0,0,0,0,0
$GC,3391,-0.57,-194.6,627.6,-16.7,372,3394,0.00,1.80,0.00,0.000,4,0.000,0.051,2111,3783,3652,0,0,0,0,0,0
$GC,3429,-0.57,-194.6,634.0,-15.8,373,3437,0.00,1.77,0.00,0.000,6,0.000,0.029,2110,2597,3652,0,0,0,0,0,0
$GC,3745,-0.57,-194.6,684.5,-16.4,389,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2596,3648,0,0,0,0,0,0
$GC,4055,-0.57,-194.6,728.0,-12.8,404,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2595,3647,0,0,0,0,0,0
$GC,4365,-0.57,-194.6,762.8,-10.4,419,4368,0.00,2.05,0.00,0.000,4,0.000,0.036,2110,1215,3644,0,0,0,0,0,0
$GC,4415,-0.57,-194.6,768.1,-9.7,421,4419,0.00,2.15,0.00,0.000,6,0.000,0.042,2110,2606,3643,0,0,0,0,0,0
$GC,4742,-0.57,-194.6,800.9,-10.4,437,4746,0.00,1.80,0.00,0.000,4,0.000,0.053,2110,3781,3641,0,0,0,0,0,0
$GC,4788,-0.57,-194.6,805.4,-9.8,439,4792,0.00,1.73,0.00,0.000,6,0.000,0.031,2111,2607,3641,0,0,0,0,0,0
$GC,5120,-0.57,-194.6,840.2,-11.3,455,5124,0.00,2.08,0.00,0.000,4,0.000,0.037,2111,1206,3638,0,0,0,0,0,0
$GC,5198,-0.57,-194.6,848.9,-10.4,458,5205,0.00,2.17,0.00,0.000,6,0.000,0.043,2111,2611,3638,0,0,0,0,0,0
$GC,5515,-0.57,-194.6,887.0,-12.1,474,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2616,3636,0,0,0,0,0,0
$GC,5824,-0.57,-194.6,920.4,-10.2,489,5828,0.00,1.80,0.00,0.000,4,0.000,0.054,2111,3777,3634,0,0,0,0,0,0
$GC,5857,-0.57,-194.6,923.8,-10.3,490,5861,0.00,1.75,0.00,0.000,6,0.000,0.031,2110,2592,3634,0,0,0,0,0,0
$GC,6179,-0.57,-194.6,959.6,-12.5,506,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2589,3632,0,0,0,0,0,0
$STATE,6403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6403,begin apogee
$GC,6410,-0.16,0.0,990.4,13.9,517,6565,0.40,0.00,150.35,1.113,6,0.127,0.000,2243,2107,2869,0,0,0,0,0,0
$STATE,6565,end apogee,CONTROL_FINISHED_OK
$STATE,6566,begin climb
$GC,6568,0.57,194.6,1002.9,0.0,524,6741,0.68,2.30,160.20,1.083,4,0.062,0.039,2499,735,2074,0,0,0,0,0,0
$GC,6768,0.59,212.3,995.1,10.3,533,6789,0.00,2.25,15.52,0.975,6,0.000,0.036,2499,2129,2004,0,0,0,0,0,0
$GC,7118,0.59,212.3,946.6,15.5,550,7122,0.00,2.22,0.00,0.000,4,0.000,0.046,2499,3537,1995,0,0,0,0,0,0
$GC,7190,0.59,212.3,933.0,18.2,553,7194,0.00,2.20,0.00,0.000,6,0.000,0.031,2509,2115,1994,0,0,0,0,0,0
$GC,7512,0.59,212.3,874.9,17.9,569,7516,0.00,2.15,0.00,0.000,4,0.000,0.041,2519,715,1993,0,0,0,0,0,0
$GC,7619,0.59,212.3,856.2,17.6,574,7624,0.00,2.17,0.00,0.000,6,0.000,0.037,2519,2128,1992,0,0,0,0,0,0
$GC,7946,0.59,212.3,799.1,16.5,590,7950,0.00,2.17,0.00,0.000,4,0.000,0.040,2529,708,1991,0,0,0,0,0,0
$GC,8013,0.59,212.3,788.5,14.8,593,8018,0.15,2.17,0.00,0.000,6,0.177,0.036,2490,2125,1991,0,0,0,0,0,0
$GC,8340,0.59,212.3,746.7,12.2,609,8344,0.00,2.17,0.00,0.000,4,0.000,0.047,2490,3538,1990,0,0,0,0,0,0
$GC,8434,0.59,212.3,733.6,13.4,613,8438,0.00,2.15,0.00,0.000,6,0.000,0.031,2499,2121,1989,0,0,0,0,0,0
$GC,8756,0.59,212.3,692.3,12.5,629,8760,0.00,2.12,0.00,0.000,4,0.000,0.041,2510,716,1989,0,0,0,0,0,0
$GC,8834,0.59,212.3,682.6,12.2,632,8841,0.00,2.17,0.00,0.000,6,0.000,0.036,2509,2135,1989,0,0,0,0,0,0
$GC,9150,0.59,212.3,641.3,13.2,648,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2136,1988,0,0,0,0,0,0
$GC,9460,0.59,212.3,594.5,15.3,664,9464,0.00,2.15,0.00,0.000,4,0.000,0.046,2509,3539,1988,0,0,0,0,0,0
$GC,9513,0.59,212.3,586.1,17.2,668,9517,0.00,2.15,0.00,0.000,6,0.000,0.031,2519,2113,1987,0,0,0,0,0,0
$GC,9710,0.59,212.3,556.9,14.5,686,9714,0.00,2.12,0.00,0.000,4,0.000,0.041,2530,713,1987,0,0,0,0,0,0
$GC,9759,0.59,212.3,549.7,14.1,690,9768,0.10,2.20,0.00,0.000,6,0.156,0.037,2488,2126,1987,0,0,0,0,0,0
$GC,9958,0.59,212.3,526.6,11.5,709,9962,0.00,2.17,0.00,0.000,4,0.000,0.046,2488,3548,1988,0,0,0,0,0,0
$GC,10001,0.59,212.3,521.1,12.6,712,10008,0.00,2.17,0.00,0.000,6,0.000,0.031,2497,2131,1987,0,0,0,0,0,0
$GC,10200,0.59,212.3,497.4,11.8,731,10203,0.00,2.15,0.00,0.000,4,0.000,0.040,2507,716,1987,0,0,0,0,0,0
$GC,10301,0.59,212.3,485.7,11.4,740,10305,0.00,2.15,0.00,0.000,6,0.000,0.036,2507,2134,1987,0,0,0,0,0,0
$GC,10499,0.59,212.3,461.8,12.2,758,10503,0.00,2.15,0.00,0.000,4,0.000,0.046,2507,3542,1988,0,0,0,0,0,0
$GC,10527,0.59,212.3,458.2,12.4,760,10531,0.00,2.15,0.00,0.000,6,0.000,0.031,2516,2112,1987,0,0,0,0,0,0
$GC,10725,0.59,212.3,434.0,12.1,778,10726,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2112,1987,0,0,0,0,0,0
$GC,10916,0.59,212.3,408.9,13.8,796,10920,0.00,2.10,0.00,0.000,4,0.000,0.041,2527,716,1987,0,0,0,0,0,0
$GC,10978,0.59,212.3,399.8,15.4,801,10983,0.15,2.15,0.00,0.000,6,0.170,0.036,2488,2126,1987,0,0,0,0,0,0
$GC,11181,0.59,212.3,372.0,13.4,820,11182,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2128,1987,0,0,0,0,0,0
$GC,11373,0.63,248.9,350.4,9.6,838,11409,0.00,2.22,27.52,0.714,4,0.000,0.045,2488,3539,1853,0,0,0,0,0,0
$GC,11425,0.68,285.4,345.0,9.6,842,11459,0.00,2.17,29.25,0.672,6,0.000,0.031,2496,2124,1705,0,0,0,0,0,0
$GC,11652,0.68,285.4,320.2,11.8,863,11656,0.00,2.15,0.00,0.000,4,0.000,0.041,2507,718,1698,0,0,0,0,0,0
$GC,11752,0.68,285.4,307.9,12.1,871,11760,0.00,2.22,0.00,0.000,6,0.000,0.035,2507,2131,1697,0,0,0,0,0,0
$GC,11952,0.68,285.4,283.9,11.6,890,11957,0.00,2.17,0.00,0.000,4,0.000,0.046,2507,3536,1697,0,0,0,0,0,0
$GC,12027,0.68,285.4,274.3,12.7,896,12031,0.00,2.15,0.00,0.000,6,0.000,0.030,2516,2119,1696,0,0,0,0,0,0
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$STATE,14154,end climb,SURFACE_DEPTH_REACHED
$STATE,14154,begin surface coast
$FINISH,0.5,1.021454
$STATE,14177,end surface coast,CONTROL_FINISHED_OK
$STATE,14179,begin surface
$SM_CCo,14256,0.00,0.000,0,0,524,575.23
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$IRIDIUM_FIX,2043.29,11954.13,200611,141411
$TT8_MAMPS,0.036701,0.036701
$HUMID,40.39
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.0,9.086
$10V_AH,10.1,9.406
$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,16.275,167.400,603.075,0.000,0.000,30.931,38.930,176.538,0.000,0.000,15.250,3162.025,7275.857,684.694,3195.463,312.330,33.342,2007.623,0.000,2140.357,0.000,0.541,0.000
$DEVICE_MAMPS,240.975,60.435,1113.075,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,870.097,1902.423,1427.472,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322624
$DATA_FILE_SIZE,83589,1249
$CAP_FILE_SIZE,168554,0
$CFSIZE,260165632,246042624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.254,237.6,1
$GPS,200611,222936,2045.666,11952.904,32,1.1,33,-2.4