version: 66.09
glider: 181
mission: 6
dive: 56
start: 6 20 111 22 37 14
data:
$ID,181
$MISSION,6
$DIVE,56
$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,-39587.859
$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,56
$R_STBD_OVSHOOT,34
$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
$GPS1,200611,222936,2045.666,11952.904,32,1.1,33,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-70.3
$GPS2,200611,223614,2045.522,11952.724,14,1.2,14,-2.4
$SPEED_LIMITS,0.191,0.305
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.029,-0.303
$KALMAN_X,-24019.2,693.5,729.2,13853.1,-6241.1
$KALMAN_Y,10131.0,-832.2,219.1,-53758.0,-20.3
$MHEAD_RNG_PITCHd_Wd,133.7,195841,-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,13,begin dive
$GC,16,-0.57,-194.6,0.0,0.0,0,101,0.00,0.00,-82.78,0.000,2,0.000,0.000,128,2572,2780,0,0,0,0,0,0
$GC,104,-0.57,-194.6,3.8,-4.6,11,137,8.15,1.92,-16.02,0.000,4,0.241,0.057,2103,3780,3665,0,0,0,0,0,0
$GC,184,-0.57,-194.6,45.1,-61.0,23,192,0.00,1.80,0.00,0.000,6,0.000,0.025,2108,2585,3666,0,0,0,0,0,0
$GC,322,-0.57,-194.6,110.7,-39.8,48,330,0.00,2.05,0.00,0.000,4,0.000,0.025,2104,1200,3667,0,0,0,0,0,0
$GC,338,-0.57,-194.6,116.7,-37.4,50,346,0.00,2.20,0.00,0.000,6,0.000,0.040,2096,2592,3667,0,0,0,0,0,0
$GC,476,-0.57,-194.6,160.5,-29.9,75,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2595,3670,0,0,0,0,0,0
$GC,613,-0.57,-194.6,193.9,-22.0,100,621,0.00,2.10,0.00,0.000,4,0.000,0.029,2098,1206,3670,0,0,0,0,0,0
$GC,729,-0.57,-194.6,218.7,-19.1,121,738,0.00,2.20,0.00,0.000,6,0.000,0.040,2091,2611,3670,0,0,0,0,0,0
$GC,867,-0.57,-194.6,250.0,-25.8,146,871,0.00,1.77,0.00,0.000,4,0.000,0.045,2082,3780,3671,0,0,0,0,0,0
$GC,925,-0.57,-194.6,261.6,-16.7,151,929,0.10,1.75,0.00,0.000,6,0.142,0.026,2113,2611,3671,0,0,0,0,0,0
$GC,1128,-0.57,-194.6,297.9,-18.7,170,1132,0.00,2.05,0.00,0.000,4,0.000,0.029,2118,1199,3671,0,0,0,0,0,0
$GC,1227,-0.57,-194.6,313.8,-13.1,178,1235,0.00,2.15,0.00,0.000,6,0.000,0.037,2112,2606,3670,0,0,0,0,0,0
$GC,1426,-0.57,-194.6,346.1,-17.3,197,1430,0.00,2.08,0.00,0.000,4,0.000,0.031,2108,1202,3669,0,0,0,0,0,0
$GC,1469,-0.57,-194.6,353.2,-14.8,200,1476,0.00,2.17,0.00,0.000,6,0.000,0.039,2111,2603,3669,0,0,0,0,0,0
$GC,1667,-0.57,-194.6,386.5,-17.9,219,1671,0.00,1.80,0.00,0.000,4,0.000,0.047,2111,3787,3667,0,0,0,0,0,0
$GC,1728,-0.57,-194.6,396.2,-14.4,224,1735,0.00,1.77,0.00,0.000,6,0.000,0.028,2111,2593,3666,0,0,0,0,0,0
$GC,1927,-0.57,-194.6,427.3,-16.1,243,1930,0.00,2.03,0.00,0.000,4,0.000,0.032,2111,1214,3665,0,0,0,0,0,0
$GC,2017,-0.57,-194.6,440.1,-13.0,251,2021,0.00,2.12,0.00,0.000,6,0.000,0.040,2112,2602,3664,0,0,0,0,0,0
$GC,2215,-0.57,-194.6,468.6,-14.0,269,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2602,3662,0,0,0,0,0,0
$GC,2406,-0.57,-194.6,495.7,-14.4,287,2410,0.00,1.80,0.00,0.000,4,0.000,0.049,2111,3780,3660,0,0,0,0,0,0
$GC,2445,-0.57,-194.6,501.4,-13.7,290,2452,0.00,1.77,0.00,0.000,6,0.000,0.028,2111,2596,3660,0,0,0,0,0,0
$GC,2643,-0.57,-194.6,528.1,-14.0,309,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2595,3657,0,0,0,0,0,0
$GC,2834,-0.57,-194.6,554.2,-13.8,327,2838,0.00,2.05,0.00,0.000,4,0.000,0.034,2111,1203,3655,0,0,0,0,0,0
$GC,2900,-0.57,-194.6,562.7,-11.7,332,2907,0.00,2.15,0.00,0.000,6,0.000,0.041,2111,2599,3655,0,0,0,0,0,0
$GC,3099,-0.57,-194.6,587.3,-13.1,351,3102,0.00,1.80,0.00,0.000,4,0.000,0.049,2103,3782,3653,0,0,0,0,0,0
$GC,3137,-0.57,-194.6,592.4,-12.9,354,3144,0.00,1.77,0.00,0.000,6,0.000,0.030,2103,2596,3652,0,0,0,0,0,0
$GC,3331,-0.57,-194.6,618.6,-13.9,367,3335,0.00,2.05,0.00,0.000,4,0.000,0.035,2099,1205,3651,0,0,0,0,0,0
$GC,3364,-0.57,-194.6,623.5,-14.2,368,3371,0.00,2.15,0.00,0.000,6,0.000,0.042,2098,2599,3651,0,0,0,0,0,0
$GC,3680,-0.57,-194.6,668.8,-14.5,384,3684,0.00,2.10,0.00,0.000,4,0.000,0.035,2102,1201,3648,0,0,0,0,0,0
$GC,3713,-0.57,-194.6,673.6,-13.9,385,3717,0.00,2.20,0.00,0.000,6,0.000,0.042,2097,2634,3648,0,0,0,0,0,0
$GC,4035,-0.57,-194.6,717.2,-13.5,401,4039,0.00,1.75,0.00,0.000,4,0.000,0.050,2088,3781,3644,0,0,0,0,0,0
$GC,4080,-0.57,-194.6,723.2,-13.3,403,4084,0.00,1.75,0.00,0.000,6,0.000,0.031,2088,2591,3644,0,0,0,0,0,0
$GC,4413,-0.57,-194.6,772.7,-15.3,419,4418,0.12,2.08,0.00,0.000,4,0.171,0.036,2122,1201,3642,0,0,0,0,0,0
$GC,4440,-0.57,-194.6,776.8,-14.3,420,4444,0.00,2.15,0.00,0.000,6,0.000,0.043,2115,2594,3642,0,0,0,0,0,0
$GC,4761,-0.57,-194.6,813.6,-10.7,436,4765,0.00,1.83,0.00,0.000,4,0.000,0.052,2112,3789,3639,0,0,0,0,0,0
$GC,4789,-0.57,-194.6,816.7,-10.2,437,4793,0.00,1.75,0.00,0.000,6,0.000,0.031,2112,2600,3639,0,0,0,0,0,0
$GC,5117,-0.57,-194.6,850.2,-10.3,453,5121,0.00,2.08,0.00,0.000,4,0.000,0.037,2111,1202,3636,0,0,0,0,0,0
$GC,5172,-0.57,-194.6,856.3,-10.4,455,5176,0.00,2.15,0.00,0.000,6,0.000,0.043,2112,2605,3636,0,0,0,0,0,0
$GC,5494,-0.57,-194.6,895.2,-13.0,471,5498,0.00,1.85,0.00,0.000,4,0.000,0.053,2112,3777,3634,0,0,0,0,0,0
$GC,5548,-0.57,-194.6,902.1,-11.5,473,5553,0.00,1.77,0.00,0.000,6,0.000,0.032,2112,2605,3633,0,0,0,0,0,0
$GC,5870,-0.57,-194.6,941.4,-12.1,489,5874,0.00,2.10,0.00,0.000,4,0.000,0.038,2111,1196,3632,0,0,0,0,0,0
$GC,5939,-0.57,-194.6,949.2,-10.9,492,5943,0.00,2.17,0.00,0.000,6,0.000,0.044,2112,2605,3631,0,0,0,0,0,0
$GC,6267,-0.57,-194.6,981.8,-9.2,508,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2605,3630,0,0,0,0,0,0
$STATE,6367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6368,begin apogee
$GC,6374,-0.16,0.0,990.1,8.0,513,6529,0.40,0.00,150.07,1.110,6,0.126,0.000,2244,2117,2869,0,0,0,0,0,0
$STATE,6530,end apogee,CONTROL_FINISHED_OK
$STATE,6530,begin climb
$GC,6532,0.57,194.6,992.6,0.0,520,6700,0.65,2.35,160.05,1.072,4,0.059,0.040,2496,735,2075,0,0,0,0,0,0
$GC,6724,0.57,194.6,974.4,15.3,529,6728,0.00,2.28,0.00,0.000,6,0.000,0.037,2496,2129,2070,0,0,0,0,0,0
$GC,7051,0.57,194.6,924.2,14.7,545,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2129,2063,0,0,0,0,0,0
$GC,7360,0.57,194.6,882.3,13.1,560,7361,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2130,2061,0,0,0,0,0,0
$GC,7669,0.57,194.6,842.1,13.2,575,7670,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2130,2060,0,0,0,0,0,0
$GC,7979,0.57,194.6,798.5,14.5,590,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2130,2059,0,0,0,0,0,0
$GC,8288,0.57,194.6,754.1,14.0,605,8292,0.00,2.20,0.00,0.000,4,0.000,0.048,2496,3543,2059,0,0,0,0,0,0
$GC,8377,0.57,194.6,740.4,14.5,609,8381,0.00,2.17,0.00,0.000,6,0.000,0.033,2506,2116,2058,0,0,0,0,0,0
$GC,8705,0.57,194.6,694.8,13.8,625,8709,0.00,2.12,0.00,0.000,4,0.000,0.042,2516,718,2058,0,0,0,0,0,0
$GC,8759,0.57,194.6,687.1,13.4,627,8768,0.10,2.20,0.00,0.000,6,0.154,0.038,2477,2127,2059,0,0,0,0,0,0
$GC,9076,0.57,194.6,650.1,11.4,643,9080,0.00,2.15,0.00,0.000,4,0.000,0.042,2485,718,2057,0,0,0,0,0,0
$GC,9147,0.57,194.6,641.6,11.3,646,9151,0.00,2.15,0.00,0.000,6,0.000,0.037,2485,2126,2057,0,0,0,0,0,0
$GC,9469,0.57,194.6,603.8,11.4,662,9473,0.00,2.15,0.00,0.000,4,0.000,0.041,2495,718,2058,0,0,0,0,0,0
$GC,9503,0.57,199.7,600.0,10.8,663,9507,0.00,2.15,0.00,0.000,6,0.000,0.038,2494,2125,2056,0,0,0,0,0,0
$GC,9829,0.57,199.7,562.0,12.3,693,9833,0.00,2.17,0.00,0.000,4,0.000,0.047,2491,3541,2057,0,0,0,0,0,0
$GC,9940,0.57,199.7,546.5,13.5,702,9947,0.00,2.15,0.00,0.000,6,0.000,0.034,2504,2124,2056,0,0,0,0,0,0
$GC,10138,0.57,199.7,521.3,12.9,721,10142,0.00,2.12,0.00,0.000,4,0.000,0.044,2515,716,2054,0,0,0,0,0,0
$GC,10234,0.57,199.7,509.0,12.6,729,10238,0.00,2.15,0.00,0.000,6,0.000,0.038,2515,2129,2056,0,0,0,0,0,0
$GC,10431,0.57,199.7,482.5,13.7,747,10435,0.00,2.15,0.00,0.000,4,0.000,0.041,2524,715,2056,0,0,0,0,0,0
$GC,10460,0.57,199.7,478.5,13.6,749,10465,0.15,2.15,0.00,0.000,6,0.171,0.037,2485,2129,2056,0,0,0,0,0,0
$GC,10658,0.57,199.7,454.2,12.3,767,10660,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2129,2056,0,0,0,0,0,0
$GC,10849,0.57,199.7,431.5,11.6,785,10850,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2129,2055,0,0,0,0,0,0
$GC,11041,0.57,199.7,409.5,11.3,803,11045,0.00,2.17,0.00,0.000,4,0.000,0.042,2493,713,2056,0,0,0,0,0,0
$GC,11135,0.59,211.1,399.3,10.6,811,11154,0.00,2.17,10.77,0.734,6,0.000,0.037,2499,2132,2009,0,0,0,0,0,0
$GC,11345,0.59,211.1,375.8,11.1,831,11349,0.00,2.17,0.00,0.000,4,0.000,0.047,2493,3545,2007,0,0,0,0,0,0
$GC,11452,0.59,211.1,361.2,14.2,840,11457,0.00,2.15,0.00,0.000,6,0.000,0.033,2503,2121,2007,0,0,0,0,0,0
$GC,11651,0.59,211.1,335.1,12.6,858,11655,0.00,2.12,0.00,0.000,4,0.000,0.043,2513,716,2004,0,0,0,0,0,0
$GC,11762,0.59,211.1,321.0,12.0,867,11769,0.00,2.20,0.00,0.000,6,0.000,0.037,2513,2128,2007,0,0,0,0,0,0
$GC,11961,0.59,211.1,298.0,12.2,886,11962,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2128,2007,0,0,0,0,0,0
$GC,12152,0.60,221.8,275.8,10.6,904,12168,0.00,2.25,9.88,0.670,4,0.000,0.041,2523,710,1964,0,0,0,0,0,0
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$STATE,14455,end climb,SURFACE_DEPTH_REACHED
$STATE,14455,begin surface coast
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$STATE,14481,end surface coast,CONTROL_FINISHED_OK
$STATE,14482,begin surface
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$IRIDIUM_FIX,2040.99,12003.28,200611,181831
$TT8_MAMPS,0.027713,0.027713
$HUMID,40.07
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.1,9.242
$10V_AH,10.2,9.558
$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
$DEVICE_SECS,16.650,164.525,620.375,0.000,0.000,27.884,44.392,183.226,0.250,0.000,16.717,3228.917,7410.117,682.332,3315.344,308.505,33.348,2055.448,0.000,2212.006,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322628
$DATA_FILE_SIZE,83650,1280
$CAP_FILE_SIZE,171113,0
$CFSIZE,260165632,245952512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.229,218.9,1
$GPS,210611,024106,2042.723,11953.285,35,1.4,36,-2.4