version: 66.09
glider: 181
mission: 6
dive: 527
start: 9 20 111 17 5 32
data:
$ID,181
$MISSION,6
$DIVE,527
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,280
$T_MISSION,320
$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,-41249.316
$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,2300
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$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,15
$C_ROLL_DIVE,2610
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,35
$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,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,200911,165807,1856.423,12005.244,27,1.8,27,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.2
$GPS2,200911,170434,1856.503,12005.305,9,3.3,28,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W3A
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.237,0.203
$KALMAN_X,77298.0,-553.1,82.7,-64566.2,1252.2
$KALMAN_Y,74926.2,-2084.8,515.5,-106796.0,-1510.3
$MHEAD_RNG_PITCHd_Wd,300.7,11323,-17.4,-11.786
$D_GRID,2710
$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,-0.53,-194.6,0.0,0.0,0,80,0.00,0.00,-60.42,0.000,2,0.000,0.000,166,2602,2167,0,0,0,0,0,0
$GC,83,-0.53,-194.6,3.3,-3.5,10,134,8.25,0.75,-33.35,0.000,4,0.226,0.067,2123,2057,3664,0,0,0,0,0,0
$GC,225,-0.53,-194.6,43.2,-30.8,34,232,0.00,0.85,0.00,0.000,6,0.000,0.039,2120,2616,3664,0,0,0,0,0,0
$GC,367,-0.53,-194.6,81.4,-20.0,59,374,0.00,0.77,0.00,0.000,4,0.000,0.039,2117,3145,3663,0,0,0,0,0,0
$GC,442,-0.53,-194.6,93.7,-16.1,72,450,0.00,0.75,0.00,0.000,6,0.000,0.024,2116,2587,3662,0,0,0,0,0,0
$GC,586,-0.53,-194.6,117.7,-16.2,97,593,0.00,0.62,0.00,0.000,4,0.000,0.024,2116,2085,3663,0,0,0,0,0,0
$GC,645,-0.53,-194.6,126.0,-13.9,107,652,0.00,0.80,0.00,0.000,6,0.000,0.035,2113,2620,3663,0,0,0,0,0,0
$GC,786,-0.53,-194.6,144.5,-12.6,132,794,0.00,0.70,0.00,0.000,4,0.000,0.024,2112,2090,3664,0,0,0,0,0,0
$GC,844,-0.53,-194.6,152.5,-13.4,142,851,0.00,0.77,0.00,0.000,6,0.000,0.037,2110,2609,3664,0,0,0,0,0,0
$GC,987,-0.53,-194.6,172.6,-14.5,167,994,0.00,0.80,0.00,0.000,4,0.000,0.040,2106,3136,3664,0,0,0,0,0,0
$GC,1062,-0.53,-194.6,183.9,-14.5,180,1069,0.00,0.70,0.00,0.000,6,0.000,0.024,2107,2610,3664,0,0,0,0,0,0
$GC,1204,-0.53,-194.6,203.2,-13.8,203,1207,0.00,0.65,0.00,0.000,4,0.000,0.024,2106,2091,3664,0,0,0,0,0,0
$GC,1294,-0.53,-194.6,214.9,-12.3,211,1298,0.00,0.77,0.00,0.000,6,0.000,0.035,2102,2616,3664,0,0,0,0,0,0
$GC,1625,-0.53,-194.6,255.3,-11.3,242,1629,0.00,0.70,0.00,0.000,4,0.000,0.024,2102,2080,3664,0,0,0,0,0,0
$GC,1763,-0.53,-194.6,269.8,-10.3,254,1767,0.00,0.77,0.00,0.000,6,0.000,0.036,2098,2601,3663,0,0,0,0,0,0
$GC,2095,-0.53,-194.6,306.5,-11.2,285,2097,0.10,0.00,0.00,0.000,6,0.164,0.000,2125,2601,3660,0,0,0,0,0,0
$GC,2413,-0.53,-194.6,335.8,-8.4,315,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2601,3658,0,0,0,0,0,0
$GC,2734,-0.53,-194.6,360.1,-8.3,345,2738,0.00,0.68,0.00,0.000,4,0.000,0.026,2125,2092,3654,0,0,0,0,0,0
$GC,2847,-0.53,-194.6,370.4,-9.1,355,2851,0.00,0.77,0.00,0.000,6,0.000,0.038,2125,2606,3653,0,0,0,0,0,0
$GC,3178,-0.53,-194.6,405.6,-11.6,386,3181,0.00,0.68,0.00,0.000,4,0.000,0.027,2125,2104,3650,0,0,0,0,0,0
$GC,3246,-0.53,-194.6,413.5,-11.4,392,3250,0.00,0.77,0.00,0.000,6,0.000,0.040,2124,2612,3650,0,0,0,0,0,0
$GC,3577,-0.53,-194.6,447.3,-9.9,423,3581,0.00,0.70,0.00,0.000,4,0.000,0.026,2125,2102,3647,0,0,0,0,0,0
$GC,3667,-0.53,-194.6,456.0,-9.5,431,3671,0.00,0.77,0.00,0.000,6,0.000,0.040,2122,2612,3646,0,0,0,0,0,0
$GC,3998,-0.53,-194.6,487.1,-9.3,462,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2612,3644,0,0,0,0,0,0
$GC,4323,-0.53,-194.6,518.0,-9.7,484,4327,0.00,0.70,0.00,0.000,4,0.000,0.027,2122,2104,3640,0,0,0,0,0,0
$GC,4406,-0.53,-194.6,526.4,-10.2,487,4413,0.00,0.77,0.00,0.000,6,0.000,0.041,2118,2609,3639,0,0,0,0,0,0
$GC,4722,-0.53,-194.6,557.1,-9.6,503,4726,0.00,0.73,0.00,0.000,4,0.000,0.029,2118,2097,3638,0,0,0,0,0,0
$GC,4815,-0.53,-194.6,565.3,-9.0,507,4818,0.00,0.77,0.00,0.000,6,0.000,0.041,2114,2607,3638,0,0,0,0,0,0
$GC,5148,-0.53,-194.6,596.0,-9.3,523,5151,0.00,0.70,0.00,0.000,4,0.000,0.028,2115,2103,3635,0,0,0,0,0,0
$GC,5231,-0.53,-194.6,603.9,-9.3,526,5238,0.00,0.77,0.00,0.000,6,0.000,0.041,2112,2605,3635,0,0,0,0,0,0
$GC,5547,-0.53,-194.6,635.0,-9.8,542,5551,0.00,0.70,0.00,0.000,4,0.000,0.028,2112,2096,3633,0,0,0,0,0,0
$GC,5608,-0.53,-194.6,641.4,-10.1,544,5616,0.00,0.80,0.00,0.000,6,0.000,0.041,2112,2614,3632,0,0,0,0,0,0
$GC,5926,-0.53,-194.6,673.2,-10.0,560,5929,0.00,0.70,0.00,0.000,4,0.000,0.028,2112,2110,3631,0,0,0,0,0,0
$GC,5994,-0.53,-194.6,680.0,-9.8,563,5998,0.00,0.77,0.00,0.000,6,0.000,0.042,2112,2611,3630,0,0,0,0,0,0
$GC,6328,-0.53,-194.6,713.0,-10.0,579,6332,0.00,0.70,0.00,0.000,4,0.000,0.028,2112,2101,3629,0,0,0,0,0,0
$GC,6411,-0.53,-194.6,721.4,-9.8,582,6417,0.00,0.77,0.00,0.000,6,0.000,0.042,2112,2605,3628,0,0,0,0,0,0
$GC,6727,-0.53,-194.6,751.5,-9.5,598,6730,0.00,0.68,0.00,0.000,4,0.000,0.028,2112,2110,3626,0,0,0,0,0,0
$GC,6778,-0.53,-194.6,756.3,-9.3,600,6781,0.00,0.77,0.00,0.000,6,0.000,0.041,2112,2608,3626,0,0,0,0,0,0
$GC,7105,-0.53,-194.6,785.8,-8.8,616,7106,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2608,3625,0,0,0,0,0,0
$GC,7415,-0.53,-194.6,812.8,-8.5,631,7419,0.00,0.70,0.00,0.000,4,0.000,0.028,2112,2105,3623,0,0,0,0,0,0
$GC,7454,-0.53,-194.6,816.4,-8.6,632,7462,0.00,0.77,0.00,0.000,6,0.000,0.041,2112,2607,3623,0,0,0,0,0,0
$GC,7770,-0.53,-194.6,844.3,-9.2,648,7771,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2607,3622,0,0,0,0,0,0
$GC,8080,-0.53,-194.6,873.0,-9.1,663,8084,0.00,0.70,0.00,0.000,4,0.000,0.028,2112,2102,3620,0,0,0,0,0,0
$GC,8158,-0.53,-194.6,880.4,-9.2,666,8162,0.00,0.80,0.00,0.000,6,0.000,0.042,2112,2614,3620,0,0,0,0,0,0
$GC,8481,-0.53,-194.6,909.0,-8.8,682,8485,0.00,0.70,0.00,0.000,4,0.000,0.028,2112,2108,3620,0,0,0,0,0,0
$GC,8553,-0.53,-194.6,915.6,-8.9,685,8557,0.00,0.77,0.00,0.000,6,0.000,0.041,2112,2609,3619,0,0,0,0,0,0
$GC,8882,-0.53,-194.6,944.1,-8.8,701,8883,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2609,3618,0,0,0,0,0,0
$GC,9191,-0.53,-194.6,971.3,-8.9,716,9195,0.00,0.70,0.00,0.000,4,0.000,0.028,2112,2110,3617,0,0,0,0,0,0
$GC,9291,-0.53,-194.6,980.3,-9.2,720,9295,0.00,0.77,0.00,0.000,6,0.000,0.043,2112,2610,3617,0,0,0,0,0,0
$STATE,9424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9424,begin apogee
$GC,9431,-0.13,0.0,991.6,8.4,727,9588,0.40,0.00,150.23,1.072,6,0.111,0.000,2247,2184,2869,0,0,0,0,0,0
$STATE,9589,end apogee,CONTROL_FINISHED_OK
$STATE,9589,begin climb
$GC,9591,0.53,194.6,1000.0,0.0,734,9757,0.60,0.85,158.55,1.050,4,0.054,0.031,2484,1643,2075,0,0,0,0,0,0
$GC,9808,0.60,248.7,989.9,9.6,744,9858,0.00,0.80,44.90,1.017,6,0.000,0.031,2483,2170,1854,0,0,0,0,0,0
$GC,10175,0.67,308.7,954.0,9.3,762,10228,0.00,0.82,48.85,1.014,4,0.000,0.039,2484,2687,1610,0,0,0,0,0,0
$GC,10316,0.74,365.3,940.2,9.5,768,10368,0.12,0.77,46.35,0.995,6,0.058,0.027,2546,2156,1379,0,0,0,0,0,0
$GC,10674,0.74,365.3,895.9,12.4,786,10677,0.00,0.80,0.00,0.000,4,0.000,0.039,2546,2687,1380,0,0,0,0,0,0
$GC,10747,0.74,365.3,886.2,13.3,789,10750,0.00,0.75,0.00,0.000,6,0.000,0.028,2548,2162,1380,0,0,0,0,0,0
$GC,11074,0.74,365.3,844.2,12.8,805,11075,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2162,1382,0,0,0,0,0,0
$GC,11384,0.74,365.3,805.2,12.5,820,11388,0.00,0.80,0.00,0.000,4,0.000,0.038,2549,2693,1382,0,0,0,0,0,0
$GC,11500,0.74,365.3,789.3,13.8,825,11505,0.00,0.75,0.00,0.000,6,0.000,0.026,2553,2167,1382,0,0,0,0,0,0
$GC,11828,0.74,365.3,746.7,13.2,841,11829,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2167,1382,0,0,0,0,0,0
$GC,12138,0.74,365.3,703.8,14.1,856,12142,0.00,0.77,0.00,0.000,4,0.000,0.038,2553,2686,1382,0,0,0,0,0,0
$GC,12183,0.74,365.3,697.0,15.2,858,12187,0.00,0.73,0.00,0.000,6,0.000,0.028,2556,2171,1382,0,0,0,0,0,0
$GC,12517,0.74,365.3,650.3,14.0,874,12521,0.00,0.73,0.00,0.000,4,0.000,0.033,2560,1658,1382,0,0,0,0,0,0
$GC,12568,0.74,365.3,643.3,12.8,876,12572,0.00,0.75,0.00,0.000,6,0.000,0.034,2560,2162,1381,0,0,0,0,0,0
$GC,12895,0.74,365.3,600.1,13.1,892,12899,0.00,0.77,0.00,0.000,4,0.000,0.038,2560,2691,1382,0,0,0,0,0,0
$GC,13018,0.74,365.3,582.8,14.1,897,13022,0.00,0.75,0.00,0.000,6,0.000,0.028,2563,2164,1382,0,0,0,0,0,0
$GC,13340,0.74,365.3,540.7,13.2,913,13344,0.00,0.73,0.00,0.000,4,0.000,0.031,2567,1643,1382,0,0,0,0,0,0
$GC,13402,0.74,365.3,532.7,13.1,915,13408,0.00,0.77,0.00,0.000,6,0.000,0.032,2567,2165,1382,0,0,0,0,0,0
$GC,13719,0.74,365.3,492.5,12.8,933,13722,0.00,0.77,0.00,0.000,4,0.000,0.039,2567,2683,1382,0,0,0,0,0,0
$GC,13824,0.74,365.3,477.8,13.7,942,13833,0.10,0.73,0.00,0.000,6,0.139,0.027,2538,2169,1382,0,0,0,0,0,0
$GC,14150,0.76,380.1,441.5,11.2,973,14173,0.00,0.77,13.93,0.695,4,0.000,0.032,2540,1655,1319,0,0,0,0,0,0
$GC,14212,0.76,380.1,433.7,12.2,978,14221,0.00,0.77,0.00,0.000,6,0.000,0.031,2540,2172,1318,0,0,0,0,0,0
$GC,14538,0.76,380.1,392.9,12.5,1009,14541,0.00,0.75,0.00,0.000,4,0.000,0.037,2540,2688,1321,0,0,0,0,0,0
$GC,14617,0.76,380.1,382.9,12.3,1016,14620,0.00,0.75,0.00,0.000,6,0.000,0.027,2543,2163,1321,0,0,0,0,0,0
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$STATE,18022,end climb,SURFACE_DEPTH_REACHED
$STATE,18022,begin surface coast
$FINISH,0.4,1.009273
$STATE,18048,end surface coast,CONTROL_FINISHED_OK
$STATE,18048,begin surface
$SM_CCo,18124,0.00,0.000,0,0,442,595.10
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$IRIDIUM_FIX,1848.70,12014.08,200911,121237
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.00
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,23.5,86.490
$10V_AH,9.8,70.044
$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,16.650,61.500,641.000,0.000,0.000,30.375,42.232,142.680,0.250,0.000,31.742,3719.129,10739.301,722.639,2932.020,385.316,33.361,2202.395,0.000,2656.422,0.000,0.539,0.000
$DEVICE_MAMPS,225.675,66.555,1071.765,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1022.777,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322212
$DATA_FILE_SIZE,83567,1471
$CAP_FILE_SIZE,191297,0
$CFSIZE,260165632,202424320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125, 68.4,1
$GPS,200911,220855,1857.745,12004.236,41,0.9,41,-2.0