version: 66.09
glider: 181
mission: 6
dive: 57
start: 6 21 111 2 50 13
data:
$ID,181
$MISSION,6
$DIVE,57
$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,-39589.117
$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,42
$R_STBD_OVSHOOT,40
$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
$GPS1,210611,024106,2042.723,11953.285,35,1.4,36,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-60.1
$GPS2,210611,024913,2042.600,11953.054,10,1.3,15,-2.4
$SPEED_LIMITS,0.191,0.305
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,-0.245
$KALMAN_X,-23139.6,336.2,567.6,14055.0,-3103.4
$KALMAN_Y,10507.0,-582.8,-349.3,-59223.3,1996.1
$MHEAD_RNG_PITCHd_Wd,148.2,190404,-16.3,-11.000
$D_GRID,3228
$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,-194.6,0.0,0.0,0,106,0.00,0.00,-86.28,0.000,2,0.000,0.000,123,2621,2808,0,0,0,0,0,0
$GC,109,-0.57,-194.6,4.3,-7.6,11,142,8.15,1.83,-14.98,0.000,4,0.241,0.058,2095,3774,3666,0,0,0,0,0,0
$GC,161,-0.57,-194.6,31.0,-54.3,18,169,0.00,1.83,0.00,0.000,6,0.000,0.028,2095,2568,3667,0,0,0,0,0,0
$GC,300,-0.57,-194.6,91.2,-35.9,43,308,0.00,2.05,0.00,0.000,4,0.000,0.032,2095,1212,3668,0,0,0,0,0,0
$GC,416,-0.57,-194.6,127.3,-23.8,64,425,0.10,2.17,0.00,0.000,6,0.150,0.041,2116,2590,3669,0,0,0,0,0,0
$GC,557,-0.57,-194.6,167.0,-33.0,89,566,0.00,2.10,0.00,0.000,4,0.000,0.030,2116,1203,3669,0,0,0,0,0,0
$GC,584,-0.57,-194.6,175.5,-29.2,93,593,0.00,2.20,0.00,0.000,6,0.000,0.041,2111,2603,3670,0,0,0,0,0,0
$GC,722,-0.57,-194.6,207.0,-23.8,118,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2603,3670,0,0,0,0,0,0
$GC,858,-0.57,-194.6,236.6,-22.5,143,866,0.00,2.10,0.00,0.000,4,0.000,0.031,2112,1214,3671,0,0,0,0,0,0
$GC,928,-0.57,-194.6,251.1,-18.8,155,932,0.00,2.12,0.00,0.000,6,0.000,0.041,2111,2602,3671,0,0,0,0,0,0
$GC,1127,-0.57,-194.6,293.6,-20.9,173,1130,0.00,2.05,0.00,0.000,4,0.000,0.031,2111,1218,3671,0,0,0,0,0,0
$GC,1186,-0.57,-194.6,305.5,-17.3,178,1194,0.00,2.15,0.00,0.000,6,0.000,0.041,2112,2610,3670,0,0,0,0,0,0
$GC,1385,-0.57,-194.6,344.5,-19.6,197,1388,0.00,1.77,0.00,0.000,4,0.000,0.047,2111,3780,3670,0,0,0,0,0,0
$GC,1434,-0.57,-194.6,353.8,-16.8,201,1442,0.00,1.75,0.00,0.000,6,0.000,0.028,2111,2598,3670,0,0,0,0,0,0
$GC,1633,-0.57,-194.6,387.9,-17.9,220,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2596,3669,0,0,0,0,0,0
$GC,1824,-0.57,-194.6,416.9,-14.1,238,1828,0.00,2.05,0.00,0.000,4,0.000,0.034,2112,1209,3667,0,0,0,0,0,0
$GC,1903,-0.57,-194.6,427.0,-11.8,245,1907,0.00,2.12,0.00,0.000,6,0.000,0.041,2111,2599,3666,0,0,0,0,0,0
$GC,2101,-0.57,-194.6,455.2,-15.1,263,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2599,3664,0,0,0,0,0,0
$GC,2292,-0.57,-194.6,487.0,-16.0,281,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2599,3663,0,0,0,0,0,0
$GC,2483,-0.57,-194.6,516.3,-14.7,299,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2599,3660,0,0,0,0,0,0
$GC,2674,-0.57,-194.6,543.3,-13.8,317,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2599,3657,0,0,0,0,0,0
$GC,2866,-0.57,-194.6,569.4,-13.5,335,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2599,3655,0,0,0,0,0,0
$GC,3056,-0.57,-194.6,596.0,-13.9,353,3060,0.00,1.88,0.00,0.000,4,0.000,0.053,2111,3783,3654,0,0,0,0,0,0
$GC,3094,-0.57,-194.6,601.2,-13.0,356,3101,0.00,1.77,0.00,0.000,6,0.000,0.031,2111,2609,3653,0,0,0,0,0,0
$GC,3411,-0.57,-194.6,643.6,-14.0,372,3415,0.00,2.10,0.00,0.000,4,0.000,0.036,2110,1200,3650,0,0,0,0,0,0
$GC,3471,-0.57,-194.6,652.0,-12.7,374,3478,0.00,2.20,0.00,0.000,6,0.000,0.044,2111,2596,3649,0,0,0,0,0,0
$GC,3788,-0.57,-194.6,697.1,-15.1,390,3792,0.00,2.10,0.00,0.000,4,0.000,0.037,2110,1196,3648,0,0,0,0,0,0
$GC,3815,-0.57,-194.6,701.8,-15.7,391,3819,0.00,2.20,0.00,0.000,6,0.000,0.044,2111,2611,3646,0,0,0,0,0,0
$GC,4136,-0.57,-194.6,750.2,-14.9,407,4139,0.00,1.80,0.00,0.000,4,0.000,0.054,2111,3781,3643,0,0,0,0,0,0
$GC,4197,-0.57,-194.6,759.0,-13.3,409,4205,0.00,1.80,0.00,0.000,6,0.000,0.032,2111,2590,3643,0,0,0,0,0,0
$GC,4513,-0.57,-194.6,803.1,-14.1,425,4517,0.00,2.08,0.00,0.000,4,0.000,0.038,2111,1206,3640,0,0,0,0,0,0
$GC,4552,-0.57,-194.6,808.7,-13.4,426,4559,0.00,2.20,0.00,0.000,6,0.000,0.044,2111,2603,3640,0,0,0,0,0,0
$GC,4868,-0.57,-194.6,850.9,-13.1,442,4872,0.00,1.83,0.00,0.000,4,0.000,0.053,2111,3791,3637,0,0,0,0,0,0
$GC,4907,-0.57,-194.6,855.9,-12.6,443,4914,0.00,1.80,0.00,0.000,6,0.000,0.032,2110,2603,3637,0,0,0,0,0,0
$GC,5223,-0.57,-194.6,895.4,-12.8,459,5227,0.00,2.10,0.00,0.000,4,0.000,0.039,2111,1195,3635,0,0,0,0,0,0
$GC,5300,-0.57,-194.6,904.8,-11.6,462,5307,0.00,2.20,0.00,0.000,6,0.000,0.045,2111,2606,3634,0,0,0,0,0,0
$GC,5616,-0.57,-194.6,944.0,-12.3,478,5620,0.00,2.15,0.00,0.000,4,0.000,0.039,2111,1194,3632,0,0,0,0,0,0
$GC,5655,-0.57,-194.6,948.7,-12.0,479,5662,0.00,2.22,0.00,0.000,6,0.000,0.045,2110,2600,3631,0,0,0,0,0,0
$GC,5972,-0.57,-194.6,983.4,-10.7,495,5976,0.00,2.15,0.00,0.000,4,0.000,0.040,2111,1196,3630,0,0,0,0,0,0
$GC,5999,-0.57,-194.6,986.5,-11.0,496,6003,0.00,2.17,0.00,0.000,6,0.000,0.046,2111,2603,3630,0,0,0,0,0,0
$STATE,6046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6046,begin apogee
$GC,6052,-0.16,0.0,991.0,9.8,498,6207,0.40,0.00,149.75,1.108,6,0.126,0.000,2243,2120,2869,0,0,0,0,0,0
$STATE,6208,end apogee,CONTROL_FINISHED_OK
$STATE,6208,begin climb
$GC,6210,0.57,194.6,997.6,0.0,505,6380,0.68,2.33,160.50,1.074,4,0.060,0.043,2502,742,2073,0,0,0,0,0,0
$GC,6402,0.57,194.6,983.8,12.7,514,6406,0.00,2.28,0.00,0.000,6,0.000,0.039,2502,2138,2070,0,0,0,0,0,0
$GC,6724,0.57,194.6,939.1,13.6,530,6728,0.00,2.20,0.00,0.000,4,0.000,0.042,2511,732,2064,0,0,0,0,0,0
$GC,6768,0.57,194.6,932.9,12.9,532,6772,0.00,2.20,0.00,0.000,6,0.000,0.040,2511,2133,2063,0,0,0,0,0,0
$GC,7096,0.57,194.6,884.8,15.1,548,7097,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2133,2061,0,0,0,0,0,0
$GC,7406,0.57,194.6,836.9,15.4,563,7410,0.00,2.17,0.00,0.000,4,0.000,0.043,2521,722,2060,0,0,0,0,0,0
$GC,7461,0.57,194.6,828.3,15.3,565,7469,0.15,2.20,0.00,0.000,6,0.177,0.039,2483,2136,2059,0,0,0,0,0,0
$GC,7777,0.57,194.6,787.1,12.8,581,7781,0.00,2.17,0.00,0.000,4,0.000,0.048,2483,3539,2062,0,0,0,0,0,0
$GC,7854,0.57,194.6,775.9,14.8,584,7861,0.00,2.15,0.00,0.000,6,0.000,0.032,2491,2124,2058,0,0,0,0,0,0
$GC,8170,0.57,194.6,735.0,12.7,600,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2124,2058,0,0,0,0,0,0
$GC,8480,0.57,194.6,698.3,11.6,615,8484,0.00,2.12,0.00,0.000,4,0.000,0.043,2501,719,2057,0,0,0,0,0,0
$GC,8610,0.57,194.6,683.6,11.6,621,8614,0.00,2.15,0.00,0.000,6,0.000,0.037,2502,2129,2057,0,0,0,0,0,0
$GC,8937,0.57,194.6,643.7,12.6,637,8941,0.00,2.17,0.00,0.000,4,0.000,0.047,2502,3545,2057,0,0,0,0,0,0
$GC,8965,0.57,194.6,639.7,13.9,638,8970,0.00,2.15,0.00,0.000,6,0.000,0.032,2511,2120,2056,0,0,0,0,0,0
$GC,9282,0.57,194.6,595.4,14.4,654,9286,0.00,2.12,0.00,0.000,4,0.000,0.042,2522,716,2056,0,0,0,0,0,0
$GC,9364,0.57,194.6,583.7,13.3,661,9372,0.08,2.20,0.00,0.000,6,0.139,0.037,2487,2132,2058,0,0,0,0,0,0
$GC,9563,0.57,194.6,560.4,11.4,680,9564,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2132,2057,0,0,0,0,0,0
$GC,9753,0.57,194.6,538.3,11.8,698,9757,0.00,2.17,0.00,0.000,4,0.000,0.041,2495,706,2056,0,0,0,0,0,0
$GC,9797,0.57,194.6,532.8,11.7,701,9804,0.00,2.20,0.00,0.000,6,0.000,0.037,2495,2125,2056,0,0,0,0,0,0
$GC,9996,0.57,194.6,507.3,13.1,720,10000,0.00,2.17,0.00,0.000,4,0.000,0.046,2495,3546,2056,0,0,0,0,0,0
$GC,10013,0.57,194.6,504.9,13.2,721,10017,0.00,2.15,0.00,0.000,6,0.000,0.031,2505,2116,2055,0,0,0,0,0,0
$GC,10212,0.57,194.6,477.5,13.4,739,10216,0.00,2.12,0.00,0.000,4,0.000,0.043,2516,709,2055,0,0,0,0,0,0
$GC,10312,0.57,194.6,463.8,12.9,747,10320,0.05,2.20,0.00,0.000,6,0.162,0.037,2489,2127,2055,0,0,0,0,0,0
$GC,10510,0.57,194.6,440.5,11.4,766,10514,0.00,2.15,0.00,0.000,4,0.000,0.041,2498,715,2055,0,0,0,0,0,0
$GC,10544,0.57,194.6,436.6,11.4,769,10548,0.00,2.15,0.00,0.000,6,0.000,0.037,2498,2125,2056,0,0,0,0,0,0
$GC,10748,0.57,194.6,412.8,11.8,788,10752,0.00,2.15,0.00,0.000,4,0.000,0.041,2507,715,2055,0,0,0,0,0,0
$GC,10819,0.57,194.6,404.2,11.7,794,10827,0.00,2.15,0.00,0.000,6,0.000,0.037,2505,2126,2056,0,0,0,0,0,0
$GC,11017,0.57,194.6,379.2,12.7,813,11021,0.00,2.17,0.00,0.000,4,0.000,0.047,2507,3538,2056,0,0,0,0,0,0
$GC,11119,0.57,194.6,364.4,14.4,822,11124,0.12,2.12,0.00,0.000,6,0.187,0.031,2487,2118,2057,0,0,0,0,0,0
$GC,11318,0.61,227.4,342.9,9.7,840,11344,0.00,0.00,23.48,0.711,6,0.000,0.000,2487,2118,1942,0,0,0,0,0,0
$GC,11534,0.66,270.7,324.0,9.4,860,11575,0.00,0.00,34.20,0.675,6,0.000,0.000,2487,2118,1765,0,0,0,0,0,0
$GC,11767,0.66,270.7,295.8,13.0,882,11771,0.00,2.15,0.00,0.000,4,0.000,0.041,2496,723,1760,0,0,0,0,0,0
$GC,11839,0.66,270.7,286.1,13.0,888,11848,0.00,2.22,0.00,0.000,6,0.000,0.035,2496,2132,1759,0,0,0,0,0,0
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$STATE,14340,end climb,SURFACE_DEPTH_REACHED
$STATE,14340,begin surface coast
$FINISH,0.2,1.021158
$STATE,14358,end surface coast,CONTROL_FINISHED_OK
$STATE,14358,begin surface
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$IRIDIUM_FIX,2038.68,12000.13,200611,222240
$TT8_MAMPS,0.027713,0.027713
$HUMID,39.32
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.1,9.400
$10V_AH,10.2,9.714
$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
$DEVICE_SECS,16.600,167.100,619.675,0.000,0.000,59.116,41.258,177.821,0.000,0.000,18.285,3249.155,7255.210,726.587,3348.034,330.324,33.346,2084.195,0.000,2188.479,0.000,0.542,0.000
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$SENSOR_SECS,901.915,1975.568,1576.268,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322688
$DATA_FILE_SIZE,86962,1297
$CAP_FILE_SIZE,170827,0
$CFSIZE,260165632,245858304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.265,256.2,1
$GPS,210611,065206,2040.305,11952.213,35,0.9,41,-2.4