version: 66.09
glider: 181
mission: 6
dive: 51
start: 6 20 111 1 34 43
data:
$ID,181
$MISSION,6
$DIVE,51
$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,-39581.574
$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,46
$R_STBD_OVSHOOT,71
$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
$GPS1,200611,012725,2057.813,11954.951,40,1.0,41,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-67.3
$GPS2,200611,013343,2057.783,11954.782,13,1.0,13,-2.4
$SPEED_LIMITS,0.191,0.305
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.115,-0.282
$KALMAN_X,-8032.9,-1219.3,-400.9,4504.7,-2014.5
$KALMAN_Y,10475.7,-1593.8,-610.0,-29774.0,3603.3
$MHEAD_RNG_PITCHd_Wd,135.0,218325,-16.3,-11.000
$D_GRID,3403
$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,-82.82,0.000,2,0.000,0.000,137,2654,2668,0,0,0,0,0,0
$GC,104,-0.57,-194.6,3.5,-3.7,11,136,8.15,0.00,-18.75,0.000,6,0.243,0.000,2108,2652,3666,0,0,0,0,0,0
$GC,330,-0.57,-194.6,96.2,-42.1,51,338,0.00,1.73,0.00,0.000,4,0.000,0.046,2100,3745,3667,0,0,0,0,0,0
$GC,404,-0.57,-194.6,129.2,-37.5,64,413,0.00,1.75,0.00,0.000,6,0.000,0.027,2100,2590,3668,0,0,0,0,0,0
$GC,606,-0.57,-194.6,186.2,-22.7,101,614,0.00,2.08,0.00,0.000,4,0.000,0.028,2100,1196,3668,0,0,0,0,0,0
$GC,727,-0.57,-194.6,210.4,-18.5,123,735,0.00,2.12,0.00,0.000,6,0.000,0.040,2096,2558,3670,0,0,0,0,0,0
$GC,928,-0.57,-194.6,254.9,-22.9,158,931,0.00,1.85,0.00,0.000,4,0.000,0.044,2086,3784,3671,0,0,0,0,0,0
$GC,1010,-0.57,-194.6,270.6,-15.9,165,1018,0.08,1.77,0.00,0.000,6,0.133,0.025,2112,2588,3671,0,0,0,0,0,0
$GC,1336,-0.57,-194.6,328.9,-17.9,196,1339,0.00,2.03,0.00,0.000,4,0.000,0.029,2112,1197,3670,0,0,0,0,0,0
$GC,1394,-0.57,-194.6,338.3,-14.7,201,1398,0.00,2.15,0.00,0.000,6,0.000,0.038,2111,2605,3670,0,0,0,0,0,0
$GC,1720,-0.57,-194.6,386.9,-13.8,231,1724,0.00,1.77,0.00,0.000,4,0.000,0.047,2110,3780,3667,0,0,0,0,0,0
$GC,1758,-0.57,-194.6,392.5,-13.7,234,1765,0.00,1.77,0.00,0.000,6,0.000,0.028,2110,2588,3667,0,0,0,0,0,0
$GC,2084,-0.57,-194.6,433.4,-13.0,265,2088,0.00,2.03,0.00,0.000,4,0.000,0.031,2111,1209,3664,0,0,0,0,0,0
$GC,2155,-0.57,-194.6,442.4,-11.2,271,2162,0.00,2.15,0.00,0.000,6,0.000,0.039,2110,2593,3663,0,0,0,0,0,0
$GC,2480,-0.57,-194.6,486.2,-13.8,302,2484,0.00,1.80,0.00,0.000,4,0.000,0.048,2110,3777,3660,0,0,0,0,0,0
$GC,2549,-0.57,-194.6,495.4,-12.7,308,2553,0.00,1.70,0.00,0.000,6,0.000,0.028,2109,2603,3658,0,0,0,0,0,0
$GC,2879,-0.57,-194.6,543.9,-14.3,339,2883,0.00,2.05,0.00,0.000,4,0.000,0.031,2108,1211,3655,0,0,0,0,0,0
$GC,2906,-0.57,-194.6,547.9,-13.7,341,2914,0.00,2.17,0.00,0.000,6,0.000,0.040,2100,2603,3654,0,0,0,0,0,0
$GC,3234,-0.57,-194.6,594.4,-14.7,372,3237,0.00,1.80,0.00,0.000,4,0.000,0.049,2091,3780,3651,0,0,0,0,0,0
$GC,3324,-0.57,-194.6,606.7,-12.5,378,3328,0.00,1.73,0.00,0.000,6,0.000,0.029,2091,2601,3650,0,0,0,0,0,0
$GC,3657,-0.57,-194.6,653.0,-13.9,394,3661,0.00,2.05,0.00,0.000,4,0.000,0.033,2092,1207,3647,0,0,0,0,0,0
$GC,3702,-0.57,-194.6,658.5,-11.6,396,3707,0.12,2.12,0.00,0.000,6,0.160,0.041,2118,2596,3647,0,0,0,0,0,0
$GC,4031,-0.57,-194.6,690.9,-10.0,412,4035,0.00,1.80,0.00,0.000,4,0.000,0.050,2111,3781,3644,0,0,0,0,0,0
$GC,4092,-0.57,-194.6,697.1,-9.2,414,4099,0.00,1.77,0.00,0.000,6,0.000,0.030,2117,2583,3642,0,0,0,0,0,0
$GC,4408,-0.57,-194.6,731.1,-11.5,430,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2582,3642,0,0,0,0,0,0
$GC,4718,-0.57,-194.6,769.5,-12.8,445,4721,0.00,1.88,0.00,0.000,4,0.000,0.050,2111,3790,3638,0,0,0,0,0,0
$GC,4743,-0.57,-194.6,772.5,-13.2,446,4747,0.00,1.75,0.00,0.000,6,0.000,0.030,2111,2596,3637,0,0,0,0,0,0
$GC,5076,-0.57,-194.6,815.7,-13.0,462,5080,0.00,2.05,0.00,0.000,4,0.000,0.035,2111,1205,3636,0,0,0,0,0,0
$GC,5141,-0.57,-194.6,823.6,-11.0,465,5146,0.00,2.20,0.00,0.000,6,0.000,0.041,2111,2638,3635,0,0,0,0,0,0
$GC,5470,-0.57,-194.6,862.2,-11.7,481,5474,0.00,2.15,0.00,0.000,4,0.000,0.035,2111,1204,3632,0,0,0,0,0,0
$GC,5532,-0.57,-194.6,869.6,-11.2,484,5537,0.00,2.15,0.00,0.000,6,0.000,0.042,2111,2604,3632,0,0,0,0,0,0
$GC,5860,-0.57,-194.6,911.0,-13.2,500,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2605,3630,0,0,0,0,0,0
$GC,6169,-0.57,-194.6,954.9,-14.4,515,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2605,3628,0,0,0,0,0,0
$STATE,6435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6435,begin apogee
$GC,6441,-0.16,0.0,991.9,13.3,528,6597,0.40,0.00,149.15,1.114,6,0.125,0.000,2244,2111,2870,0,0,0,0,0,0
$STATE,6597,end apogee,CONTROL_FINISHED_OK
$STATE,6598,begin climb
$GC,6600,0.57,194.6,1001.1,0.0,535,6771,0.68,0.00,160.70,1.084,6,0.057,0.000,2495,2111,2074,0,0,0,0,0,0
$GC,7076,0.57,194.6,948.5,14.3,558,7080,0.00,2.15,0.00,0.000,4,0.000,0.041,2505,731,2064,0,0,0,0,0,0
$GC,7116,0.57,194.6,943.0,13.9,560,7121,0.00,2.17,0.00,0.000,6,0.000,0.037,2505,2128,2063,0,0,0,0,0,0
$GC,7444,0.57,194.6,894.4,14.7,576,7445,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2127,2061,0,0,0,0,0,0
$GC,7753,0.57,194.6,850.1,14.1,591,7757,0.00,2.15,0.00,0.000,4,0.000,0.041,2515,731,2060,0,0,0,0,0,0
$GC,7916,0.57,194.6,827.2,13.8,598,7920,0.00,2.15,0.00,0.000,6,0.000,0.037,2515,2131,2059,0,0,0,0,0,0
$GC,8232,0.57,194.6,781.2,14.7,613,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2132,2059,0,0,0,0,0,0
$GC,8541,0.57,194.6,734.6,15.2,628,8546,0.00,2.17,0.00,0.000,4,0.000,0.046,2515,3546,2058,0,0,0,0,0,0
$GC,8597,0.57,194.6,724.9,17.7,630,8606,0.15,2.12,0.00,0.000,6,0.186,0.031,2487,2137,2058,0,0,0,0,0,0
$GC,8913,0.57,194.6,682.0,13.4,646,8914,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2139,2057,0,0,0,0,0,0
$GC,9223,0.57,194.6,645.2,11.5,661,9227,0.00,2.12,0.00,0.000,4,0.000,0.040,2496,723,2057,0,0,0,0,0,0
$GC,9289,0.57,196.8,637.6,10.9,664,9293,0.00,2.12,0.00,0.000,6,0.000,0.034,2497,2130,2057,0,0,0,0,0,0
$GC,9607,0.57,196.8,597.9,13.3,680,9611,0.00,2.15,0.00,0.000,4,0.000,0.044,2496,3541,2057,0,0,0,0,0,0
$GC,9628,0.57,196.8,594.4,15.2,681,9635,0.00,2.15,0.00,0.000,6,0.000,0.031,2506,2117,2057,0,0,0,0,0,0
$GC,9954,0.57,196.8,549.5,12.8,712,9958,0.00,2.10,0.00,0.000,4,0.000,0.037,2517,708,2056,0,0,0,0,0,0
$GC,10039,0.57,196.8,539.3,11.8,719,10044,0.12,2.15,0.00,0.000,6,0.173,0.034,2485,2136,2057,0,0,0,0,0,0
$GC,10366,0.57,196.8,500.6,13.4,749,10370,0.00,2.12,0.00,0.000,4,0.000,0.045,2485,3532,2056,0,0,0,0,0,0
$GC,10417,0.57,196.8,493.4,14.7,753,10421,0.00,2.12,0.00,0.000,6,0.000,0.031,2493,2120,2056,0,0,0,0,0,0
$GC,10742,0.57,196.8,449.3,12.4,783,10746,0.00,2.12,0.00,0.000,4,0.000,0.041,2504,719,2056,0,0,0,0,0,0
$GC,11000,0.57,196.8,419.0,11.5,806,11004,0.00,2.12,0.00,0.000,6,0.000,0.035,2504,2125,2056,0,0,0,0,0,0
$GC,11325,0.57,196.8,380.9,11.8,836,11329,0.00,2.17,0.00,0.000,4,0.000,0.045,2504,3540,2056,0,0,0,0,0,0
$GC,11396,0.57,196.8,370.7,14.1,842,11404,0.00,2.17,0.00,0.000,6,0.000,0.032,2514,2123,2056,0,0,0,0,0,0
$GC,11722,0.57,196.8,330.2,11.1,873,11726,0.00,2.12,0.00,0.000,4,0.000,0.040,2525,710,2056,0,0,0,0,0,0
$GC,11810,0.57,196.8,320.4,11.2,880,11818,0.10,2.17,0.00,0.000,6,0.153,0.034,2491,2127,2056,0,0,0,0,0,0
$GC,12138,0.59,213.9,285.7,10.3,911,12163,0.00,2.22,13.02,0.679,4,0.000,0.037,2501,712,1997,0,0,0,0,0,0
$GC,12176,0.61,232.8,281.6,10.3,914,12201,0.00,2.15,16.27,0.605,6,0.000,0.033,2500,2133,1918,0,0,0,0,0,0
$GC,12521,0.69,293.6,245.8,8.7,950,12575,0.00,2.22,46.90,0.625,4,0.000,0.036,2510,715,1672,0,0,0,0,0,0
$GC,12638,0.71,309.9,234.0,10.4,968,12662,0.00,2.22,14.23,0.572,6,0.000,0.034,2506,2119,1603,0,0,0,0,0,0
$GC,12855,0.71,309.9,209.1,11.3,1007,12863,0.00,2.25,0.00,0.000,4,0.000,0.044,2510,3535,1596,0,0,0,0,0,0
$GC,12888,0.71,309.9,205.0,12.4,1012,12896,0.00,2.20,0.00,0.000,6,0.000,0.029,2519,2121,1597,0,0,0,0,0,0
$GC,13090,0.73,329.7,181.6,10.2,1049,13114,0.00,2.20,15.57,0.604,4,0.000,0.036,2530,715,1522,0,0,0,0,0,0
$GC,13161,0.77,358.1,174.3,9.9,1060,13193,0.00,2.22,22.92,0.546,6,0.000,0.034,2529,2131,1409,0,0,0,0,0,0
$GC,13389,0.84,414.9,153.0,8.8,1100,13444,0.12,2.28,43.58,0.549,4,0.091,0.044,2586,3531,1175,0,0,0,0,0,0
$GC,13512,0.84,414.9,135.8,14.3,1119,13520,0.00,2.20,0.00,0.000,6,0.000,0.029,2596,2131,1173,0,0,0,0,0,0
$GC,13714,0.84,414.9,105.6,14.6,1156,13722,0.00,2.20,0.00,0.000,4,0.000,0.037,2606,711,1170,0,0,0,0,0,0
$GC,13778,0.84,414.9,97.3,12.0,1167,13787,0.10,2.20,0.00,0.000,6,0.123,0.034,2572,2122,1169,0,0,0,0,0,0
$GC,13981,0.92,486.6,78.4,8.3,1204,14041,0.00,0.00,53.20,0.510,6,0.000,0.000,2572,2122,885,0,0,0,0,0,0
$GC,14238,1.03,576.0,57.9,7.6,1248,14316,0.20,2.30,66.38,0.476,4,0.060,0.041,2661,3538,519,0,0,0,0,0,0
$GC,14383,1.03,576.0,37.0,15.0,1270,14393,0.10,2.22,0.00,0.000,6,0.122,0.028,2639,2115,517,0,0,0,0,0,0
$GC,14588,1.07,605.4,15.4,9.9,1307,14611,0.00,2.22,15.40,0.475,4,0.000,0.036,2639,3536,440,0,0,0,0,0,0
$GC,14630,1.09,622.1,10.9,10.4,1313,14638,0.00,2.17,0.00,0.000,6,0.000,0.028,2646,2127,439,0,0,0,0,0,0
$STATE,14707,end climb,SURFACE_DEPTH_REACHED
$STATE,14708,begin surface coast
$FINISH,0.1,1.021364
$STATE,14739,end surface coast,CONTROL_FINISHED_OK
$STATE,14739,begin surface
$SM_CCo,14815,0.00,0.000,0,0,438,596.32
$SM_GC,0.71,6.32,0.00,0.00,0.033,0.000,0.000,207,2624,438,-6.46,0.68,596.32,0,0,0,0,0,0
$IRIDIUM_FIX,2052.52,11953.28,190611,212106
$TT8_MAMPS,0.027713,0.027713
$HUMID,38.58
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,24.1,8.469
$10V_AH,10.2,8.779
$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,16.650,134.200,617.325,0.000,0.000,26.798,42.073,168.145,0.000,0.000,15.909,3309.595,7506.795,672.794,3383.324,309.813,33.337,2011.687,0.000,2242.381,0.000,0.541,0.000
$DEVICE_MAMPS,242.505,50.490,1113.840,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,925.032,2028.173,1617.088,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323240
$DATA_FILE_SIZE,86986,1332
$CAP_FILE_SIZE,158400,0
$CFSIZE,260165632,246415360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.308,253.9,1
$GPS,200611,054300,2055.541,11953.731,39,1.1,45,-2.4