version: 66.09
glider: 181
mission: 6
dive: 74
start: 6 24 111 2 54 58
data:
$ID,181
$MISSION,6
$DIVE,74
$N_DIVES,80
$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,2
$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,-39610.496
$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,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
$GPS1,240611,024755,2020.839,11956.616,39,1.2,40,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-64.7
$GPS2,240611,025431,2020.857,11956.515,11,1.4,11,-2.3
$SPEED_LIMITS,0.191,0.305
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,185.9,149871,-16.3,-11.000
$D_GRID,3335
$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,-82.72,0.000,2,0.000,0.000,154,2616,2685,0,0,0,0,0,0
$GC,104,-0.57,-194.6,4.0,-8.7,11,137,8.25,1.83,-17.45,0.000,4,0.248,0.057,2096,3791,3665,0,0,0,0,0,0
$GC,150,-0.57,-194.6,26.7,-49.9,17,160,0.00,1.85,0.00,0.000,6,0.000,0.031,2105,2588,3666,0,0,0,0,0,0
$GC,288,-0.57,-194.6,91.4,-30.8,42,296,0.00,2.10,0.00,0.000,4,0.000,0.028,2105,1183,3667,0,0,0,0,0,0
$GC,452,-0.57,-194.6,130.1,-19.6,72,461,0.00,2.22,0.00,0.000,6,0.000,0.039,2094,2599,3668,0,0,0,0,0,0
$GC,590,-0.57,-194.6,167.0,-29.0,97,599,0.00,1.88,0.00,0.000,4,0.000,0.044,2087,3785,3669,0,0,0,0,0,0
$GC,612,-0.57,-194.6,173.5,-29.1,100,622,0.08,1.80,0.00,0.000,6,0.166,0.027,2109,2579,3669,0,0,0,0,0,0
$GC,754,-0.57,-194.6,207.4,-24.1,125,762,0.00,2.05,0.00,0.000,4,0.000,0.031,2110,1207,3670,0,0,0,0,0,0
$GC,828,-0.57,-194.6,220.9,-14.0,138,836,0.00,2.17,0.00,0.000,6,0.000,0.039,2105,2602,3670,0,0,0,0,0,0
$GC,966,-0.57,-194.6,245.3,-18.9,163,974,0.00,1.83,0.00,0.000,4,0.000,0.045,2102,3777,3670,0,0,0,0,0,0
$GC,1017,-0.57,-194.6,255.7,-18.5,169,1025,0.00,1.75,0.00,0.000,6,0.000,0.026,2102,2605,3670,0,0,0,0,0,0
$GC,1215,-0.57,-194.6,294.9,-19.1,188,1219,0.00,2.08,0.00,0.000,4,0.000,0.030,2102,1200,3670,0,0,0,0,0,0
$GC,1242,-0.57,-194.6,300.0,-17.8,190,1251,0.00,2.20,0.00,0.000,6,0.000,0.039,2096,2606,3669,0,0,0,0,0,0
$GC,1439,-0.57,-194.6,337.6,-20.5,209,1443,0.00,1.77,0.00,0.000,4,0.000,0.046,2087,3780,3667,0,0,0,0,0,0
$GC,1474,-0.57,-194.6,344.5,-20.1,212,1478,0.12,1.73,0.00,0.000,6,0.157,0.028,2121,2589,3669,0,0,0,0,0,0
$GC,1676,-0.57,-194.6,378.1,-16.7,231,1680,0.00,2.03,0.00,0.000,4,0.000,0.031,2121,1205,3666,0,0,0,0,0,0
$GC,1700,-0.57,-194.6,382.1,-16.7,233,1704,0.00,2.15,0.00,0.000,6,0.000,0.040,2113,2608,3666,0,0,0,0,0,0
$GC,1898,-0.57,-194.6,413.6,-16.7,251,1901,0.00,1.80,0.00,0.000,4,0.000,0.049,2112,3787,3665,0,0,0,0,0,0
$GC,1956,-0.57,-194.6,422.8,-15.1,256,1959,0.00,1.73,0.00,0.000,6,0.000,0.028,2111,2595,3664,0,0,0,0,0,0
$GC,2159,-0.57,-194.6,455.3,-16.3,275,2163,0.00,1.83,0.00,0.000,4,0.000,0.047,2103,3784,3662,0,0,0,0,0,0
$GC,2205,-0.57,-194.6,462.7,-15.5,279,2208,0.00,1.73,0.00,0.000,6,0.000,0.028,2102,2594,3662,0,0,0,0,0,0
$GC,2408,-0.57,-194.6,496.0,-17.2,298,2412,0.00,2.03,0.00,0.000,4,0.000,0.032,2103,1214,3659,0,0,0,0,0,0
$GC,2455,-0.57,-194.6,503.1,-14.7,302,2459,0.00,2.12,0.00,0.000,6,0.000,0.041,2098,2599,3659,0,0,0,0,0,0
$GC,2658,-0.57,-194.6,536.3,-17.0,321,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2600,3660,0,0,0,0,0,0
$GC,2849,-0.57,-194.6,567.8,-15.9,339,2853,0.00,1.83,0.00,0.000,4,0.000,0.049,2089,3782,3655,0,0,0,0,0,0
$GC,2894,-0.57,-194.6,575.3,-16.3,343,2898,0.00,1.77,0.00,0.000,6,0.000,0.029,2089,2604,3654,0,0,0,0,0,0
$GC,3106,-0.57,-194.6,611.0,-16.8,360,3111,0.12,1.85,0.00,0.000,4,0.168,0.050,2116,3786,3652,0,0,0,0,0,0
$GC,3130,-0.57,-194.6,614.7,-16.3,361,3133,0.00,1.75,0.00,0.000,6,0.000,0.030,2117,2594,3652,0,0,0,0,0,0
$GC,3463,-0.57,-194.6,660.6,-13.6,377,3466,0.00,2.05,0.00,0.000,4,0.000,0.034,2116,1215,3649,0,0,0,0,0,0
$GC,3495,-0.57,-194.6,665.5,-13.8,378,3500,0.00,2.17,0.00,0.000,6,0.000,0.041,2111,2622,3649,0,0,0,0,0,0
$GC,3820,-0.57,-194.6,708.4,-13.3,394,3823,0.00,1.77,0.00,0.000,4,0.000,0.051,2111,3780,3645,0,0,0,0,0,0
$GC,3869,-0.57,-194.6,715.0,-11.8,396,3873,0.00,1.77,0.00,0.000,6,0.000,0.030,2111,2605,3645,0,0,0,0,0,0
$GC,4197,-0.57,-194.6,757.0,-12.5,412,4201,0.00,2.08,0.00,0.000,4,0.000,0.036,2111,1202,3642,0,0,0,0,0,0
$GC,4260,-0.57,-194.6,764.6,-11.3,415,4264,0.00,2.15,0.00,0.000,6,0.000,0.043,2111,2599,3642,0,0,0,0,0,0
$GC,4586,-0.57,-194.6,804.1,-12.0,431,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2600,3640,0,0,0,0,0,0
$GC,4896,-0.57,-194.6,841.4,-12.1,446,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2600,3639,0,0,0,0,0,0
$GC,5205,-0.57,-194.6,878.9,-11.8,461,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2600,3634,0,0,0,0,0,0
$GC,5514,-0.57,-194.6,915.9,-11.9,476,5518,0.00,1.88,0.00,0.000,4,0.000,0.055,2110,3770,3632,0,0,0,0,0,0
$GC,5546,-0.57,-194.6,919.8,-11.7,477,5550,0.00,1.77,0.00,0.000,6,0.000,0.031,2111,2605,3632,0,0,0,0,0,0
$GC,5869,-0.57,-194.6,959.2,-12.7,493,5873,0.00,2.10,0.00,0.000,4,0.000,0.037,2111,1193,3631,0,0,0,0,0,0
$GC,5917,-0.57,-194.6,965.4,-12.3,495,5921,0.00,2.20,0.00,0.000,6,0.000,0.044,2111,2592,3630,0,0,0,0,0,0
$STATE,6134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6134,begin apogee
$GC,6141,-0.16,0.0,992.4,12.5,506,6297,0.40,0.00,149.40,1.112,6,0.129,0.000,2243,2114,2869,0,0,0,0,0,0
$STATE,6297,end apogee,CONTROL_FINISHED_OK
$STATE,6297,begin climb
$GC,6300,0.57,194.6,1002.1,0.0,513,6468,0.68,2.33,159.50,1.081,4,0.075,0.040,2490,736,2075,0,0,0,0,0,0
$GC,6509,0.57,194.6,989.6,11.4,523,6513,0.00,2.25,0.00,0.000,6,0.000,0.037,2490,2129,2070,0,0,0,0,0,0
$GC,6835,0.57,194.6,948.4,12.8,539,6837,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2129,2062,0,0,0,0,0,0
$GC,7145,0.57,194.6,908.9,12.7,554,7149,0.00,2.20,0.00,0.000,4,0.000,0.047,2490,3538,2062,0,0,0,0,0,0
$GC,7223,0.57,194.6,897.7,14.0,557,7231,0.00,2.17,0.00,0.000,6,0.000,0.032,2499,2142,2061,0,0,0,0,0,0
$GC,7539,0.57,194.6,853.5,14.2,573,7543,0.00,2.17,0.00,0.000,4,0.000,0.042,2510,716,2060,0,0,0,0,0,0
$GC,7634,0.57,194.6,839.5,15.1,577,7638,0.00,2.17,0.00,0.000,6,0.000,0.037,2510,2134,2060,0,0,0,0,0,0
$GC,7956,0.57,194.6,787.5,16.4,593,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2136,2059,0,0,0,0,0,0
$GC,8265,0.57,194.6,738.5,15.3,608,8269,0.00,2.17,0.00,0.000,4,0.000,0.041,2520,721,2059,0,0,0,0,0,0
$GC,8337,0.57,194.6,727.7,14.4,611,8342,0.12,2.20,0.00,0.000,6,0.179,0.038,2489,2126,2059,0,0,0,0,0,0
$GC,8665,0.57,194.9,688.9,11.0,627,8669,0.00,2.17,0.00,0.000,4,0.000,0.047,2489,3538,2058,0,0,0,0,0,0
$GC,8764,0.57,194.9,676.6,12.3,631,8772,0.00,2.17,0.00,0.000,6,0.000,0.031,2497,2128,2057,0,0,0,0,0,0
$GC,9081,0.57,194.9,640.2,11.5,647,9085,0.00,2.15,0.00,0.000,4,0.000,0.041,2508,713,2057,0,0,0,0,0,0
$GC,9197,0.57,194.9,626.3,11.7,652,9201,0.00,2.17,0.00,0.000,6,0.000,0.037,2508,2140,2057,0,0,0,0,0,0
$GC,9523,0.57,194.9,585.7,12.6,673,9527,0.00,2.15,0.00,0.000,4,0.000,0.047,2508,3539,2057,0,0,0,0,0,0
$GC,9600,0.57,194.9,574.6,14.6,679,9608,0.10,2.20,0.00,0.000,6,0.164,0.032,2477,2117,2057,0,0,0,0,0,0
$GC,9799,0.57,201.3,553.0,10.8,698,9812,0.00,2.17,3.38,0.532,4,0.000,0.042,2487,722,2049,0,0,0,0,0,0
$GC,9850,0.57,201.3,547.0,11.1,702,9858,0.00,2.17,0.00,0.000,6,0.000,0.036,2487,2128,2049,0,0,0,0,0,0
$GC,10049,0.57,201.3,523.2,12.5,721,10050,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2128,2049,0,0,0,0,0,0
$GC,10240,0.57,201.3,497.9,13.4,739,10241,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2128,2048,0,0,0,0,0,0
$GC,10431,0.57,201.3,472.3,13.4,757,10432,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2128,2049,0,0,0,0,0,0
$GC,10623,0.57,201.3,447.2,12.7,775,10627,0.00,2.15,0.00,0.000,4,0.000,0.041,2496,712,2048,0,0,0,0,0,0
$GC,10684,0.57,201.3,439.7,12.1,780,10689,0.00,2.15,0.00,0.000,6,0.000,0.037,2496,2123,2048,0,0,0,0,0,0
$GC,10883,0.57,201.3,416.6,11.4,798,10887,0.00,2.20,0.00,0.000,4,0.000,0.048,2496,3541,2048,0,0,0,0,0,0
$GC,10949,0.57,201.3,408.2,12.5,803,10956,0.00,2.15,0.00,0.000,6,0.000,0.033,2506,2118,2048,0,0,0,0,0,0
$GC,11147,0.57,201.3,384.4,12.1,822,11151,0.00,2.10,0.00,0.000,4,0.000,0.042,2516,719,2049,0,0,0,0,0,0
$GC,11179,0.57,201.3,380.4,11.8,824,11186,0.00,2.20,0.00,0.000,6,0.000,0.038,2516,2137,2048,0,0,0,0,0,0
$GC,11378,0.57,201.3,356.3,12.2,843,11379,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2133,2048,0,0,0,0,0,0
$GC,11569,0.57,201.3,332.5,12.0,861,11573,0.00,2.15,0.00,0.000,4,0.000,0.041,2526,713,2048,0,0,0,0,0,0
$GC,11698,0.57,201.3,317.3,11.8,872,11703,0.15,2.15,0.00,0.000,6,0.165,0.037,2486,2128,2048,0,0,0,0,0,0
$GC,11899,0.59,216.3,297.2,10.4,890,11918,0.00,2.20,13.55,0.694,4,0.000,0.046,2486,3543,1986,0,0,0,0,0,0
$GC,11974,0.59,216.3,288.6,11.5,896,11978,0.00,2.15,0.00,0.000,6,0.000,0.031,2494,2123,1985,0,0,0,0,0,0
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$STATE,14572,end climb,SURFACE_DEPTH_REACHED
$STATE,14572,begin surface coast
$FINISH,-0.3,1.008139
$STATE,14609,end surface coast,CONTROL_FINISHED_OK
$STATE,14609,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,40.11
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.0,12.052
$10V_AH,10.2,12.398
$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
$DEVICE_SECS,16.675,167.675,617.925,0.000,0.000,27.124,22.554,189.815,0.000,0.000,16.051,3319.491,7329.209,684.525,3406.206,327.375,0.000,2085.479,0.000,2250.151,0.000,0.540,0.000
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$SENSOR_SECS,915.820,2002.143,1634.497,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322628
$DATA_FILE_SIZE,86923,1315
$CAP_FILE_SIZE,174522,0
$CFSIZE,260165632,244277248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.116,344.9,1
$GPS,240611,070100,2019.688,11956.060,39,1.1,40,-2.3