version: 66.09
glider: 181
mission: 6
dive: 156
start: 7 9 111 23 4 32
data:
$ID,181
$MISSION,6
$DIVE,156
$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,300
$T_MISSION,340
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,135
$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,-40708.113
$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,2320
$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,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,090711,225736,1931.462,11951.984,31,0.9,31,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-63.6
$GPS2,090711,230407,1931.409,11951.979,11,1.3,11,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,HEADING
$TGT_LATLONG,1923.772,12000.074
$TGT_RADIUS,1852.000
$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,137.1,20000,-15.3,-11.000
$D_GRID,3976
$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,-0.52,-219.0,0.0,0.0,0,96,0.00,0.00,-77.78,0.000,2,0.000,0.000,185,2610,2621,0,0,0,0,0,0
$GC,99,-0.52,-219.0,3.6,-3.7,11,138,7.97,1.85,-21.30,0.000,4,0.233,0.057,2132,3778,3762,0,0,0,0,0,0
$GC,204,-0.52,-219.0,59.7,-59.2,28,212,0.00,1.80,0.00,0.000,6,0.000,0.024,2131,2583,3763,0,0,0,0,0,0
$GC,338,-0.52,-219.0,113.1,-31.8,53,346,0.00,1.90,0.00,0.000,4,0.000,0.045,2122,3775,3764,0,0,0,0,0,0
$GC,364,-0.52,-219.0,122.3,-33.5,57,372,0.00,1.75,0.00,0.000,6,0.000,0.025,2122,2602,3764,0,0,0,0,0,0
$GC,499,-0.52,-219.0,162.0,-25.2,82,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2598,3766,0,0,0,0,0,0
$GC,632,-0.52,-219.0,197.6,-24.2,107,640,0.00,1.85,0.00,0.000,4,0.000,0.044,2115,3775,3767,0,0,0,0,0,0
$GC,661,-0.52,-219.0,204.8,-22.0,110,671,0.10,1.73,0.00,0.000,6,0.125,0.024,2147,2602,3767,0,0,0,0,0,0
$GC,988,-0.52,-219.0,243.5,-11.8,141,991,0.00,2.05,0.00,0.000,4,0.000,0.029,2147,1212,3767,0,0,0,0,0,0
$GC,1049,-0.52,-219.0,249.9,-9.0,146,1057,0.00,2.15,0.00,0.000,6,0.000,0.034,2141,2599,3767,0,0,0,0,0,0
$GC,1375,-0.52,-219.0,291.3,-13.8,177,1379,0.00,1.80,0.00,0.000,4,0.000,0.046,2138,3784,3765,0,0,0,0,0,0
$GC,1444,-0.52,-219.0,299.3,-10.4,183,1448,0.00,1.70,0.00,0.000,6,0.000,0.025,2138,2603,3764,0,0,0,0,0,0
$GC,1775,-0.52,-219.0,345.2,-15.8,214,1779,0.00,2.03,0.00,0.000,4,0.000,0.030,2139,1217,3762,0,0,0,0,0,0
$GC,1824,-0.52,-219.0,352.7,-13.7,218,1831,0.00,2.15,0.00,0.000,6,0.000,0.037,2138,2617,3762,0,0,0,0,0,0
$GC,2150,-0.52,-219.0,404.2,-14.8,249,2153,0.00,1.77,0.00,0.000,4,0.000,0.047,2139,3779,3758,0,0,0,0,0,0
$GC,2188,-0.52,-219.0,410.1,-14.1,252,2195,0.00,1.73,0.00,0.000,6,0.000,0.027,2138,2623,3756,0,0,0,0,0,0
$GC,2514,-0.52,-219.0,452.3,-12.0,283,2518,0.00,1.77,0.00,0.000,4,0.000,0.047,2138,3776,3754,0,0,0,0,0,0
$GC,2530,-0.52,-219.0,454.4,-11.5,284,2537,0.00,1.73,0.00,0.000,6,0.000,0.028,2138,2616,3754,0,0,0,0,0,0
$GC,2856,-0.52,-219.0,486.7,-9.3,315,2860,0.00,2.08,0.00,0.000,4,0.000,0.032,2138,1203,3751,0,0,0,0,0,0
$GC,2874,-0.52,-219.0,488.4,-9.2,316,2878,0.00,2.20,0.00,0.000,6,0.000,0.040,2139,2640,3752,0,0,0,0,0,0
$GC,3194,-0.52,-219.0,521.6,-11.3,337,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2640,3746,0,0,0,0,0,0
$GC,3502,-0.52,-219.0,560.9,-12.7,352,3506,0.00,1.75,0.00,0.000,4,0.000,0.050,2138,3780,3743,0,0,0,0,0,0
$GC,3541,-0.52,-219.0,565.6,-11.4,353,3548,0.00,1.70,0.00,0.000,6,0.000,0.028,2138,2648,3743,0,0,0,0,0,0
$GC,3858,-0.52,-219.0,601.3,-12.2,369,3862,0.00,2.15,0.00,0.000,4,0.000,0.033,2138,1195,3740,0,0,0,0,0,0
$GC,3919,-0.52,-219.0,608.2,-9.9,371,3926,0.00,2.20,0.00,0.000,6,0.000,0.039,2138,2643,3739,0,0,0,0,0,0
$GC,4235,-0.52,-219.0,639.6,-10.6,387,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2638,3736,0,0,0,0,0,0
$GC,4544,-0.52,-219.0,674.3,-11.2,402,4548,0.00,2.15,0.00,0.000,4,0.000,0.034,2138,1202,3734,0,0,0,0,0,0
$GC,4593,-0.52,-219.0,679.5,-10.3,404,4598,0.00,2.20,0.00,0.000,6,0.000,0.040,2138,2637,3734,0,0,0,0,0,0
$GC,4916,-0.52,-219.0,713.1,-10.5,420,4920,0.00,2.15,0.00,0.000,4,0.000,0.034,2138,1203,3732,0,0,0,0,0,0
$GC,4956,-0.52,-219.0,717.1,-9.9,422,4960,0.00,2.20,0.00,0.000,6,0.000,0.040,2138,2638,3731,0,0,0,0,0,0
$GC,5283,-0.52,-219.0,745.1,-8.5,438,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2638,3729,0,0,0,0,0,0
$GC,5593,-0.52,-219.0,773.0,-9.3,453,5597,0.00,2.17,0.00,0.000,4,0.000,0.034,2138,1196,3727,0,0,0,0,0,0
$GC,5639,-0.52,-219.0,777.4,-9.7,455,5643,0.00,2.20,0.00,0.000,6,0.000,0.041,2138,2622,3727,0,0,0,0,0,0
$GC,5972,-0.52,-219.0,809.4,-10.1,471,5976,0.00,2.15,0.00,0.000,4,0.000,0.035,2138,1193,3725,0,0,0,0,0,0
$GC,6013,-0.52,-219.0,813.6,-10.2,473,6017,0.00,2.17,0.00,0.000,6,0.000,0.041,2141,2605,3725,0,0,0,0,0,0
$GC,6340,-0.52,-219.0,842.3,-8.4,489,6344,0.00,1.80,0.00,0.000,4,0.000,0.053,2138,3779,3723,0,0,0,0,0,0
$GC,6368,-0.52,-219.0,844.7,-7.8,490,6372,0.00,1.77,0.00,0.000,6,0.000,0.028,2138,2598,3723,0,0,0,0,0,0
$GC,6695,-0.52,-219.0,865.8,-6.2,506,6698,0.00,2.05,0.00,0.000,4,0.000,0.034,2138,1214,3721,0,0,0,0,0,0
$GC,6741,-0.52,-219.0,868.7,-6.2,508,6745,0.00,2.15,0.00,0.000,6,0.000,0.041,2138,2606,3721,0,0,0,0,0,0
$GC,7069,-0.52,-219.0,890.0,-7.0,524,7073,0.00,1.85,0.00,0.000,4,0.000,0.052,2138,3776,3719,0,0,0,0,0,0
$GC,7092,-0.52,-219.0,891.6,-7.2,525,7096,0.00,1.73,0.00,0.000,6,0.000,0.028,2138,2597,3722,0,0,0,0,0,0
$GC,7425,-0.52,-219.0,915.4,-7.9,541,7429,0.00,2.05,0.00,0.000,4,0.000,0.034,2138,1209,3718,0,0,0,0,0,0
$GC,7480,-0.52,-219.0,920.0,-8.3,543,7487,0.00,2.12,0.00,0.000,6,0.000,0.040,2138,2596,3717,0,0,0,0,0,0
$GC,7797,-0.52,-219.0,946.9,-8.8,559,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2596,3717,0,0,0,0,0,0
$GC,8106,-0.52,-219.0,972.7,-8.2,574,8110,0.00,2.10,0.00,0.000,4,0.000,0.034,2138,1202,3715,0,0,0,0,0,0
$GC,8129,-0.52,-219.0,974.6,-8.3,575,8133,0.00,2.15,0.00,0.000,6,0.000,0.041,2138,2597,3715,0,0,0,0,0,0
$STATE,8351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8351,begin apogee
$GC,8358,-0.13,0.0,991.3,7.4,586,8530,0.40,0.00,166.38,1.105,4,0.112,0.000,2274,2115,2868,0,0,0,0,0,0
$STATE,8531,end apogee,CONTROL_FINISHED_OK
$STATE,8531,begin climb
$GC,8534,0.52,219.0,998.7,0.0,594,8721,0.60,2.22,177.60,1.073,4,0.056,0.039,2499,745,1976,0,0,0,0,0,0
$GC,8833,0.52,219.0,970.9,13.5,608,8837,0.00,2.28,0.00,0.000,6,0.000,0.034,2503,2162,1976,0,0,0,0,0,0
$GC,9161,0.52,219.0,921.4,15.2,624,9162,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2162,1975,0,0,0,0,0,0
$GC,9471,0.52,219.0,876.3,14.2,639,9472,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2162,1975,0,0,0,0,0,0
$GC,9779,0.52,219.0,831.6,14.5,654,9783,0.00,2.15,0.00,0.000,4,0.000,0.046,2500,3538,1974,0,0,0,0,0,0
$GC,9803,0.52,219.0,827.9,15.1,655,9807,0.00,2.10,0.00,0.000,6,0.000,0.027,2509,2138,1974,0,0,0,0,0,0
$GC,10130,0.52,219.0,773.6,17.1,671,10134,0.00,2.12,0.00,0.000,4,0.000,0.036,2520,725,1974,0,0,0,0,0,0
$GC,10230,0.52,219.0,756.4,16.7,675,10238,0.12,2.12,0.00,0.000,6,0.171,0.034,2488,2119,1974,0,0,0,0,0,0
$GC,10547,0.52,219.0,710.3,13.9,691,10551,0.00,2.17,0.00,0.000,4,0.000,0.045,2488,3536,1973,0,0,0,0,0,0
$GC,10592,0.52,219.0,703.7,14.5,693,10597,0.00,2.15,0.00,0.000,6,0.000,0.028,2497,2113,1973,0,0,0,0,0,0
$GC,10925,0.52,219.0,660.6,12.3,709,10929,0.00,2.10,0.00,0.000,4,0.000,0.038,2507,714,1973,0,0,0,0,0,0
$GC,11011,0.52,219.0,650.6,11.6,713,11015,0.00,2.10,0.00,0.000,6,0.000,0.034,2507,2101,1971,0,0,0,0,0,0
$GC,11338,0.52,219.0,608.8,13.1,729,11342,0.00,2.22,0.00,0.000,4,0.000,0.045,2507,3538,1973,0,0,0,0,0,0
$GC,11384,0.52,219.0,602.1,15.7,731,11388,0.00,2.17,0.00,0.000,6,0.000,0.029,2517,2106,1973,0,0,0,0,0,0
$GC,11717,0.52,219.0,551.7,15.6,747,11721,0.00,2.08,0.00,0.000,4,0.000,0.038,2528,722,1973,0,0,0,0,0,0
$GC,11788,0.52,219.0,540.3,15.5,750,11793,0.15,2.15,0.00,0.000,6,0.164,0.035,2488,2131,1973,0,0,0,0,0,0
$GC,12110,0.52,219.0,498.9,13.0,766,12114,0.00,2.15,0.00,0.000,4,0.000,0.045,2484,3535,1973,0,0,0,0,0,0
$GC,12176,0.52,219.0,489.2,14.1,771,12183,0.00,2.17,0.00,0.000,6,0.000,0.028,2496,2097,1973,0,0,0,0,0,0
$GC,12502,0.52,219.0,448.0,12.1,802,12505,0.00,2.08,0.00,0.000,4,0.000,0.040,2506,719,1973,0,0,0,0,0,0
$GC,12530,0.52,219.0,444.4,12.0,804,12534,0.00,2.10,0.00,0.000,6,0.000,0.034,2507,2103,1973,0,0,0,0,0,0
$GC,12856,0.52,219.0,405.7,11.6,834,12860,0.00,2.20,0.00,0.000,4,0.000,0.046,2507,3535,1973,0,0,0,0,0,0
$GC,12924,0.52,219.0,396.5,13.7,840,12928,0.00,2.15,0.00,0.000,6,0.000,0.028,2516,2099,1973,0,0,0,0,0,0
$GC,13250,0.52,219.0,357.4,11.4,870,13254,0.00,2.08,0.00,0.000,4,0.000,0.040,2526,718,1973,0,0,0,0,0,0
$GC,13382,0.53,223.9,343.0,10.8,881,13395,0.12,2.10,5.10,0.604,6,0.165,0.035,2494,2098,1956,0,0,0,0,0,0
$GC,13713,0.53,223.9,309.5,11.1,912,13717,0.00,2.10,0.00,0.000,4,0.000,0.039,2502,716,1956,0,0,0,0,0,0
$GC,13742,0.53,227.2,306.2,10.9,914,13755,0.00,2.08,4.55,0.549,6,0.000,0.034,2502,2083,1942,0,0,0,0,0,0
$GC,14074,0.53,227.2,266.7,11.5,945,14078,0.00,2.22,0.00,0.000,4,0.000,0.045,2502,3532,1942,0,0,0,0,0,0
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$STATE,16414,end climb,SURFACE_DEPTH_REACHED
$STATE,16414,begin surface coast
$FINISH,-0.0,1.008663
$STATE,16442,end surface coast,CONTROL_FINISHED_OK
$STATE,16442,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,41.33
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.70
$XPDR_PINGS,1
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$10V_AH,10.2,24.783
$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
$DEVICE_SECS,16.375,171.725,631.625,0.000,0.000,25.092,40.901,181.154,0.250,0.000,13.951,3130.761,9485.850,671.349,3261.182,346.543,0.000,2075.891,0.000,2281.650,0.000,0.541,0.000
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$MEM,322676
$DATA_FILE_SIZE,90318,1305
$CAP_FILE_SIZE,178198,0
$CFSIZE,260165632,236572672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100711,034106,1930.584,11954.212,35,0.9,36,-2.1