version: 66.09
glider: 181
mission: 6
dive: 158
start: 7 10 111 8 35 9
data:
$ID,181
$MISSION,6
$DIVE,158
$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,-40710.625
$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,72
$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
$GPS1,100711,082806,1929.745,11956.987,36,1.0,42,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-56.4
$GPS2,100711,083444,1929.743,11957.005,9,1.9,9,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,HEADING
$TGT_LATLONG,1922.107,12005.099
$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,4171
$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,-77.97,0.000,2,0.000,0.000,186,2558,2632,0,0,0,0,0,0
$GC,100,-0.52,-219.0,3.7,-4.1,11,138,7.95,1.98,-21.12,0.000,4,0.232,0.062,2131,3776,3765,0,0,0,0,0,0
$GC,275,-0.52,-219.0,88.5,-34.5,42,283,0.00,1.75,0.00,0.000,6,0.000,0.024,2131,2602,3768,0,0,0,0,0,0
$GC,409,-0.52,-219.0,121.2,-25.5,67,417,0.00,2.08,0.00,0.000,4,0.000,0.026,2131,1203,3768,0,0,0,0,0,0
$GC,476,-0.52,-219.0,133.3,-14.1,79,484,0.00,2.15,0.00,0.000,6,0.000,0.035,2125,2583,3769,0,0,0,0,0,0
$GC,611,-0.52,-219.0,161.1,-23.0,104,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2584,3770,0,0,0,0,0,0
$GC,744,-0.52,-219.0,184.1,-16.6,129,752,0.00,1.85,0.00,0.000,4,0.000,0.044,2124,3775,3771,0,0,0,0,0,0
$GC,816,-0.52,-219.0,194.8,-13.6,142,825,0.00,1.80,0.00,0.000,6,0.000,0.024,2124,2557,3771,0,0,0,0,0,0
$GC,959,-0.52,-219.0,220.2,-18.8,158,963,0.00,1.95,0.00,0.000,4,0.000,0.026,2124,1200,3770,0,0,0,0,0,0
$GC,975,-0.52,-219.0,223.6,-18.8,159,982,0.00,2.05,0.00,0.000,6,0.000,0.036,2124,2554,3771,0,0,0,0,0,0
$GC,1301,-0.52,-219.0,279.8,-18.3,190,1304,0.00,1.88,0.00,0.000,4,0.000,0.046,2124,3786,3770,0,0,0,0,0,0
$GC,1416,-0.52,-219.0,297.7,-12.7,200,1424,0.00,1.77,0.00,0.000,6,0.000,0.024,2124,2575,3769,0,0,0,0,0,0
$GC,1741,-0.52,-219.0,348.3,-15.2,231,1745,0.00,1.90,0.00,0.000,4,0.000,0.044,2124,3780,3766,0,0,0,0,0,0
$GC,1764,-0.52,-219.0,351.5,-14.6,233,1768,0.00,1.75,0.00,0.000,6,0.000,0.024,2124,2567,3766,0,0,0,0,0,0
$GC,2095,-0.52,-219.0,399.9,-13.3,264,2099,0.00,1.88,0.00,0.000,4,0.000,0.045,2124,3782,3763,0,0,0,0,0,0
$GC,2134,-0.52,-219.0,405.1,-12.5,267,2140,0.00,1.73,0.00,0.000,6,0.000,0.025,2124,2583,3762,0,0,0,0,0,0
$GC,2459,-0.52,-219.0,444.3,-12.4,298,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2581,3759,0,0,0,0,0,0
$GC,2779,-0.52,-219.0,486.6,-13.5,328,2783,0.00,1.90,0.00,0.000,4,0.000,0.047,2124,3777,3755,0,0,0,0,0,0
$GC,2839,-0.52,-219.0,494.7,-11.4,333,2846,0.00,1.75,0.00,0.000,6,0.000,0.026,2124,2603,3755,0,0,0,0,0,0
$GC,3157,-0.52,-219.0,539.4,-14.7,351,3161,0.00,2.05,0.00,0.000,4,0.000,0.030,2124,1206,3752,0,0,0,0,0,0
$GC,3181,-0.52,-219.0,542.9,-15.2,352,3185,0.00,2.17,0.00,0.000,6,0.000,0.039,2124,2621,3752,0,0,0,0,0,0
$GC,3507,-0.52,-219.0,584.8,-12.7,368,3511,0.00,1.77,0.00,0.000,4,0.000,0.049,2124,3781,3749,0,0,0,0,0,0
$GC,3557,-0.52,-219.0,590.8,-11.2,370,3561,0.00,1.73,0.00,0.000,6,0.000,0.027,2124,2634,3745,0,0,0,0,0,0
$GC,3885,-0.52,-219.0,630.4,-12.5,386,3889,0.00,2.10,0.00,0.000,4,0.000,0.031,2123,1200,3745,0,0,0,0,0,0
$GC,3918,-0.52,-219.0,634.7,-12.0,387,3925,0.00,2.20,0.00,0.000,6,0.000,0.039,2124,2630,3745,0,0,0,0,0,0
$GC,4235,-0.52,-219.0,672.8,-12.2,403,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2631,3742,0,0,0,0,0,0
$GC,4543,-0.52,-219.0,710.2,-11.8,418,4547,0.00,2.15,0.00,0.000,4,0.000,0.032,2124,1191,3740,0,0,0,0,0,0
$GC,4567,-0.52,-219.0,712.9,-12.2,419,4571,0.00,2.20,0.00,0.000,6,0.000,0.041,2124,2620,3739,0,0,0,0,0,0
$GC,4894,-0.52,-219.0,749.2,-11.2,435,4895,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2621,3737,0,0,0,0,0,0
$GC,5203,-0.52,-219.0,782.6,-10.6,450,5206,0.00,1.77,0.00,0.000,4,0.000,0.050,2124,3779,3734,0,0,0,0,0,0
$GC,5241,-0.52,-219.0,786.5,-9.6,451,5248,0.00,1.75,0.00,0.000,6,0.000,0.028,2124,2615,3734,0,0,0,0,0,0
$GC,5558,-0.52,-219.0,817.6,-10.2,467,5562,0.00,2.10,0.00,0.000,4,0.000,0.033,2124,1194,3733,0,0,0,0,0,0
$GC,5631,-0.52,-219.0,824.9,-9.1,470,5635,0.00,2.17,0.00,0.000,6,0.000,0.039,2124,2611,3732,0,0,0,0,0,0
$GC,5953,-0.52,-219.0,858.3,-11.2,486,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2611,3730,0,0,0,0,0,0
$GC,6262,-0.52,-219.0,892.1,-10.8,501,6266,0.00,2.12,0.00,0.000,4,0.000,0.033,2124,1196,3728,0,0,0,0,0,0
$GC,6302,-0.52,-219.0,896.2,-10.2,503,6306,0.00,2.17,0.00,0.000,6,0.000,0.040,2124,2608,3728,0,0,0,0,0,0
$GC,6630,-0.52,-219.0,929.5,-10.1,519,6633,0.00,1.80,0.00,0.000,4,0.000,0.051,2124,3778,3727,0,0,0,0,0,0
$GC,6668,-0.52,-219.0,933.4,-9.4,520,6675,0.00,1.75,0.00,0.000,6,0.000,0.028,2124,2615,3726,0,0,0,0,0,0
$GC,6985,-0.52,-219.0,962.8,-9.5,536,6989,0.00,2.10,0.00,0.000,4,0.000,0.034,2124,1199,3724,0,0,0,0,0,0
$GC,7052,-0.52,-219.0,968.9,-8.7,539,7056,0.00,2.17,0.00,0.000,6,0.000,0.039,2124,2612,3724,0,0,0,0,0,0
$STATE,7288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7288,begin apogee
$GC,7295,-0.13,0.0,990.0,9.0,551,7467,0.45,0.00,167.45,1.105,4,0.112,0.000,2275,2108,2869,0,0,0,0,0,0
$STATE,7468,end apogee,CONTROL_FINISHED_OK
$STATE,7468,begin climb
$GC,7470,0.52,219.0,998.1,0.0,559,7655,0.60,2.22,176.90,1.073,4,0.047,0.038,2508,739,1976,0,0,0,0,0,0
$GC,7835,0.52,219.0,960.7,13.9,576,7839,0.00,2.20,0.00,0.000,6,0.000,0.034,2508,2124,1976,0,0,0,0,0,0
$GC,8156,0.52,219.0,911.8,15.7,592,8160,0.00,2.15,0.00,0.000,4,0.000,0.036,2518,740,1975,0,0,0,0,0,0
$GC,8166,0.52,219.0,910.2,15.8,592,8173,0.00,2.17,0.00,0.000,6,0.000,0.032,2518,2114,1975,0,0,0,0,0,0
$GC,8482,0.52,219.0,860.1,15.8,608,8486,0.00,2.12,0.00,0.000,4,0.000,0.037,2527,738,1975,0,0,0,0,0,0
$GC,8739,0.52,219.0,820.5,14.7,619,8744,0.15,2.17,0.00,0.000,6,0.171,0.035,2488,2117,1975,0,0,0,0,0,0
$GC,9061,0.52,219.0,779.7,12.8,635,9065,0.00,2.20,0.00,0.000,4,0.000,0.046,2492,3539,1974,0,0,0,0,0,0
$GC,9094,0.52,219.0,774.8,13.9,636,9101,0.00,2.17,0.00,0.000,6,0.000,0.028,2497,2130,1973,0,0,0,0,0,0
$GC,9411,0.52,219.0,732.1,13.8,652,9414,0.00,2.12,0.00,0.000,4,0.000,0.037,2508,720,1973,0,0,0,0,0,0
$GC,9466,0.52,219.0,724.4,13.0,654,9470,0.00,2.15,0.00,0.000,6,0.000,0.034,2508,2128,1973,0,0,0,0,0,0
$GC,9788,0.52,219.0,682.1,12.5,670,9789,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2129,1973,0,0,0,0,0,0
$GC,10098,0.52,219.0,643.8,12.2,685,10099,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2129,1973,0,0,0,0,0,0
$GC,10406,0.52,219.0,605.7,12.7,700,10407,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2129,1972,0,0,0,0,0,0
$GC,10716,0.52,219.0,565.1,13.8,715,10720,0.00,2.17,0.00,0.000,4,0.000,0.045,2508,3541,1972,0,0,0,0,0,0
$GC,10734,0.52,219.0,562.3,14.4,716,10738,0.00,2.15,0.00,0.000,6,0.000,0.028,2522,2112,1972,0,0,0,0,0,0
$GC,11061,0.52,219.0,512.0,15.4,732,11066,0.10,2.12,0.00,0.000,4,0.187,0.039,2503,712,1972,0,0,0,0,0,0
$GC,11104,0.52,219.0,505.8,13.2,734,11108,0.00,2.15,0.00,0.000,6,0.000,0.033,2503,2129,1972,0,0,0,0,0,0
$GC,11429,0.52,219.0,465.4,11.6,762,11430,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2132,1973,0,0,0,0,0,0
$GC,11751,0.52,219.0,428.3,11.5,792,11755,0.00,2.15,0.00,0.000,4,0.000,0.045,2503,3534,1972,0,0,0,0,0,0
$GC,11795,0.52,219.0,422.0,13.2,795,11802,0.00,2.17,0.00,0.000,6,0.000,0.028,2512,2100,1972,0,0,0,0,0,0
$GC,12121,0.52,219.0,379.6,14.0,826,12125,0.00,2.08,0.00,0.000,4,0.000,0.039,2523,717,1972,0,0,0,0,0,0
$GC,12240,0.52,219.0,363.8,13.1,836,12244,0.12,2.12,0.00,0.000,6,0.164,0.034,2490,2120,1972,0,0,0,0,0,0
$GC,12565,0.54,232.6,327.5,10.5,866,12582,0.00,2.20,11.35,0.685,4,0.000,0.044,2489,3542,1919,0,0,0,0,0,0
$GC,12598,0.54,232.6,323.4,11.7,868,12606,0.00,2.20,0.00,0.000,6,0.000,0.028,2498,2110,1918,0,0,0,0,0,0
$GC,12925,0.54,232.6,285.1,11.4,899,12929,0.00,2.10,0.00,0.000,4,0.000,0.038,2509,715,1919,0,0,0,0,0,0
$GC,12979,0.56,252.2,279.1,10.3,903,13001,0.00,2.12,15.88,0.647,6,0.000,0.033,2509,2115,1840,0,0,0,0,0,0
$GC,13327,0.56,252.2,241.3,11.3,936,13332,0.00,2.20,0.00,0.000,4,0.000,0.044,2509,3539,1839,0,0,0,0,0,0
$GC,13378,0.56,252.2,234.7,13.1,940,13382,0.00,2.17,0.00,0.000,6,0.000,0.027,2519,2097,1839,0,0,0,0,0,0
$GC,13704,0.56,252.2,194.8,12.5,973,13712,0.00,2.12,0.00,0.000,4,0.000,0.037,2529,716,1840,0,0,0,0,0,0
$GC,13740,0.56,252.2,190.3,12.1,979,13748,0.00,2.15,0.00,0.000,6,0.000,0.034,2529,2096,1839,0,0,0,0,0,0
$GC,13877,0.56,252.2,173.3,12.7,1004,13885,0.00,2.25,0.00,0.000,4,0.000,0.043,2529,3536,1839,0,0,0,0,0,0
$GC,13935,0.56,252.2,165.4,12.8,1014,13943,0.10,2.17,0.00,0.000,6,0.156,0.027,2507,2119,1839,0,0,0,0,0,0
$GC,14073,0.63,307.1,151.8,9.1,1039,14118,0.00,2.22,39.92,0.580,4,0.000,0.037,2516,719,1616,0,0,0,0,0,0
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$GC,15039,0.96,571.2,52.2,8.0,1205,15114,0.15,2.20,64.22,0.473,4,0.073,0.037,2659,717,539,0,0,0,0,0,0
$GC,15129,0.96,571.2,41.8,11.4,1217,15138,0.08,2.22,0.00,0.000,6,0.114,0.031,2631,2113,540,0,0,0,0,0,0
$GC,15266,1.06,653.8,29.8,8.2,1242,15297,0.00,2.28,19.62,0.483,4,0.000,0.039,2631,3536,439,0,0,0,0,0,0
$GC,15357,1.13,708.0,21.9,9.2,1257,15367,0.10,2.15,0.15,0.097,6,0.047,0.026,2706,2153,440,0,0,0,0,0,0
$STATE,15492,end climb,SURFACE_DEPTH_REACHED
$STATE,15492,begin surface coast
$FINISH,-0.0,1.014267
$STATE,15509,end surface coast,CONTROL_FINISHED_OK
$STATE,15510,begin surface
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$IRIDIUM_FIX,1922.94,11950.37,100711,030316
$TT8_MAMPS,0.027713,0.027713
$HUMID,42.40
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,23.8,24.914
$10V_AH,10.1,25.078
$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
$DEVICE_SECS,16.575,155.200,625.925,0.000,0.000,29.173,44.496,179.371,0.250,0.000,11.756,3045.328,8670.858,668.223,3253.093,334.525,0.000,2031.588,0.000,2209.668,0.000,0.541,0.000
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$SENSOR_SECS,896.997,1333.843,1489.110,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322676
$DATA_FILE_SIZE,87072,1285
$CAP_FILE_SIZE,168311,0
$CFSIZE,260165632,236396544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100711,125607,1928.022,11959.185,33,1.0,33,-2.1