version: 66.09
glider: 181
mission: 6
dive: 159
start: 7 10 111 13 2 50
data:
$ID,181
$MISSION,6
$DIVE,159
$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,-40711.883
$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,44
$R_STBD_OVSHOOT,50
$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
$GPS1,100711,125607,1928.022,11959.185,33,1.0,33,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-63.6
$GPS2,100711,130225,1928.028,11959.216,13,1.2,18,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,HEADING
$TGT_LATLONG,1920.392,12007.309
$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,4181
$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,-77.95,0.000,2,0.000,0.000,210,2622,2643,0,0,0,0,0,0
$GC,99,-0.52,-219.0,3.9,-4.2,11,138,7.93,1.83,-20.80,0.000,4,0.235,0.061,2132,3768,3766,0,0,0,0,0,0
$GC,250,-0.52,-219.0,78.7,-48.3,37,258,0.00,1.77,0.00,0.000,6,0.000,0.024,2132,2577,3767,0,0,0,0,0,0
$GC,383,-0.52,-219.0,114.9,-22.2,62,391,0.00,2.03,0.00,0.000,4,0.000,0.025,2132,1203,3768,0,0,0,0,0,0
$GC,400,-0.52,-219.0,119.4,-25.3,64,408,0.00,2.12,0.00,0.000,6,0.000,0.036,2123,2562,3769,0,0,0,0,0,0
$GC,535,-0.52,-219.0,150.2,-22.7,89,543,0.00,2.05,0.00,0.000,4,0.000,0.028,2123,1203,3770,0,0,0,0,0,0
$GC,582,-0.52,-219.0,159.3,-16.9,97,591,0.08,2.08,0.00,0.000,6,0.127,0.034,2145,2543,3770,0,0,0,0,0,0
$GC,718,-0.52,-219.0,177.8,-13.9,122,727,0.00,1.92,0.00,0.000,4,0.000,0.043,2139,3783,3771,0,0,0,0,0,0
$GC,791,-0.52,-219.0,187.6,-11.9,135,799,0.00,1.80,0.00,0.000,6,0.000,0.024,2139,2564,3771,0,0,0,0,0,0
$GC,933,-0.52,-219.0,206.8,-14.6,157,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2562,3771,0,0,0,0,0,0
$GC,1252,-0.52,-219.0,253.2,-15.5,187,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2563,3769,0,0,0,0,0,0
$GC,1580,-0.52,-219.0,302.2,-14.9,218,1584,0.00,1.88,0.00,0.000,4,0.000,0.044,2138,3784,3769,0,0,0,0,0,0
$GC,1648,-0.52,-219.0,311.7,-11.7,224,1652,0.00,1.75,0.00,0.000,6,0.000,0.025,2138,2567,3768,0,0,0,0,0,0
$GC,1979,-0.52,-219.0,358.8,-14.3,255,1983,0.00,1.88,0.00,0.000,4,0.000,0.045,2138,3784,3765,0,0,0,0,0,0
$GC,2036,-0.52,-219.0,366.1,-11.7,260,2039,0.00,1.73,0.00,0.000,6,0.000,0.025,2138,2589,3764,0,0,0,0,0,0
$GC,2366,-0.52,-219.0,409.4,-13.8,291,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2585,3760,0,0,0,0,0,0
$GC,2686,-0.52,-219.0,453.5,-13.4,321,2690,0.00,1.85,0.00,0.000,4,0.000,0.046,2138,3787,3756,0,0,0,0,0,0
$GC,2725,-0.52,-219.0,458.7,-12.6,324,2732,0.00,1.77,0.00,0.000,6,0.000,0.026,2138,2593,3756,0,0,0,0,0,0
$GC,3051,-0.52,-219.0,499.0,-12.0,355,3054,0.00,2.03,0.00,0.000,4,0.000,0.031,2138,1212,3754,0,0,0,0,0,0
$GC,3097,-0.52,-219.0,504.0,-10.7,358,3101,0.00,2.12,0.00,0.000,6,0.000,0.037,2138,2605,3753,0,0,0,0,0,0
$GC,3424,-0.52,-219.0,540.3,-10.9,374,3428,0.00,1.80,0.00,0.000,4,0.000,0.048,2138,3787,3750,0,0,0,0,0,0
$GC,3470,-0.52,-219.0,544.9,-9.7,376,3474,0.00,1.77,0.00,0.000,6,0.000,0.026,2138,2581,3750,0,0,0,0,0,0
$GC,3803,-0.52,-219.0,578.5,-10.4,392,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2579,3747,0,0,0,0,0,0
$GC,4113,-0.52,-219.0,612.0,-11.0,407,4116,0.00,1.85,0.00,0.000,4,0.000,0.047,2138,3773,3745,0,0,0,0,0,0
$GC,4159,-0.52,-219.0,616.6,-10.1,409,4163,0.00,1.73,0.00,0.000,6,0.000,0.026,2138,2589,3745,0,0,0,0,0,0
$GC,4492,-0.52,-219.0,650.7,-10.9,425,4496,0.00,2.05,0.00,0.000,4,0.000,0.031,2138,1196,3742,0,0,0,0,0,0
$GC,4543,-0.52,-219.0,655.8,-9.2,427,4547,0.00,2.12,0.00,0.000,6,0.000,0.037,2138,2586,3742,0,0,0,0,0,0
$GC,4865,-0.52,-219.0,687.2,-9.7,443,4869,0.00,1.83,0.00,0.000,4,0.000,0.049,2138,3777,3739,0,0,0,0,0,0
$GC,4911,-0.52,-219.0,691.3,-8.8,445,4915,0.00,1.75,0.00,0.000,6,0.000,0.027,2138,2581,3739,0,0,0,0,0,0
$GC,5244,-0.52,-219.0,721.7,-8.9,461,5248,0.00,2.03,0.00,0.000,4,0.000,0.031,2138,1209,3736,0,0,0,0,0,0
$GC,5283,-0.52,-219.0,725.0,-8.3,462,5290,0.00,2.15,0.00,0.000,6,0.000,0.037,2138,2603,3736,0,0,0,0,0,0
$GC,5599,-0.52,-219.0,751.7,-9.0,478,5603,0.00,1.80,0.00,0.000,4,0.000,0.049,2138,3777,3734,0,0,0,0,0,0
$GC,5627,-0.52,-219.0,754.3,-9.0,479,5631,0.00,1.75,0.00,0.000,6,0.000,0.027,2138,2579,3734,0,0,0,0,0,0
$GC,5955,-0.52,-219.0,784.2,-9.4,495,5959,0.00,2.03,0.00,0.000,4,0.000,0.032,2138,1207,3732,0,0,0,0,0,0
$GC,6016,-0.52,-219.0,789.9,-9.0,497,6022,0.00,2.10,0.00,0.000,6,0.000,0.037,2138,2582,3732,0,0,0,0,0,0
$GC,6333,-0.52,-219.0,821.3,-10.5,513,6336,0.00,2.05,0.00,0.000,4,0.000,0.032,2138,1216,3730,0,0,0,0,0,0
$GC,6356,-0.52,-219.0,823.8,-10.7,514,6360,0.00,2.08,0.00,0.000,6,0.000,0.038,2138,2563,3730,0,0,0,0,0,0
$GC,6683,-0.52,-219.0,858.3,-10.9,530,6687,0.00,1.88,0.00,0.000,4,0.000,0.050,2138,3781,3729,0,0,0,0,0,0
$GC,6716,-0.52,-219.0,862.0,-10.7,531,6720,0.00,1.80,0.00,0.000,6,0.000,0.027,2138,2556,3728,0,0,0,0,0,0
$GC,7038,-0.52,-219.0,892.8,-9.1,547,7042,0.00,2.00,0.00,0.000,4,0.000,0.033,2137,1206,3727,0,0,0,0,0,0
$GC,7085,-0.52,-219.0,896.6,-8.4,549,7089,0.00,2.12,0.00,0.000,6,0.000,0.037,2138,2578,3727,0,0,0,0,0,0
$GC,7418,-0.52,-219.0,923.4,-7.8,565,7421,0.00,1.85,0.00,0.000,4,0.000,0.050,2138,3781,3725,0,0,0,0,0,0
$GC,7441,-0.52,-219.0,925.1,-7.6,566,7445,0.00,1.80,0.00,0.000,6,0.000,0.028,2138,2560,3725,0,0,0,0,0,0
$GC,7775,-0.52,-219.0,949.5,-7.8,582,7778,0.00,2.03,0.00,0.000,4,0.000,0.033,2138,1201,3724,0,0,0,0,0,0
$GC,7813,-0.52,-219.0,952.4,-7.6,583,7820,0.00,2.10,0.00,0.000,6,0.000,0.038,2137,2572,3724,0,0,0,0,0,0
$GC,8130,-0.52,-219.0,975.6,-7.3,599,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2572,3723,0,0,0,0,0,0
$STATE,8333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8334,begin apogee
$GC,8341,-0.13,0.0,991.0,7.6,609,8513,0.40,0.00,167.73,1.105,4,0.109,0.000,2275,2097,2869,0,0,0,0,0,0
$STATE,8514,end apogee,CONTROL_FINISHED_OK
$STATE,8514,begin climb
$GC,8517,0.52,219.0,1000.0,0.0,617,8701,0.55,0.00,177.32,1.074,6,0.048,0.000,2499,2093,1977,0,0,0,0,0,0
$GC,9028,0.52,219.0,945.3,13.3,642,9032,0.00,2.30,0.00,0.000,4,0.000,0.043,2499,3539,1976,0,0,0,0,0,0
$GC,9136,0.52,219.0,929.6,15.0,647,9140,0.00,2.12,0.00,0.000,6,0.000,0.027,2509,2154,1976,0,0,0,0,0,0
$GC,9463,0.52,219.0,882.3,14.5,663,9467,0.00,2.17,0.00,0.000,4,0.000,0.037,2520,723,1976,0,0,0,0,0,0
$GC,9596,0.52,219.0,862.9,14.0,669,9601,0.10,2.17,0.00,0.000,6,0.182,0.033,2494,2139,1976,0,0,0,0,0,0
$GC,9923,0.52,219.0,819.9,13.2,685,9927,0.00,2.17,0.00,0.000,4,0.000,0.036,2503,716,1976,0,0,0,0,0,0
$GC,9950,0.52,219.0,816.2,13.2,686,9955,0.00,2.15,0.00,0.000,6,0.000,0.033,2503,2119,1976,0,0,0,0,0,0
$GC,10272,0.52,219.0,772.9,13.4,702,10276,0.00,2.17,0.00,0.000,4,0.000,0.044,2503,3536,1975,0,0,0,0,0,0
$GC,10300,0.52,219.0,768.8,14.2,703,10304,0.00,2.15,0.00,0.000,6,0.000,0.027,2512,2111,1975,0,0,0,0,0,0
$GC,10616,0.52,219.0,722.3,14.7,718,10620,0.00,2.10,0.00,0.000,4,0.000,0.037,2523,717,1975,0,0,0,0,0,0
$GC,10688,0.52,219.0,711.7,14.0,721,10693,0.12,2.12,0.00,0.000,6,0.171,0.033,2491,2114,1975,0,0,0,0,0,0
$GC,11004,0.52,219.0,673.0,12.0,736,11008,0.00,2.20,0.00,0.000,4,0.000,0.044,2491,3542,1975,0,0,0,0,0,0
$GC,11066,0.52,219.0,664.5,13.5,739,11071,0.00,2.15,0.00,0.000,6,0.000,0.028,2499,2115,1975,0,0,0,0,0,0
$GC,11394,0.52,219.0,622.3,12.8,755,11398,0.00,2.10,0.00,0.000,4,0.000,0.038,2510,717,1975,0,0,0,0,0,0
$GC,11443,0.52,219.0,616.0,12.3,757,11447,0.00,2.15,0.00,0.000,6,0.000,0.032,2510,2102,1975,0,0,0,0,0,0
$GC,11765,0.52,219.0,576.0,12.6,773,11766,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2103,1975,0,0,0,0,0,0
$GC,12074,0.52,219.0,540.1,11.6,788,12078,0.00,2.20,0.00,0.000,4,0.000,0.044,2510,3541,1975,0,0,0,0,0,0
$GC,12095,0.52,219.0,537.4,11.5,789,12100,0.12,2.17,0.00,0.000,6,0.184,0.027,2490,2092,1975,0,0,0,0,0,0
$GC,12424,0.55,236.1,502.6,10.4,805,12447,0.00,2.15,14.25,0.789,4,0.000,0.038,2499,715,1905,0,0,0,0,0,0
$GC,12532,0.55,236.9,490.9,11.0,812,12539,0.00,2.12,0.00,0.000,6,0.000,0.032,2499,2099,1905,0,0,0,0,0,0
$GC,12857,0.55,236.9,452.0,12.1,843,12861,0.00,2.20,0.00,0.000,4,0.000,0.044,2499,3534,1905,0,0,0,0,0,0
$GC,12942,0.55,236.9,440.5,13.9,850,12946,0.00,2.17,0.00,0.000,6,0.000,0.028,2508,2108,1904,0,0,0,0,0,0
$GC,13267,0.55,236.9,400.3,11.9,880,13271,0.00,2.12,0.00,0.000,4,0.000,0.037,2519,708,1905,0,0,0,0,0,0
$GC,13380,0.55,236.9,386.9,11.6,890,13384,0.00,2.12,0.00,0.000,6,0.000,0.034,2519,2106,1905,0,0,0,0,0,0
$GC,13706,0.55,236.9,346.3,12.3,920,13710,0.00,2.20,0.00,0.000,4,0.000,0.044,2519,3541,1906,0,0,0,0,0,0
$GC,13783,0.55,236.9,335.9,13.4,926,13791,0.12,2.15,0.00,0.000,6,0.184,0.027,2498,2117,1908,0,0,0,0,0,0
$GC,14109,0.55,238.0,301.8,11.0,957,14113,0.00,2.10,0.00,0.000,4,0.000,0.037,2507,718,1905,0,0,0,0,0,0
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$GC,16700,1.17,742.0,20.8,8.9,1333,16709,0.00,2.17,0.77,0.085,4,0.000,0.039,2672,3537,442,0,0,0,0,0,0
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$STATE,16872,end climb,SURFACE_DEPTH_REACHED
$STATE,16872,begin surface coast
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$STATE,16905,end surface coast,CONTROL_FINISHED_OK
$STATE,16905,begin surface
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$IRIDIUM_FIX,1925.22,12011.93,100711,080819
$TT8_MAMPS,0.027713,0.027713
$HUMID,40.47
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.00
$XPDR_PINGS,4
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$10V_AH,10.1,25.231
$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
$DEVICE_SECS,16.375,169.850,628.925,0.000,0.000,30.812,17.032,178.134,1.000,0.000,20.510,3291.091,9598.372,664.235,3446.248,346.822,0.000,2105.708,0.000,2381.899,0.000,0.540,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322720
$DATA_FILE_SIZE,93822,1370
$CAP_FILE_SIZE,183318,0
$CFSIZE,260165632,236290048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100711,174706,1925.880,12000.738,37,0.9,37,-2.1