version: 66.09
glider: 181
mission: 6
dive: 162
start: 7 11 111 3 28 27
data:
$ID,181
$MISSION,6
$DIVE,162
$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,-40715.656
$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,43
$R_STBD_OVSHOOT,37
$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
$GPS1,110711,031936,1924.330,12004.184,29,0.9,29,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-68.9
$GPS2,110711,032802,1924.391,12004.269,11,1.3,11,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,HEADING
$TGT_LATLONG,1916.754,12012.358
$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,4147
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.52,-219.0,0.0,0.0,0,91,0.00,0.00,-71.30,0.000,2,0.000,0.000,198,2624,2427,0,0,0,0,0,0
$GC,94,-0.52,-219.0,3.2,-3.4,10,139,7.93,1.85,-27.58,0.000,4,0.232,0.062,2131,3768,3765,0,0,0,0,0,0
$GC,216,-0.52,-219.0,51.2,-51.1,30,225,0.00,1.80,0.00,0.000,6,0.000,0.024,2131,2576,3767,0,0,0,0,0,0
$GC,351,-0.52,-219.0,103.1,-36.5,55,359,0.00,2.05,0.00,0.000,4,0.000,0.024,2131,1175,3767,0,0,0,0,0,0
$GC,367,-0.52,-219.0,108.1,-31.6,57,375,0.00,2.30,0.00,0.000,6,0.000,0.040,2121,2638,3767,0,0,0,0,0,0
$GC,500,-0.52,-219.0,141.4,-22.8,82,508,0.00,2.17,0.00,0.000,4,0.000,0.028,2121,1199,3768,0,0,0,0,0,0
$GC,573,-0.52,-219.0,153.7,-12.1,95,582,0.10,2.17,0.00,0.000,6,0.129,0.034,2146,2601,3769,0,0,0,0,0,0
$GC,710,-0.52,-219.0,173.8,-18.3,120,718,0.00,1.83,0.00,0.000,4,0.000,0.043,2140,3779,3770,0,0,0,0,0,0
$GC,757,-0.52,-219.0,182.2,-16.0,128,765,0.00,1.73,0.00,0.000,6,0.000,0.024,2140,2605,3769,0,0,0,0,0,0
$GC,897,-0.52,-219.0,203.9,-15.3,152,900,0.00,2.03,0.00,0.000,4,0.000,0.028,2140,1216,3770,0,0,0,0,0,0
$GC,942,-0.52,-219.0,209.8,-12.4,156,946,0.00,2.15,0.00,0.000,6,0.000,0.035,2139,2628,3770,0,0,0,0,0,0
$GC,1267,-0.52,-219.0,255.0,-14.2,186,1271,0.00,1.77,0.00,0.000,4,0.000,0.044,2138,3778,3769,0,0,0,0,0,0
$GC,1347,-0.52,-219.0,265.0,-11.0,193,1351,0.00,1.67,0.00,0.000,6,0.000,0.025,2138,2648,3767,0,0,0,0,0,0
$GC,1677,-0.52,-219.0,313.4,-14.3,224,1681,0.00,1.75,0.00,0.000,4,0.000,0.046,2139,3774,3766,0,0,0,0,0,0
$GC,1704,-0.52,-219.0,317.6,-14.5,226,1712,0.00,1.70,0.00,0.000,6,0.000,0.026,2138,2637,3765,0,0,0,0,0,0
$GC,2030,-0.52,-219.0,363.3,-14.9,257,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2636,3763,0,0,0,0,0,0
$GC,2352,-0.52,-219.0,409.0,-14.4,287,2356,0.00,2.10,0.00,0.000,4,0.000,0.031,2138,1204,3759,0,0,0,0,0,0
$GC,2386,-0.52,-219.0,414.3,-14.0,289,2393,0.00,2.20,0.00,0.000,6,0.000,0.038,2137,2645,3759,0,0,0,0,0,0
$GC,2711,-0.52,-219.0,457.1,-13.2,320,2715,0.00,1.75,0.00,0.000,4,0.000,0.048,2137,3780,3755,0,0,0,0,0,0
$GC,2738,-0.52,-219.0,460.6,-12.9,322,2745,0.00,1.70,0.00,0.000,6,0.000,0.027,2138,2650,3754,0,0,0,0,0,0
$GC,3064,-0.52,-219.0,500.6,-12.5,353,3068,0.00,2.15,0.00,0.000,4,0.000,0.033,2138,1194,3751,0,0,0,0,0,0
$GC,3136,-0.52,-219.0,508.1,-9.1,356,3140,0.00,2.20,0.00,0.000,6,0.000,0.038,2138,2637,3751,0,0,0,0,0,0
$GC,3452,-0.52,-219.0,541.7,-11.0,371,3456,0.00,1.77,0.00,0.000,4,0.000,0.050,2138,3769,3747,0,0,0,0,0,0
$GC,3475,-0.52,-219.0,544.2,-11.1,372,3479,0.00,1.67,0.00,0.000,6,0.000,0.028,2138,2622,3747,0,0,0,0,0,0
$GC,3808,-0.52,-219.0,579.5,-11.5,388,3812,0.00,2.10,0.00,0.000,4,0.000,0.033,2138,1198,3744,0,0,0,0,0,0
$GC,3852,-0.52,-219.0,584.7,-11.3,390,3856,0.00,2.20,0.00,0.000,6,0.000,0.039,2138,2637,3744,0,0,0,0,0,0
$GC,4174,-0.52,-219.0,621.0,-11.7,406,4178,0.00,1.75,0.00,0.000,4,0.000,0.050,2138,3777,3741,0,0,0,0,0,0
$GC,4197,-0.52,-219.0,623.7,-11.9,407,4201,0.00,1.70,0.00,0.000,6,0.000,0.028,2138,2617,3741,0,0,0,0,0,0
$GC,4531,-0.52,-219.0,658.0,-10.3,423,4535,0.00,2.10,0.00,0.000,4,0.000,0.034,2137,1206,3738,0,0,0,0,0,0
$GC,4563,-0.52,-219.0,661.5,-10.8,424,4568,0.00,2.17,0.00,0.000,6,0.000,0.039,2137,2625,3738,0,0,0,0,0,0
$GC,4880,-0.52,-219.0,692.7,-10.3,439,4884,0.00,1.80,0.00,0.000,4,0.000,0.050,2138,3770,3735,0,0,0,0,0,0
$GC,4912,-0.52,-219.0,696.5,-10.4,440,4916,0.00,1.73,0.00,0.000,6,0.000,0.028,2138,2627,3735,0,0,0,0,0,0
$GC,5234,-0.52,-219.0,728.6,-10.1,456,5238,0.00,2.12,0.00,0.000,4,0.000,0.034,2138,1192,3733,0,0,0,0,0,0
$GC,5290,-0.52,-219.0,733.9,-9.0,458,5297,0.00,2.22,0.00,0.000,6,0.000,0.039,2138,2634,3732,0,0,0,0,0,0
$GC,5607,-0.52,-219.0,761.7,-8.5,474,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2633,3730,0,0,0,0,0,0
$GC,5916,-0.52,-219.0,786.2,-7.5,489,5920,0.00,2.17,0.00,0.000,4,0.000,0.035,2138,1194,3729,0,0,0,0,0,0
$GC,5957,-0.52,-219.0,789.1,-7.2,491,5961,0.00,2.17,0.00,0.000,6,0.000,0.040,2138,2603,3728,0,0,0,0,0,0
$GC,6284,-0.52,-219.0,811.0,-6.4,507,6288,0.00,1.83,0.00,0.000,4,0.000,0.051,2138,3787,3727,0,0,0,0,0,0
$GC,6311,-0.52,-219.0,812.9,-6.2,508,6315,0.00,1.77,0.00,0.000,6,0.000,0.028,2138,2614,3727,0,0,0,0,0,0
$GC,6639,-0.52,-219.0,836.9,-8.3,524,6643,0.00,2.10,0.00,0.000,4,0.000,0.034,2137,1199,3725,0,0,0,0,0,0
$GC,6694,-0.52,-219.0,841.9,-8.7,526,6701,0.00,2.17,0.00,0.000,6,0.000,0.039,2138,2607,3724,0,0,0,0,0,0
$GC,7010,-0.52,-219.0,873.6,-10.1,542,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2608,3728,0,0,0,0,0,0
$GC,7319,-0.52,-219.0,899.6,-7.7,557,7321,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2608,3722,0,0,0,0,0,0
$GC,7629,-0.52,-219.0,923.0,-7.7,572,7633,0.00,2.12,0.00,0.000,4,0.000,0.036,2138,1206,3720,0,0,0,0,0,0
$GC,7662,-0.52,-219.0,925.6,-7.8,573,7665,0.00,2.15,0.00,0.000,6,0.000,0.041,2138,2597,3720,0,0,0,0,0,0
$GC,7984,-0.52,-219.0,950.9,-8.0,589,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2597,3719,0,0,0,0,0,0
$GC,8293,-0.52,-219.0,977.2,-8.5,604,8297,0.00,2.10,0.00,0.000,4,0.000,0.035,2138,1206,3718,0,0,0,0,0,0
$GC,8334,-0.52,-219.0,980.9,-9.0,606,8338,0.00,2.15,0.00,0.000,6,0.000,0.041,2138,2598,3718,0,0,0,0,0,0
$STATE,8452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8452,begin apogee
$GC,8459,-0.13,0.0,990.6,8.2,612,8631,0.40,0.00,166.43,1.104,4,0.109,0.000,2276,2118,2870,0,0,0,0,0,0
$STATE,8632,end apogee,CONTROL_FINISHED_OK
$STATE,8632,begin climb
$GC,8634,0.52,219.0,999.0,0.0,620,8819,0.60,2.28,177.20,1.074,4,0.052,0.041,2508,738,1976,0,0,0,0,0,0
$GC,8936,0.52,219.0,970.2,14.5,634,8941,0.00,2.25,0.00,0.000,6,0.000,0.035,2508,2134,1976,0,0,0,0,0,0
$GC,9258,0.52,219.0,919.0,16.2,650,9262,0.00,2.17,0.00,0.000,4,0.000,0.038,2517,739,1975,0,0,0,0,0,0
$GC,9516,0.52,219.0,877.7,15.0,661,9522,0.00,2.17,0.00,0.000,6,0.000,0.036,2517,2136,1975,0,0,0,0,0,0
$GC,9832,0.52,219.0,824.2,17.3,677,9836,0.00,2.17,0.00,0.000,4,0.000,0.047,2517,3536,1975,0,0,0,0,0,0
$GC,9887,0.52,219.0,813.6,18.8,679,9895,0.15,2.15,0.00,0.000,6,0.187,0.031,2490,2125,1975,0,0,0,0,0,0
$GC,10204,0.52,219.0,769.7,13.4,695,10208,0.00,2.20,0.00,0.000,4,0.000,0.041,2500,708,1974,0,0,0,0,0,0
$GC,10309,0.52,219.0,756.1,12.6,699,10316,0.00,2.17,0.00,0.000,6,0.000,0.035,2496,2124,1974,0,0,0,0,0,0
$GC,10626,0.52,219.0,712.6,14.2,715,10627,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2124,1974,0,0,0,0,0,0
$GC,10935,0.52,219.0,668.4,14.6,730,10939,0.00,2.17,0.00,0.000,4,0.000,0.046,2500,3536,1973,0,0,0,0,0,0
$GC,10975,0.52,219.0,662.1,15.8,732,10979,0.00,2.15,0.00,0.000,6,0.000,0.029,2509,2111,1973,0,0,0,0,0,0
$GC,11302,0.52,219.0,610.3,15.7,748,11306,0.00,2.10,0.00,0.000,4,0.000,0.040,2520,722,1973,0,0,0,0,0,0
$GC,11345,0.52,219.0,603.3,15.4,750,11350,0.12,2.15,0.00,0.000,6,0.165,0.034,2488,2127,1973,0,0,0,0,0,0
$GC,11673,0.52,219.0,558.2,14.0,766,11677,0.00,2.20,0.00,0.000,4,0.000,0.047,2493,3542,1973,0,0,0,0,0,0
$GC,11699,0.52,219.0,554.0,14.6,767,11703,0.00,2.15,0.00,0.000,6,0.000,0.029,2496,2112,1973,0,0,0,0,0,0
$GC,12027,0.52,219.0,506.5,14.2,783,12031,0.00,2.10,0.00,0.000,4,0.000,0.040,2506,719,1973,0,0,0,0,0,0
$GC,12061,0.52,219.0,502.0,13.1,784,12068,0.00,2.15,0.00,0.000,6,0.000,0.034,2506,2123,1974,0,0,0,0,0,0
$GC,12386,0.52,219.0,461.1,11.7,814,12390,0.00,2.17,0.00,0.000,4,0.000,0.045,2507,3540,1973,0,0,0,0,0,0
$GC,12449,0.52,219.0,452.9,13.2,819,12453,0.00,2.12,0.00,0.000,6,0.000,0.029,2516,2125,1973,0,0,0,0,0,0
$GC,12774,0.52,219.0,411.1,13.0,849,12778,0.00,2.15,0.00,0.000,4,0.000,0.040,2527,716,1973,0,0,0,0,0,0
$GC,12918,0.52,219.0,392.5,12.8,861,12923,0.15,2.12,0.00,0.000,6,0.161,0.034,2483,2117,1973,0,0,0,0,0,0
$GC,13244,0.54,231.4,356.9,10.6,891,13260,0.00,2.22,10.48,0.695,4,0.000,0.047,2486,3534,1926,0,0,0,0,0,0
$GC,13338,0.54,231.4,346.0,11.2,899,13345,0.00,2.15,0.00,0.000,6,0.000,0.030,2495,2116,1925,0,0,0,0,0,0
$GC,13663,0.54,231.4,310.1,11.2,930,13667,0.00,2.12,0.00,0.000,4,0.000,0.040,2505,710,1925,0,0,0,0,0,0
$GC,13726,0.54,235.7,303.2,10.9,935,13739,0.00,2.15,5.20,0.586,6,0.000,0.034,2505,2122,1908,0,0,0,0,0,0
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$STATE,16473,end climb,SURFACE_DEPTH_REACHED
$STATE,16473,begin surface coast
$FINISH,-0.0,1.020679
$STATE,16495,end surface coast,CONTROL_FINISHED_OK
$STATE,16496,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,41.41
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,23.7,25.569
$10V_AH,10.0,25.674
$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
$DEVICE_SECS,16.450,176.450,629.475,0.000,0.000,73.384,46.572,179.175,0.250,0.000,14.648,3228.121,9328.640,679.737,3476.135,352.966,0.000,2120.334,0.000,2352.870,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322676
$DATA_FILE_SIZE,90382,1346
$CAP_FILE_SIZE,182798,0
$CFSIZE,260165632,235999232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110711,080554,1924.334,12007.670,36,1.3,36,-2.1