version: 66.09
glider: 181
mission: 6
dive: 164
start: 7 11 111 13 7 11
data:
$ID,181
$MISSION,6
$DIVE,164
$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,-40718.172
$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,40
$R_STBD_OVSHOOT,42
$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
$GPS1,110711,125936,1923.186,12010.993,23,1.9,23,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-68.0
$GPS2,110711,130646,1923.262,12011.076,9,2.1,28,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,HEADING
$TGT_LATLONG,1915.625,12019.165
$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,3569
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.52,-219.0,0.0,0.0,0,89,0.00,0.00,-70.57,0.000,2,0.000,0.000,129,2618,2472,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.7,-4.5,10,131,8.30,1.88,-24.05,0.000,4,0.235,0.058,2132,3776,3766,0,0,0,0,0,0
$GC,164,-0.52,-219.0,33.9,-45.0,21,172,0.00,1.83,0.00,0.000,6,0.000,0.025,2132,2583,3768,0,0,0,0,0,0
$GC,298,-0.52,-219.0,80.4,-29.6,46,306,0.00,1.90,0.00,0.000,4,0.000,0.042,2123,3777,3768,0,0,0,0,0,0
$GC,314,-0.52,-219.0,84.8,-26.8,48,322,0.00,1.73,0.00,0.000,6,0.000,0.024,2123,2636,3768,0,0,0,0,0,0
$GC,448,-0.52,-219.0,123.2,-27.5,73,456,0.00,2.15,0.00,0.000,4,0.000,0.029,2123,1202,3769,0,0,0,0,0,0
$GC,500,-0.52,-219.0,135.7,-19.8,82,509,0.10,2.25,0.00,0.000,6,0.130,0.037,2147,2639,3770,0,0,0,0,0,0
$GC,638,-0.52,-219.0,158.1,-16.1,107,646,0.00,1.77,0.00,0.000,4,0.000,0.043,2140,3783,3771,0,0,0,0,0,0
$GC,680,-0.52,-219.0,165.4,-16.1,114,688,0.00,1.73,0.00,0.000,6,0.000,0.024,2140,2618,3771,0,0,0,0,0,0
$GC,815,-0.52,-219.0,185.2,-15.8,139,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2617,3771,0,0,0,0,0,0
$GC,955,-0.52,-219.0,206.6,-14.8,161,959,0.00,2.05,0.00,0.000,4,0.000,0.028,2140,1213,3771,0,0,0,0,0,0
$GC,988,-0.52,-219.0,211.9,-14.8,163,995,0.00,2.22,0.00,0.000,6,0.000,0.037,2139,2671,3771,0,0,0,0,0,0
$GC,1313,-0.52,-219.0,260.4,-15.4,194,1317,0.00,1.73,0.00,0.000,4,0.000,0.046,2138,3782,3770,0,0,0,0,0,0
$GC,1341,-0.52,-219.0,264.6,-14.8,196,1349,0.00,1.65,0.00,0.000,6,0.000,0.024,2138,2676,3770,0,0,0,0,0,0
$GC,1666,-0.52,-219.0,308.7,-14.9,227,1670,0.00,2.15,0.00,0.000,4,0.000,0.029,2138,1207,3767,0,0,0,0,0,0
$GC,1729,-0.52,-219.0,316.8,-11.1,232,1733,0.00,2.20,0.00,0.000,6,0.000,0.035,2138,2659,3767,0,0,0,0,0,0
$GC,2054,-0.52,-219.0,363.0,-14.1,262,2058,0.00,1.70,0.00,0.000,4,0.000,0.047,2138,3783,3763,0,0,0,0,0,0
$GC,2081,-0.52,-219.0,367.0,-13.9,264,2088,0.00,1.67,0.00,0.000,6,0.000,0.024,2138,2657,3763,0,0,0,0,0,0
$GC,2407,-0.52,-219.0,411.0,-12.5,295,2411,0.00,2.12,0.00,0.000,4,0.000,0.029,2138,1205,3760,0,0,0,0,0,0
$GC,2436,-0.52,-219.0,414.6,-11.8,297,2440,0.00,2.20,0.00,0.000,6,0.000,0.037,2138,2651,3759,0,0,0,0,0,0
$GC,2761,-0.52,-219.0,450.9,-11.9,327,2765,0.00,1.73,0.00,0.000,4,0.000,0.048,2138,3786,3756,0,0,0,0,0,0
$GC,2785,-0.52,-219.0,453.6,-11.7,329,2788,0.00,1.65,0.00,0.000,6,0.000,0.025,2134,2648,3756,0,0,0,0,0,0
$GC,3115,-0.52,-219.0,489.5,-11.1,360,3119,0.00,2.12,0.00,0.000,4,0.000,0.030,2138,1194,3753,0,0,0,0,0,0
$GC,3179,-0.52,-219.0,495.7,-9.2,365,3183,0.00,2.20,0.00,0.000,6,0.000,0.037,2138,2644,3752,0,0,0,0,0,0
$GC,3496,-0.52,-219.0,531.1,-12.1,382,3500,0.00,1.73,0.00,0.000,4,0.000,0.049,2138,3779,3749,0,0,0,0,0,0
$GC,3519,-0.52,-219.0,533.8,-12.0,383,3523,0.00,1.65,0.00,0.000,6,0.000,0.026,2138,2639,3749,0,0,0,0,0,0
$GC,3852,-0.52,-219.0,576.2,-14.0,399,3856,0.00,2.12,0.00,0.000,4,0.000,0.031,2138,1202,3747,0,0,0,0,0,0
$GC,3924,-0.52,-219.0,585.6,-11.6,402,3929,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2636,3743,0,0,0,0,0,0
$GC,4252,-0.52,-219.0,623.5,-11.2,418,4256,0.00,2.15,0.00,0.000,4,0.000,0.031,2137,1197,3743,0,0,0,0,0,0
$GC,4303,-0.52,-219.0,628.1,-9.1,420,4307,0.00,2.15,0.00,0.000,6,0.000,0.037,2138,2609,3743,0,0,0,0,0,0
$GC,4625,-0.52,-219.0,655.7,-8.9,436,4629,0.00,1.80,0.00,0.000,4,0.000,0.050,2138,3786,3740,0,0,0,0,0,0
$GC,4649,-0.52,-219.0,657.7,-8.7,437,4652,0.00,1.73,0.00,0.000,6,0.000,0.028,2138,2599,3740,0,0,0,0,0,0
$GC,4982,-0.52,-219.0,685.3,-9.2,453,4986,0.00,2.05,0.00,0.000,4,0.000,0.032,2138,1212,3738,0,0,0,0,0,0
$GC,5043,-0.52,-219.0,691.2,-8.5,455,5050,0.00,2.15,0.00,0.000,6,0.000,0.038,2138,2620,3738,0,0,0,0,0,0
$GC,5359,-0.52,-219.0,724.9,-11.8,471,5363,0.00,2.10,0.00,0.000,4,0.000,0.032,2138,1209,3736,0,0,0,0,0,0
$GC,5386,-0.52,-219.0,728.6,-12.3,472,5391,0.00,2.17,0.00,0.000,6,0.000,0.039,2138,2629,3736,0,0,0,0,0,0
$GC,5709,-0.52,-219.0,763.9,-10.6,488,5712,0.00,1.75,0.00,0.000,4,0.000,0.050,2138,3776,3733,0,0,0,0,0,0
$GC,5747,-0.52,-219.0,767.9,-9.9,489,5754,0.00,1.73,0.00,0.000,6,0.000,0.027,2138,2591,3734,0,0,0,0,0,0
$GC,6064,-0.52,-219.0,797.2,-9.2,505,6068,0.00,2.05,0.00,0.000,4,0.000,0.032,2137,1201,3731,0,0,0,0,0,0
$GC,6110,-0.52,-219.0,801.4,-9.5,507,6114,0.00,2.15,0.00,0.000,6,0.000,0.038,2138,2599,3731,0,0,0,0,0,0
$GC,6442,-0.52,-219.0,832.9,-9.5,523,6446,0.00,1.80,0.00,0.000,4,0.000,0.049,2138,3777,3730,0,0,0,0,0,0
$GC,6475,-0.52,-219.0,835.8,-9.4,524,6479,0.00,1.75,0.00,0.000,6,0.000,0.027,2138,2571,3730,0,0,0,0,0,0
$GC,6798,-0.52,-219.0,859.7,-7.1,540,6801,0.00,2.00,0.00,0.000,4,0.000,0.032,2138,1212,3729,0,0,0,0,0,0
$GC,6853,-0.52,-219.0,863.8,-7.2,542,6857,0.00,2.15,0.00,0.000,6,0.000,0.039,2138,2605,3728,0,0,0,0,0,0
$GC,7176,-0.52,-219.0,887.8,-8.3,558,7177,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2605,3727,0,0,0,0,0,0
$GC,7485,-0.52,-219.0,914.9,-8.9,573,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2604,3725,0,0,0,0,0,0
$GC,7794,-0.52,-219.0,942.9,-8.9,588,7798,0.00,2.10,0.00,0.000,4,0.000,0.034,2137,1208,3724,0,0,0,0,0,0
$GC,7844,-0.52,-219.0,947.5,-9.2,590,7848,0.00,2.12,0.00,0.000,6,0.000,0.038,2136,2591,3724,0,0,0,0,0,0
$GC,8160,-0.52,-219.0,974.5,-8.5,605,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2591,3726,0,0,0,0,0,0
$STATE,8343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8343,begin apogee
$GC,8350,-0.13,0.0,991.3,9.1,614,8522,0.40,0.00,167.57,1.102,4,0.109,0.000,2275,2116,2869,0,0,0,0,0,0
$STATE,8523,end apogee,CONTROL_FINISHED_OK
$STATE,8523,begin climb
$GC,8525,0.52,219.0,1002.9,0.0,622,8710,0.60,2.22,177.12,1.076,4,0.050,0.037,2508,745,1976,0,0,0,0,0,0
$GC,8918,0.52,219.0,971.4,12.1,640,8922,0.00,2.20,0.00,0.000,6,0.000,0.034,2508,2131,1975,0,0,0,0,0,0
$GC,9234,0.52,219.0,929.8,13.4,655,9238,0.00,2.15,0.00,0.000,4,0.000,0.037,2517,741,1977,0,0,0,0,0,0
$GC,9440,0.52,219.0,903.3,11.9,664,9445,0.00,2.17,0.00,0.000,6,0.000,0.035,2518,2118,1977,0,0,0,0,0,0
$GC,9763,0.52,219.0,858.0,14.8,680,9767,0.00,2.20,0.00,0.000,4,0.000,0.044,2517,3539,1976,0,0,0,0,0,0
$GC,9796,0.52,219.0,852.3,16.2,681,9803,0.15,2.10,0.00,0.000,6,0.188,0.026,2491,2146,1976,0,0,0,0,0,0
$GC,10112,0.52,219.0,809.5,13.0,697,10116,0.00,2.15,0.00,0.000,4,0.000,0.037,2500,722,1975,0,0,0,0,0,0
$GC,10178,0.52,219.0,800.9,12.5,700,10182,0.00,2.15,0.00,0.000,6,0.000,0.034,2500,2124,1975,0,0,0,0,0,0
$GC,10506,0.53,226.8,763.0,10.7,716,10521,0.00,2.25,7.88,0.850,4,0.000,0.044,2500,3541,1943,0,0,0,0,0,0
$GC,10565,0.53,226.8,756.0,11.9,718,10573,0.00,2.20,0.00,0.000,6,0.000,0.028,2510,2118,1943,0,0,0,0,0,0
$GC,10882,0.53,226.8,717.3,13.0,734,10886,0.00,2.12,0.00,0.000,4,0.000,0.038,2521,708,1942,0,0,0,0,0,0
$GC,10982,0.53,226.8,703.3,13.7,738,10989,0.00,2.20,0.00,0.000,6,0.000,0.034,2521,2118,1942,0,0,0,0,0,0
$GC,11298,0.53,226.8,653.6,16.1,754,11299,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2118,1942,0,0,0,0,0,0
$GC,11607,0.53,226.8,606.3,14.8,769,11609,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2118,1942,0,0,0,0,0,0
$GC,11917,0.53,226.8,564.5,12.8,784,11918,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2118,1942,0,0,0,0,0,0
$GC,12226,0.53,226.8,528.2,11.6,799,12230,0.00,2.20,0.00,0.000,4,0.000,0.045,2520,3541,1942,0,0,0,0,0,0
$GC,12265,0.53,226.8,523.2,12.1,800,12273,0.10,2.20,0.00,0.000,6,0.164,0.027,2500,2102,1942,0,0,0,0,0,0
$GC,12585,0.55,239.0,491.0,10.6,820,12601,0.00,2.10,10.90,0.765,4,0.000,0.036,2509,716,1893,0,0,0,0,0,0
$GC,12640,0.55,239.0,484.7,11.2,824,12647,0.00,2.15,0.00,0.000,6,0.000,0.034,2508,2118,1893,0,0,0,0,0,0
$GC,12966,0.55,239.4,448.0,11.0,855,12970,0.00,2.17,0.00,0.000,4,0.000,0.044,2508,3538,1893,0,0,0,0,0,0
$GC,13021,0.55,239.4,440.7,13.1,859,13028,0.00,2.15,0.00,0.000,6,0.000,0.028,2517,2110,1895,0,0,0,0,0,0
$GC,13346,0.55,239.4,398.5,14.1,890,13347,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2109,1895,0,0,0,0,0,0
$GC,13666,0.55,239.4,352.4,14.3,920,13667,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2110,1892,0,0,0,0,0,0
$GC,13987,0.55,239.4,310.3,12.8,950,13991,0.00,2.10,0.00,0.000,4,0.000,0.037,2527,707,1893,0,0,0,0,0,0
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$STATE,16821,end climb,SURFACE_DEPTH_REACHED
$STATE,16821,begin surface coast
$FINISH,2.1,1.020832
$STATE,16828,end surface coast,CONTROL_FINISHED_OK
$STATE,16828,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,42.12
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.40
$XPDR_PINGS,1
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$10V_AH,10.0,25.982
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_SECS,954.374,1408.149,1552.896,0.000,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,322676
$DATA_FILE_SIZE,93789,1367
$CAP_FILE_SIZE,180437,0
$CFSIZE,260165632,235802624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110711,175007,1921.693,12012.954,31,1.3,31,-2.1