version: 66.09
glider: 181
mission: 6
dive: 165
start: 7 11 111 17 57 15
data:
$ID,181
$MISSION,6
$DIVE,165
$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,-40726.812
$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,40
$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
$GPS1,110711,175007,1921.693,12012.954,31,1.3,31,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-64.1
$GPS2,110711,175650,1921.811,12013.053,14,1.3,14,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,HEADING
$TGT_LATLONG,1914.175,12021.141
$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,3156
$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,-219.0,0.0,0.0,0,90,0.00,0.00,-69.80,0.000,2,0.000,0.000,185,2624,2387,0,0,0,0,0,0
$GC,93,-0.52,-219.0,3.1,-3.4,10,138,8.00,1.83,-28.08,0.000,4,0.233,0.058,2130,3771,3764,0,0,0,0,0,0
$GC,193,-0.52,-219.0,41.5,-41.6,26,201,0.00,1.80,0.00,0.000,6,0.000,0.024,2130,2579,3766,0,0,0,0,0,0
$GC,327,-0.52,-219.0,91.2,-33.3,51,335,0.00,1.90,0.00,0.000,4,0.000,0.044,2121,3775,3766,0,0,0,0,0,0
$GC,379,-0.52,-219.0,105.6,-24.9,60,387,0.00,1.67,0.00,0.000,6,0.000,0.024,2121,2641,3767,0,0,0,0,0,0
$GC,514,-0.52,-219.0,141.1,-28.0,85,522,0.00,1.77,0.00,0.000,4,0.000,0.041,2112,3774,3768,0,0,0,0,0,0
$GC,530,-0.52,-219.0,146.2,-28.4,87,539,0.10,1.62,0.00,0.000,6,0.153,0.024,2143,2676,3768,0,0,0,0,0,0
$GC,668,-0.52,-219.0,177.2,-24.3,112,677,0.00,2.17,0.00,0.000,4,0.000,0.027,2142,1211,3769,0,0,0,0,0,0
$GC,690,-0.52,-219.0,182.6,-22.3,115,698,0.00,2.33,0.00,0.000,6,0.000,0.037,2138,2699,3769,0,0,0,0,0,0
$GC,825,-0.52,-219.0,208.8,-19.3,136,828,0.00,1.62,0.00,0.000,4,0.000,0.044,2138,3778,3769,0,0,0,0,0,0
$GC,884,-0.52,-219.0,219.6,-16.3,141,891,0.00,1.52,0.00,0.000,6,0.000,0.023,2138,2747,3770,0,0,0,0,0,0
$GC,1210,-0.52,-219.0,275.1,-16.8,172,1214,0.00,2.22,0.00,0.000,4,0.000,0.028,2138,1217,3769,0,0,0,0,0,0
$GC,1272,-0.52,-219.0,284.0,-12.9,177,1276,0.00,2.28,0.00,0.000,6,0.000,0.035,2137,2714,3769,0,0,0,0,0,0
$GC,1598,-0.52,-219.0,330.4,-13.5,207,1602,0.00,2.22,0.00,0.000,4,0.000,0.028,2138,1212,3766,0,0,0,0,0,0
$GC,1637,-0.52,-219.0,335.1,-11.1,210,1641,0.00,2.28,0.00,0.000,6,0.000,0.037,2137,2707,3766,0,0,0,0,0,0
$GC,1962,-0.52,-219.0,373.4,-14.3,240,1966,0.00,2.20,0.00,0.000,4,0.000,0.030,2137,1218,3763,0,0,0,0,0,0
$GC,2012,-0.52,-219.0,380.1,-12.9,244,2019,0.00,2.28,0.00,0.000,6,0.000,0.037,2138,2704,3762,0,0,0,0,0,0
$GC,2338,-0.52,-219.0,426.3,-12.4,275,2342,0.00,2.20,0.00,0.000,4,0.000,0.031,2138,1218,3760,0,0,0,0,0,0
$GC,2367,-0.52,-219.0,429.9,-12.3,277,2371,0.00,2.25,0.00,0.000,6,0.000,0.038,2138,2690,3760,0,0,0,0,0,0
$GC,2692,-0.52,-219.0,468.4,-12.3,307,2696,0.00,1.67,0.00,0.000,4,0.000,0.049,2137,3767,3757,0,0,0,0,0,0
$GC,2719,-0.52,-219.0,472.0,-12.1,309,2726,0.00,1.58,0.00,0.000,6,0.000,0.026,2138,2701,3756,0,0,0,0,0,0
$GC,3056,-0.52,-219.0,508.8,-10.8,337,3060,0.00,2.17,0.00,0.000,4,0.000,0.031,2137,1218,3753,0,0,0,0,0,0
$GC,3128,-0.52,-219.0,516.3,-8.7,340,3132,0.00,2.22,0.00,0.000,6,0.000,0.037,2138,2679,3753,0,0,0,0,0,0
$GC,3444,-0.52,-219.0,552.8,-12.6,355,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2679,3749,0,0,0,0,0,0
$GC,3753,-0.52,-219.0,589.0,-11.4,370,3757,0.00,2.17,0.00,0.000,4,0.000,0.032,2138,1220,3747,0,0,0,0,0,0
$GC,3779,-0.52,-219.0,592.2,-11.4,371,3783,0.00,2.22,0.00,0.000,6,0.000,0.040,2138,2670,3747,0,0,0,0,0,0
$GC,4101,-0.52,-219.0,627.4,-11.2,387,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2670,3742,0,0,0,0,0,0
$GC,4411,-0.52,-219.0,664.1,-12.6,402,4415,0.00,2.17,0.00,0.000,4,0.000,0.034,2140,1221,3742,0,0,0,0,0,0
$GC,4455,-0.52,-219.0,669.9,-12.2,404,4459,0.00,2.22,0.00,0.000,6,0.000,0.041,2138,2666,3742,0,0,0,0,0,0
$GC,4776,-0.52,-219.0,705.2,-10.2,420,4780,0.00,2.17,0.00,0.000,4,0.000,0.034,2138,1216,3739,0,0,0,0,0,0
$GC,4817,-0.52,-219.0,709.0,-9.3,422,4821,0.00,2.22,0.00,0.000,6,0.000,0.041,2138,2663,3739,0,0,0,0,0,0
$GC,5144,-0.52,-219.0,736.8,-8.1,438,5148,0.00,2.17,0.00,0.000,4,0.000,0.034,2138,1213,3736,0,0,0,0,0,0
$GC,5165,-0.52,-219.0,738.5,-8.1,439,5169,0.00,2.22,0.00,0.000,6,0.000,0.041,2138,2660,3736,0,0,0,0,0,0
$GC,5493,-0.52,-219.0,765.9,-8.9,455,5497,0.00,2.17,0.00,0.000,4,0.000,0.034,2138,1219,3734,0,0,0,0,0,0
$GC,5544,-0.52,-219.0,770.6,-9.1,457,5548,0.00,2.20,0.00,0.000,6,0.000,0.040,2138,2651,3734,0,0,0,0,0,0
$GC,5866,-0.52,-219.0,796.6,-7.8,473,5870,0.00,2.15,0.00,0.000,4,0.000,0.034,2138,1220,3732,0,0,0,0,0,0
$GC,5893,-0.52,-219.0,798.8,-7.8,474,5898,0.00,2.17,0.00,0.000,6,0.000,0.040,2134,2635,3731,0,0,0,0,0,0
$GC,6210,-0.52,-219.0,824.3,-9.1,489,6213,0.00,1.75,0.00,0.000,4,0.000,0.050,2138,3777,3729,0,0,0,0,0,0
$GC,6237,-0.52,-219.0,827.0,-9.4,490,6241,0.00,1.67,0.00,0.000,6,0.000,0.028,2138,2669,3733,0,0,0,0,0,0
$GC,6565,-0.52,-219.0,855.8,-9.0,506,6569,0.00,2.17,0.00,0.000,4,0.000,0.034,2138,1217,3729,0,0,0,0,0,0
$GC,6638,-0.52,-219.0,862.6,-8.6,509,6642,0.00,2.15,0.00,0.000,6,0.000,0.039,2138,2623,3728,0,0,0,0,0,0
$GC,6965,-0.52,-219.0,893.3,-10.2,525,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2624,3727,0,0,0,0,0,0
$GC,7274,-0.52,-219.0,927.2,-11.4,540,7278,0.00,2.10,0.00,0.000,4,0.000,0.034,2138,1224,3725,0,0,0,0,0,0
$GC,7306,-0.52,-219.0,931.1,-11.2,541,7313,0.00,2.15,0.00,0.000,6,0.000,0.041,2138,2621,3725,0,0,0,0,0,0
$GC,7624,-0.52,-219.0,963.5,-9.8,557,7628,0.00,2.10,0.00,0.000,4,0.000,0.035,2138,1224,3723,0,0,0,0,0,0
$GC,7664,-0.52,-219.0,967.2,-8.9,559,7668,0.00,2.12,0.00,0.000,6,0.000,0.041,2138,2604,3723,0,0,0,0,0,0
$STATE,7968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7968,begin apogee
$GC,7975,-0.13,0.0,990.6,7.0,574,8147,0.40,0.00,167.32,1.097,4,0.109,0.000,2276,2126,2869,0,0,0,0,0,0
$STATE,8148,end apogee,CONTROL_FINISHED_OK
$STATE,8148,begin climb
$GC,8150,0.52,219.0,996.7,0.0,582,8336,0.60,2.28,176.35,1.070,4,0.052,0.041,2506,741,1976,0,0,0,0,0,0
$GC,8453,0.52,219.0,964.4,15.1,596,8457,0.00,2.22,0.00,0.000,6,0.000,0.035,2506,2126,1976,0,0,0,0,0,0
$GC,8775,0.52,219.0,912.8,16.1,612,8779,0.00,2.17,0.00,0.000,4,0.000,0.038,2515,731,1977,0,0,0,0,0,0
$GC,8972,0.52,219.0,882.5,15.0,621,8976,0.00,2.20,0.00,0.000,6,0.000,0.037,2516,2138,1977,0,0,0,0,0,0
$GC,9304,0.52,219.0,831.3,15.1,637,9308,0.00,2.17,0.00,0.000,4,0.000,0.046,2515,3541,1976,0,0,0,0,0,0
$GC,9359,0.52,219.0,821.7,17.7,639,9367,0.15,2.12,0.00,0.000,6,0.184,0.028,2490,2149,1976,0,0,0,0,0,0
$GC,9676,0.52,219.0,779.2,13.4,655,9680,0.00,2.17,0.00,0.000,4,0.000,0.039,2498,713,1976,0,0,0,0,0,0
$GC,9726,0.52,219.0,772.2,13.3,657,9730,0.00,2.17,0.00,0.000,6,0.000,0.034,2498,2139,1975,0,0,0,0,0,0
$GC,10048,0.52,219.0,725.8,14.4,673,10052,0.00,2.15,0.00,0.000,4,0.000,0.044,2498,3541,1975,0,0,0,0,0,0
$GC,10088,0.52,219.0,719.4,16.3,675,10093,0.00,2.12,0.00,0.000,6,0.000,0.028,2507,2130,1975,0,0,0,0,0,0
$GC,10416,0.52,219.0,670.8,14.7,691,10420,0.00,2.15,0.00,0.000,4,0.000,0.039,2518,716,1975,0,0,0,0,0,0
$GC,10533,0.52,219.0,654.3,13.8,696,10537,0.00,2.15,0.00,0.000,6,0.000,0.034,2518,2130,1975,0,0,0,0,0,0
$GC,10849,0.52,219.0,609.0,14.0,711,10853,0.00,2.15,0.00,0.000,4,0.000,0.044,2518,3536,1975,0,0,0,0,0,0
$GC,10871,0.52,219.0,605.5,14.5,712,10876,0.15,2.12,0.00,0.000,6,0.179,0.028,2490,2116,1975,0,0,0,0,0,0
$GC,11192,0.52,219.0,566.3,11.8,728,11196,0.00,2.10,0.00,0.000,4,0.000,0.039,2499,720,1974,0,0,0,0,0,0
$GC,11225,0.52,219.0,562.4,11.2,729,11232,0.00,2.12,0.00,0.000,6,0.000,0.034,2499,2124,1974,0,0,0,0,0,0
$GC,11542,0.52,219.0,524.8,11.7,745,11543,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2124,1975,0,0,0,0,0,0
$GC,11853,0.55,238.1,489.4,10.4,764,11876,0.00,2.20,15.68,0.773,4,0.000,0.045,2499,3540,1899,0,0,0,0,0,0
$GC,11916,0.55,238.1,482.3,11.6,769,11922,0.00,2.15,0.00,0.000,6,0.000,0.029,2504,2114,1898,0,0,0,0,0,0
$GC,12241,0.55,238.1,443.2,12.5,800,12245,0.00,2.10,0.00,0.000,4,0.000,0.039,2520,723,1897,0,0,0,0,0,0
$GC,12318,0.55,238.1,433.2,12.7,806,12325,0.00,2.12,0.00,0.000,6,0.000,0.034,2519,2110,1897,0,0,0,0,0,0
$GC,12644,0.55,238.1,390.2,13.2,837,12648,0.00,2.20,0.00,0.000,4,0.000,0.045,2519,3541,1897,0,0,0,0,0,0
$GC,12729,0.55,238.1,378.8,13.1,844,12734,0.12,2.15,0.00,0.000,6,0.181,0.030,2498,2115,1897,0,0,0,0,0,0
$GC,13054,0.58,267.2,345.4,10.0,874,13082,0.00,2.15,22.67,0.691,4,0.000,0.037,2507,708,1779,0,0,0,0,0,0
$GC,13173,0.62,298.4,333.5,9.9,884,13207,0.00,2.15,24.08,0.656,6,0.000,0.034,2507,2111,1651,0,0,0,0,0,0
$GC,13528,0.62,298.4,293.5,12.0,917,13532,0.00,2.20,0.00,0.000,4,0.000,0.045,2507,3535,1650,0,0,0,0,0,0
$GC,13604,0.62,298.4,282.9,13.3,923,13611,0.00,2.15,0.00,0.000,6,0.000,0.029,2517,2126,1649,0,0,0,0,0,0
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$STATE,16139,end climb,SURFACE_DEPTH_REACHED
$STATE,16139,begin surface coast
$FINISH,0.1,1.002213
$STATE,16172,end surface coast,CONTROL_FINISHED_OK
$STATE,16172,begin surface
$SM_CCo,16249,0.00,0.000,0,0,442,595.34
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$IRIDIUM_FIX,1913.80,12011.61,110711,131346
$TT8_MAMPS,0.027713,0.027713
$HUMID,40.47
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.7,26.055
$10V_AH,10.1,26.129
$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,16.125,183.475,633.425,0.000,0.000,27.875,37.733,182.809,0.000,0.000,24.666,3151.198,9088.477,696.057,3347.426,353.911,0.000,2112.758,0.000,2310.580,0.000,0.541,0.000
$DEVICE_MAMPS,233.325,58.140,1097.010,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,914.702,1346.928,1455.478,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322720
$DATA_FILE_SIZE,90575,1313
$CAP_FILE_SIZE,181439,0
$CFSIZE,260165632,235704320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110711,222906,1920.850,12014.658,24,1.9,24,-2.1