version: 66.09
glider: 181
mission: 6
dive: 168
start: 7 12 111 8 14 53
data:
$ID,181
$MISSION,6
$DIVE,168
$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,-40730.676
$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,41
$R_STBD_OVSHOOT,26
$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
$GPS1,120711,080206,1921.124,12020.781,37,1.0,37,-2.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-57.9
$GPS2,120711,081426,1921.300,12021.001,12,1.3,12,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,HEADING
$TGT_LATLONG,1913.663,12029.088
$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,2868
$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,17,-0.52,-219.0,0.0,0.0,0,90,0.00,0.00,-70.90,0.000,2,0.000,0.000,184,2612,2412,0,0,0,0,0,0
$GC,93,-0.52,-219.0,3.0,-3.3,10,138,7.95,1.88,-27.98,0.000,4,0.230,0.055,2131,3794,3764,0,0,0,0,0,0
$GC,162,-0.52,-219.0,27.6,-43.5,20,170,0.00,1.85,0.00,0.000,6,0.000,0.026,2131,2562,3764,0,0,0,0,0,0
$GC,296,-0.52,-219.0,86.4,-27.2,45,303,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2560,3766,0,0,0,0,0,0
$GC,428,-0.52,-219.0,116.9,-23.1,70,437,0.00,1.92,0.00,0.000,4,0.000,0.041,2122,3787,3765,0,0,0,0,0,0
$GC,465,-0.52,-219.0,125.2,-22.3,76,473,0.00,1.70,0.00,0.000,6,0.000,0.024,2124,2642,3766,0,0,0,0,0,0
$GC,601,-0.52,-219.0,152.6,-21.8,101,609,0.00,1.80,0.00,0.000,4,0.000,0.042,2113,3789,3767,0,0,0,0,0,0
$GC,639,-0.52,-219.0,160.4,-19.6,107,647,0.10,1.67,0.00,0.000,6,0.132,0.024,2146,2660,3767,0,0,0,0,0,0
$GC,775,-0.52,-219.0,184.3,-18.8,132,783,0.00,2.17,0.00,0.000,4,0.000,0.028,2146,1205,3767,0,0,0,0,0,0
$GC,828,-0.52,-219.0,193.4,-14.5,141,836,0.00,2.20,0.00,0.000,6,0.000,0.034,2139,2628,3767,0,0,0,0,0,0
$GC,970,-0.52,-219.0,218.1,-18.6,158,973,0.00,1.73,0.00,0.000,4,0.000,0.044,2138,3776,3767,0,0,0,0,0,0
$GC,996,-0.52,-219.0,223.2,-17.9,160,1005,0.00,1.70,0.00,0.000,6,0.000,0.024,2138,2616,3767,0,0,0,0,0,0
$GC,1324,-0.52,-219.0,275.2,-15.7,191,1327,0.00,2.05,0.00,0.000,4,0.000,0.028,2138,1213,3766,0,0,0,0,0,0
$GC,1379,-0.52,-219.0,282.6,-11.3,195,1386,0.00,2.10,0.00,0.000,6,0.000,0.035,2138,2602,3765,0,0,0,0,0,0
$GC,1704,-0.52,-219.0,324.3,-12.5,226,1708,0.00,1.77,0.00,0.000,4,0.000,0.045,2138,3780,3763,0,0,0,0,0,0
$GC,1762,-0.52,-219.0,330.5,-10.0,231,1766,0.00,1.73,0.00,0.000,6,0.000,0.024,2138,2616,3762,0,0,0,0,0,0
$GC,2092,-0.52,-219.0,374.1,-13.8,262,2096,0.00,2.05,0.00,0.000,4,0.000,0.030,2138,1209,3759,0,0,0,0,0,0
$GC,2178,-0.52,-219.0,383.4,-9.3,269,2182,0.00,2.12,0.00,0.000,6,0.000,0.036,2138,2610,3759,0,0,0,0,0,0
$GC,2504,-0.52,-219.0,419.1,-10.7,299,2508,0.00,1.77,0.00,0.000,4,0.000,0.047,2138,3780,3754,0,0,0,0,0,0
$GC,2565,-0.52,-219.0,424.6,-8.3,304,2572,0.00,1.73,0.00,0.000,6,0.000,0.025,2138,2621,3753,0,0,0,0,0,0
$GC,2891,-0.52,-219.0,454.3,-10.1,335,2895,0.00,2.08,0.00,0.000,4,0.000,0.031,2138,1206,3747,0,0,0,0,0,0
$GC,2920,-0.52,-219.0,457.1,-9.9,337,2924,0.00,2.15,0.00,0.000,6,0.000,0.037,2138,2609,3749,0,0,0,0,0,0
$GC,3251,-0.52,-219.0,490.7,-11.1,368,3254,0.00,1.77,0.00,0.000,4,0.000,0.048,2138,3777,3745,0,0,0,0,0,0
$GC,3319,-0.52,-219.0,497.4,-9.1,374,3323,0.00,1.70,0.00,0.000,6,0.000,0.027,2138,2612,3745,0,0,0,0,0,0
$GC,3642,-0.52,-219.0,534.3,-11.4,391,3646,0.00,2.08,0.00,0.000,4,0.000,0.031,2138,1200,3742,0,0,0,0,0,0
$GC,3709,-0.52,-219.0,541.2,-9.3,394,3713,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2625,3741,0,0,0,0,0,0
$GC,4030,-0.52,-219.0,573.6,-9.7,410,4034,0.00,2.12,0.00,0.000,4,0.000,0.032,2138,1203,3738,0,0,0,0,0,0
$GC,4051,-0.52,-219.0,575.9,-9.5,411,4055,0.00,2.15,0.00,0.000,6,0.000,0.038,2138,2605,3738,0,0,0,0,0,0
$GC,4379,-0.52,-219.0,602.7,-8.6,427,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2605,3735,0,0,0,0,0,0
$GC,4688,-0.52,-219.0,632.3,-9.6,442,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2610,3732,0,0,0,0,0,0
$GC,4998,-0.52,-219.0,662.4,-9.5,457,5002,0.00,1.85,0.00,0.000,4,0.000,0.050,2138,3775,3730,0,0,0,0,0,0
$GC,5021,-0.52,-219.0,664.7,-9.6,458,5025,0.00,1.73,0.00,0.000,6,0.000,0.028,2138,2599,3730,0,0,0,0,0,0
$GC,5354,-0.52,-219.0,693.7,-9.1,474,5358,0.00,2.05,0.00,0.000,4,0.000,0.033,2138,1214,3728,0,0,0,0,0,0
$GC,5401,-0.52,-219.0,697.8,-8.8,476,5405,0.00,2.12,0.00,0.000,6,0.000,0.038,2138,2594,3727,0,0,0,0,0,0
$GC,5728,-0.52,-219.0,727.5,-9.8,492,5732,0.00,1.83,0.00,0.000,4,0.000,0.050,2138,3781,3724,0,0,0,0,0,0
$GC,5767,-0.52,-219.0,731.4,-9.5,493,5774,0.00,1.75,0.00,0.000,6,0.000,0.028,2138,2584,3724,0,0,0,0,0,0
$GC,6084,-0.52,-219.0,762.1,-10.4,509,6088,0.00,2.05,0.00,0.000,4,0.000,0.034,2138,1212,3723,0,0,0,0,0,0
$GC,6145,-0.52,-219.0,768.7,-9.9,511,6152,0.00,2.12,0.00,0.000,6,0.000,0.040,2138,2593,3722,0,0,0,0,0,0
$GC,6462,-0.52,-219.0,799.7,-9.6,527,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2597,3721,0,0,0,0,0,0
$GC,6770,-0.52,-219.0,826.8,-8.5,542,6774,0.00,2.10,0.00,0.000,4,0.000,0.034,2138,1197,3719,0,0,0,0,0,0
$GC,6792,-0.52,-219.0,828.9,-8.6,543,6796,0.00,2.15,0.00,0.000,6,0.000,0.039,2138,2591,3720,0,0,0,0,0,0
$GC,7120,-0.52,-219.0,855.4,-7.7,559,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2592,3718,0,0,0,0,0,0
$GC,7428,-0.52,-219.0,876.4,-6.4,574,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2593,3717,0,0,0,0,0,0
$GC,7738,-0.52,-219.0,895.7,-6.2,589,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2592,3715,0,0,0,0,0,0
$GC,8047,-0.52,-219.0,917.1,-7.1,604,8051,0.00,2.10,0.00,0.000,4,0.000,0.034,2138,1212,3714,0,0,0,0,0,0
$GC,8079,-0.52,-219.0,919.9,-7.3,605,8086,0.00,2.12,0.00,0.000,6,0.000,0.039,2138,2586,3713,0,0,0,0,0,0
$GC,8396,-0.52,-219.0,945.5,-8.5,621,8400,0.00,2.10,0.00,0.000,4,0.000,0.036,2138,1213,3713,0,0,0,0,0,0
$GC,8420,-0.52,-219.0,947.7,-8.3,622,8424,0.00,2.10,0.00,0.000,6,0.000,0.040,2138,2574,3713,0,0,0,0,0,0
$GC,8747,-0.52,-219.0,974.4,-8.2,638,8751,0.00,1.88,0.00,0.000,4,0.000,0.052,2138,3783,3711,0,0,0,0,0,0
$GC,8771,-0.52,-219.0,976.1,-8.2,639,8775,0.00,1.83,0.00,0.000,6,0.000,0.029,2138,2576,3711,0,0,0,0,0,0
$STATE,8957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8957,begin apogee
$GC,8963,-0.13,0.0,990.6,7.4,648,9134,0.40,0.00,165.57,1.102,4,0.106,0.000,2276,2109,2870,0,0,0,0,0,0
$STATE,9135,end apogee,CONTROL_FINISHED_OK
$STATE,9135,begin climb
$GC,9138,0.52,219.0,999.0,0.0,656,9323,0.60,2.40,176.73,1.073,4,0.054,0.044,2501,3542,1976,0,0,0,0,0,0
$GC,9463,0.52,219.0,963.1,15.8,671,9467,0.00,2.25,0.00,0.000,6,0.000,0.028,2511,2122,1975,0,0,0,0,0,0
$GC,9791,0.52,219.0,912.2,15.5,687,9795,0.00,2.25,0.00,0.000,4,0.000,0.043,2511,3542,1975,0,0,0,0,0,0
$GC,9989,0.52,219.0,878.2,17.6,696,9994,0.12,2.17,0.00,0.000,6,0.190,0.028,2492,2117,1974,0,0,0,0,0,0
$GC,10317,0.52,219.0,832.0,13.7,712,10321,0.00,2.15,0.00,0.000,4,0.000,0.039,2501,716,1974,0,0,0,0,0,0
$GC,10367,0.52,219.0,824.8,13.1,714,10371,0.00,2.17,0.00,0.000,6,0.000,0.034,2502,2127,1974,0,0,0,0,0,0
$GC,10695,0.52,219.0,778.1,14.4,730,10696,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2128,1974,0,0,0,0,0,0
$GC,11004,0.52,219.0,731.8,15.1,745,11008,0.00,2.15,0.00,0.000,4,0.000,0.037,2511,720,1972,0,0,0,0,0,0
$GC,11058,0.52,219.0,723.2,15.4,747,11065,0.00,2.15,0.00,0.000,6,0.000,0.034,2511,2125,1972,0,0,0,0,0,0
$GC,11375,0.52,219.0,675.7,14.5,763,11377,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2125,1972,0,0,0,0,0,0
$GC,11684,0.52,219.0,633.5,13.8,778,11688,0.00,2.20,0.00,0.000,4,0.000,0.046,2511,3538,1972,0,0,0,0,0,0
$GC,11756,0.52,219.0,622.1,15.6,781,11761,0.12,2.17,0.00,0.000,6,0.184,0.029,2490,2097,1976,0,0,0,0,0,0
$GC,12072,0.52,219.0,582.4,12.2,796,12076,0.00,2.10,0.00,0.000,4,0.000,0.039,2500,717,1972,0,0,0,0,0,0
$GC,12184,0.54,231.9,570.0,10.6,801,12202,0.00,2.12,10.73,0.795,6,0.000,0.034,2500,2081,1924,0,0,0,0,0,0
$GC,12511,0.54,231.9,532.7,11.7,817,12515,0.00,2.28,0.00,0.000,4,0.000,0.046,2500,3542,1923,0,0,0,0,0,0
$GC,12543,0.54,231.9,528.1,13.4,818,12547,0.00,2.20,0.00,0.000,6,0.000,0.029,2511,2085,1923,0,0,0,0,0,0
$GC,12869,0.54,231.9,482.6,14.8,839,12870,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2085,1922,0,0,0,0,0,0
$GC,13190,0.54,231.9,437.8,12.9,869,13196,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2085,1922,0,0,0,0,0,0
$GC,13517,0.54,231.9,396.5,12.6,900,13521,0.00,2.05,0.00,0.000,4,0.000,0.038,2520,722,1923,0,0,0,0,0,0
$GC,13575,0.54,231.9,389.2,12.4,905,13579,0.00,2.10,0.00,0.000,6,0.000,0.034,2520,2100,1923,0,0,0,0,0,0
$GC,13900,0.54,231.9,344.8,13.5,935,13904,0.00,2.20,0.00,0.000,4,0.000,0.045,2520,3536,1923,0,0,0,0,0,0
$GC,13917,0.54,231.9,342.2,14.0,936,13922,0.12,2.20,0.00,0.000,6,0.181,0.028,2499,2077,1923,0,0,0,0,0,0
$GC,14242,0.57,254.8,306.8,10.2,966,14266,0.00,2.15,18.50,0.672,4,0.000,0.040,2508,714,1830,0,0,0,0,0,0
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$STATE,17013,end climb,SURFACE_DEPTH_REACHED
$STATE,17013,begin surface coast
$FINISH,-0.1,1.021261
$STATE,17039,end surface coast,CONTROL_FINISHED_OK
$STATE,17039,begin surface
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$TT8_MAMPS,0.029211,0.029211
$HUMID,42.95
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$TCM_TEMP,23.90
$XPDR_PINGS,0
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$10V_AH,10.2,26.578
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$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$MEM,322652
$DATA_FILE_SIZE,93748,1372
$CAP_FILE_SIZE,187375,0
$CFSIZE,260165632,235409408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120711,130130,1920.444,12024.085,37,1.3,43,-2.1