version: 66.09
glider: 181
mission: 6
dive: 210
start: 7 20 111 19 1 45
data:
$ID,181
$MISSION,6
$DIVE,210
$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,-5
$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,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,-40783.504
$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,41
$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
$GPS1,200711,185406,1847.928,12035.467,29,1.2,29,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-65.6
$GPS2,200711,190120,1848.082,12035.499,14,1.1,14,-2.0
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,2000.000
$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,196.7,26000,-15.3,-11.000
$D_GRID,2221
$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,17,-0.52,-219.0,0.0,0.0,0,82,0.00,0.00,-62.60,0.000,2,0.000,0.000,212,2617,2227,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.0,-3.3,9,131,7.85,0.00,-31.55,0.000,6,0.227,0.000,2138,2617,3765,0,0,0,0,0,0
$GC,257,-0.52,-219.0,70.3,-41.2,39,265,0.00,1.83,0.00,0.000,4,0.000,0.049,2130,3764,3765,0,0,0,0,0,0
$GC,335,-0.52,-219.0,106.9,-37.0,53,343,0.00,1.77,0.00,0.000,6,0.000,0.023,2130,2563,3765,0,0,0,0,0,0
$GC,470,-0.52,-219.0,138.8,-26.1,78,479,0.00,1.92,0.00,0.000,4,0.000,0.044,2120,3773,3766,0,0,0,0,0,0
$GC,528,-0.52,-219.0,155.9,-30.2,88,536,0.00,1.70,0.00,0.000,6,0.000,0.024,2122,2623,3767,0,0,0,0,0,0
$GC,664,-0.52,-219.0,185.3,-22.6,113,672,0.10,2.12,0.00,0.000,4,0.175,0.028,2145,1209,3767,0,0,0,0,0,0
$GC,722,-0.52,-219.0,194.8,-13.1,123,730,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2583,3768,0,0,0,0,0,0
$GC,863,-0.52,-219.0,214.0,-14.5,140,867,0.00,1.83,0.00,0.000,4,0.000,0.043,2135,3790,3768,0,0,0,0,0,0
$GC,930,-0.52,-219.0,222.3,-10.9,146,935,0.00,1.70,0.00,0.000,6,0.000,0.023,2138,2643,3768,0,0,0,0,0,0
$GC,1263,-0.52,-219.0,270.0,-14.3,177,1267,0.00,2.10,0.00,0.000,4,0.000,0.028,2138,1198,3771,0,0,0,0,0,0
$GC,1307,-0.52,-219.0,275.8,-11.6,180,1315,0.00,2.20,0.00,0.000,6,0.000,0.034,2138,2618,3767,0,0,0,0,0,0
$GC,1632,-0.52,-219.0,317.6,-12.0,211,1636,0.00,1.75,0.00,0.000,4,0.000,0.045,2138,3777,3765,0,0,0,0,0,0
$GC,1667,-0.52,-219.0,321.4,-11.0,214,1671,0.00,1.67,0.00,0.000,6,0.000,0.024,2139,2615,3765,0,0,0,0,0,0
$GC,1999,-0.52,-219.0,359.1,-13.1,245,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2610,3761,0,0,0,0,0,0
$GC,2319,-0.52,-219.0,403.2,-13.9,275,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2610,3757,0,0,0,0,0,0
$GC,2637,-0.52,-219.0,443.4,-12.9,305,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2611,3755,0,0,0,0,0,0
$GC,2956,-0.52,-219.0,484.0,-12.2,335,2960,0.00,2.08,0.00,0.000,4,0.000,0.029,2137,1196,3751,0,0,0,0,0,0
$GC,3008,-0.52,-219.0,489.8,-10.3,339,3013,0.00,2.17,0.00,0.000,6,0.000,0.035,2137,2625,3751,0,0,0,0,0,0
$GC,3340,-0.52,-219.0,523.8,-9.9,359,3344,0.00,2.10,0.00,0.000,4,0.000,0.029,2144,1207,3747,0,0,0,0,0,0
$GC,3367,-0.52,-219.0,526.9,-9.9,360,3371,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2599,3747,0,0,0,0,0,0
$GC,3688,-0.52,-219.0,555.9,-9.4,376,3692,0.00,1.83,0.00,0.000,4,0.000,0.048,2138,3780,3744,0,0,0,0,0,0
$GC,3722,-0.52,-219.0,559.0,-9.8,377,3726,0.00,1.70,0.00,0.000,6,0.000,0.025,2137,2614,3744,0,0,0,0,0,0
$GC,4044,-0.52,-219.0,588.6,-9.4,393,4048,0.00,2.08,0.00,0.000,4,0.000,0.030,2134,1199,3741,0,0,0,0,0,0
$GC,4108,-0.52,-219.0,593.8,-8.1,396,4113,0.00,2.15,0.00,0.000,6,0.000,0.036,2138,2606,3740,0,0,0,0,0,0
$GC,4436,-0.52,-219.0,621.7,-8.9,412,4440,0.00,1.80,0.00,0.000,4,0.000,0.047,2138,3782,3739,0,0,0,0,0,0
$GC,4486,-0.52,-219.0,625.9,-7.8,414,4490,0.00,1.75,0.00,0.000,6,0.000,0.025,2138,2573,3738,0,0,0,0,0,0
$GC,4814,-0.52,-219.0,655.4,-9.9,430,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2570,3735,0,0,0,0,0,0
$GC,5123,-0.52,-219.0,684.4,-9.2,445,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2570,3732,0,0,0,0,0,0
$GC,5432,-0.52,-219.0,712.7,-9.0,460,5436,0.00,2.00,0.00,0.000,4,0.000,0.031,2138,1212,3730,0,0,0,0,0,0
$GC,5460,-0.52,-219.0,715.4,-9.2,461,5465,0.00,2.12,0.00,0.000,6,0.000,0.037,2138,2593,3730,0,0,0,0,0,0
$GC,5788,-0.52,-219.0,742.9,-8.0,477,5792,0.00,1.83,0.00,0.000,4,0.000,0.048,2138,3777,3729,0,0,0,0,0,0
$GC,5814,-0.52,-219.0,745.0,-8.2,478,5818,0.00,1.75,0.00,0.000,6,0.000,0.027,2138,2585,3728,0,0,0,0,0,0
$GC,6147,-0.52,-219.0,769.4,-7.8,494,6151,0.00,2.05,0.00,0.000,4,0.000,0.031,2138,1211,3727,0,0,0,0,0,0
$GC,6174,-0.52,-219.0,771.8,-8.0,495,6178,0.00,2.12,0.00,0.000,6,0.000,0.036,2138,2588,3725,0,0,0,0,0,0
$GC,6503,-0.52,-219.0,798.0,-8.3,511,6507,0.00,1.88,0.00,0.000,4,0.000,0.050,2138,3770,3726,0,0,0,0,0,0
$GC,6552,-0.52,-219.0,802.1,-7.7,513,6556,0.00,1.73,0.00,0.000,6,0.000,0.027,2138,2593,3724,0,0,0,0,0,0
$GC,6881,-0.52,-219.0,829.3,-8.6,529,6884,0.00,2.05,0.00,0.000,4,0.000,0.031,2138,1212,3723,0,0,0,0,0,0
$GC,6930,-0.52,-219.0,833.8,-8.6,531,6934,0.00,2.12,0.00,0.000,6,0.000,0.037,2137,2587,3723,0,0,0,0,0,0
$GC,7258,-0.52,-219.0,861.5,-8.6,547,7262,0.00,1.85,0.00,0.000,4,0.000,0.049,2138,3784,3721,0,0,0,0,0,0
$GC,7297,-0.52,-219.0,865.0,-8.8,548,7304,0.00,1.77,0.00,0.000,6,0.000,0.027,2137,2582,3721,0,0,0,0,0,0
$GC,7613,-0.52,-219.0,893.3,-9.1,564,7617,0.00,2.05,0.00,0.000,4,0.000,0.031,2137,1205,3720,0,0,0,0,0,0
$GC,7668,-0.52,-219.0,898.8,-9.6,566,7672,0.00,2.12,0.00,0.000,6,0.000,0.037,2138,2583,3720,0,0,0,0,0,0
$GC,7991,-0.52,-219.0,927.9,-9.1,582,7992,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2584,3718,0,0,0,0,0,0
$GC,8300,-0.52,-219.0,954.0,-8.1,597,8303,0.00,1.85,0.00,0.000,4,0.000,0.050,2138,3777,3717,0,0,0,0,0,0
$GC,8327,-0.52,-219.0,956.4,-8.1,598,8332,0.00,1.80,0.00,0.000,6,0.000,0.027,2138,2584,3717,0,0,0,0,0,0
$GC,8656,-0.52,-219.0,978.7,-6.5,614,8659,0.00,2.05,0.00,0.000,4,0.000,0.032,2138,1208,3715,0,0,0,0,0,0
$GC,8694,-0.52,-219.0,981.5,-6.4,615,8701,0.00,2.15,0.00,0.000,6,0.000,0.038,2138,2583,3715,0,0,0,0,0,0
$STATE,8843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8843,begin apogee
$GC,8850,-0.13,0.0,990.9,6.4,623,9019,0.40,0.00,162.80,1.099,4,0.105,0.000,2276,2097,2871,0,0,0,0,0,0
$STATE,9020,end apogee,CONTROL_FINISHED_OK
$STATE,9020,begin climb
$GC,9023,0.52,219.0,998.0,0.0,631,9205,0.57,0.00,175.88,1.069,6,0.050,0.000,2505,2097,1976,0,0,0,0,0,0
$GC,9522,0.52,219.0,941.6,14.2,655,9527,0.00,2.30,0.00,0.000,4,0.000,0.043,2505,3539,1974,0,0,0,0,0,0
$GC,9549,0.52,219.0,937.1,15.2,656,9554,0.00,2.17,0.00,0.000,6,0.000,0.027,2514,2155,1974,0,0,0,0,0,0
$GC,9871,0.52,219.0,889.8,15.3,672,9875,0.00,2.20,0.00,0.000,4,0.000,0.037,2525,715,1974,0,0,0,0,0,0
$GC,10026,0.52,219.0,866.1,15.5,679,10031,0.15,2.15,0.00,0.000,6,0.165,0.033,2487,2114,1972,0,0,0,0,0,0
$GC,10354,0.52,219.0,821.6,13.3,695,10358,0.00,2.20,0.00,0.000,4,0.000,0.044,2487,3536,1973,0,0,0,0,0,0
$GC,10432,0.52,219.0,809.5,15.7,698,10439,0.00,2.17,0.00,0.000,6,0.000,0.028,2495,2108,1972,0,0,0,0,0,0
$GC,10748,0.52,219.0,763.9,14.4,714,10752,0.00,2.10,0.00,0.000,4,0.000,0.037,2506,720,1971,0,0,0,0,0,0
$GC,10798,0.52,219.0,756.7,13.8,716,10802,0.00,2.17,0.00,0.000,6,0.000,0.032,2505,2139,1971,0,0,0,0,0,0
$GC,11120,0.52,219.0,713.1,12.6,732,11124,0.00,2.17,0.00,0.000,4,0.000,0.044,2506,3538,1971,0,0,0,0,0,0
$GC,11146,0.52,219.0,709.5,12.2,733,11150,0.00,2.15,0.00,0.000,6,0.000,0.027,2515,2109,1971,0,0,0,0,0,0
$GC,11475,0.52,219.0,669.4,11.9,749,11479,0.00,2.10,0.00,0.000,4,0.000,0.037,2526,717,1971,0,0,0,0,0,0
$GC,11629,0.52,219.0,650.7,12.9,756,11633,0.15,2.10,0.00,0.000,6,0.162,0.034,2487,2093,1971,0,0,0,0,0,0
$GC,11957,0.52,219.0,611.9,11.9,772,11961,0.00,2.22,0.00,0.000,4,0.000,0.044,2487,3538,1972,0,0,0,0,0,0
$GC,12029,0.52,219.0,602.5,12.5,775,12034,0.00,2.20,0.00,0.000,6,0.000,0.027,2495,2104,1971,0,0,0,0,0,0
$GC,12351,0.52,219.0,563.9,12.0,791,12355,0.00,2.10,0.00,0.000,4,0.000,0.037,2511,712,1971,0,0,0,0,0,0
$GC,12430,0.52,219.0,554.8,11.5,794,12437,0.00,2.10,0.00,0.000,6,0.000,0.032,2505,2088,1971,0,0,0,0,0,0
$GC,12746,0.52,219.0,518.3,11.4,810,12750,0.00,2.22,0.00,0.000,4,0.000,0.044,2505,3533,1971,0,0,0,0,0,0
$GC,12779,0.52,219.0,513.8,12.8,811,12785,0.00,2.17,0.00,0.000,6,0.000,0.027,2515,2085,1971,0,0,0,0,0,0
$GC,13103,0.52,219.0,475.9,11.2,836,13108,0.10,2.08,0.00,0.000,4,0.187,0.037,2500,716,1970,0,0,0,0,0,0
$GC,13204,0.60,280.7,465.9,8.9,844,13255,0.00,2.08,45.53,0.772,6,0.000,0.031,2500,2079,1724,0,0,0,0,0,0
$GC,13572,0.60,280.7,423.8,12.7,879,13576,0.00,2.28,0.00,0.000,4,0.000,0.043,2500,3539,1725,0,0,0,0,0,0
$GC,13669,0.60,280.7,410.8,13.3,887,13673,0.00,2.20,0.00,0.000,6,0.000,0.028,2509,2091,1726,0,0,0,0,0,0
$GC,13995,0.60,280.7,370.2,12.1,917,13999,0.00,2.10,0.00,0.000,4,0.000,0.036,2520,712,1728,0,0,0,0,0,0
$GC,14021,0.60,280.7,366.9,11.8,919,14028,0.00,2.15,0.00,0.000,6,0.000,0.031,2520,2118,1728,0,0,0,0,0,0
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$STATE,17135,end climb,SURFACE_DEPTH_REACHED
$STATE,17135,begin surface coast
$FINISH,0.2,1.015712
$STATE,17160,end surface coast,CONTROL_FINISHED_OK
$STATE,17160,begin surface
$SM_CCo,17237,0.00,0.000,0,0,443,595.10
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$IRIDIUM_FIX,1841.87,12039.48,200711,131347
$TT8_MAMPS,0.027713,0.027713
$HUMID,41.61
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.30
$XPDR_PINGS,0
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$10V_AH,9.9,32.799
$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,16.400,170.900,622.900,0.000,0.000,30.609,40.882,209.137,0.000,0.000,16.880,3286.791,9887.577,647.575,3445.741,387.580,0.000,2094.128,0.000,2385.890,0.000,0.541,0.000
$DEVICE_MAMPS,227.205,49.725,1099.305,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,949.853,1383.210,1465.228,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321788
$DATA_FILE_SIZE,93568,1362
$CAP_FILE_SIZE,183289,0
$CFSIZE,260165632,231346176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200711,235024,1846.118,12034.958,26,1.5,44,-2.0