version: 66.09
glider: 181
mission: 6
dive: 226
start: 7 22 111 15 8 50
data:
$ID,181
$MISSION,6
$DIVE,226
$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,-40803.781
$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,48
$R_STBD_OVSHOOT,65
$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
$GPS1,220711,150206,1837.082,12027.476,34,1.0,34,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.8
$GPS2,220711,150825,1837.114,12027.394,12,1.3,12,-2.0
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,313.5,64012,-15.3,-11.000
$D_GRID,1885
$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,16,-0.52,-219.0,0.0,0.0,0,82,0.00,0.00,-63.78,0.000,2,0.000,0.000,203,2638,2290,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.1,-3.9,9,131,7.85,1.77,-29.52,0.000,4,0.225,0.057,2138,3754,3762,0,0,0,0,0,0
$GC,243,-0.52,-219.0,83.8,-46.5,36,251,0.00,1.75,0.00,0.000,6,0.000,0.024,2138,2595,3764,0,0,0,0,0,0
$GC,376,-0.52,-219.0,128.0,-30.4,61,384,0.00,2.08,0.00,0.000,4,0.000,0.025,2138,1196,3764,0,0,0,0,0,0
$GC,414,-0.52,-219.0,137.1,-24.5,67,422,0.00,2.15,0.00,0.000,6,0.000,0.037,2138,2564,3765,0,0,0,0,0,0
$GC,547,-0.52,-219.0,161.8,-20.2,92,555,0.00,1.90,0.00,0.000,4,0.000,0.043,2129,3783,3766,0,0,0,0,0,0
$GC,635,-0.52,-219.0,178.4,-15.0,108,644,0.00,1.70,0.00,0.000,6,0.000,0.024,2129,2627,3767,0,0,0,0,0,0
$GC,770,-0.52,-219.0,200.7,-15.9,133,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2625,3766,0,0,0,0,0,0
$GC,1097,-0.52,-219.0,253.6,-16.9,164,1101,0.00,1.77,0.00,0.000,4,0.000,0.041,2125,3791,3766,0,0,0,0,0,0
$GC,1120,-0.52,-219.0,258.2,-18.2,166,1124,0.00,1.60,0.00,0.000,6,0.000,0.024,2122,2708,3766,0,0,0,0,0,0
$GC,1451,-0.52,-219.0,315.5,-17.3,197,1455,0.00,2.17,0.00,0.000,4,0.000,0.028,2122,1216,3764,0,0,0,0,0,0
$GC,1547,-0.52,-219.0,328.6,-11.4,205,1552,0.12,2.28,0.00,0.000,6,0.145,0.035,2148,2691,3764,0,0,0,0,0,0
$GC,1877,-0.52,-219.0,366.8,-12.0,236,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2691,3760,0,0,0,0,0,0
$GC,2198,-0.52,-219.0,403.1,-10.8,266,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2691,3757,0,0,0,0,0,0
$GC,2518,-0.52,-219.0,439.0,-11.7,296,2522,0.00,2.20,0.00,0.000,4,0.000,0.030,2149,1216,3754,0,0,0,0,0,0
$GC,2558,-0.52,-219.0,443.4,-10.3,299,2562,0.00,2.22,0.00,0.000,6,0.000,0.035,2148,2668,3753,0,0,0,0,0,0
$GC,2883,-0.52,-219.0,476.0,-10.7,329,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2669,3751,0,0,0,0,0,0
$GC,3212,-0.52,-219.0,509.1,-10.2,356,3216,0.00,2.17,0.00,0.000,4,0.000,0.031,2148,1217,3747,0,0,0,0,0,0
$GC,3278,-0.52,-219.0,515.6,-8.7,359,3282,0.00,2.28,0.00,0.000,6,0.000,0.037,2148,2682,3747,0,0,0,0,0,0
$GC,3606,-0.52,-219.0,544.3,-8.8,375,3611,0.00,2.20,0.00,0.000,4,0.000,0.032,2148,1218,3744,0,0,0,0,0,0
$GC,3647,-0.52,-219.0,547.6,-8.9,377,3651,0.00,2.22,0.00,0.000,6,0.000,0.038,2149,2661,3744,0,0,0,0,0,0
$GC,3975,-0.52,-219.0,574.7,-8.6,393,3979,0.00,1.75,0.00,0.000,4,0.000,0.048,2142,3776,3740,0,0,0,0,0,0
$GC,3991,-0.52,-219.0,576.3,-8.2,393,3997,0.00,1.67,0.00,0.000,6,0.000,0.026,2142,2666,3740,0,0,0,0,0,0
$GC,4307,-0.52,-219.0,603.8,-9.2,409,4311,0.00,2.17,0.00,0.000,4,0.000,0.031,2142,1213,3738,0,0,0,0,0,0
$GC,4380,-0.52,-219.0,610.1,-7.6,412,4384,0.00,2.20,0.00,0.000,6,0.000,0.037,2139,2647,3737,0,0,0,0,0,0
$GC,4696,-0.52,-219.0,636.7,-8.3,427,4700,0.00,1.75,0.00,0.000,4,0.000,0.050,2139,3786,3734,0,0,0,0,0,0
$GC,4720,-0.52,-219.0,638.7,-8.2,428,4724,0.00,1.67,0.00,0.000,6,0.000,0.027,2139,2649,3735,0,0,0,0,0,0
$GC,5053,-0.52,-219.0,668.5,-9.4,444,5057,0.00,2.15,0.00,0.000,4,0.000,0.032,2139,1200,3733,0,0,0,0,0,0
$GC,5116,-0.52,-219.0,673.7,-7.8,447,5120,0.00,2.20,0.00,0.000,6,0.000,0.038,2138,2627,3732,0,0,0,0,0,0
$GC,5444,-0.52,-219.0,704.7,-10.6,463,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2627,3730,0,0,0,0,0,0
$GC,5753,-0.52,-219.0,737.0,-10.3,478,5757,0.00,2.15,0.00,0.000,4,0.000,0.033,2138,1200,3729,0,0,0,0,0,0
$GC,5780,-0.52,-219.0,740.2,-10.5,479,5784,0.00,2.20,0.00,0.000,6,0.000,0.039,2139,2624,3728,0,0,0,0,0,0
$GC,6097,-0.52,-219.0,771.2,-10.0,494,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2625,3727,0,0,0,0,0,0
$GC,6405,-0.52,-219.0,800.4,-9.2,509,6409,0.00,2.17,0.00,0.000,4,0.000,0.034,2138,1193,3725,0,0,0,0,0,0
$GC,6439,-0.52,-219.0,803.6,-9.1,510,6443,0.00,2.22,0.00,0.000,6,0.000,0.039,2138,2626,3725,0,0,0,0,0,0
$GC,6755,-0.52,-219.0,830.9,-9.0,525,6756,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2627,3723,0,0,0,0,0,0
$GC,7064,-0.52,-219.0,857.0,-7.9,540,7066,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2627,3722,0,0,0,0,0,0
$GC,7374,-0.52,-219.0,881.0,-7.6,555,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2627,3721,0,0,0,0,0,0
$GC,7683,-0.52,-219.0,904.5,-7.6,570,7687,0.00,2.20,0.00,0.000,4,0.000,0.035,2142,1194,3719,0,0,0,0,0,0
$GC,7738,-0.52,-219.0,909.0,-7.8,572,7742,0.00,2.22,0.00,0.000,6,0.000,0.040,2138,2619,3719,0,0,0,0,0,0
$GC,8055,-0.52,-219.0,934.2,-7.9,587,8059,0.00,2.17,0.00,0.000,4,0.000,0.034,2139,1191,3718,0,0,0,0,0,0
$GC,8095,-0.52,-219.0,937.7,-7.9,589,8099,0.00,2.20,0.00,0.000,6,0.000,0.040,2138,2604,3718,0,0,0,0,0,0
$GC,8423,-0.52,-219.0,962.7,-7.5,605,8424,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2603,3719,0,0,0,0,0,0
$GC,8731,-0.52,-219.0,986.5,-7.4,620,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2609,3712,0,0,0,0,0,0
$STATE,8791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8791,begin apogee
$GC,8798,-0.13,0.0,991.2,7.4,623,8967,0.40,0.00,162.95,1.101,4,0.103,0.000,2276,2113,2870,0,0,0,0,0,0
$STATE,8967,end apogee,CONTROL_FINISHED_OK
$STATE,8967,begin climb
$GC,8970,0.52,219.0,999.4,0.0,631,9152,0.55,0.00,175.40,1.072,6,0.047,0.000,2498,2113,1977,0,0,0,0,0,0
$GC,9469,0.52,219.0,945.7,14.1,655,9473,0.00,2.30,0.00,0.000,4,0.000,0.046,2498,3543,1975,0,0,0,0,0,0
$GC,9581,0.52,219.0,928.1,15.4,660,9585,0.00,2.15,0.00,0.000,6,0.000,0.027,2508,2143,1975,0,0,0,0,0,0
$GC,9902,0.52,219.0,882.0,13.9,676,9906,0.00,2.17,0.00,0.000,4,0.000,0.036,2518,719,1974,0,0,0,0,0,0
$GC,10013,0.52,219.0,867.0,12.5,681,10017,0.00,2.17,0.00,0.000,6,0.000,0.035,2518,2119,1974,0,0,0,0,0,0
$GC,10335,0.52,219.0,824.0,13.7,697,10339,0.00,2.22,0.00,0.000,4,0.000,0.046,2518,3544,1973,0,0,0,0,0,0
$GC,10367,0.52,219.0,818.8,15.2,698,10372,0.15,2.20,0.00,0.000,6,0.185,0.028,2492,2097,1973,0,0,0,0,0,0
$GC,10689,0.52,219.0,778.0,13.0,714,10693,0.00,2.10,0.00,0.000,4,0.000,0.038,2501,716,1972,0,0,0,0,0,0
$GC,10767,0.52,219.0,767.5,13.0,717,10774,0.00,2.15,0.00,0.000,6,0.000,0.034,2501,2111,1972,0,0,0,0,0,0
$GC,11084,0.52,219.0,723.9,13.7,733,11088,0.00,2.22,0.00,0.000,4,0.000,0.046,2501,3542,1971,0,0,0,0,0,0
$GC,11156,0.52,219.0,713.2,14.7,736,11160,0.00,2.17,0.00,0.000,6,0.000,0.028,2510,2101,1971,0,0,0,0,0,0
$GC,11478,0.52,219.0,668.7,13.7,752,11482,0.00,2.10,0.00,0.000,4,0.000,0.037,2521,711,1971,0,0,0,0,0,0
$GC,11550,0.52,219.0,659.0,12.7,755,11555,0.12,2.15,0.00,0.000,6,0.161,0.034,2489,2118,1971,0,0,0,0,0,0
$GC,11874,0.54,230.5,623.8,10.6,771,11888,0.00,2.20,9.82,0.812,4,0.000,0.046,2488,3535,1929,0,0,0,0,0,0
$GC,11935,0.54,230.5,616.5,12.0,773,11939,0.00,2.17,0.00,0.000,6,0.000,0.027,2497,2107,1928,0,0,0,0,0,0
$GC,12268,0.54,230.5,576.0,12.5,789,12269,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2107,1928,0,0,0,0,0,0
$GC,12578,0.54,230.5,536.6,12.7,804,12582,0.00,2.10,0.00,0.000,4,0.000,0.037,2508,716,1928,0,0,0,0,0,0
$GC,12610,0.54,230.5,532.2,12.3,805,12617,0.00,2.17,0.00,0.000,6,0.000,0.034,2507,2134,1928,0,0,0,0,0,0
$GC,12930,0.54,230.5,493.6,12.0,823,12934,0.00,2.17,0.00,0.000,4,0.000,0.044,2508,3542,1928,0,0,0,0,0,0
$GC,12959,0.54,230.5,489.5,12.5,825,12963,0.00,2.20,0.00,0.000,6,0.000,0.028,2517,2093,1928,0,0,0,0,0,0
$GC,13289,0.54,230.5,445.6,14.1,856,13293,0.00,2.08,0.00,0.000,4,0.000,0.037,2527,713,1928,0,0,0,0,0,0
$GC,13334,0.54,230.5,439.1,13.8,859,13341,0.12,2.12,0.00,0.000,6,0.164,0.033,2495,2107,1928,0,0,0,0,0,0
$GC,13659,0.54,233.0,400.3,10.9,890,13672,0.00,2.25,3.17,0.438,4,0.000,0.044,2495,3535,1921,0,0,0,0,0,0
$GC,13700,0.54,233.0,395.3,11.9,893,13706,0.00,2.15,0.00,0.000,6,0.000,0.027,2504,2101,1921,0,0,0,0,0,0
$GC,14025,0.55,243.5,360.0,10.6,924,14040,0.00,2.25,10.27,0.686,4,0.000,0.041,2504,3539,1875,0,0,0,0,0,0
$GC,14063,0.55,243.5,355.6,11.4,927,14070,0.00,2.20,0.00,0.000,6,0.000,0.027,2513,2095,1876,0,0,0,0,0,0
$GC,14388,0.55,243.5,316.4,11.9,958,14392,0.00,2.08,0.00,0.000,4,0.000,0.037,2524,720,1875,0,0,0,0,0,0
$GC,14496,0.55,243.5,303.9,11.3,967,14500,0.00,2.08,0.00,0.000,6,0.000,0.033,2520,2077,1875,0,0,0,0,0,0
$GC,14822,0.55,243.5,266.4,11.3,997,14827,0.00,2.25,0.00,0.000,4,0.000,0.044,2523,3536,1876,0,0,0,0,0,0
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$STATE,17320,end climb,SURFACE_DEPTH_REACHED
$STATE,17320,begin surface coast
$FINISH,0.1,1.020174
$STATE,17351,end surface coast,CONTROL_FINISHED_OK
$STATE,17351,begin surface
$SM_CCo,17428,0.00,0.000,0,0,442,595.34
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$IRIDIUM_FIX,1832.77,12027.01,220711,101028
$TT8_MAMPS,0.027713,0.027713
$HUMID,42.71
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,23.5,35.543
$10V_AH,10.0,34.728
$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,16.525,163.400,635.550,0.000,0.000,24.095,16.222,186.843,0.000,0.000,14.832,3300.645,10106.997,667.051,3346.584,369.465,0.000,2093.004,0.000,2342.041,0.000,0.540,0.000
$DEVICE_MAMPS,224.910,57.375,1100.835,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,960.572,1390.447,1458.816,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321736
$DATA_FILE_SIZE,93703,1377
$CAP_FILE_SIZE,183200,0
$CFSIZE,260165632,230211584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220711,200036,1837.595,12024.579,40,0.9,40,-2.0