version: 66.09
glider: 181
mission: 6
dive: 228
start: 7 23 111 1 20 8
data:
$ID,181
$MISSION,6
$DIVE,228
$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,-40806.297
$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,47
$R_STBD_OVSHOOT,39
$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
$GPS1,230711,011255,1839.408,12023.018,36,1.7,36,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-71.7
$GPS2,230711,011944,1839.487,12022.919,14,1.0,14,-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,315.4,55262,-15.3,-11.000
$D_GRID,3102
$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,-219.0,0.0,0.0,0,83,0.00,0.00,-64.28,0.000,2,0.000,0.000,200,2612,2305,0,0,0,0,0,0
$GC,86,-0.52,-219.0,3.5,-4.3,9,132,7.85,1.85,-28.50,0.000,4,0.225,0.059,2130,3775,3765,0,0,0,0,0,0
$GC,274,-0.52,-219.0,93.9,-41.1,42,283,0.00,1.77,0.00,0.000,6,0.000,0.024,2130,2589,3766,0,0,0,0,0,0
$GC,409,-0.52,-219.0,132.0,-25.1,67,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2586,3767,0,0,0,0,0,0
$GC,543,-0.52,-219.0,165.1,-22.6,92,551,0.00,2.08,0.00,0.000,4,0.000,0.028,2130,1199,3768,0,0,0,0,0,0
$GC,576,-0.52,-219.0,171.1,-18.2,97,584,0.00,2.25,0.00,0.000,6,0.000,0.035,2125,2638,3768,0,0,0,0,0,0
$GC,711,-0.52,-219.0,193.1,-15.5,122,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2638,3768,0,0,0,0,0,0
$GC,846,-0.52,-219.0,217.6,-19.0,138,850,0.00,1.75,0.00,0.000,4,0.000,0.045,2124,3788,3768,0,0,0,0,0,0
$GC,883,-0.52,-219.0,224.7,-18.0,141,890,0.00,1.70,0.00,0.000,6,0.000,0.024,2124,2651,3769,0,0,0,0,0,0
$GC,1209,-0.52,-219.0,284.0,-16.2,172,1213,0.00,2.12,0.00,0.000,4,0.000,0.028,2124,1194,3768,0,0,0,0,0,0
$GC,1250,-0.52,-219.0,289.6,-14.3,175,1254,0.00,2.22,0.00,0.000,6,0.000,0.035,2124,2649,3768,0,0,0,0,0,0
$GC,1575,-0.52,-219.0,336.0,-14.0,205,1578,0.00,1.70,0.00,0.000,4,0.000,0.044,2116,3775,3765,0,0,0,0,0,0
$GC,1602,-0.52,-219.0,340.1,-14.2,207,1610,0.08,1.70,0.00,0.000,6,0.125,0.024,2143,2638,3765,0,0,0,0,0,0
$GC,1927,-0.52,-219.0,379.8,-13.2,238,1931,0.00,2.10,0.00,0.000,4,0.000,0.028,2143,1200,3759,0,0,0,0,0,0
$GC,1956,-0.52,-219.0,383.5,-12.9,240,1960,0.00,2.20,0.00,0.000,6,0.000,0.034,2139,2646,3762,0,0,0,0,0,0
$GC,2282,-0.52,-219.0,427.1,-12.4,270,2286,0.00,1.77,0.00,0.000,4,0.000,0.047,2138,3780,3758,0,0,0,0,0,0
$GC,2309,-0.52,-219.0,430.5,-11.7,272,2316,0.00,1.70,0.00,0.000,6,0.000,0.024,2138,2643,3757,0,0,0,0,0,0
$GC,2635,-0.52,-219.0,465.6,-10.7,303,2639,0.00,2.12,0.00,0.000,4,0.000,0.029,2138,1196,3754,0,0,0,0,0,0
$GC,2691,-0.52,-219.0,471.3,-9.0,307,2698,0.00,2.20,0.00,0.000,6,0.000,0.035,2138,2632,3760,0,0,0,0,0,0
$GC,3017,-0.52,-219.0,504.8,-11.1,336,3021,0.00,2.12,0.00,0.000,4,0.000,0.030,2138,1205,3750,0,0,0,0,0,0
$GC,3044,-0.52,-219.0,508.0,-11.5,337,3048,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2615,3750,0,0,0,0,0,0
$GC,3360,-0.52,-219.0,539.7,-10.0,352,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2616,3748,0,0,0,0,0,0
$GC,3670,-0.52,-219.0,573.3,-10.4,367,3673,0.00,1.80,0.00,0.000,4,0.000,0.048,2138,3789,3744,0,0,0,0,0,0
$GC,3697,-0.52,-219.0,576.2,-10.5,368,3701,0.00,1.73,0.00,0.000,6,0.000,0.026,2138,2608,3744,0,0,0,0,0,0
$GC,4025,-0.52,-219.0,610.7,-10.7,384,4029,0.00,2.10,0.00,0.000,4,0.000,0.031,2138,1195,3742,0,0,0,0,0,0
$GC,4085,-0.52,-219.0,616.8,-9.2,386,4092,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2598,3741,0,0,0,0,0,0
$GC,4402,-0.52,-219.0,647.3,-10.0,402,4406,0.00,1.83,0.00,0.000,4,0.000,0.048,2138,3779,3739,0,0,0,0,0,0
$GC,4435,-0.52,-219.0,650.8,-10.0,403,4439,0.00,1.75,0.00,0.000,6,0.000,0.025,2138,2581,3739,0,0,0,0,0,0
$GC,4758,-0.52,-219.0,680.8,-9.7,419,4762,0.00,2.05,0.00,0.000,4,0.000,0.031,2138,1200,3736,0,0,0,0,0,0
$GC,4785,-0.52,-219.0,683.6,-9.6,420,4789,0.00,2.15,0.00,0.000,6,0.000,0.038,2138,2593,3736,0,0,0,0,0,0
$GC,5112,-0.52,-219.0,715.1,-9.5,436,5116,0.00,1.85,0.00,0.000,4,0.000,0.049,2138,3790,3734,0,0,0,0,0,0
$GC,5168,-0.52,-219.0,719.9,-7.9,438,5172,0.00,1.77,0.00,0.000,6,0.000,0.026,2138,2594,3733,0,0,0,0,0,0
$GC,5489,-0.52,-219.0,747.5,-8.4,454,5493,0.00,2.05,0.00,0.000,4,0.000,0.031,2138,1209,3731,0,0,0,0,0,0
$GC,5536,-0.52,-219.0,751.2,-8.0,456,5540,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2614,3730,0,0,0,0,0,0
$GC,5868,-0.52,-219.0,774.0,-6.6,472,5872,0.00,1.80,0.00,0.000,4,0.000,0.048,2138,3780,3729,0,0,0,0,0,0
$GC,5901,-0.52,-219.0,776.3,-6.3,473,5905,0.00,1.73,0.00,0.000,6,0.000,0.026,2143,2609,3729,0,0,0,0,0,0
$GC,6224,-0.52,-219.0,796.9,-7.2,489,6228,0.00,2.10,0.00,0.000,4,0.000,0.031,2138,1206,3727,0,0,0,0,0,0
$GC,6274,-0.52,-219.0,800.9,-7.5,491,6278,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2596,3726,0,0,0,0,0,0
$GC,6602,-0.52,-219.0,829.6,-9.0,507,6604,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2596,3725,0,0,0,0,0,0
$GC,6911,-0.52,-219.0,855.2,-8.0,522,6912,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2596,3723,0,0,0,0,0,0
$GC,7221,-0.52,-219.0,878.8,-7.6,537,7224,0.00,2.10,0.00,0.000,4,0.000,0.031,2138,1202,3722,0,0,0,0,0,0
$GC,7253,-0.52,-219.0,881.4,-7.7,538,7261,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2594,3722,0,0,0,0,0,0
$GC,7570,-0.52,-219.0,904.6,-7.4,554,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2595,3721,0,0,0,0,0,0
$GC,7879,-0.52,-219.0,928.4,-7.9,569,7883,0.00,2.10,0.00,0.000,4,0.000,0.031,2137,1202,3720,0,0,0,0,0,0
$GC,7912,-0.52,-219.0,931.1,-8.0,570,7919,0.00,2.17,0.00,0.000,6,0.000,0.038,2138,2593,3719,0,0,0,0,0,0
$GC,8228,-0.52,-219.0,955.5,-7.8,586,8229,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2593,3719,0,0,0,0,0,0
$GC,8538,-0.52,-219.0,979.9,-7.8,601,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2593,3717,0,0,0,0,0,0
$STATE,8679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8679,begin apogee
$GC,8686,-0.13,0.0,990.5,7.4,608,8855,0.40,0.00,163.45,1.101,4,0.102,0.000,2276,2107,2869,0,0,0,0,0,0
$STATE,8856,end apogee,CONTROL_FINISHED_OK
$STATE,8856,begin climb
$GC,8859,0.52,219.0,998.8,0.0,616,9049,0.62,2.42,175.98,1.072,4,0.060,0.043,2505,3549,1975,0,0,0,0,0,0
$GC,9074,0.52,219.0,983.4,15.3,626,9079,0.00,2.28,0.00,0.000,6,0.000,0.027,2512,2147,1975,0,0,0,0,0,0
$GC,9401,0.52,219.0,932.1,15.6,642,9405,0.00,2.22,0.00,0.000,4,0.000,0.042,2513,3541,1973,0,0,0,0,0,0
$GC,9565,0.52,219.0,905.0,16.4,649,9570,0.12,2.17,0.00,0.000,6,0.190,0.027,2494,2122,1972,0,0,0,0,0,0
$GC,9887,0.52,219.0,860.7,13.1,665,9891,0.00,2.15,0.00,0.000,4,0.000,0.037,2504,716,1972,0,0,0,0,0,0
$GC,9910,0.52,219.0,857.7,13.1,666,9914,0.00,2.20,0.00,0.000,6,0.000,0.033,2504,2140,1971,0,0,0,0,0,0
$GC,10237,0.52,219.0,814.9,12.8,682,10238,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2140,1971,0,0,0,0,0,0
$GC,10546,0.52,219.0,777.2,12.1,697,10547,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2141,1973,0,0,0,0,0,0
$GC,10855,0.52,219.0,739.6,12.4,712,10856,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2141,1970,0,0,0,0,0,0
$GC,11164,0.52,219.0,697.3,14.2,727,11168,0.00,2.15,0.00,0.000,4,0.000,0.044,2504,3536,1970,0,0,0,0,0,0
$GC,11187,0.52,219.0,693.9,14.6,728,11191,0.00,2.15,0.00,0.000,6,0.000,0.028,2513,2110,1970,0,0,0,0,0,0
$GC,11509,0.52,219.0,644.3,15.3,744,11513,0.00,2.10,0.00,0.000,4,0.000,0.036,2523,716,1969,0,0,0,0,0,0
$GC,11553,0.52,219.0,637.4,14.5,746,11558,0.12,2.15,0.00,0.000,6,0.167,0.032,2492,2122,1969,0,0,0,0,0,0
$GC,11881,0.52,219.0,594.7,12.8,762,11882,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2123,1969,0,0,0,0,0,0
$GC,12189,0.52,219.0,556.9,11.9,777,12193,0.00,2.17,0.00,0.000,4,0.000,0.044,2492,3535,1969,0,0,0,0,0,0
$GC,12245,0.52,219.0,549.4,13.1,779,12252,0.00,2.15,0.00,0.000,6,0.000,0.026,2500,2106,1969,0,0,0,0,0,0
$GC,12562,0.52,219.0,510.9,11.8,795,12566,0.00,2.10,0.00,0.000,4,0.000,0.038,2511,722,1969,0,0,0,0,0,0
$GC,12607,0.52,219.0,505.7,11.0,797,12611,0.00,2.12,0.00,0.000,6,0.000,0.034,2510,2099,1967,0,0,0,0,0,0
$GC,12938,0.52,219.0,468.8,11.4,825,12942,0.00,2.10,0.00,0.000,4,0.000,0.036,2520,719,1970,0,0,0,0,0,0
$GC,13015,0.54,233.3,460.2,10.5,831,13034,0.00,2.10,11.73,0.739,6,0.000,0.033,2520,2093,1916,0,0,0,0,0,0
$GC,13352,0.54,233.3,418.1,13.1,863,13356,0.00,2.22,0.00,0.000,4,0.000,0.044,2519,3535,1916,0,0,0,0,0,0
$GC,13382,0.54,233.3,414.1,13.8,865,13387,0.12,2.20,0.00,0.000,6,0.175,0.027,2499,2076,1916,0,0,0,0,0,0
$GC,13708,0.57,256.0,378.3,10.2,895,13732,0.00,2.15,17.67,0.699,4,0.000,0.037,2508,712,1826,0,0,0,0,0,0
$GC,13767,0.61,292.0,372.3,9.8,900,13802,0.00,2.10,27.95,0.673,6,0.000,0.031,2508,2081,1677,0,0,0,0,0,0
$GC,14119,0.63,305.2,334.4,10.6,933,14136,0.00,2.30,11.60,0.646,4,0.000,0.043,2508,3544,1623,0,0,0,0,0,0
$GC,14240,0.63,305.2,320.3,11.9,943,14244,0.00,2.22,0.00,0.000,6,0.000,0.028,2517,2091,1624,0,0,0,0,0,0
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$STATE,17151,end climb,SURFACE_DEPTH_REACHED
$STATE,17151,begin surface coast
$FINISH,0.1,1.010721
$STATE,17180,end surface coast,CONTROL_FINISHED_OK
$STATE,17180,begin surface
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$IRIDIUM_FIX,1830.49,12027.01,220711,202045
$TT8_MAMPS,0.027713,0.027713
$HUMID,41.69
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.20
$XPDR_PINGS,1
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$10V_AH,10.0,35.036
$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
$DEVICE_SECS,16.600,173.200,631.000,0.000,0.000,22.986,28.188,197.725,0.250,0.000,17.219,3278.784,9940.517,690.444,3368.601,368.974,0.000,2116.609,0.000,2317.823,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321728
$DATA_FILE_SIZE,93880,1370
$CAP_FILE_SIZE,184178,0
$CFSIZE,260165632,230010880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230711,060906,1840.823,12021.302,37,1.1,43,-2.0