version: 66.09
glider: 181
mission: 6
dive: 240
start: 7 25 111 13 21 3
data:
$ID,181
$MISSION,6
$DIVE,240
$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,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,-40821.387
$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,31
$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
$GPS1,250711,131336,1856.957,12004.809,34,0.9,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-66.8
$GPS2,250711,132038,1857.012,12004.753,11,1.2,11,-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,305.6,9994,-15.3,-11.000
$D_GRID,2836
$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,-64.05,0.000,2,0.000,0.000,206,2597,2277,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.2,-3.8,9,131,7.95,1.85,-30.17,0.000,4,0.230,0.059,2131,3783,3762,0,0,0,0,0,0
$GC,180,-0.52,-219.0,41.8,-52.0,24,189,0.00,1.83,0.00,0.000,6,0.000,0.024,2131,2581,3764,0,0,0,0,0,0
$GC,315,-0.52,-219.0,88.6,-31.7,49,323,0.00,2.08,0.00,0.000,4,0.000,0.026,2131,1190,3764,0,0,0,0,0,0
$GC,403,-0.52,-219.0,108.2,-16.3,65,411,0.00,2.15,0.00,0.000,6,0.000,0.037,2124,2558,3765,0,0,0,0,0,0
$GC,537,-0.52,-219.0,135.3,-20.5,90,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2558,3765,0,0,0,0,0,0
$GC,670,-0.52,-219.0,160.8,-20.5,115,678,0.00,1.92,0.00,0.000,4,0.000,0.044,2121,3786,3766,0,0,0,0,0,0
$GC,747,-0.52,-219.0,172.5,-12.5,129,756,0.08,1.88,0.00,0.000,6,0.126,0.024,2146,2522,3766,0,0,0,0,0,0
$GC,884,-0.52,-219.0,190.4,-15.2,154,892,0.00,1.98,0.00,0.000,4,0.000,0.028,2145,1196,3766,0,0,0,0,0,0
$GC,906,-0.52,-219.0,193.8,-15.0,157,914,0.00,2.08,0.00,0.000,6,0.000,0.035,2138,2529,3768,0,0,0,0,0,0
$GC,1042,-0.52,-219.0,210.3,-11.7,174,1045,0.00,1.92,0.00,0.000,4,0.000,0.044,2137,3791,3764,0,0,0,0,0,0
$GC,1099,-0.52,-219.0,216.7,-11.2,179,1103,0.00,1.83,0.00,0.000,6,0.000,0.024,2138,2526,3766,0,0,0,0,0,0
$GC,1430,-0.52,-219.0,260.7,-13.0,210,1434,0.00,1.92,0.00,0.000,4,0.000,0.028,2139,1199,3764,0,0,0,0,0,0
$GC,1465,-0.52,-219.0,265.1,-12.8,213,1469,0.00,2.08,0.00,0.000,6,0.000,0.034,2138,2564,3764,0,0,0,0,0,0
$GC,1790,-0.52,-219.0,306.7,-13.5,243,1794,0.00,1.85,0.00,0.000,4,0.000,0.045,2137,3778,3761,0,0,0,0,0,0
$GC,1859,-0.52,-219.0,314.6,-10.6,249,1863,0.00,1.80,0.00,0.000,6,0.000,0.025,2138,2534,3761,0,0,0,0,0,0
$GC,2190,-0.52,-219.0,358.0,-13.8,280,2193,0.00,1.92,0.00,0.000,4,0.000,0.044,2138,3777,3757,0,0,0,0,0,0
$GC,2224,-0.52,-219.0,362.4,-12.7,283,2228,0.00,1.77,0.00,0.000,6,0.000,0.025,2135,2552,3757,0,0,0,0,0,0
$GC,2555,-0.52,-219.0,402.9,-12.7,314,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2550,3754,0,0,0,0,0,0
$GC,2875,-0.52,-219.0,440.4,-11.6,344,2879,0.00,1.90,0.00,0.000,4,0.000,0.046,2139,3777,3751,0,0,0,0,0,0
$GC,2902,-0.52,-219.0,443.9,-11.7,346,2909,0.00,1.77,0.00,0.000,6,0.000,0.026,2137,2592,3751,0,0,0,0,0,0
$GC,3228,-0.52,-219.0,478.5,-10.4,377,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2591,3748,0,0,0,0,0,0
$GC,3554,-0.52,-219.0,515.1,-12.3,402,3557,0.00,1.85,0.00,0.000,4,0.000,0.046,2138,3780,3743,0,0,0,0,0,0
$GC,3586,-0.52,-219.0,519.1,-11.3,403,3590,0.00,1.80,0.00,0.000,6,0.000,0.026,2138,2585,3745,0,0,0,0,0,0
$GC,3908,-0.52,-219.0,556.0,-11.8,419,3912,0.00,2.05,0.00,0.000,4,0.000,0.031,2138,1203,3742,0,0,0,0,0,0
$GC,3955,-0.52,-219.0,560.6,-10.2,421,3959,0.00,2.15,0.00,0.000,6,0.000,0.036,2138,2596,3743,0,0,0,0,0,0
$GC,4283,-0.52,-219.0,591.5,-9.1,437,4286,0.00,1.83,0.00,0.000,4,0.000,0.047,2138,3784,3740,0,0,0,0,0,0
$GC,4317,-0.52,-219.0,594.6,-8.7,438,4321,0.00,1.75,0.00,0.000,6,0.000,0.027,2138,2592,3737,0,0,0,0,0,0
$GC,4640,-0.52,-219.0,622.3,-9.0,454,4643,0.00,2.05,0.00,0.000,4,0.000,0.031,2138,1210,3737,0,0,0,0,0,0
$GC,4667,-0.52,-219.0,624.9,-8.8,455,4671,0.00,2.15,0.00,0.000,6,0.000,0.036,2137,2604,3737,0,0,0,0,0,0
$GC,4995,-0.52,-219.0,655.8,-10.2,471,4999,0.00,1.85,0.00,0.000,4,0.000,0.048,2137,3776,3734,0,0,0,0,0,0
$GC,5045,-0.52,-219.0,661.0,-9.6,473,5049,0.00,1.73,0.00,0.000,6,0.000,0.028,2138,2608,3733,0,0,0,0,0,0
$GC,5372,-0.52,-219.0,693.1,-9.8,489,5376,0.00,2.10,0.00,0.000,4,0.000,0.032,2138,1196,3731,0,0,0,0,0,0
$GC,5417,-0.52,-219.0,697.3,-9.1,491,5421,0.00,2.17,0.00,0.000,6,0.000,0.037,2137,2608,3732,0,0,0,0,0,0
$GC,5739,-0.52,-219.0,724.1,-8.3,507,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2608,3730,0,0,0,0,0,0
$GC,6048,-0.52,-219.0,751.1,-8.7,522,6052,0.00,1.83,0.00,0.000,4,0.000,0.050,2138,3787,3728,0,0,0,0,0,0
$GC,6076,-0.52,-219.0,753.5,-8.8,523,6080,0.00,1.80,0.00,0.000,6,0.000,0.028,2143,2604,3728,0,0,0,0,0,0
$GC,6404,-0.52,-219.0,781.5,-8.6,539,6408,0.00,2.10,0.00,0.000,4,0.000,0.033,2137,1197,3726,0,0,0,0,0,0
$GC,6445,-0.52,-219.0,785.1,-9.0,541,6449,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2602,3727,0,0,0,0,0,0
$GC,6772,-0.52,-219.0,812.9,-8.4,557,6776,0.00,1.88,0.00,0.000,4,0.000,0.050,2138,3780,3724,0,0,0,0,0,0
$GC,6799,-0.52,-219.0,815.4,-8.4,558,6803,0.00,1.77,0.00,0.000,6,0.000,0.028,2138,2575,3724,0,0,0,0,0,0
$GC,7127,-0.52,-219.0,841.9,-8.1,574,7131,0.00,2.05,0.00,0.000,4,0.000,0.033,2138,1207,3722,0,0,0,0,0,0
$GC,7173,-0.52,-219.0,845.6,-7.8,576,7177,0.00,2.17,0.00,0.000,6,0.000,0.038,2138,2604,3722,0,0,0,0,0,0
$GC,7501,-0.52,-219.0,871.2,-7.7,592,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2604,3720,0,0,0,0,0,0
$GC,7810,-0.52,-219.0,894.4,-7.4,607,7814,0.00,2.15,0.00,0.000,4,0.000,0.034,2138,1200,3719,0,0,0,0,0,0
$GC,7834,-0.52,-219.0,896.3,-7.2,608,7838,0.00,2.17,0.00,0.000,6,0.000,0.040,2138,2595,3719,0,0,0,0,0,0
$GC,8161,-0.52,-219.0,919.0,-6.7,624,8165,0.00,1.85,0.00,0.000,4,0.000,0.050,2137,3782,3718,0,0,0,0,0,0
$GC,8188,-0.52,-219.0,921.1,-6.8,625,8193,0.00,1.83,0.00,0.000,6,0.000,0.028,2137,2583,3717,0,0,0,0,0,0
$GC,8516,-0.52,-219.0,943.9,-7.2,641,8520,0.00,2.08,0.00,0.000,4,0.000,0.034,2138,1199,3716,0,0,0,0,0,0
$GC,8549,-0.52,-219.0,946.5,-7.8,642,8556,0.00,2.20,0.00,0.000,6,0.000,0.039,2138,2600,3718,0,0,0,0,0,0
$GC,8865,-0.52,-219.0,970.1,-7.9,658,8869,0.00,2.12,0.00,0.000,4,0.000,0.034,2138,1204,3714,0,0,0,0,0,0
$GC,8887,-0.52,-219.0,971.7,-8.0,659,8891,0.00,2.15,0.00,0.000,6,0.000,0.039,2138,2587,3714,0,0,0,0,0,0
$STATE,9150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9150,begin apogee
$GC,9157,-0.13,0.0,990.5,7.2,672,9326,0.40,0.00,163.43,1.091,4,0.102,0.000,2275,2112,2869,0,0,0,0,0,0
$STATE,9327,end apogee,CONTROL_FINISHED_OK
$STATE,9327,begin climb
$GC,9330,0.52,219.0,998.0,0.0,680,9514,0.60,2.40,176.00,1.067,4,0.055,0.044,2498,3541,1976,0,0,0,0,0,0
$GC,9520,0.52,219.0,986.7,13.6,688,9525,0.00,2.30,0.00,0.000,6,0.000,0.028,2508,2153,1975,0,0,0,0,0,0
$GC,9842,0.52,219.0,939.3,14.7,704,9846,0.00,2.25,0.00,0.000,4,0.000,0.037,2520,705,1973,0,0,0,0,0,0
$GC,9942,0.52,219.0,924.8,14.2,708,9950,0.12,2.22,0.00,0.000,6,0.166,0.034,2489,2119,1973,0,0,0,0,0,0
$GC,10258,0.52,219.0,885.6,12.2,724,10262,0.00,2.22,0.00,0.000,4,0.000,0.045,2489,3541,1972,0,0,0,0,0,0
$GC,10312,0.52,219.0,878.0,14.1,726,10320,0.00,2.22,0.00,0.000,6,0.000,0.029,2497,2113,1972,0,0,0,0,0,0
$GC,10629,0.52,219.0,837.5,12.6,742,10633,0.00,2.15,0.00,0.000,4,0.000,0.039,2508,716,1972,0,0,0,0,0,0
$GC,10720,0.52,219.0,826.1,12.1,746,10724,0.00,2.12,0.00,0.000,6,0.000,0.034,2508,2096,1972,0,0,0,0,0,0
$GC,11053,0.52,219.0,782.3,12.9,762,11057,0.00,2.25,0.00,0.000,4,0.000,0.044,2508,3543,1971,0,0,0,0,0,0
$GC,11107,0.52,219.0,774.5,14.0,764,11115,0.05,2.22,0.00,0.000,6,0.155,0.028,2493,2108,1971,0,0,0,0,0,0
$GC,11424,0.52,219.0,738.2,11.4,780,11428,0.00,2.12,0.00,0.000,4,0.000,0.039,2502,711,1970,0,0,0,0,0,0
$GC,11445,0.52,219.0,735.6,11.5,781,11449,0.00,2.15,0.00,0.000,6,0.000,0.032,2502,2116,1967,0,0,0,0,0,0
$GC,11773,0.52,219.0,691.7,14.1,797,11777,0.00,2.20,0.00,0.000,4,0.000,0.044,2502,3536,1970,0,0,0,0,0,0
$GC,11800,0.52,219.0,687.3,14.8,798,11804,0.00,2.15,0.00,0.000,6,0.000,0.028,2511,2112,1970,0,0,0,0,0,0
$GC,12116,0.52,219.0,640.0,14.7,813,12120,0.00,2.12,0.00,0.000,4,0.000,0.037,2518,713,1970,0,0,0,0,0,0
$GC,12160,0.52,219.0,633.5,14.1,815,12165,0.12,2.15,0.00,0.000,6,0.161,0.032,2489,2117,1970,0,0,0,0,0,0
$GC,12488,0.52,219.0,594.2,11.6,831,12492,0.00,2.20,0.00,0.000,4,0.000,0.044,2489,3539,1969,0,0,0,0,0,0
$GC,12587,0.52,219.0,581.1,12.9,835,12594,0.00,2.15,0.00,0.000,6,0.000,0.028,2497,2117,1970,0,0,0,0,0,0
$GC,12904,0.52,219.0,540.8,12.9,851,12908,0.00,2.12,0.00,0.000,4,0.000,0.037,2508,713,1969,0,0,0,0,0,0
$GC,12967,0.52,219.0,533.1,12.2,854,12971,0.00,2.12,0.00,0.000,6,0.000,0.033,2508,2107,1970,0,0,0,0,0,0
$GC,13285,0.52,219.0,494.0,12.0,871,13289,0.00,2.22,0.00,0.000,4,0.000,0.044,2508,3536,1970,0,0,0,0,0,0
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$STATE,17507,end climb,SURFACE_DEPTH_REACHED
$STATE,17508,begin surface coast
$FINISH,0.7,1.020491
$STATE,17524,end surface coast,CONTROL_FINISHED_OK
$STATE,17525,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,43.22
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.70
$XPDR_PINGS,1
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$10V_AH,9.9,36.901
$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
$DEVICE_SECS,16.875,195.850,627.150,0.000,0.000,22.087,47.833,199.134,0.250,0.000,13.983,3384.968,10042.954,699.963,3502.627,377.065,0.000,2181.267,0.000,2435.114,0.000,0.541,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322848
$DATA_FILE_SIZE,97014,1399
$CAP_FILE_SIZE,193580,0
$CFSIZE,260165632,228782080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250711,181536,1858.310,12002.172,32,1.3,32,-2.0