version: 66.09
glider: 181
mission: 6
dive: 267
start: 7 31 111 4 5 38
data:
$ID,181
$MISSION,6
$DIVE,267
$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,280
$T_MISSION,320
$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,250
$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,-40855.34
$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
$GPS1,310711,035831,2000.518,11953.396,39,1.3,40,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-71.4
$GPS2,310711,040514,2000.653,11953.378,11,1.3,11,-2.2
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,WS
$TGT_LATLONG,2030.000,12000.000
$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,14.1,55551,-15.4,-11.786
$D_GRID,3490
$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,-0.56,-243.3,0.0,0.0,0,89,0.00,0.00,-70.80,0.000,2,0.000,0.000,195,2626,2417,0,0,0,0,0,0
$GC,92,-0.56,-243.3,3.1,-3.1,10,138,7.95,1.85,-30.50,0.000,4,0.228,0.057,2121,3779,3863,0,0,0,0,0,0
$GC,224,-0.56,-243.3,50.2,-29.8,32,232,0.00,1.80,0.00,0.000,6,0.000,0.023,2120,2577,3864,0,0,0,0,0,0
$GC,358,-0.56,-243.3,96.7,-32.6,57,366,0.00,1.90,0.00,0.000,4,0.000,0.044,2112,3768,3863,0,0,0,0,0,0
$GC,456,-0.56,-243.3,137.0,-36.8,75,465,0.00,1.62,0.00,0.000,6,0.000,0.022,2111,2680,3863,0,0,0,0,0,0
$GC,591,-0.56,-243.3,179.5,-27.1,100,599,0.00,1.73,0.00,0.000,4,0.000,0.042,2103,3772,3863,0,0,0,0,0,0
$GC,628,-0.56,-243.3,190.5,-29.9,106,636,0.10,1.55,0.00,0.000,6,0.145,0.023,2134,2743,3865,0,0,0,0,0,0
$GC,770,-0.56,-243.3,212.2,-13.2,124,774,0.00,2.25,0.00,0.000,4,0.000,0.026,2135,1200,3865,0,0,0,0,0,0
$GC,813,-0.56,-243.3,217.9,-12.0,127,820,0.00,2.25,0.00,0.000,6,0.000,0.031,2127,2686,3866,0,0,0,0,0,0
$GC,1142,-0.56,-243.3,272.6,-17.5,158,1146,0.00,1.65,0.00,0.000,4,0.000,0.043,2125,3784,3866,0,0,0,0,0,0
$GC,1191,-0.56,-243.3,280.3,-13.4,162,1199,0.00,1.60,0.00,0.000,6,0.000,0.023,2125,2696,3864,0,0,0,0,0,0
$GC,1516,-0.56,-243.3,332.3,-17.1,193,1520,0.00,2.17,0.00,0.000,4,0.000,0.027,2125,1205,3863,0,0,0,0,0,0
$GC,1579,-0.56,-243.3,341.7,-13.4,198,1583,0.00,2.22,0.00,0.000,6,0.000,0.033,2125,2676,3863,0,0,0,0,0,0
$GC,1904,-0.56,-243.3,386.4,-11.8,228,1908,0.00,1.67,0.00,0.000,4,0.000,0.044,2124,3782,3859,0,0,0,0,0,0
$GC,1928,-0.56,-243.3,388.9,-10.9,230,1932,0.00,1.65,0.00,0.000,6,0.000,0.024,2124,2644,3860,0,0,0,0,0,0
$GC,2260,-0.56,-243.3,419.3,-8.9,261,2264,0.00,2.12,0.00,0.000,4,0.000,0.028,2124,1196,3857,0,0,0,0,0,0
$GC,2300,-0.56,-243.3,422.7,-8.2,264,2304,0.00,2.28,0.00,0.000,6,0.000,0.034,2124,2673,3856,0,0,0,0,0,0
$GC,2626,-0.56,-243.3,456.2,-13.1,294,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2673,3853,0,0,0,0,0,0
$GC,2957,-0.56,-243.3,504.1,-14.5,324,2960,0.00,1.67,0.00,0.000,4,0.000,0.047,2124,3771,3850,0,0,0,0,0,0
$GC,2984,-0.56,-243.3,508.4,-13.6,325,2988,0.00,1.65,0.00,0.000,6,0.000,0.024,2124,2677,3849,0,0,0,0,0,0
$GC,3311,-0.56,-243.3,550.5,-12.6,341,3315,0.00,2.17,0.00,0.000,4,0.000,0.030,2124,1206,3846,0,0,0,0,0,0
$GC,3384,-0.56,-243.3,558.6,-9.5,344,3388,0.00,2.20,0.00,0.000,6,0.000,0.034,2117,2653,3845,0,0,0,0,0,0
$GC,3706,-0.56,-243.3,591.5,-9.3,360,3710,0.00,1.73,0.00,0.000,4,0.000,0.047,2112,3776,3842,0,0,0,0,0,0
$GC,3734,-0.56,-243.3,593.8,-8.6,361,3737,0.00,1.65,0.00,0.000,6,0.000,0.025,2112,2655,3842,0,0,0,0,0,0
$GC,4061,-0.56,-243.3,621.8,-9.3,377,4065,0.00,2.15,0.00,0.000,4,0.000,0.030,2112,1202,3838,0,0,0,0,0,0
$GC,4134,-0.56,-243.3,627.7,-7.2,380,4138,0.00,2.20,0.00,0.000,6,0.000,0.036,2112,2635,3837,0,0,0,0,0,0
$GC,4450,-0.56,-243.3,662.0,-12.6,395,4454,0.00,1.77,0.00,0.000,4,0.000,0.049,2112,3783,3835,0,0,0,0,0,0
$GC,4489,-0.56,-243.3,667.4,-13.5,396,4496,0.00,1.73,0.00,0.000,6,0.000,0.025,2112,2643,3835,0,0,0,0,0,0
$GC,4805,-0.56,-243.3,713.7,-15.8,412,4809,0.00,2.17,0.00,0.000,4,0.000,0.031,2113,1194,3832,0,0,0,0,0,0
$GC,4861,-0.56,-243.3,722.2,-13.9,414,4865,0.00,2.22,0.00,0.000,6,0.000,0.037,2111,2633,3831,0,0,0,0,0,0
$GC,5183,-0.56,-243.3,773.1,-16.4,430,5187,0.00,1.77,0.00,0.000,4,0.000,0.050,2112,3775,3830,0,0,0,0,0,0
$GC,5233,-0.56,-243.3,780.8,-13.6,432,5237,0.00,1.73,0.00,0.000,6,0.000,0.026,2111,2644,3830,0,0,0,0,0,0
$GC,5560,-0.56,-243.3,823.2,-12.2,448,5564,0.00,2.17,0.00,0.000,4,0.000,0.031,2111,1186,3827,0,0,0,0,0,0
$GC,5610,-0.56,-243.3,828.2,-9.5,450,5614,0.00,2.25,0.00,0.000,6,0.000,0.037,2111,2640,3826,0,0,0,0,0,0
$GC,5926,-0.56,-243.3,855.5,-8.6,465,5930,0.00,1.77,0.00,0.000,4,0.000,0.050,2111,3784,3825,0,0,0,0,0,0
$GC,5950,-0.56,-243.3,857.5,-8.4,466,5954,0.00,1.73,0.00,0.000,6,0.000,0.026,2111,2615,3824,0,0,0,0,0,0
$GC,6283,-0.56,-243.3,886.4,-9.6,482,6287,0.00,2.10,0.00,0.000,4,0.000,0.031,2112,1205,3823,0,0,0,0,0,0
$GC,6327,-0.56,-243.3,890.5,-9.1,484,6332,0.10,2.20,0.00,0.000,6,0.159,0.037,2139,2632,3822,0,0,0,0,0,0
$GC,6650,-0.56,-243.3,911.8,-7.1,500,6654,0.00,2.17,0.00,0.000,4,0.000,0.031,2139,1194,3821,0,0,0,0,0,0
$GC,6679,-0.56,-243.3,914.0,-7.2,501,6684,0.00,2.22,0.00,0.000,6,0.000,0.036,2139,2633,3821,0,0,0,0,0,0
$GC,6996,-0.56,-243.3,934.4,-6.3,516,7000,0.00,2.17,0.00,0.000,4,0.000,0.032,2139,1203,3819,0,0,0,0,0,0
$GC,7023,-0.56,-243.3,936.3,-6.2,517,7027,0.00,2.20,0.00,0.000,6,0.000,0.037,2139,2622,3819,0,0,0,0,0,0
$GC,7339,-0.56,-243.3,954.3,-5.5,532,7341,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2623,3817,0,0,0,0,0,0
$GC,7649,-0.56,-243.3,971.2,-6.1,547,7653,0.00,2.15,0.00,0.000,4,0.000,0.032,2139,1206,3816,0,0,0,0,0,0
$GC,7690,-0.56,-243.3,973.8,-6.2,549,7694,0.00,2.17,0.00,0.000,6,0.000,0.037,2139,2605,3816,0,0,0,0,0,0
$STATE,7911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7911,begin apogee
$GC,7918,-0.13,0.0,990.3,8.0,560,8108,0.35,0.00,183.18,1.092,4,0.057,0.000,2293,2118,2869,0,0,0,0,0,0
$STATE,8108,end apogee,CONTROL_FINISHED_OK
$STATE,8109,begin climb
$GC,8111,0.56,243.3,1001.1,0.0,569,8321,0.57,2.38,196.55,1.064,4,0.047,0.043,2511,3538,1877,0,0,0,0,0,0
$GC,8345,0.56,243.3,980.9,16.0,580,8349,0.00,2.30,0.00,0.000,6,0.000,0.028,2521,2132,1877,0,0,0,0,0,0
$GC,8672,0.56,243.3,925.4,17.5,596,8676,0.00,2.22,0.00,0.000,4,0.000,0.037,2532,706,1875,0,0,0,0,0,0
$GC,8743,0.56,243.3,912.8,16.8,599,8748,0.12,2.20,0.00,0.000,6,0.170,0.034,2501,2118,1875,0,0,0,0,0,0
$GC,9071,0.56,243.3,862.3,15.6,615,9075,0.00,2.22,0.00,0.000,4,0.000,0.044,2501,3547,1874,0,0,0,0,0,0
$GC,9170,0.56,243.3,844.8,17.4,619,9178,0.00,2.17,0.00,0.000,6,0.000,0.027,2509,2116,1873,0,0,0,0,0,0
$GC,9487,0.56,243.3,793.8,15.7,635,9491,0.00,2.12,0.00,0.000,4,0.000,0.037,2520,720,1876,0,0,0,0,0,0
$GC,9514,0.56,243.3,789.4,15.6,636,9518,0.00,2.15,0.00,0.000,6,0.000,0.033,2520,2124,1872,0,0,0,0,0,0
$GC,9830,0.56,243.3,742.1,14.0,651,9834,0.00,2.17,0.00,0.000,4,0.000,0.043,2520,3538,1872,0,0,0,0,0,0
$GC,9856,0.56,243.3,738.0,14.6,652,9861,0.00,2.15,0.00,0.000,6,0.000,0.027,2529,2114,1872,0,0,0,0,0,0
$GC,10179,0.56,243.3,690.2,14.7,668,10184,0.12,2.12,0.00,0.000,4,0.179,0.035,2507,722,1868,0,0,0,0,0,0
$GC,10211,0.56,243.3,685.3,13.7,669,10218,0.00,2.17,0.00,0.000,6,0.000,0.031,2507,2142,1871,0,0,0,0,0,0
$GC,10528,0.56,243.3,644.5,12.8,685,10532,0.00,2.17,0.00,0.000,4,0.000,0.044,2507,3540,1871,0,0,0,0,0,0
$GC,10596,0.56,243.3,635.0,13.6,688,10600,0.00,2.12,0.00,0.000,6,0.000,0.027,2516,2133,1871,0,0,0,0,0,0
$GC,10924,0.56,243.3,593.1,12.4,704,10928,0.00,2.15,0.00,0.000,4,0.000,0.037,2529,714,1870,0,0,0,0,0,0
$GC,11030,0.56,243.3,579.8,12.3,708,11037,0.00,2.17,0.00,0.000,6,0.000,0.032,2527,2130,1871,0,0,0,0,0,0
$GC,11346,0.56,243.3,537.0,13.5,724,11350,0.00,2.15,0.00,0.000,4,0.000,0.035,2537,719,1868,0,0,0,0,0,0
$GC,11379,0.56,243.3,532.8,12.4,725,11386,0.15,2.12,0.00,0.000,6,0.161,0.032,2497,2113,1873,0,0,0,0,0,0
$GC,11695,0.64,309.7,501.1,9.6,741,11751,0.00,2.35,49.58,0.786,4,0.000,0.043,2496,3542,1605,0,0,0,0,0,0
$GC,11792,0.66,331.7,491.2,11.1,748,11815,0.00,2.22,17.80,0.717,6,0.000,0.027,2505,2114,1516,0,0,0,0,0,0
$GC,12133,0.66,331.7,451.4,12.4,780,12135,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2114,1520,0,0,0,0,0,0
$GC,12454,0.66,331.7,407.1,14.8,810,12458,0.00,2.12,0.00,0.000,4,0.000,0.036,2515,717,1522,0,0,0,0,0,0
$GC,12475,0.66,331.7,403.6,14.7,811,12482,0.00,2.15,0.00,0.000,6,0.000,0.031,2515,2122,1525,0,0,0,0,0,0
$GC,12800,0.66,331.7,355.0,14.1,842,12804,0.00,2.20,0.00,0.000,4,0.000,0.043,2515,3542,1522,0,0,0,0,0,0
$GC,12878,0.66,331.7,343.3,14.3,848,12885,0.00,2.15,0.00,0.000,6,0.000,0.028,2524,2151,1522,0,0,0,0,0,0
$GC,13204,0.66,331.7,300.4,11.9,879,13208,0.00,2.17,0.00,0.000,4,0.000,0.037,2535,719,1522,0,0,0,0,0,0
$GC,13314,0.76,407.0,289.1,9.3,888,13379,0.00,2.20,57.12,0.646,6,0.000,0.032,2535,2125,1208,0,0,0,0,0,0
$GC,13698,0.77,417.1,252.5,11.5,924,13715,0.10,2.28,9.75,0.587,4,0.106,0.041,2581,3535,1168,0,0,0,0,0,0
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$GC,15350,1.16,736.3,12.8,8.6,1188,15360,0.10,2.25,0.05,0.256,4,0.096,0.041,2716,3533,443,0,0,0,0,0,0
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$STATE,15428,end climb,SURFACE_DEPTH_REACHED
$STATE,15428,begin surface coast
$FINISH,0.6,1.020760
$STATE,15452,end surface coast,CONTROL_FINISHED_OK
$STATE,15452,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,44.29
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.40
$XPDR_PINGS,0
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$10V_AH,9.9,41.141
$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
$DEVICE_SECS,16.600,176.200,652.700,0.000,0.000,24.280,44.143,184.484,0.000,0.000,14.163,2905.059,8896.267,700.344,3067.738,351.765,0.000,2035.607,0.000,2148.338,0.000,0.542,0.000
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$SENSOR_SECS,839.789,1198.354,1213.701,0.000,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,323056
$DATA_FILE_SIZE,83608,1204
$CAP_FILE_SIZE,171839,0
$CFSIZE,260165632,226086912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310711,082536,2003.932,11955.084,31,0.9,32,-2.2