version: 66.09
glider: 181
mission: 6
dive: 269
start: 7 31 111 13 11 50
data:
$ID,181
$MISSION,6
$DIVE,269
$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,-40857.855
$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,37
$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
$GPS1,310711,130506,2006.607,11956.568,30,1.1,31,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-71.2
$GPS2,310711,131126,2006.703,11956.662,11,1.2,11,-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,9.8,43532,-15.4,-11.786
$D_GRID,3470
$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,-70.72,0.000,2,0.000,0.000,197,2617,2453,0,0,0,0,0,0
$GC,92,-0.56,-243.3,3.5,-3.8,10,136,8.00,0.00,-27.33,0.000,6,0.230,0.000,2130,2617,3864,0,0,0,0,0,0
$GC,264,-0.56,-243.3,77.5,-33.1,40,272,0.00,1.85,0.00,0.000,4,0.000,0.047,2122,3773,3865,0,0,0,0,0,0
$GC,326,-0.56,-243.3,97.1,-28.7,51,334,0.00,1.80,0.00,0.000,6,0.000,0.024,2122,2580,3865,0,0,0,0,0,0
$GC,460,-0.56,-243.3,131.3,-22.4,76,468,0.00,1.90,0.00,0.000,4,0.000,0.044,2113,3774,3865,0,0,0,0,0,0
$GC,512,-0.56,-243.3,143.6,-23.2,85,520,0.00,1.70,0.00,0.000,6,0.000,0.024,2113,2630,3865,0,0,0,0,0,0
$GC,647,-0.56,-243.3,166.5,-18.9,110,655,0.00,2.12,0.00,0.000,4,0.000,0.028,2113,1206,3866,0,0,0,0,0,0
$GC,705,-0.56,-243.3,174.7,-11.4,120,714,0.00,2.17,0.00,0.000,6,0.000,0.034,2111,2606,3866,0,0,0,0,0,0
$GC,841,-0.56,-243.3,197.7,-20.0,145,849,0.00,1.83,0.00,0.000,4,0.000,0.044,2103,3776,3867,0,0,0,0,0,0
$GC,946,-0.56,-243.3,219.4,-20.1,155,951,0.10,1.67,0.00,0.000,6,0.119,0.024,2137,2658,3867,0,0,0,0,0,0
$GC,1276,-0.56,-243.3,267.8,-12.5,186,1280,0.00,2.12,0.00,0.000,4,0.000,0.028,2138,1204,3867,0,0,0,0,0,0
$GC,1331,-0.56,-243.3,273.7,-9.8,190,1339,0.00,2.22,0.00,0.000,6,0.000,0.034,2137,2642,3867,0,0,0,0,0,0
$GC,1656,-0.56,-243.3,310.4,-11.8,221,1660,0.00,1.73,0.00,0.000,4,0.000,0.044,2138,3777,3864,0,0,0,0,0,0
$GC,1737,-0.56,-243.3,318.1,-8.5,228,1741,0.00,1.65,0.00,0.000,6,0.000,0.024,2135,2643,3863,0,0,0,0,0,0
$GC,2068,-0.56,-243.3,349.7,-9.6,259,2072,0.00,2.12,0.00,0.000,4,0.000,0.028,2138,1196,3860,0,0,0,0,0,0
$GC,2121,-0.56,-243.3,353.9,-8.1,263,2125,0.00,2.22,0.00,0.000,6,0.000,0.034,2137,2654,3860,0,0,0,0,0,0
$GC,2452,-0.56,-243.3,386.6,-10.4,294,2455,0.00,1.70,0.00,0.000,4,0.000,0.046,2138,3776,3857,0,0,0,0,0,0
$GC,2491,-0.56,-243.3,390.4,-9.2,297,2498,0.00,1.65,0.00,0.000,6,0.000,0.026,2137,2644,3856,0,0,0,0,0,0
$GC,2816,-0.56,-243.3,424.8,-11.2,328,2820,0.00,2.15,0.00,0.000,4,0.000,0.030,2138,1194,3856,0,0,0,0,0,0
$GC,2880,-0.56,-243.3,431.3,-9.5,333,2884,0.00,2.20,0.00,0.000,6,0.000,0.035,2135,2634,3850,0,0,0,0,0,0
$GC,3206,-0.56,-243.3,468.4,-11.5,363,3210,0.00,1.75,0.00,0.000,4,0.000,0.048,2137,3773,3851,0,0,0,0,0,0
$GC,3230,-0.56,-243.3,471.2,-11.5,365,3234,0.00,1.73,0.00,0.000,6,0.000,0.026,2137,2635,3850,0,0,0,0,0,0
$GC,3559,-0.56,-243.3,504.4,-9.2,394,3563,0.00,2.12,0.00,0.000,4,0.000,0.031,2137,1199,3848,0,0,0,0,0,0
$GC,3586,-0.56,-243.3,506.9,-9.1,395,3590,0.00,2.22,0.00,0.000,6,0.000,0.037,2137,2644,3848,0,0,0,0,0,0
$GC,3903,-0.56,-243.3,531.7,-8.0,410,3907,0.00,2.17,0.00,0.000,4,0.000,0.031,2137,1200,3844,0,0,0,0,0,0
$GC,3944,-0.56,-243.3,535.0,-7.7,412,3948,0.00,2.20,0.00,0.000,6,0.000,0.037,2137,2628,3844,0,0,0,0,0,0
$GC,4272,-0.56,-243.3,561.7,-8.5,428,4276,0.00,1.83,0.00,0.000,4,0.000,0.049,2137,3776,3841,0,0,0,0,0,0
$GC,4305,-0.56,-243.3,564.6,-8.4,429,4309,0.00,1.75,0.00,0.000,6,0.000,0.026,2137,2591,3841,0,0,0,0,0,0
$GC,4627,-0.56,-243.3,591.1,-8.9,445,4631,0.00,2.08,0.00,0.000,4,0.000,0.031,2137,1194,3838,0,0,0,0,0,0
$GC,4655,-0.56,-243.3,593.8,-9.2,446,4659,0.00,2.22,0.00,0.000,6,0.000,0.037,2137,2634,3838,0,0,0,0,0,0
$GC,4977,-0.56,-243.3,625.1,-10.1,462,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2635,3836,0,0,0,0,0,0
$GC,5286,-0.56,-243.3,654.2,-9.5,477,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2635,3835,0,0,0,0,0,0
$GC,5596,-0.56,-243.3,685.0,-10.1,492,5599,0.00,1.77,0.00,0.000,4,0.000,0.049,2137,3779,3835,0,0,0,0,0,0
$GC,5629,-0.56,-243.3,688.4,-10.2,493,5633,0.00,1.73,0.00,0.000,6,0.000,0.028,2137,2616,3832,0,0,0,0,0,0
$GC,5952,-0.56,-243.3,717.7,-8.9,509,5956,0.00,2.12,0.00,0.000,4,0.000,0.032,2138,1193,3831,0,0,0,0,0,0
$GC,6001,-0.56,-243.3,722.2,-8.9,511,6006,0.00,2.20,0.00,0.000,6,0.000,0.037,2137,2609,3830,0,0,0,0,0,0
$GC,6324,-0.56,-243.3,748.1,-8.0,527,6327,0.00,1.83,0.00,0.000,4,0.000,0.050,2137,3786,3827,0,0,0,0,0,0
$GC,6357,-0.56,-243.3,750.8,-7.8,528,6361,0.00,1.75,0.00,0.000,6,0.000,0.028,2137,2609,3829,0,0,0,0,0,0
$GC,6679,-0.56,-243.3,773.9,-7.1,544,6683,0.00,2.12,0.00,0.000,4,0.000,0.034,2137,1194,3827,0,0,0,0,0,0
$GC,6839,-0.56,-243.3,784.7,-7.0,551,6843,0.00,2.20,0.00,0.000,6,0.000,0.037,2137,2621,3826,0,0,0,0,0,0
$GC,7160,-0.56,-243.3,807.1,-7.6,567,7164,0.00,2.17,0.00,0.000,4,0.000,0.034,2137,1193,3825,0,0,0,0,0,0
$GC,7319,-0.56,-243.3,820.6,-8.9,574,7323,0.00,2.20,0.00,0.000,6,0.000,0.036,2137,2611,3824,0,0,0,0,0,0
$GC,7646,-0.56,-243.3,849.4,-9.4,590,7650,0.00,2.15,0.00,0.000,4,0.000,0.034,2137,1200,3823,0,0,0,0,0,0
$GC,7904,-0.56,-243.3,875.8,-10.4,601,7911,0.00,2.15,0.00,0.000,6,0.000,0.037,2138,2592,3822,0,0,0,0,0,0
$GC,8221,-0.56,-243.3,907.1,-9.8,617,8225,0.00,2.12,0.00,0.000,4,0.000,0.033,2137,1194,3820,0,0,0,0,0,0
$GC,8400,-0.56,-243.3,924.9,-10.1,625,8404,0.00,2.15,0.00,0.000,6,0.000,0.037,2137,2585,3819,0,0,0,0,0,0
$GC,8728,-0.56,-243.3,951.7,-7.8,641,8732,0.00,2.12,0.00,0.000,4,0.000,0.034,2137,1190,3818,0,0,0,0,0,0
$GC,8851,-0.56,-243.3,961.4,-7.6,646,8858,0.00,2.15,0.00,0.000,6,0.000,0.036,2137,2569,3818,0,0,0,0,0,0
$GC,9168,-0.56,-243.3,985.8,-8.4,662,9171,0.00,2.10,0.00,0.000,4,0.000,0.035,2137,1196,3817,0,0,0,0,0,0
$STATE,9215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9215,begin apogee
$GC,9223,-0.13,0.0,990.1,8.6,664,9412,0.38,0.00,184.48,1.092,4,0.076,0.000,2279,2131,2869,0,0,0,0,0,0
$STATE,9413,end apogee,CONTROL_FINISHED_OK
$STATE,9413,begin climb
$GC,9416,0.56,243.3,1002.9,0.0,673,9623,0.60,2.35,197.68,1.067,4,0.047,0.039,2511,722,1878,0,0,0,0,0,0
$GC,9651,0.62,292.1,990.7,10.2,684,9697,0.00,2.35,41.25,1.021,6,0.000,0.034,2511,2125,1678,0,0,0,0,0,0
$GC,10009,0.62,292.1,949.1,11.9,701,10013,0.00,2.25,0.00,0.000,4,0.000,0.045,2511,3538,1676,0,0,0,0,0,0
$GC,10087,0.62,292.1,938.0,14.2,704,10091,0.00,2.15,0.00,0.000,6,0.000,0.028,2518,2141,1676,0,0,0,0,0,0
$GC,10409,0.62,292.1,892.1,15.0,720,10413,0.00,2.25,0.00,0.000,4,0.000,0.044,2522,3550,1676,0,0,0,0,0,0
$GC,10425,0.62,292.1,889.4,15.0,720,10431,0.00,2.17,0.00,0.000,6,0.000,0.028,2531,2136,1676,0,0,0,0,0,0
$GC,10740,0.62,292.1,835.2,17.8,736,10745,0.00,2.22,0.00,0.000,4,0.000,0.044,2532,3547,1675,0,0,0,0,0,0
$GC,10762,0.62,292.1,830.6,17.9,737,10766,0.00,2.15,0.00,0.000,6,0.000,0.028,2542,2132,1675,0,0,0,0,0,0
$GC,11090,0.62,292.1,767.5,19.5,753,11094,0.00,2.17,0.00,0.000,4,0.000,0.037,2553,714,1675,0,0,0,0,0,0
$GC,11158,0.62,292.1,754.3,18.5,756,11163,0.12,2.22,0.00,0.000,6,0.174,0.034,2526,2154,1675,0,0,0,0,0,0
$GC,11486,0.62,292.1,698.9,16.8,772,11490,0.00,2.17,0.00,0.000,4,0.000,0.045,2522,3544,1675,0,0,0,0,0,0
$GC,11535,0.62,292.1,689.6,18.0,774,11539,0.00,2.12,0.00,0.000,6,0.000,0.028,2530,2139,1674,0,0,0,0,0,0
$GC,11863,0.62,292.1,638.6,14.4,790,11867,0.00,2.17,0.00,0.000,4,0.000,0.043,2531,3537,1675,0,0,0,0,0,0
$GC,11885,0.62,292.1,635.3,13.9,791,11889,0.00,2.10,0.00,0.000,6,0.000,0.026,2540,2145,1674,0,0,0,0,0,0
$GC,12206,0.62,292.1,591.2,13.3,807,12210,0.00,2.15,0.00,0.000,4,0.000,0.037,2551,723,1675,0,0,0,0,0,0
$GC,12278,0.62,292.1,581.8,12.6,810,12283,0.12,2.17,0.00,0.000,6,0.170,0.033,2520,2142,1675,0,0,0,0,0,0
$GC,12600,0.62,292.1,542.8,12.9,826,12604,0.00,2.15,0.00,0.000,4,0.000,0.044,2520,3535,1675,0,0,0,0,0,0
$GC,12627,0.62,292.1,538.5,14.3,827,12631,0.00,2.12,0.00,0.000,6,0.000,0.027,2527,2128,1674,0,0,0,0,0,0
$GC,12951,0.62,292.1,492.9,13.8,845,12955,0.00,2.20,0.00,0.000,4,0.000,0.042,2528,3537,1675,0,0,0,0,0,0
$GC,12991,0.62,292.1,486.9,15.2,848,12995,0.00,2.10,0.00,0.000,6,0.000,0.027,2537,2144,1675,0,0,0,0,0,0
$GC,13317,0.62,292.1,440.1,15.3,878,13321,0.00,2.15,0.00,0.000,4,0.000,0.037,2549,722,1675,0,0,0,0,0,0
$GC,13459,0.62,292.1,418.2,15.9,890,13464,0.12,2.15,0.00,0.000,6,0.165,0.034,2516,2121,1675,0,0,0,0,0,0
$GC,13789,0.62,292.1,371.2,13.3,921,13793,0.00,2.17,0.00,0.000,4,0.000,0.044,2516,3535,1675,0,0,0,0,0,0
$GC,13833,0.62,292.1,364.8,14.1,924,13841,0.00,2.17,0.00,0.000,6,0.000,0.026,2524,2123,1676,0,0,0,0,0,0
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$STATE,16727,end climb,SURFACE_DEPTH_REACHED
$STATE,16727,begin surface coast
$FINISH,0.2,1.001340
$STATE,16754,end surface coast,CONTROL_FINISHED_OK
$STATE,16754,begin surface
$SM_CCo,16832,0.00,0.000,0,0,441,595.59
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$IRIDIUM_FIX,1959.59,11955.23,310711,080845
$TT8_MAMPS,0.027713,0.027713
$HUMID,43.30
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.2,42.646
$10V_AH,9.9,41.435
$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
$DEVICE_SECS,16.175,187.100,659.525,0.000,0.000,29.426,17.842,184.749,0.000,0.000,14.227,3220.428,9480.878,689.328,3415.782,390.551,0.000,2171.274,0.000,2438.391,0.000,0.541,0.000
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$SENSOR_SECS,923.976,1335.757,1388.881,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323032
$DATA_FILE_SIZE,90476,1326
$CAP_FILE_SIZE,186172,0
$CFSIZE,260165632,225878016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310711,175336,2008.786,11957.436,36,0.9,36,-2.3