version: 66.09
glider: 181
mission: 6
dive: 320
start: 8 9 111 12 36 52
data:
$ID,181
$MISSION,6
$DIVE,320
$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,-40931.098
$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,73
$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,3
$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,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,40.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,22.0
$GPS1,090811,122937,2033.775,12003.101,32,1.0,32,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-67.1
$GPS2,090811,123620,2033.710,12003.275,14,1.4,14,-2.3
$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,221.9,8916,-15.4,-11.786
$D_GRID,3471
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.56,-243.3,0.0,0.0,0,96,0.00,0.00,-69.18,0.000,2,0.000,0.000,210,2644,2431,0,0,0,0,0,0
$GC,99,-0.56,-243.3,3.7,-4.2,11,138,7.82,0.00,-27.95,0.000,6,0.224,0.000,2131,2644,3862,0,0,0,0,0,0
$GC,273,-0.56,-243.3,63.8,-25.7,41,280,0.00,1.67,0.00,0.000,4,0.000,0.041,2124,3742,3862,0,0,0,0,0,0
$GC,356,-0.56,-243.3,81.6,-18.3,55,363,0.00,1.67,0.00,0.000,6,0.000,0.022,2124,2586,3866,0,0,0,0,0,0
$GC,496,-0.56,-243.3,117.4,-25.7,80,503,0.00,1.83,0.00,0.000,4,0.000,0.041,2115,3747,3864,0,0,0,0,0,0
$GC,543,-0.56,-243.3,128.5,-22.8,88,551,0.00,1.70,0.00,0.000,6,0.000,0.023,2115,2605,3863,0,0,0,0,0,0
$GC,687,-0.56,-243.3,160.0,-22.0,113,694,0.00,1.75,0.00,0.000,4,0.000,0.041,2108,3750,3864,0,0,0,0,0,0
$GC,734,-0.56,-243.3,169.4,-19.1,121,742,0.12,1.65,0.00,0.000,6,0.148,0.024,2142,2608,3864,0,0,0,0,0,0
$GC,875,-0.56,-243.3,188.1,-13.1,146,883,0.00,1.77,0.00,0.000,4,0.000,0.041,2136,3742,3865,0,0,0,0,0,0
$GC,931,-0.56,-243.3,194.6,-11.5,155,938,0.00,1.55,0.00,0.000,6,0.000,0.024,2136,2680,3865,0,0,0,0,0,0
$GC,1074,-0.56,-243.3,212.4,-13.2,172,1078,0.00,2.15,0.00,0.000,4,0.000,0.026,2137,1199,3866,0,0,0,0,0,0
$GC,1116,-0.56,-243.3,216.9,-11.3,175,1120,0.00,2.20,0.00,0.000,6,0.000,0.033,2128,2654,3865,0,0,0,0,0,0
$GC,1442,-0.56,-243.3,268.8,-16.4,205,1446,0.00,2.15,0.00,0.000,4,0.000,0.027,2128,1196,3861,0,0,0,0,0,0
$GC,1472,-0.56,-243.3,273.8,-17.0,207,1476,0.00,2.22,0.00,0.000,6,0.000,0.034,2126,2641,3862,0,0,0,0,0,0
$GC,1797,-0.56,-243.3,311.7,-12.1,237,1800,0.00,1.73,0.00,0.000,4,0.000,0.044,2123,3781,3860,0,0,0,0,0,0
$GC,1855,-0.56,-243.3,318.2,-10.7,242,1859,0.00,1.62,0.00,0.000,6,0.000,0.024,2122,2683,3860,0,0,0,0,0,0
$GC,2186,-0.56,-243.3,363.2,-13.8,273,2190,0.00,2.17,0.00,0.000,4,0.000,0.028,2122,1195,3858,0,0,0,0,0,0
$GC,2218,-0.56,-243.3,368.1,-14.1,275,2225,0.00,2.30,0.00,0.000,6,0.000,0.034,2114,2701,3859,0,0,0,0,0,0
$GC,2544,-0.56,-243.3,411.5,-13.2,306,2548,0.00,1.65,0.00,0.000,4,0.000,0.046,2112,3777,3855,0,0,0,0,0,0
$GC,2601,-0.56,-243.3,418.3,-11.3,311,2605,0.00,1.58,0.00,0.000,6,0.000,0.024,2112,2717,3854,0,0,0,0,0,0
$GC,2932,-0.56,-243.3,458.6,-12.6,342,2936,0.00,2.22,0.00,0.000,4,0.000,0.028,2112,1203,3852,0,0,0,0,0,0
$GC,3017,-0.56,-243.3,467.7,-10.2,349,3021,0.00,2.33,0.00,0.000,6,0.000,0.034,2112,2703,3852,0,0,0,0,0,0
$GC,3343,-0.56,-243.3,508.2,-12.0,376,3347,0.00,2.25,0.00,0.000,4,0.000,0.029,2112,1197,3849,0,0,0,0,0,0
$GC,3383,-0.56,-243.3,512.7,-10.7,378,3387,0.00,2.30,0.00,0.000,6,0.000,0.036,2112,2692,3848,0,0,0,0,0,0
$GC,3710,-0.56,-243.3,550.1,-12.1,394,3714,0.00,1.65,0.00,0.000,4,0.000,0.047,2112,3776,3845,0,0,0,0,0,0
$GC,3749,-0.56,-243.3,555.2,-12.6,395,3756,0.00,1.62,0.00,0.000,6,0.000,0.024,2112,2695,3844,0,0,0,0,0,0
$GC,4065,-0.56,-243.3,598.0,-14.0,411,4069,0.00,2.20,0.00,0.000,4,0.000,0.030,2112,1207,3842,0,0,0,0,0,0
$GC,4120,-0.56,-243.3,605.2,-11.8,413,4127,0.00,2.28,0.00,0.000,6,0.000,0.035,2112,2685,3841,0,0,0,0,0,0
$GC,4436,-0.56,-243.3,643.5,-11.8,429,4440,0.00,2.22,0.00,0.000,4,0.000,0.029,2112,1199,3838,0,0,0,0,0,0
$GC,4464,-0.56,-243.3,646.6,-11.3,430,4468,0.00,2.28,0.00,0.000,6,0.000,0.037,2112,2671,3838,0,0,0,0,0,0
$GC,4782,-0.56,-243.3,679.7,-10.8,445,4784,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2672,3836,0,0,0,0,0,0
$GC,5089,-0.56,-243.3,713.2,-11.1,460,5093,0.00,2.20,0.00,0.000,4,0.000,0.031,2111,1209,3834,0,0,0,0,0,0
$GC,5123,-0.56,-243.3,717.0,-10.9,461,5130,0.00,2.25,0.00,0.000,6,0.000,0.037,2112,2661,3833,0,0,0,0,0,0
$GC,5439,-0.56,-243.3,749.7,-10.4,477,5443,0.00,1.73,0.00,0.000,4,0.000,0.048,2112,3780,3830,0,0,0,0,0,0
$GC,5456,-0.56,-243.3,751.4,-10.1,477,5463,0.00,1.65,0.00,0.000,6,0.000,0.026,2112,2657,3830,0,0,0,0,0,0
$GC,5773,-0.56,-243.3,779.4,-8.2,493,5777,0.00,2.17,0.00,0.000,4,0.000,0.031,2111,1208,3829,0,0,0,0,0,0
$GC,5825,-0.56,-243.3,783.3,-7.4,495,5829,0.00,2.22,0.00,0.000,6,0.000,0.036,2112,2650,3829,0,0,0,0,0,0
$GC,6147,-0.56,-243.3,807.7,-8.2,511,6151,0.00,1.75,0.00,0.000,4,0.000,0.049,2112,3778,3826,0,0,0,0,0,0
$GC,6174,-0.56,-243.3,810.1,-8.2,512,6179,0.00,1.73,0.00,0.000,6,0.000,0.026,2112,2639,3826,0,0,0,0,0,0
$GC,6502,-0.56,-243.3,839.2,-9.6,528,6506,0.00,2.15,0.00,0.000,4,0.000,0.031,2112,1200,3824,0,0,0,0,0,0
$GC,6554,-0.56,-243.3,843.8,-8.8,530,6558,0.00,2.22,0.00,0.000,6,0.000,0.037,2111,2637,3824,0,0,0,0,0,0
$GC,6875,-0.56,-243.3,874.5,-10.0,546,6879,0.00,1.77,0.00,0.000,4,0.000,0.049,2111,3780,3823,0,0,0,0,0,0
$GC,6891,-0.56,-243.3,876.2,-10.1,546,6898,0.00,1.75,0.00,0.000,6,0.000,0.027,2111,2631,3822,0,0,0,0,0,0
$GC,7208,-0.56,-243.3,909.7,-11.7,562,7212,0.00,2.15,0.00,0.000,4,0.000,0.031,2112,1192,3820,0,0,0,0,0,0
$GC,7264,-0.56,-243.3,916.2,-10.3,564,7271,0.00,2.22,0.00,0.000,6,0.000,0.037,2112,2630,3820,0,0,0,0,0,0
$GC,7581,-0.56,-243.3,952.5,-11.5,580,7585,0.00,1.80,0.00,0.000,4,0.000,0.050,2112,3786,3819,0,0,0,0,0,0
$GC,7614,-0.56,-243.3,956.5,-11.2,581,7618,0.00,1.75,0.00,0.000,6,0.000,0.027,2111,2601,3818,0,0,0,0,0,0
$STATE,7912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7912,begin apogee
$GC,7919,-0.13,0.0,990.0,11.2,596,8110,0.47,0.00,185.45,1.082,4,0.113,0.000,2269,2111,2868,0,0,0,0,0,0
$STATE,8111,end apogee,CONTROL_FINISHED_OK
$STATE,8111,begin climb
$GC,8114,0.56,243.3,1003.0,0.0,605,8320,0.65,2.22,198.23,1.060,4,0.055,0.037,2505,748,1877,0,0,0,0,0,0
$GC,8399,0.57,257.4,984.5,11.3,618,8419,0.00,2.22,12.93,0.928,6,0.000,0.031,2507,2124,1820,0,0,0,0,0,0
$GC,8743,0.57,257.4,940.2,13.8,635,8747,0.00,2.12,0.00,0.000,4,0.000,0.034,2514,745,1818,0,0,0,0,0,0
$GC,8918,0.57,257.4,914.9,14.0,643,8922,0.00,2.15,0.00,0.000,6,0.000,0.034,2515,2137,1818,0,0,0,0,0,0
$GC,9245,0.57,257.4,868.6,13.4,659,9249,0.00,2.17,0.00,0.000,4,0.000,0.044,2515,3535,1817,0,0,0,0,0,0
$GC,9288,0.57,257.4,861.9,14.3,661,9292,0.00,2.12,0.00,0.000,6,0.000,0.027,2524,2125,1817,0,0,0,0,0,0
$GC,9616,0.57,257.4,813.8,14.5,677,9620,0.00,2.15,0.00,0.000,4,0.000,0.037,2536,721,1816,0,0,0,0,0,0
$GC,9666,0.57,257.4,806.5,13.9,679,9670,0.00,2.17,0.00,0.000,6,0.000,0.033,2535,2135,1816,0,0,0,0,0,0
$GC,9989,0.57,257.4,759.2,14.4,695,9993,0.00,2.17,0.00,0.000,4,0.000,0.044,2535,3539,1815,0,0,0,0,0,0
$GC,10066,0.57,257.4,747.2,14.4,698,10074,0.15,2.12,0.00,0.000,6,0.182,0.027,2508,2132,1815,0,0,0,0,0,0
$GC,10383,0.62,297.8,712.7,10.5,714,10420,0.00,2.20,31.73,0.900,4,0.000,0.036,2517,719,1654,0,0,0,0,0,0
$GC,10479,0.67,334.6,702.5,10.6,717,10515,0.00,2.22,29.48,0.866,6,0.000,0.034,2517,2142,1506,0,0,0,0,0,0
$GC,10843,0.67,334.6,659.2,12.4,735,10847,0.00,2.20,0.00,0.000,4,0.000,0.044,2517,3543,1503,0,0,0,0,0,0
$GC,10915,0.67,334.6,648.0,15.9,738,10919,0.00,2.12,0.00,0.000,6,0.000,0.028,2526,2156,1505,0,0,0,0,0,0
$GC,11237,0.67,334.6,599.1,15.6,754,11241,0.00,2.17,0.00,0.000,4,0.000,0.037,2537,723,1509,0,0,0,0,0,0
$GC,11332,0.67,334.6,583.8,15.7,758,11337,0.00,2.17,0.00,0.000,6,0.000,0.031,2537,2137,1509,0,0,0,0,0,0
$GC,11648,0.67,334.6,533.1,15.5,773,11652,0.00,2.17,0.00,0.000,4,0.000,0.043,2537,3535,1509,0,0,0,0,0,0
$GC,11717,0.67,334.6,522.3,16.3,776,11721,0.00,2.10,0.00,0.000,6,0.000,0.027,2547,2137,1509,0,0,0,0,0,0
$GC,12041,0.67,339.5,480.4,11.6,799,12053,0.00,2.22,6.68,0.689,4,0.000,0.034,2557,715,1484,0,0,0,0,0,0
$GC,12112,0.73,385.6,472.5,10.3,805,12156,0.00,2.17,35.90,0.739,6,0.000,0.032,2557,2137,1295,0,0,0,0,0,0
$GC,12474,0.73,385.6,430.2,12.3,839,12478,0.00,2.17,0.00,0.000,4,0.000,0.043,2557,3535,1294,0,0,0,0,0,0
$GC,12540,0.73,385.6,421.1,13.3,844,12547,0.00,2.12,0.00,0.000,6,0.000,0.026,2566,2133,1297,0,0,0,0,0,0
$GC,12865,0.73,385.6,378.9,13.1,875,12869,0.00,2.15,0.00,0.000,4,0.000,0.036,2577,720,1297,0,0,0,0,0,0
$GC,12893,0.73,385.6,375.3,12.7,877,12900,0.00,2.20,0.00,0.000,6,0.000,0.031,2577,2140,1297,0,0,0,0,0,0
$GC,13218,0.73,385.6,323.7,17.2,908,13222,0.00,2.17,0.00,0.000,4,0.000,0.044,2577,3546,1297,0,0,0,0,0,0
$GC,13263,0.73,385.6,315.6,17.5,911,13270,0.12,2.12,0.00,0.000,6,0.173,0.027,2556,2136,1297,0,0,0,0,0,0
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$GC,15644,1.25,810.0,17.2,11.3,1250,15652,0.00,2.10,0.00,0.000,4,0.000,0.040,2714,3541,438,0,0,0,0,0,0
$GC,15676,1.25,810.0,13.2,12.6,1255,15683,0.00,2.03,0.00,0.000,6,0.000,0.026,2721,2180,438,0,0,0,0,0,0
$STATE,15759,end climb,SURFACE_DEPTH_REACHED
$STATE,15759,begin surface coast
$FINISH,0.3,1.019373
$STATE,15783,end surface coast,CONTROL_FINISHED_OK
$STATE,15783,begin surface
$SM_CCo,15860,0.00,0.000,0,0,439,596.08
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$IRIDIUM_FIX,2029.47,12004.12,090811,070723
$TT8_MAMPS,0.02996,0.02996
$HUMID,43.69
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.1,51.249
$10V_AH,9.9,48.378
$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,16.175,178.675,668.800,0.000,0.000,26.188,21.373,170.378,0.000,0.000,17.178,3059.130,9232.819,753.624,2836.844,376.188,0.000,2109.229,0.000,2531.970,0.000,0.541,0.000
$DEVICE_MAMPS,224.145,49.725,1082.475,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,884.118,0.000,607.355,0.000,0.000,0.000,1037.651,17608.148,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,100.000,10.000,0.000,0.000
$MEM,323032
$DATA_FILE_SIZE,77080,1274
$CAP_FILE_SIZE,180105,0
$CFSIZE,260165632,221413376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090811,170230,2031.961,12002.357,40,0.9,40,-2.3