version: 66.09
glider: 181
mission: 6
dive: 333
start: 8 12 111 2 3 31
data:
$ID,181
$MISSION,6
$DIVE,333
$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,-40954.93
$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,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,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$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,23.0
$GPS1,120811,015636,2052.552,12004.771,38,0.8,39,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-72.1
$GPS2,120811,020307,2052.725,12004.763,13,1.4,13,-2.4
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$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,357.6,97159,-15.4,-11.786
$D_GRID,3541
$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,16,-0.56,-243.3,0.0,0.0,0,83,0.00,0.00,-64.43,0.000,2,0.000,0.000,207,2597,2283,0,0,0,0,0,0
$GC,86,-0.56,-243.3,3.4,-3.7,10,135,7.95,1.85,-32.92,0.000,4,0.226,0.056,2120,3790,3860,0,0,0,0,0,0
$GC,210,-0.56,-243.3,58.6,-59.8,30,218,0.00,1.80,0.00,0.000,6,0.000,0.023,2120,2591,3860,0,0,0,0,0,0
$GC,352,-0.56,-243.3,105.0,-27.1,55,359,0.00,2.08,0.00,0.000,4,0.000,0.024,2120,1186,3860,0,0,0,0,0,0
$GC,404,-0.56,-243.3,116.6,-16.9,64,412,0.00,2.22,0.00,0.000,6,0.000,0.036,2112,2607,3860,0,0,0,0,0,0
$GC,545,-0.56,-243.3,145.9,-24.5,89,551,0.00,1.80,0.00,0.000,4,0.000,0.042,2111,3787,3861,0,0,0,0,0,0
$GC,669,-0.56,-243.3,174.0,-18.9,111,676,0.00,1.67,0.00,0.000,6,0.000,0.022,2111,2655,3861,0,0,0,0,0,0
$GC,807,-0.56,-243.3,193.6,-16.2,136,815,0.00,1.77,0.00,0.000,4,0.000,0.041,2103,3786,3861,0,0,0,0,0,0
$GC,847,-0.56,-243.3,201.6,-20.5,142,854,0.10,1.62,0.00,0.000,6,0.130,0.023,2136,2688,3861,0,0,0,0,0,0
$GC,1172,-0.56,-243.3,256.9,-16.5,173,1176,0.00,2.17,0.00,0.000,4,0.000,0.027,2137,1200,3861,0,0,0,0,0,0
$GC,1233,-0.56,-243.3,266.7,-14.0,178,1240,0.00,2.25,0.00,0.000,6,0.000,0.032,2137,2683,3865,0,0,0,0,0,0
$GC,1560,-0.56,-243.3,306.0,-10.0,209,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2683,3859,0,0,0,0,0,0
$GC,1879,-0.56,-243.3,340.4,-12.0,239,1883,0.00,1.65,0.00,0.000,4,0.000,0.043,2131,3782,3857,0,0,0,0,0,0
$GC,1905,-0.56,-243.3,343.5,-12.3,241,1908,0.00,1.65,0.00,0.000,6,0.000,0.024,2131,2639,3857,0,0,0,0,0,0
$GC,2235,-0.56,-243.3,385.5,-12.2,272,2239,0.00,2.12,0.00,0.000,4,0.000,0.028,2131,1200,3854,0,0,0,0,0,0
$GC,2290,-0.56,-243.3,391.5,-11.2,276,2294,0.00,2.22,0.00,0.000,6,0.000,0.034,2127,2668,3854,0,0,0,0,0,0
$GC,2615,-0.56,-243.3,431.3,-11.6,306,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2669,3851,0,0,0,0,0,0
$GC,2936,-0.56,-243.3,463.8,-9.6,336,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2669,3849,0,0,0,0,0,0
$GC,3265,-0.56,-243.3,494.8,-9.6,367,3269,0.00,2.17,0.00,0.000,4,0.000,0.029,2127,1212,3846,0,0,0,0,0,0
$GC,3321,-0.56,-243.3,500.3,-8.6,371,3328,0.00,2.22,0.00,0.000,6,0.000,0.035,2125,2658,3844,0,0,0,0,0,0
$GC,3639,-0.56,-243.3,530.4,-10.0,387,3643,0.00,2.17,0.00,0.000,4,0.000,0.030,2125,1207,3842,0,0,0,0,0,0
$GC,3679,-0.56,-243.3,534.5,-9.8,389,3683,0.00,2.20,0.00,0.000,6,0.000,0.035,2125,2645,3842,0,0,0,0,0,0
$GC,4007,-0.56,-243.3,567.8,-10.3,405,4011,0.00,1.77,0.00,0.000,4,0.000,0.048,2124,3776,3839,0,0,0,0,0,0
$GC,4034,-0.56,-243.3,570.7,-10.1,406,4038,0.00,1.70,0.00,0.000,6,0.000,0.025,2125,2645,3839,0,0,0,0,0,0
$GC,4362,-0.56,-243.3,602.3,-9.9,422,4366,0.00,2.15,0.00,0.000,4,0.000,0.030,2125,1194,3836,0,0,0,0,0,0
$GC,4417,-0.56,-243.3,607.6,-9.0,424,4424,0.00,2.22,0.00,0.000,6,0.000,0.035,2125,2639,3836,0,0,0,0,0,0
$GC,4735,-0.56,-243.3,642.6,-12.0,440,4739,0.00,2.15,0.00,0.000,4,0.000,0.030,2125,1205,3833,0,0,0,0,0,0
$GC,4763,-0.56,-243.3,646.2,-12.0,441,4767,0.00,2.17,0.00,0.000,6,0.000,0.037,2125,2606,3832,0,0,0,0,0,0
$GC,5084,-0.56,-243.3,681.8,-11.1,457,5088,0.00,1.80,0.00,0.000,4,0.000,0.047,2125,3777,3830,0,0,0,0,0,0
$GC,5123,-0.56,-243.3,685.8,-9.7,458,5130,0.00,1.77,0.00,0.000,6,0.000,0.025,2125,2597,3830,0,0,0,0,0,0
$GC,5440,-0.56,-243.3,715.1,-9.3,474,5444,0.00,2.08,0.00,0.000,4,0.000,0.031,2125,1208,3829,0,0,0,0,0,0
$GC,5501,-0.56,-243.3,720.7,-8.3,476,5508,0.00,2.15,0.00,0.000,6,0.000,0.035,2125,2601,3828,0,0,0,0,0,0
$GC,5818,-0.56,-243.3,743.4,-6.7,492,5822,0.00,1.85,0.00,0.000,4,0.000,0.048,2125,3768,3825,0,0,0,0,0,0
$GC,5845,-0.56,-243.3,745.1,-6.4,493,5848,0.00,1.73,0.00,0.000,6,0.000,0.026,2125,2591,3826,0,0,0,0,0,0
$GC,6172,-0.56,-243.3,765.9,-6.9,509,6176,0.00,2.08,0.00,0.000,4,0.000,0.031,2125,1202,3824,0,0,0,0,0,0
$GC,6217,-0.56,-243.3,769.2,-7.0,511,6221,0.00,2.15,0.00,0.000,6,0.000,0.036,2125,2597,3824,0,0,0,0,0,0
$GC,6539,-0.56,-243.3,795.0,-8.7,527,6543,0.00,1.83,0.00,0.000,4,0.000,0.049,2125,3777,3822,0,0,0,0,0,0
$GC,6573,-0.56,-243.3,798.1,-9.5,528,6577,0.00,1.75,0.00,0.000,6,0.000,0.027,2125,2592,3821,0,0,0,0,0,0
$GC,6895,-0.56,-243.3,827.5,-9.4,544,6899,0.00,2.08,0.00,0.000,4,0.000,0.031,2125,1198,3819,0,0,0,0,0,0
$GC,6945,-0.56,-243.3,832.2,-9.3,546,6949,0.00,2.15,0.00,0.000,6,0.000,0.036,2125,2590,3819,0,0,0,0,0,0
$GC,7268,-0.56,-243.3,859.2,-8.0,562,7271,0.00,1.85,0.00,0.000,4,0.000,0.050,2125,3777,3817,0,0,0,0,0,0
$GC,7295,-0.56,-243.3,861.3,-7.6,563,7298,0.00,1.77,0.00,0.000,6,0.000,0.026,2125,2577,3817,0,0,0,0,0,0
$GC,7624,-0.56,-243.3,883.7,-6.9,579,7627,0.00,2.05,0.00,0.000,4,0.000,0.031,2125,1203,3815,0,0,0,0,0,0
$GC,7671,-0.56,-243.3,887.0,-6.7,581,7675,0.00,2.15,0.00,0.000,6,0.000,0.037,2125,2587,3815,0,0,0,0,0,0
$GC,8000,-0.56,-243.3,910.8,-7.5,597,8003,0.00,1.85,0.00,0.000,4,0.000,0.050,2125,3782,3813,0,0,0,0,0,0
$GC,8028,-0.56,-243.3,913.3,-7.4,598,8032,0.00,1.83,0.00,0.000,6,0.000,0.026,2125,2579,3813,0,0,0,0,0,0
$GC,8355,-0.56,-243.3,938.4,-8.2,614,8358,0.00,2.05,0.00,0.000,4,0.000,0.031,2125,1211,3809,0,0,0,0,0,0
$GC,8401,-0.56,-243.3,942.4,-8.7,616,8405,0.00,2.12,0.00,0.000,6,0.000,0.036,2125,2580,3811,0,0,0,0,0,0
$GC,8729,-0.56,-243.3,969.4,-8.3,632,8732,0.00,1.88,0.00,0.000,4,0.000,0.049,2125,3782,3810,0,0,0,0,0,0
$GC,8753,-0.56,-243.3,971.3,-8.3,633,8756,0.00,1.80,0.00,0.000,6,0.000,0.026,2125,2568,3810,0,0,0,0,0,0
$STATE,9001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9001,begin apogee
$GC,9007,-0.13,0.0,990.9,8.0,645,9199,0.43,0.00,184.05,1.085,4,0.106,0.000,2270,2112,2871,0,0,0,0,0,0
$STATE,9200,end apogee,CONTROL_FINISHED_OK
$STATE,9200,begin climb
$GC,9202,0.56,243.3,1000.9,0.0,654,9414,0.65,2.40,199.50,1.056,4,0.056,0.043,2508,3541,1877,0,0,0,0,0,0
$GC,9421,0.56,243.3,985.2,14.3,664,9426,0.00,2.33,0.00,0.000,6,0.000,0.027,2517,2130,1876,0,0,0,0,0,0
$GC,9743,0.56,243.3,936.7,15.2,680,9747,0.00,2.17,0.00,0.000,4,0.000,0.037,2528,716,1874,0,0,0,0,0,0
$GC,9854,0.56,243.3,919.8,14.9,685,9858,0.00,2.17,0.00,0.000,6,0.000,0.032,2528,2126,1874,0,0,0,0,0,0
$GC,10184,0.56,243.3,868.9,15.6,701,10188,0.00,2.17,0.00,0.000,4,0.000,0.044,2528,3536,1874,0,0,0,0,0,0
$GC,10202,0.56,243.3,865.5,15.4,702,10207,0.15,2.17,0.00,0.000,6,0.185,0.027,2502,2100,1873,0,0,0,0,0,0
$GC,10531,0.56,243.3,822.8,12.7,718,10535,0.00,2.10,0.00,0.000,4,0.000,0.037,2511,714,1873,0,0,0,0,0,0
$GC,10581,0.56,243.3,816.1,12.4,720,10585,0.00,2.15,0.00,0.000,6,0.000,0.033,2510,2116,1873,0,0,0,0,0,0
$GC,10903,0.56,243.3,776.0,12.4,736,10907,0.00,2.20,0.00,0.000,4,0.000,0.044,2511,3541,1872,0,0,0,0,0,0
$GC,10947,0.56,243.3,770.0,13.6,738,10951,0.00,2.15,0.00,0.000,6,0.000,0.028,2521,2116,1872,0,0,0,0,0,0
$GC,11268,0.56,243.3,729.3,12.6,754,11272,0.00,2.12,0.00,0.000,4,0.000,0.037,2531,711,1871,0,0,0,0,0,0
$GC,11341,0.56,243.3,719.9,12.5,757,11346,0.12,2.15,0.00,0.000,6,0.168,0.033,2499,2115,1871,0,0,0,0,0,0
$GC,11662,0.56,243.3,680.6,13.1,773,11666,0.00,2.20,0.00,0.000,4,0.000,0.044,2499,3539,1871,0,0,0,0,0,0
$GC,11706,0.56,243.3,673.9,14.6,775,11710,0.00,2.17,0.00,0.000,6,0.000,0.028,2508,2100,1871,0,0,0,0,0,0
$GC,12035,0.56,243.3,631.3,12.5,791,12039,0.00,2.10,0.00,0.000,4,0.000,0.037,2518,719,1871,0,0,0,0,0,0
$GC,12124,0.56,243.3,619.8,12.7,795,12128,0.00,2.12,0.00,0.000,6,0.000,0.032,2518,2108,1871,0,0,0,0,0,0
$GC,12454,0.56,243.3,578.3,12.7,811,12458,0.00,2.20,0.00,0.000,4,0.000,0.044,2518,3536,1870,0,0,0,0,0,0
$GC,12526,0.56,243.3,568.0,13.6,814,12530,0.00,2.12,0.00,0.000,6,0.000,0.028,2527,2126,1871,0,0,0,0,0,0
$GC,12848,0.60,276.1,529.9,10.7,830,12878,0.00,2.17,25.10,0.785,4,0.000,0.038,2537,714,1744,0,0,0,0,0,0
$GC,12965,0.63,299.9,517.2,11.0,835,12990,0.00,2.17,19.73,0.742,6,0.000,0.033,2538,2118,1646,0,0,0,0,0,0
$GC,13308,0.63,299.9,476.9,12.5,860,13312,0.00,2.20,0.00,0.000,4,0.000,0.044,2538,3535,1645,0,0,0,0,0,0
$GC,13385,0.63,299.9,465.6,13.8,866,13392,0.00,2.17,0.00,0.000,6,0.000,0.027,2548,2130,1647,0,0,0,0,0,0
$GC,13711,0.63,299.9,419.8,13.0,897,13715,0.00,2.15,0.00,0.000,4,0.000,0.036,2555,710,1649,0,0,0,0,0,0
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$STATE,16999,end climb,SURFACE_DEPTH_REACHED
$STATE,16999,begin surface coast
$FINISH,2.0,1.020388
$STATE,17005,end surface coast,CONTROL_FINISHED_OK
$STATE,17005,begin surface
$SM_CCo,17085,0.00,0.000,0,0,441,595.34
$SM_GC,1.05,6.68,0.00,0.00,0.044,0.000,0.000,213,2607,441,-6.50,0.20,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,2047.91,11959.28,110811,212103
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.32
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,23.1,53.602
$10V_AH,9.9,50.121
$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,16.750,188.250,658.800,0.000,0.000,29.575,39.195,170.685,0.000,0.000,15.921,3227.331,10057.257,734.643,3067.000,374.162,0.000,2147.047,0.000,2363.942,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,55.845,1084.770,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,930.262,2030.011,597.214,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,90437,1334
$CAP_FILE_SIZE,185417,0
$CFSIZE,260165632,220168192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120811,064936,2055.832,12005.936,36,0.9,42,-2.4