version: 66.09
glider: 181
mission: 6
dive: 336
start: 8 12 111 16 44 13
data:
$ID,181
$MISSION,6
$DIVE,336
$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,-40958.703
$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,45
$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,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
$GPS1,120811,163706,2059.181,12007.846,26,1.7,26,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.3
$GPS2,120811,164349,2059.164,12007.893,9,1.8,14,-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,353.3,85968,-15.4,-11.786
$D_GRID,3337
$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,-243.3,0.0,0.0,0,83,0.00,0.00,-64.85,0.000,2,0.000,0.000,203,2612,2292,0,0,0,0,0,0
$GC,86,-0.56,-243.3,3.6,-4.0,10,135,7.97,1.85,-31.40,0.000,4,0.226,0.056,2125,3779,3862,0,0,0,0,0,0
$GC,187,-0.56,-243.3,47.9,-61.6,26,195,0.00,1.80,0.00,0.000,6,0.000,0.029,2130,2590,3862,0,0,0,0,0,0
$GC,328,-0.56,-243.3,98.3,-26.2,51,335,0.00,2.05,0.00,0.000,4,0.000,0.024,2131,1175,3862,0,0,0,0,0,0
$GC,413,-0.56,-243.3,112.0,-9.8,66,421,0.00,2.25,0.00,0.000,6,0.000,0.035,2126,2620,3862,0,0,0,0,0,0
$GC,553,-0.56,-243.3,132.2,-14.4,91,561,0.00,1.77,0.00,0.000,4,0.000,0.042,2121,3789,3862,0,0,0,0,0,0
$GC,602,-0.56,-243.3,139.6,-15.4,99,608,0.00,1.65,0.00,0.000,6,0.000,0.023,2117,2671,3862,0,0,0,0,0,0
$GC,740,-0.56,-243.3,166.2,-19.4,124,748,0.00,2.20,0.00,0.000,4,0.000,0.028,2118,1193,3862,0,0,0,0,0,0
$GC,773,-0.56,-243.3,172.7,-20.1,129,780,0.00,2.33,0.00,0.000,6,0.000,0.036,2112,2703,3862,0,0,0,0,0,0
$GC,912,-0.56,-243.3,196.4,-15.8,154,920,0.00,1.65,0.00,0.000,4,0.000,0.044,2111,3774,3862,0,0,0,0,0,0
$GC,942,-0.56,-243.3,201.1,-14.6,158,949,0.00,1.65,0.00,0.000,6,0.000,0.023,2111,2657,3862,0,0,0,0,0,0
$GC,1271,-0.56,-243.3,247.6,-14.7,189,1274,0.00,2.12,0.00,0.000,4,0.000,0.026,2111,1194,3862,0,0,0,0,0,0
$GC,1292,-0.56,-243.3,251.1,-13.5,190,1299,0.00,2.28,0.00,0.000,6,0.000,0.034,2111,2663,3862,0,0,0,0,0,0
$GC,1618,-0.56,-243.3,297.4,-14.9,221,1621,0.00,1.67,0.00,0.000,4,0.000,0.042,2103,3781,3860,0,0,0,0,0,0
$GC,1721,-0.56,-243.3,310.0,-9.8,230,1725,0.10,1.60,0.00,0.000,6,0.120,0.024,2138,2690,3862,0,0,0,0,0,0
$GC,2052,-0.56,-243.3,341.2,-11.0,261,2056,0.00,2.17,0.00,0.000,4,0.000,0.028,2139,1201,3857,0,0,0,0,0,0
$GC,2138,-0.56,-243.3,349.8,-9.5,268,2142,0.00,2.22,0.00,0.000,6,0.000,0.032,2138,2675,3857,0,0,0,0,0,0
$GC,2466,-0.56,-243.3,381.7,-8.0,298,2469,0.00,1.67,0.00,0.000,4,0.000,0.044,2138,3782,3854,0,0,0,0,0,0
$GC,2495,-0.56,-243.3,384.1,-7.7,300,2501,0.00,1.65,0.00,0.000,6,0.000,0.024,2138,2672,3854,0,0,0,0,0,0
$GC,2820,-0.56,-243.3,406.8,-7.2,331,2824,0.00,2.17,0.00,0.000,4,0.000,0.028,2138,1191,3852,0,0,0,0,0,0
$GC,2907,-0.56,-243.3,412.6,-6.4,338,2911,0.00,2.20,0.00,0.000,6,0.000,0.032,2138,2653,3851,0,0,0,0,0,0
$GC,3238,-0.56,-243.3,445.0,-11.4,369,3242,0.00,2.17,0.00,0.000,4,0.000,0.028,2138,1192,3848,0,0,0,0,0,0
$GC,3271,-0.56,-243.3,448.8,-10.8,371,3278,0.00,2.22,0.00,0.000,6,0.000,0.034,2138,2644,3848,0,0,0,0,0,0
$GC,3597,-0.56,-243.3,486.7,-11.6,402,3601,0.00,1.75,0.00,0.000,4,0.000,0.046,2142,3767,3848,0,0,0,0,0,0
$GC,3621,-0.56,-243.3,489.4,-11.7,404,3624,0.00,1.67,0.00,0.000,6,0.000,0.024,2134,2615,3843,0,0,0,0,0,0
$GC,3947,-0.56,-243.3,522.0,-9.0,424,3951,0.00,2.10,0.00,0.000,4,0.000,0.028,2138,1200,3843,0,0,0,0,0,0
$GC,4002,-0.56,-243.3,526.7,-7.8,426,4009,0.00,2.20,0.00,0.000,6,0.000,0.033,2138,2638,3842,0,0,0,0,0,0
$GC,4319,-0.56,-243.3,542.6,-4.4,442,4323,0.00,1.73,0.00,0.000,4,0.000,0.042,2144,3777,3839,0,0,0,0,0,0
$GC,4578,-0.56,-243.3,559.3,-7.8,453,4581,0.00,1.80,0.00,0.000,6,0.000,0.024,2142,2547,3837,0,0,0,0,0,0
$GC,4900,-0.56,-243.3,585.2,-9.1,469,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2545,3835,0,0,0,0,0,0
$GC,5210,-0.56,-243.3,616.9,-10.3,484,5213,0.00,1.98,0.00,0.000,4,0.000,0.030,2142,1203,3832,0,0,0,0,0,0
$GC,5469,-0.56,-243.3,645.0,-10.9,495,5472,0.00,2.03,0.00,0.000,6,0.000,0.033,2143,2535,3830,0,0,0,0,0,0
$GC,5791,-0.56,-243.3,675.6,-9.3,511,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2535,3828,0,0,0,0,0,0
$GC,6100,-0.56,-243.3,701.8,-7.8,526,6104,0.00,1.95,0.00,0.000,4,0.000,0.044,2143,3776,3826,0,0,0,0,0,0
$GC,6147,-0.56,-243.3,705.6,-8.1,528,6151,0.00,1.83,0.00,0.000,6,0.000,0.025,2143,2535,3825,0,0,0,0,0,0
$GC,6481,-0.56,-243.3,730.6,-7.7,544,6485,0.00,2.00,0.00,0.000,4,0.000,0.031,2148,1211,3823,0,0,0,0,0,0
$GC,6695,-0.56,-243.3,748.8,-8.2,553,6699,0.00,2.03,0.00,0.000,6,0.000,0.034,2148,2533,3822,0,0,0,0,0,0
$GC,7019,-0.56,-243.3,773.4,-8.1,569,7022,0.00,1.92,0.00,0.000,4,0.000,0.045,2148,3784,3821,0,0,0,0,0,0
$GC,7035,-0.56,-243.3,775.0,-8.2,569,7042,0.00,1.88,0.00,0.000,6,0.000,0.025,2152,2518,3820,0,0,0,0,0,0
$GC,7354,-0.56,-243.3,803.4,-9.3,585,7357,0.00,1.95,0.00,0.000,4,0.000,0.031,2160,1201,3819,0,0,0,0,0,0
$GC,7517,-0.56,-243.3,819.7,-9.4,592,7521,0.00,2.03,0.00,0.000,6,0.000,0.034,2160,2527,3817,0,0,0,0,0,0
$GC,7845,-0.56,-243.3,849.7,-8.9,608,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2527,3816,0,0,0,0,0,0
$GC,8154,-0.56,-243.3,877.9,-9.4,623,8157,0.00,2.00,0.00,0.000,4,0.000,0.031,2160,1199,3815,0,0,0,0,0,0
$GC,8200,-0.56,-243.3,882.4,-9.9,625,8204,0.00,2.03,0.00,0.000,6,0.000,0.034,2160,2521,3815,0,0,0,0,0,0
$GC,8534,-0.56,-243.3,915.1,-10.0,641,8538,0.00,1.92,0.00,0.000,4,0.000,0.046,2160,3771,3812,0,0,0,0,0,0
$GC,8580,-0.56,-243.3,919.7,-10.1,643,8583,0.00,1.85,0.00,0.000,6,0.000,0.025,2160,2520,3812,0,0,0,0,0,0
$GC,8913,-0.56,-243.3,954.1,-10.6,659,8917,0.00,1.95,0.00,0.000,4,0.000,0.033,2160,1209,3811,0,0,0,0,0,0
$GC,9014,-0.56,-243.3,964.9,-10.1,663,9018,0.00,2.00,0.00,0.000,6,0.000,0.034,2161,2515,3811,0,0,0,0,0,0
$STATE,9271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9272,begin apogee
$GC,9278,-0.13,0.0,991.6,10.6,676,9468,0.30,0.00,184.18,1.090,4,0.060,0.000,2297,2110,2869,0,0,0,0,0,0
$STATE,9469,end apogee,CONTROL_FINISHED_OK
$STATE,9469,begin climb
$GC,9472,0.56,243.3,1005.2,0.0,685,9678,0.55,2.25,198.38,1.064,4,0.049,0.037,2513,733,1878,0,0,0,0,0,0
$GC,9802,0.58,260.4,982.0,11.2,699,9823,0.00,2.22,15.40,0.962,6,0.000,0.034,2513,2125,1807,0,0,0,0,0,0
$GC,10141,0.58,260.4,936.1,14.6,716,10145,0.00,2.17,0.00,0.000,4,0.000,0.037,2524,738,1805,0,0,0,0,0,0
$GC,10275,0.58,260.4,914.3,16.2,722,10279,0.00,2.17,0.00,0.000,6,0.000,0.034,2522,2141,1805,0,0,0,0,0,0
$GC,10596,0.58,260.4,859.3,17.2,738,10600,0.00,2.17,0.00,0.000,4,0.000,0.044,2522,3541,1804,0,0,0,0,0,0
$GC,10646,0.58,260.4,850.1,18.4,740,10650,0.00,2.10,0.00,0.000,6,0.000,0.026,2531,2152,1803,0,0,0,0,0,0
$GC,10967,0.58,260.4,794.0,16.8,756,10971,0.00,2.17,0.00,0.000,4,0.000,0.036,2542,720,1803,0,0,0,0,0,0
$GC,11022,0.58,260.4,785.3,14.3,758,11027,0.12,2.17,0.00,0.000,6,0.171,0.033,2511,2137,1803,0,0,0,0,0,0
$GC,11345,0.58,260.4,743.3,13.2,774,11349,0.00,2.17,0.00,0.000,4,0.000,0.044,2511,3535,1802,0,0,0,0,0,0
$GC,11394,0.58,260.4,735.6,14.7,776,11398,0.00,2.10,0.00,0.000,6,0.000,0.028,2519,2140,1802,0,0,0,0,0,0
$GC,11722,0.58,260.4,692.4,12.9,792,11726,0.00,2.17,0.00,0.000,4,0.000,0.037,2530,713,1801,0,0,0,0,0,0
$GC,11776,0.58,260.4,685.3,12.3,794,11780,0.00,2.17,0.00,0.000,6,0.000,0.033,2530,2134,1802,0,0,0,0,0,0
$GC,12099,0.58,262.5,646.7,11.7,810,12103,0.00,2.17,0.00,0.000,4,0.000,0.044,2529,3536,1801,0,0,0,0,0,0
$GC,12123,0.58,262.5,643.7,12.3,811,12127,0.12,2.12,0.00,0.000,6,0.176,0.028,2509,2128,1801,0,0,0,0,0,0
$GC,12451,0.64,315.7,610.8,10.0,827,12499,0.00,2.20,42.45,0.849,4,0.000,0.037,2516,722,1581,0,0,0,0,0,0
$GC,12561,0.70,356.8,599.0,10.4,832,12600,0.00,2.17,32.53,0.814,6,0.000,0.033,2518,2116,1414,0,0,0,0,0,0
$GC,12908,0.70,358.9,559.9,11.7,849,12917,0.00,2.30,4.00,0.562,4,0.000,0.045,2518,3542,1405,0,0,0,0,0,0
$GC,12998,0.70,358.9,547.8,14.2,853,13003,0.00,2.15,0.00,0.000,6,0.000,0.028,2528,2135,1405,0,0,0,0,0,0
$GC,13326,0.70,358.9,503.4,13.6,869,13330,0.00,2.15,0.00,0.000,4,0.000,0.037,2538,720,1404,0,0,0,0,0,0
$GC,13359,0.70,358.9,498.7,13.4,870,13366,0.00,2.20,0.00,0.000,6,0.000,0.033,2538,2145,1404,0,0,0,0,0,0
$GC,13684,0.70,358.9,454.0,13.0,901,13688,0.00,2.15,0.00,0.000,4,0.000,0.044,2538,3537,1404,0,0,0,0,0,0
$GC,13762,0.70,358.9,442.9,13.9,907,13769,0.00,2.12,0.00,0.000,6,0.000,0.028,2547,2140,1404,0,0,0,0,0,0
$GC,14089,0.70,358.9,400.0,12.5,938,14093,0.00,2.15,0.00,0.000,4,0.000,0.037,2558,720,1402,0,0,0,0,0,0
$GC,14164,0.70,358.9,390.7,12.3,944,14168,0.00,2.20,0.00,0.000,6,0.000,0.033,2558,2157,1405,0,0,0,0,0,0
$GC,14489,0.70,358.9,345.5,14.2,974,14493,0.00,2.12,0.00,0.000,4,0.000,0.044,2558,3535,1405,0,0,0,0,0,0
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$STATE,17299,end climb,SURFACE_DEPTH_REACHED
$STATE,17299,begin surface coast
$FINISH,0.4,1.013503
$STATE,17332,end surface coast,CONTROL_FINISHED_OK
$STATE,17332,begin surface
$SM_CCo,17413,0.00,0.000,0,0,443,595.10
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$IRIDIUM_FIX,2050.21,12013.89,120811,111108
$TT8_MAMPS,0.027713,0.027713
$HUMID,43.93
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.1,54.137
$10V_AH,9.8,50.519
$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
$DEVICE_SECS,16.275,187.325,665.750,0.000,0.000,28.021,38.566,179.859,0.000,0.000,17.143,3363.294,9998.137,722.954,3304.548,409.290,0.000,2227.656,0.000,2576.343,0.000,0.541,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323032
$DATA_FILE_SIZE,93635,1374
$CAP_FILE_SIZE,193438,0
$CFSIZE,260165632,219869184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120811,213537,2059.349,12008.021,33,0.9,33,-2.4