version: 66.09
glider: 181
mission: 6
dive: 337
start: 8 12 111 21 42 37
data:
$ID,181
$MISSION,6
$DIVE,337
$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,-40959.961
$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,51
$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
$GPS1,120811,213537,2059.349,12008.021,33,0.9,33,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-69.6
$GPS2,120811,214213,2059.321,12008.113,10,0.9,15,-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,353.0,85742,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.56,-243.3,0.0,0.0,0,84,0.00,0.00,-64.55,0.000,2,0.000,0.000,207,2596,2296,0,0,0,0,0,0
$GC,87,-0.56,-243.3,3.6,-3.9,10,136,8.00,1.85,-31.00,0.000,4,0.228,0.053,2126,3779,3864,0,0,0,0,0,0
$GC,172,-0.56,-243.3,35.7,-45.4,23,179,0.00,1.80,0.00,0.000,6,0.000,0.023,2126,2583,3864,0,0,0,0,0,0
$GC,310,-0.56,-243.3,84.6,-27.0,48,318,0.00,2.05,0.00,0.000,4,0.000,0.024,2126,1183,3863,0,0,0,0,0,0
$GC,358,-0.56,-243.3,95.9,-19.2,56,366,0.00,2.28,0.00,0.000,6,0.000,0.037,2125,2635,3863,0,0,0,0,0,0
$GC,499,-0.56,-243.3,120.7,-19.5,81,506,0.00,1.75,0.00,0.000,4,0.000,0.043,2116,3783,3864,0,0,0,0,0,0
$GC,529,-0.56,-243.3,126.8,-19.5,86,537,0.00,1.70,0.00,0.000,6,0.000,0.024,2117,2640,3864,0,0,0,0,0,0
$GC,669,-0.56,-243.3,148.3,-15.5,111,676,0.00,2.12,0.00,0.000,4,0.000,0.028,2117,1190,3864,0,0,0,0,0,0
$GC,695,-0.56,-243.3,151.6,-12.8,115,702,0.00,2.17,0.00,0.000,6,0.000,0.034,2112,2614,3864,0,0,0,0,0,0
$GC,835,-0.56,-243.3,169.7,-15.1,140,843,0.00,1.80,0.00,0.000,4,0.000,0.043,2111,3774,3862,0,0,0,0,0,0
$GC,872,-0.56,-243.3,175.4,-14.5,146,880,0.00,1.73,0.00,0.000,6,0.000,0.023,2112,2609,3865,0,0,0,0,0,0
$GC,1014,-0.56,-243.3,196.7,-16.7,171,1021,0.00,2.08,0.00,0.000,4,0.000,0.027,2112,1191,3865,0,0,0,0,0,0
$GC,1039,-0.56,-243.3,201.4,-17.4,175,1043,0.00,2.20,0.00,0.000,6,0.000,0.034,2111,2638,3865,0,0,0,0,0,0
$GC,1364,-0.56,-243.3,254.7,-15.9,205,1368,0.00,1.73,0.00,0.000,4,0.000,0.044,2111,3780,3863,0,0,0,0,0,0
$GC,1479,-0.56,-243.3,269.0,-10.9,215,1482,0.00,1.65,0.00,0.000,6,0.000,0.023,2112,2637,3861,0,0,0,0,0,0
$GC,1809,-0.56,-243.3,312.8,-12.9,246,1813,0.00,2.10,0.00,0.000,4,0.000,0.028,2111,1195,3860,0,0,0,0,0,0
$GC,1831,-0.56,-243.3,315.9,-12.9,247,1838,0.00,2.28,0.00,0.000,6,0.000,0.036,2111,2672,3859,0,0,0,0,0,0
$GC,2157,-0.56,-243.3,355.5,-12.8,278,2160,0.00,1.67,0.00,0.000,4,0.000,0.045,2111,3778,3858,0,0,0,0,0,0
$GC,2180,-0.56,-243.3,358.6,-13.0,280,2184,0.00,1.65,0.00,0.000,6,0.000,0.024,2111,2641,3861,0,0,0,0,0,0
$GC,2511,-0.56,-243.3,405.8,-15.4,311,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2639,3855,0,0,0,0,0,0
$GC,2832,-0.56,-243.3,456.3,-15.8,341,2836,0.00,2.12,0.00,0.000,4,0.000,0.029,2111,1196,3853,0,0,0,0,0,0
$GC,2884,-0.56,-243.3,464.6,-14.0,345,2889,0.00,2.25,0.00,0.000,6,0.000,0.035,2111,2667,3853,0,0,0,0,0,0
$GC,3219,-0.56,-243.3,511.3,-13.2,372,3223,0.00,1.70,0.00,0.000,4,0.000,0.047,2111,3783,3850,0,0,0,0,0,0
$GC,3253,-0.56,-243.3,515.4,-11.6,373,3257,0.00,1.65,0.00,0.000,6,0.000,0.025,2111,2655,3849,0,0,0,0,0,0
$GC,3575,-0.56,-243.3,549.6,-10.9,389,3579,0.00,2.15,0.00,0.000,4,0.000,0.031,2111,1200,3846,0,0,0,0,0,0
$GC,3620,-0.56,-243.3,554.3,-9.7,391,3624,0.00,2.22,0.00,0.000,6,0.000,0.036,2111,2655,3846,0,0,0,0,0,0
$GC,3942,-0.56,-243.3,589.1,-11.8,407,3946,0.00,1.77,0.00,0.000,4,0.000,0.047,2107,3777,3843,0,0,0,0,0,0
$GC,3980,-0.56,-243.3,593.9,-11.6,408,3987,0.00,1.70,0.00,0.000,6,0.000,0.025,2111,2651,3842,0,0,0,0,0,0
$GC,4297,-0.56,-243.3,634.8,-13.3,424,4301,0.00,2.15,0.00,0.000,4,0.000,0.030,2111,1201,3840,0,0,0,0,0,0
$GC,4352,-0.56,-243.3,641.8,-11.6,426,4359,0.00,2.22,0.00,0.000,6,0.000,0.036,2111,2649,3839,0,0,0,0,0,0
$GC,4670,-0.56,-243.3,684.8,-14.0,442,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2650,3837,0,0,0,0,0,0
$GC,4978,-0.56,-243.3,729.0,-13.9,457,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2649,3835,0,0,0,0,0,0
$GC,5286,-0.56,-243.3,769.3,-12.1,472,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2649,3832,0,0,0,0,0,0
$GC,5596,-0.56,-243.3,806.3,-11.6,487,5600,0.00,2.20,0.00,0.000,4,0.000,0.033,2111,1202,3830,0,0,0,0,0,0
$GC,5646,-0.56,-243.3,811.6,-10.0,489,5650,0.00,2.22,0.00,0.000,6,0.000,0.038,2112,2637,3830,0,0,0,0,0,0
$GC,5968,-0.56,-243.3,843.6,-10.4,505,5969,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2637,3828,0,0,0,0,0,0
$GC,6278,-0.56,-243.3,876.0,-10.0,520,6282,0.00,2.17,0.00,0.000,4,0.000,0.033,2111,1202,3826,0,0,0,0,0,0
$GC,6312,-0.56,-243.3,879.5,-10.1,521,6319,0.00,2.25,0.00,0.000,6,0.000,0.039,2111,2644,3824,0,0,0,0,0,0
$GC,6629,-0.56,-243.3,911.6,-10.7,537,6630,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2644,3824,0,0,0,0,0,0
$GC,6938,-0.56,-243.3,944.1,-10.4,552,6942,0.00,2.20,0.00,0.000,4,0.000,0.034,2111,1201,3822,0,0,0,0,0,0
$GC,6986,-0.56,-243.3,948.6,-9.4,554,6991,0.00,2.22,0.00,0.000,6,0.000,0.039,2111,2630,3822,0,0,0,0,0,0
$GC,7314,-0.56,-243.3,979.3,-9.4,570,7315,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2631,3819,0,0,0,0,0,0
$STATE,7434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7435,begin apogee
$GC,7442,-0.13,0.0,991.2,9.7,576,7633,0.47,0.00,185.07,1.083,4,0.112,0.000,2270,2129,2870,0,0,0,0,0,0
$STATE,7633,end apogee,CONTROL_FINISHED_OK
$STATE,7634,begin climb
$GC,7636,0.56,243.3,1002.4,0.0,585,7848,0.65,2.38,197.68,1.059,4,0.059,0.043,2504,3542,1876,0,0,0,0,0,0
$GC,7961,0.56,243.3,973.7,13.9,600,7965,0.00,2.20,0.00,0.000,6,0.000,0.027,2513,2136,1875,0,0,0,0,0,0
$GC,8289,0.56,243.3,929.2,13.3,616,8293,0.00,2.20,0.00,0.000,4,0.000,0.041,2514,3542,1874,0,0,0,0,0,0
$GC,8389,0.56,243.3,914.1,15.4,620,8396,0.00,2.20,0.00,0.000,6,0.000,0.027,2524,2104,1874,0,0,0,0,0,0
$GC,8707,0.56,243.3,869.9,14.2,636,8711,0.00,2.10,0.00,0.000,4,0.000,0.037,2535,716,1873,0,0,0,0,0,0
$GC,8807,0.56,243.3,855.8,13.0,640,8815,0.12,2.12,0.00,0.000,6,0.170,0.032,2503,2104,1872,0,0,0,0,0,0
$GC,9123,0.56,250.0,818.7,11.6,656,9135,0.00,2.30,6.53,0.820,4,0.000,0.043,2503,3538,1850,0,0,0,0,0,0
$GC,9197,0.56,250.0,809.2,13.2,659,9201,0.00,2.17,0.00,0.000,6,0.000,0.027,2512,2101,1849,0,0,0,0,0,0
$GC,9513,0.56,250.0,767.0,15.1,674,9517,0.00,2.12,0.00,0.000,4,0.000,0.038,2522,713,1847,0,0,0,0,0,0
$GC,9590,0.56,250.0,755.0,14.6,677,9595,0.00,2.12,0.00,0.000,6,0.000,0.032,2522,2105,1847,0,0,0,0,0,0
$GC,9914,0.56,250.0,705.4,15.2,693,9918,0.00,2.20,0.00,0.000,4,0.000,0.042,2522,3537,1846,0,0,0,0,0,0
$GC,9980,0.56,250.0,693.9,16.3,696,9984,0.00,2.22,0.00,0.000,6,0.000,0.028,2532,2093,1847,0,0,0,0,0,0
$GC,10308,0.56,250.0,644.7,14.2,712,10312,0.00,2.08,0.00,0.000,4,0.000,0.037,2538,717,1846,0,0,0,0,0,0
$GC,10371,0.56,250.0,636.4,12.9,715,10376,0.15,2.10,0.00,0.000,6,0.159,0.032,2502,2097,1846,0,0,0,0,0,0
$GC,10700,0.59,270.9,601.1,11.1,731,10723,0.00,2.33,16.95,0.817,4,0.000,0.044,2502,3540,1764,0,0,0,0,0,0
$GC,10792,0.59,270.9,590.1,12.0,735,10796,0.00,2.20,0.00,0.000,6,0.000,0.028,2511,2090,1763,0,0,0,0,0,0
$GC,11119,0.59,270.9,551.4,12.1,751,11123,0.00,2.08,0.00,0.000,4,0.000,0.037,2520,718,1764,0,0,0,0,0,0
$GC,11146,0.59,270.9,547.8,12.4,752,11150,0.00,2.12,0.00,0.000,6,0.000,0.032,2521,2098,1763,0,0,0,0,0,0
$GC,11468,0.59,270.9,505.0,13.2,768,11472,0.00,2.10,0.00,0.000,4,0.000,0.034,2530,716,1763,0,0,0,0,0,0
$GC,11494,0.59,270.9,501.1,13.5,769,11499,0.00,2.10,0.00,0.000,6,0.000,0.032,2530,2098,1764,0,0,0,0,0,0
$GC,11826,0.59,270.9,457.2,12.5,800,11830,0.00,2.22,0.00,0.000,4,0.000,0.043,2530,3542,1764,0,0,0,0,0,0
$GC,11877,0.59,270.9,450.4,13.7,804,11881,0.00,2.20,0.00,0.000,6,0.000,0.028,2539,2085,1764,0,0,0,0,0,0
$GC,12202,0.59,270.9,409.2,12.5,834,12206,0.00,2.05,0.00,0.000,4,0.000,0.036,2550,720,1764,0,0,0,0,0,0
$GC,12276,0.59,270.9,400.0,12.3,840,12281,0.15,2.08,0.00,0.000,6,0.158,0.031,2510,2092,1764,0,0,0,0,0,0
$GC,12602,0.59,274.8,363.6,11.7,870,12615,0.00,2.25,5.20,0.588,4,0.000,0.041,2510,3537,1747,0,0,0,0,0,0
$GC,12695,0.59,274.8,351.9,12.8,878,12699,0.00,2.17,0.00,0.000,6,0.000,0.027,2518,2098,1747,0,0,0,0,0,0
$GC,13026,0.62,294.2,313.9,11.2,909,13049,0.00,2.12,15.93,0.654,4,0.000,0.035,2529,716,1670,0,0,0,0,0,0
$GC,13074,0.64,308.7,308.4,11.3,913,13097,0.00,2.12,12.60,0.578,6,0.000,0.031,2528,2109,1611,0,0,0,0,0,0
$GC,13415,0.64,308.7,263.7,13.1,945,13419,0.00,2.20,0.00,0.000,4,0.000,0.043,2529,3535,1611,0,0,0,0,0,0
$GC,13482,0.64,308.7,253.7,14.1,950,13489,0.00,2.17,0.00,0.000,6,0.000,0.027,2537,2104,1612,0,0,0,0,0,0
$GC,13807,0.81,448.8,221.7,7.2,981,13922,0.12,2.20,102.35,0.578,4,0.090,0.034,2611,710,1039,0,0,0,0,0,0
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$STATE,15468,end climb,SURFACE_DEPTH_REACHED
$STATE,15468,begin surface coast
$FINISH,0.3,1.020158
$STATE,15492,end surface coast,CONTROL_FINISHED_OK
$STATE,15492,begin surface
$SM_CCo,15570,0.00,0.000,0,0,443,595.10
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$IRIDIUM_FIX,2050.21,12005.59,120811,161623
$TT8_MAMPS,0.027713,0.027713
$HUMID,43.46
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.20
$XPDR_PINGS,0
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$10V_AH,9.8,50.641
$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,16.675,169.475,658.725,0.000,0.000,28.823,25.133,181.720,0.000,0.000,17.718,3009.464,8935.900,734.944,2905.011,362.454,0.000,2068.289,0.000,2207.464,0.000,0.541,0.000
$DEVICE_MAMPS,227.970,52.785,1083.240,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,874.191,1915.948,611.173,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323060
$DATA_FILE_SIZE,83529,1258
$CAP_FILE_SIZE,172411,0
$CFSIZE,260165632,219799552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130811,020325,2101.339,12006.535,39,0.8,40,-2.5