version: 66.09
glider: 181
mission: 6
dive: 339
start: 8 13 111 6 43 13
data:
$ID,181
$MISSION,6
$DIVE,339
$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,-7
$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,-40962.477
$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,48
$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
$GPS1,130811,063607,2104.087,12007.074,35,0.9,36,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.5
$GPS2,130811,064249,2104.242,12007.153,9,0.9,14,-2.5
$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,353.2,76480,-15.4,-11.786
$D_GRID,3123
$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,-65.00,0.000,2,0.000,0.000,198,2601,2298,0,0,0,0,0,0
$GC,87,-0.56,-243.3,3.5,-3.9,10,136,8.02,1.88,-32.00,0.000,4,0.227,0.058,2126,3787,3863,0,0,0,0,0,0
$GC,231,-0.56,-243.3,58.0,-33.0,34,239,0.00,1.80,0.00,0.000,6,0.000,0.022,2126,2592,3864,0,0,0,0,0,0
$GC,373,-0.56,-243.3,96.3,-26.5,59,380,0.00,2.08,0.00,0.000,4,0.000,0.025,2126,1192,3864,0,0,0,0,0,0
$GC,403,-0.56,-243.3,104.5,-26.4,64,411,0.00,2.22,0.00,0.000,6,0.000,0.037,2116,2608,3864,0,0,0,0,0,0
$GC,545,-0.56,-243.3,135.2,-21.9,89,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2609,3864,0,0,0,0,0,0
$GC,683,-0.56,-243.3,158.6,-15.8,114,691,0.00,1.83,0.00,0.000,4,0.000,0.044,2114,3780,3865,0,0,0,0,0,0
$GC,709,-0.56,-243.3,163.4,-17.7,118,717,0.00,1.70,0.00,0.000,6,0.000,0.023,2112,2639,3865,0,0,0,0,0,0
$GC,852,-0.56,-243.3,185.8,-15.4,143,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2638,3865,0,0,0,0,0,0
$GC,995,-0.56,-243.3,210.5,-17.9,164,998,0.00,1.75,0.00,0.000,4,0.000,0.041,2103,3784,3865,0,0,0,0,0,0
$GC,1029,-0.56,-243.3,217.0,-18.3,167,1034,0.12,1.65,0.00,0.000,6,0.146,0.023,2137,2643,3865,0,0,0,0,0,0
$GC,1361,-0.56,-243.3,261.1,-12.1,198,1365,0.00,2.12,0.00,0.000,4,0.000,0.028,2138,1194,3864,0,0,0,0,0,0
$GC,1423,-0.56,-243.3,267.5,-9.4,203,1427,0.00,2.22,0.00,0.000,6,0.000,0.033,2138,2662,3863,0,0,0,0,0,0
$GC,1749,-0.56,-243.3,298.1,-9.2,233,1753,0.00,1.70,0.00,0.000,4,0.000,0.044,2138,3789,3861,0,0,0,0,0,0
$GC,1810,-0.56,-243.3,303.4,-7.7,238,1818,0.00,1.70,0.00,0.000,6,0.000,0.024,2140,2640,3860,0,0,0,0,0,0
$GC,2137,-0.56,-243.3,331.2,-8.2,269,2141,0.00,2.10,0.00,0.000,4,0.000,0.029,2138,1208,3858,0,0,0,0,0,0
$GC,2218,-0.56,-243.3,337.2,-6.8,276,2222,0.00,2.17,0.00,0.000,6,0.000,0.034,2137,2651,3858,0,0,0,0,0,0
$GC,2543,-0.56,-243.3,372.5,-11.8,306,2547,0.00,1.73,0.00,0.000,4,0.000,0.046,2138,3786,3855,0,0,0,0,0,0
$GC,2571,-0.56,-243.3,375.9,-11.5,308,2578,0.00,1.73,0.00,0.000,6,0.000,0.024,2138,2633,3855,0,0,0,0,0,0
$GC,2897,-0.56,-243.3,409.3,-9.3,339,2901,0.00,2.12,0.00,0.000,4,0.000,0.029,2138,1194,3853,0,0,0,0,0,0
$GC,2943,-0.56,-243.3,413.3,-8.8,343,2947,0.00,2.20,0.00,0.000,6,0.000,0.034,2138,2639,3853,0,0,0,0,0,0
$GC,3269,-0.56,-243.3,442.6,-9.4,373,3273,0.00,2.15,0.00,0.000,4,0.000,0.028,2138,1194,3850,0,0,0,0,0,0
$GC,3291,-0.56,-243.3,445.0,-9.8,374,3298,0.00,2.20,0.00,0.000,6,0.000,0.035,2138,2625,3850,0,0,0,0,0,0
$GC,3617,-0.56,-243.3,477.5,-10.3,405,3621,0.00,2.15,0.00,0.000,4,0.000,0.030,2137,1197,3847,0,0,0,0,0,0
$GC,3645,-0.56,-243.3,480.6,-10.4,407,3652,0.00,2.17,0.00,0.000,6,0.000,0.035,2138,2608,3847,0,0,0,0,0,0
$GC,3968,-0.56,-243.3,511.8,-9.4,432,3972,0.00,1.83,0.00,0.000,4,0.000,0.047,2137,3769,3845,0,0,0,0,0,0
$GC,4015,-0.56,-243.3,515.8,-8.4,434,4019,0.00,1.70,0.00,0.000,6,0.000,0.026,2138,2605,3843,0,0,0,0,0,0
$GC,4349,-0.56,-243.3,541.9,-7.5,450,4353,0.00,1.88,0.00,0.000,4,0.000,0.044,2138,3783,3842,0,0,0,0,0,0
$GC,4377,-0.56,-243.3,544.2,-7.6,451,4380,0.00,1.85,0.00,0.000,6,0.000,0.025,2138,2523,3842,0,0,0,0,0,0
$GC,4705,-0.56,-243.3,570.3,-8.2,467,4709,0.00,1.95,0.00,0.000,4,0.000,0.031,2137,1198,3842,0,0,0,0,0,0
$GC,4805,-0.56,-243.3,579.0,-8.6,471,4809,0.00,2.00,0.00,0.000,6,0.000,0.032,2137,2521,3838,0,0,0,0,0,0
$GC,5128,-0.56,-243.3,606.0,-8.3,487,5132,0.00,1.95,0.00,0.000,4,0.000,0.030,2144,1209,3836,0,0,0,0,0,0
$GC,5357,-0.56,-243.3,627.5,-9.7,497,5361,0.00,1.95,0.00,0.000,6,0.000,0.033,2138,2494,3835,0,0,0,0,0,0
$GC,5687,-0.56,-243.3,655.3,-8.8,513,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2495,3832,0,0,0,0,0,0
$GC,5994,-0.56,-243.3,683.4,-9.0,528,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2496,3830,0,0,0,0,0,0
$GC,6303,-0.56,-243.3,709.7,-8.3,543,6307,0.00,1.92,0.00,0.000,4,0.000,0.031,2135,1206,3829,0,0,0,0,0,0
$GC,6561,-0.56,-243.3,731.9,-8.1,554,6564,0.00,1.92,0.00,0.000,6,0.000,0.032,2138,2475,3828,0,0,0,0,0,0
$GC,6884,-0.56,-243.3,759.9,-8.6,570,6888,0.00,1.92,0.00,0.000,4,0.000,0.031,2142,1214,3826,0,0,0,0,0,0
$GC,7141,-0.56,-243.3,784.3,-9.8,581,7145,0.00,1.88,0.00,0.000,6,0.000,0.034,2142,2449,3825,0,0,0,0,0,0
$GC,7465,-0.56,-243.3,814.6,-9.9,597,7468,0.00,1.88,0.00,0.000,4,0.000,0.032,2147,1210,3823,0,0,0,0,0,0
$GC,7723,-0.56,-243.3,843.3,-11.2,608,7727,0.00,1.85,0.00,0.000,6,0.000,0.033,2147,2434,3822,0,0,0,0,0,0
$GC,8045,-0.56,-243.3,877.4,-10.4,624,8049,0.00,1.83,0.00,0.000,4,0.000,0.034,2147,1212,3821,0,0,0,0,0,0
$GC,8210,-0.56,-243.3,895.4,-10.9,631,8213,0.00,1.88,0.00,0.000,6,0.000,0.034,2147,2438,3820,0,0,0,0,0,0
$GC,8537,-0.56,-243.3,927.1,-9.5,647,8541,0.00,1.85,0.00,0.000,4,0.000,0.032,2147,1207,3818,0,0,0,0,0,0
$GC,8704,-0.56,-243.3,943.7,-10.0,654,8707,0.00,1.88,0.00,0.000,6,0.000,0.033,2147,2431,3818,0,0,0,0,0,0
$GC,9031,-0.56,-243.3,976.9,-10.1,670,9032,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2431,3814,0,0,0,0,0,0
$STATE,9173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9173,begin apogee
$GC,9179,-0.13,0.0,991.6,10.1,677,9369,0.32,0.00,185.38,1.090,4,0.059,0.000,2294,2109,2869,0,0,0,0,0,0
$STATE,9370,end apogee,CONTROL_FINISHED_OK
$STATE,9370,begin climb
$GC,9373,0.56,243.3,1004.6,0.0,686,9585,0.55,2.22,198.93,1.063,4,0.047,0.037,2510,746,1876,0,0,0,0,0,0
$GC,9687,0.56,243.3,981.0,12.4,700,9691,0.00,2.22,0.00,0.000,6,0.000,0.034,2510,2133,1875,0,0,0,0,0,0
$GC,10003,0.56,243.3,939.8,12.8,715,10007,0.00,2.15,0.00,0.000,4,0.000,0.037,2526,740,1874,0,0,0,0,0,0
$GC,10165,0.56,243.3,919.1,12.5,722,10169,0.00,2.20,0.00,0.000,6,0.000,0.034,2520,2168,1873,0,0,0,0,0,0
$GC,10488,0.56,243.3,876.0,13.3,738,10492,0.00,2.17,0.00,0.000,4,0.000,0.036,2529,742,1872,0,0,0,0,0,0
$GC,10527,0.56,243.3,870.3,13.6,740,10532,0.12,2.12,0.00,0.000,6,0.164,0.034,2497,2126,1872,0,0,0,0,0,0
$GC,10857,0.56,243.3,829.5,12.9,756,10861,0.00,2.22,0.00,0.000,4,0.000,0.045,2498,3536,1872,0,0,0,0,0,0
$GC,10962,0.56,243.3,813.9,14.3,760,10970,0.00,2.12,0.00,0.000,6,0.000,0.028,2505,2158,1872,0,0,0,0,0,0
$GC,11279,0.56,243.3,772.4,13.0,776,11284,0.00,2.17,0.00,0.000,4,0.000,0.037,2516,720,1871,0,0,0,0,0,0
$GC,11297,0.56,243.3,769.9,12.9,777,11301,0.00,2.20,0.00,0.000,6,0.000,0.033,2516,2157,1872,0,0,0,0,0,0
$GC,11627,0.56,243.3,725.0,13.7,793,11628,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2157,1870,0,0,0,0,0,0
$GC,11934,0.56,243.3,683.3,13.3,808,11938,0.00,2.12,0.00,0.000,4,0.000,0.044,2516,3533,1870,0,0,0,0,0,0
$GC,11983,0.56,243.3,676.1,14.4,810,11987,0.00,2.12,0.00,0.000,6,0.000,0.027,2525,2122,1870,0,0,0,0,0,0
$GC,12306,0.56,243.3,630.2,14.6,826,12310,0.00,2.12,0.00,0.000,4,0.000,0.037,2535,716,1867,0,0,0,0,0,0
$GC,12372,0.56,243.3,620.8,13.3,829,12377,0.15,2.15,0.00,0.000,6,0.158,0.033,2496,2128,1870,0,0,0,0,0,0
$GC,12700,0.65,316.9,587.3,9.4,845,12765,0.00,2.30,55.38,0.840,4,0.000,0.044,2496,3526,1577,0,0,0,0,0,0
$GC,12811,0.66,332.0,575.9,11.3,850,12834,0.00,2.17,13.10,0.742,6,0.000,0.028,2504,2130,1515,0,0,0,0,0,0
$GC,13146,0.71,365.7,540.8,10.7,866,13182,0.12,2.28,28.02,0.787,4,0.094,0.036,2569,714,1377,0,0,0,0,0,0
$GC,13204,0.71,365.7,532.0,14.7,868,13211,0.00,2.25,0.00,0.000,6,0.000,0.034,2570,2140,1377,0,0,0,0,0,0
$GC,13524,0.71,365.7,484.5,13.5,889,13528,0.00,2.20,0.00,0.000,4,0.000,0.044,2570,3542,1378,0,0,0,0,0,0
$GC,13572,0.71,365.7,477.1,14.9,893,13580,0.08,2.15,0.00,0.000,6,0.159,0.027,2547,2153,1378,0,0,0,0,0,0
$GC,13899,0.71,365.7,439.3,11.8,924,13903,0.00,2.20,0.00,0.000,4,0.000,0.043,2547,3548,1378,0,0,0,0,0,0
$GC,13944,0.71,365.7,433.1,13.8,928,13948,0.00,2.08,0.00,0.000,6,0.000,0.027,2555,2166,1378,0,0,0,0,0,0
$GC,14270,0.71,365.7,388.8,14.3,958,14274,0.00,2.17,0.00,0.000,4,0.000,0.037,2566,724,1378,0,0,0,0,0,0
$GC,14337,0.71,365.7,379.4,13.6,963,14344,0.00,2.22,0.00,0.000,6,0.000,0.034,2566,2172,1379,0,0,0,0,0,0
$GC,14662,0.71,365.7,330.6,15.1,994,14663,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2172,1379,0,0,0,0,0,0
$GC,14984,0.71,365.7,289.2,12.3,1024,14988,0.00,2.22,0.00,0.000,4,0.000,0.036,2577,711,1379,0,0,0,0,0,0
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$GC,16788,1.01,610.8,64.6,9.3,1279,16842,0.00,2.25,45.20,0.468,4,0.000,0.039,2616,3538,440,0,0,0,0,0,0
$GC,17023,1.13,706.9,45.4,8.6,1320,17033,0.15,2.12,2.78,0.252,6,0.072,0.025,2679,2156,440,0,0,0,0,0,0
$GC,17169,1.20,766.9,32.4,9.8,1345,17176,0.00,2.15,0.55,0.090,4,0.000,0.036,2679,3538,441,0,0,0,0,0,0
$GC,17425,1.25,809.7,5.5,10.4,1391,17434,0.12,1.98,2.80,0.238,6,0.085,0.026,2743,2221,440,0,0,0,0,0,0
$STATE,17451,end climb,SURFACE_DEPTH_REACHED
$STATE,17451,begin surface coast
$FINISH,0.4,1.020590
$STATE,17488,end surface coast,CONTROL_FINISHED_OK
$STATE,17488,begin surface
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$IRIDIUM_FIX,2054.83,12009.90,130811,020242
$TT8_MAMPS,0.027713,0.027713
$HUMID,45.94
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.0,54.667
$10V_AH,9.8,50.900
$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
$DEVICE_SECS,16.725,165.500,666.125,0.000,0.000,30.749,42.411,174.235,0.000,0.000,17.507,3415.034,10028.539,718.206,3392.369,397.595,0.000,2241.705,0.000,2638.804,0.000,0.540,0.000
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$SENSOR_SECS,975.257,2132.188,666.979,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323560
$DATA_FILE_SIZE,93772,1401
$CAP_FILE_SIZE,190457,0
$CFSIZE,260165632,219590656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130811,113706,2106.201,12008.717,30,1.0,30,-2.5