version: 66.09
glider: 181
mission: 6
dive: 353
start: 8 16 111 3 23 2
data:
$ID,181
$MISSION,6
$DIVE,353
$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,225
$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,-40980.078
$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,53
$R_STBD_OVSHOOT,47
$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
$GPS1,160811,031624,2138.655,12001.660,35,1.4,35,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.0
$GPS2,160811,032237,2138.731,12001.583,9,1.4,9,-2.6
$SPEED_LIMITS,0.204,0.329
$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,349.4,11924,-16.3,-11.786
$D_GRID,2747
$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,-0.54,-219.0,0.0,0.0,0,83,0.00,0.00,-64.90,0.000,2,0.000,0.000,207,2642,2289,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.3,-3.4,10,135,8.05,1.77,-31.65,0.000,4,0.230,0.056,2125,3765,3762,0,0,0,0,0,0
$GC,291,-0.54,-219.0,80.1,-32.3,45,299,0.00,1.75,0.00,0.000,6,0.000,0.024,2125,2588,3762,0,0,0,0,0,0
$GC,430,-0.54,-219.0,117.8,-29.0,70,438,0.00,1.85,0.00,0.000,4,0.000,0.040,2116,3768,3763,0,0,0,0,0,0
$GC,452,-0.54,-219.0,124.4,-31.2,73,459,0.00,1.67,0.00,0.000,6,0.000,0.024,2116,2633,3763,0,0,0,0,0,0
$GC,591,-0.54,-219.0,154.6,-18.7,98,599,0.00,1.77,0.00,0.000,4,0.000,0.041,2109,3766,3763,0,0,0,0,0,0
$GC,616,-0.54,-219.0,160.1,-20.8,102,625,0.10,1.55,0.00,0.000,6,0.153,0.024,2139,2701,3763,0,0,0,0,0,0
$GC,760,-0.54,-219.0,182.7,-13.1,127,767,0.00,2.20,0.00,0.000,4,0.000,0.027,2139,1200,3764,0,0,0,0,0,0
$GC,831,-0.54,-219.0,190.5,-9.8,139,838,0.00,2.17,0.00,0.000,6,0.000,0.032,2138,2633,3765,0,0,0,0,0,0
$GC,974,-0.54,-219.0,207.8,-12.2,159,978,0.00,1.73,0.00,0.000,4,0.000,0.042,2138,3780,3764,0,0,0,0,0,0
$GC,997,-0.54,-219.0,210.8,-12.5,161,1001,0.00,1.65,0.00,0.000,6,0.000,0.023,2138,2634,3764,0,0,0,0,0,0
$GC,1329,-0.54,-219.0,255.6,-13.2,192,1333,0.00,2.08,0.00,0.000,4,0.000,0.027,2138,1202,3763,0,0,0,0,0,0
$GC,1362,-0.54,-219.0,260.2,-13.1,194,1369,0.00,2.15,0.00,0.000,6,0.000,0.032,2138,2625,3763,0,0,0,0,0,0
$GC,1688,-0.54,-219.0,294.1,-9.0,225,1692,0.00,1.75,0.00,0.000,4,0.000,0.043,2137,3786,3761,0,0,0,0,0,0
$GC,1715,-0.54,-219.0,296.5,-8.8,227,1722,0.00,1.73,0.00,0.000,6,0.000,0.023,2138,2622,3761,0,0,0,0,0,0
$GC,2043,-0.54,-219.0,326.8,-10.0,258,2047,0.00,2.08,0.00,0.000,4,0.000,0.028,2134,1202,3758,0,0,0,0,0,0
$GC,2132,-0.54,-219.0,335.2,-8.4,265,2139,0.00,2.12,0.00,0.000,6,0.000,0.031,2137,2605,3757,0,0,0,0,0,0
$GC,2460,-0.54,-219.0,367.5,-10.5,296,2464,0.00,2.08,0.00,0.000,4,0.000,0.028,2138,1203,3754,0,0,0,0,0,0
$GC,2494,-0.54,-219.0,371.5,-10.4,298,2501,0.00,2.10,0.00,0.000,6,0.000,0.033,2138,2582,3754,0,0,0,0,0,0
$GC,2819,-0.54,-219.0,407.7,-11.9,329,2823,0.00,1.83,0.00,0.000,4,0.000,0.045,2135,3781,3751,0,0,0,0,0,0
$GC,2847,-0.54,-219.0,411.1,-12.0,331,2854,0.00,1.77,0.00,0.000,6,0.000,0.024,2135,2567,3751,0,0,0,0,0,0
$GC,3174,-0.54,-219.0,449.8,-11.9,362,3177,0.00,2.00,0.00,0.000,4,0.000,0.028,2135,1200,3749,0,0,0,0,0,0
$GC,3210,-0.54,-219.0,453.9,-11.3,365,3213,0.00,2.10,0.00,0.000,6,0.000,0.033,2129,2585,3748,0,0,0,0,0,0
$GC,3535,-0.54,-219.0,490.8,-11.2,395,3539,0.00,1.83,0.00,0.000,4,0.000,0.045,2125,3780,3745,0,0,0,0,0,0
$GC,3593,-0.54,-219.0,496.9,-10.3,400,3597,0.00,1.73,0.00,0.000,6,0.000,0.024,2125,2595,3744,0,0,0,0,0,0
$GC,3917,-0.54,-219.0,534.9,-11.5,417,3921,0.00,2.05,0.00,0.000,4,0.000,0.029,2126,1202,3742,0,0,0,0,0,0
$GC,3963,-0.54,-219.0,540.1,-10.6,419,3967,0.00,2.12,0.00,0.000,6,0.000,0.034,2125,2589,3742,0,0,0,0,0,0
$GC,4293,-0.54,-219.0,572.9,-10.4,435,4297,0.00,1.83,0.00,0.000,4,0.000,0.046,2125,3778,3739,0,0,0,0,0,0
$GC,4366,-0.54,-219.0,580.5,-9.1,438,4369,0.00,1.73,0.00,0.000,6,0.000,0.024,2125,2597,3738,0,0,0,0,0,0
$GC,4694,-0.54,-219.0,616.7,-11.8,454,4697,0.00,2.05,0.00,0.000,4,0.000,0.029,2125,1210,3736,0,0,0,0,0,0
$GC,4772,-0.54,-219.0,626.2,-11.6,457,4776,0.00,2.12,0.00,0.000,6,0.000,0.034,2125,2592,3736,0,0,0,0,0,0
$GC,5088,-0.54,-219.0,666.0,-12.9,472,5092,0.00,1.83,0.00,0.000,4,0.000,0.047,2124,3780,3733,0,0,0,0,0,0
$GC,5112,-0.54,-219.0,668.8,-12.7,473,5116,0.00,1.77,0.00,0.000,6,0.000,0.025,2125,2568,3732,0,0,0,0,0,0
$GC,5447,-0.54,-219.0,707.5,-11.1,489,5451,0.00,2.03,0.00,0.000,4,0.000,0.031,2125,1206,3730,0,0,0,0,0,0
$GC,5485,-0.54,-219.0,712.0,-11.0,490,5492,0.00,2.12,0.00,0.000,6,0.000,0.035,2125,2575,3730,0,0,0,0,0,0
$GC,5803,-0.54,-219.0,741.3,-9.1,506,5806,0.00,1.88,0.00,0.000,4,0.000,0.047,2124,3789,3730,0,0,0,0,0,0
$GC,5849,-0.54,-219.0,745.1,-8.1,508,5853,0.00,1.77,0.00,0.000,6,0.000,0.025,2124,2574,3728,0,0,0,0,0,0
$GC,6183,-0.54,-219.0,775.0,-9.3,524,6187,0.00,2.03,0.00,0.000,4,0.000,0.031,2124,1214,3726,0,0,0,0,0,0
$GC,6252,-0.54,-219.0,780.8,-8.3,527,6256,0.00,2.10,0.00,0.000,6,0.000,0.034,2118,2577,3726,0,0,0,0,0,0
$GC,6579,-0.54,-219.0,809.2,-8.7,543,6583,0.00,1.90,0.00,0.000,4,0.000,0.047,2112,3776,3724,0,0,0,0,0,0
$GC,6627,-0.54,-219.0,813.2,-8.7,545,6632,0.12,1.77,0.00,0.000,6,0.129,0.027,2151,2568,3723,0,0,0,0,0,0
$GC,6964,-0.54,-219.0,837.0,-7.8,561,6967,0.00,2.03,0.00,0.000,4,0.000,0.031,2150,1202,3722,0,0,0,0,0,0
$GC,7221,-0.54,-219.0,861.6,-10.0,572,7225,0.00,2.10,0.00,0.000,6,0.000,0.034,2149,2567,3721,0,0,0,0,0,0
$GC,7544,-0.54,-219.0,891.4,-9.7,588,7547,0.00,2.05,0.00,0.000,4,0.000,0.032,2150,1210,3719,0,0,0,0,0,0
$GC,7800,-0.54,-219.0,916.7,-9.8,599,7804,0.00,2.05,0.00,0.000,6,0.000,0.033,2150,2546,3719,0,0,0,0,0,0
$GC,8123,-0.54,-219.0,944.9,-8.6,615,8127,0.00,2.03,0.00,0.000,4,0.000,0.030,2150,1200,3717,0,0,0,0,0,0
$GC,8381,-0.54,-219.0,967.4,-8.3,626,8385,0.00,2.03,0.00,0.000,6,0.000,0.034,2150,2522,3715,0,0,0,0,0,0
$STATE,8681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8681,begin apogee
$GC,8688,-0.13,0.0,990.2,7.8,641,8860,0.32,0.00,165.55,1.087,4,0.063,0.000,2294,2120,2870,0,0,0,0,0,0
$STATE,8861,end apogee,CONTROL_FINISHED_OK
$STATE,8861,begin climb
$GC,8864,0.54,219.0,1000.3,0.0,649,9054,0.57,2.35,178.35,1.063,4,0.045,0.041,2514,3537,1975,0,0,0,0,0,0
$GC,9105,0.54,219.0,980.9,15.8,660,9109,0.00,2.22,0.00,0.000,6,0.000,0.026,2523,2139,1974,0,0,0,0,0,0
$GC,9432,0.54,219.0,932.0,14.8,676,9437,0.12,2.20,0.00,0.000,4,0.184,0.037,2504,714,1973,0,0,0,0,0,0
$GC,9515,0.54,219.0,921.0,12.7,679,9523,0.00,2.17,0.00,0.000,6,0.000,0.032,2503,2119,1972,0,0,0,0,0,0
$GC,9831,0.54,219.0,880.6,12.8,695,9836,0.00,2.20,0.00,0.000,4,0.000,0.042,2503,3544,1971,0,0,0,0,0,0
$GC,9909,0.54,219.0,869.4,14.5,698,9916,0.00,2.15,0.00,0.000,6,0.000,0.027,2513,2125,1971,0,0,0,0,0,0
$GC,10225,0.54,219.0,826.6,13.6,714,10229,0.00,2.17,0.00,0.000,4,0.000,0.038,2524,713,1971,0,0,0,0,0,0
$GC,10353,0.54,219.0,809.5,13.1,719,10361,0.00,2.17,0.00,0.000,6,0.000,0.032,2524,2106,1970,0,0,0,0,0,0
$GC,10672,0.54,219.0,768.0,13.1,735,10676,0.00,2.22,0.00,0.000,4,0.000,0.044,2524,3545,1969,0,0,0,0,0,0
$GC,10715,0.54,219.0,761.5,14.4,737,10720,0.15,2.15,0.00,0.000,6,0.182,0.028,2497,2116,1969,0,0,0,0,0,0
$GC,11045,0.54,221.2,723.1,11.7,753,11049,0.00,2.12,0.00,0.000,4,0.000,0.037,2506,708,1969,0,0,0,0,0,0
$GC,11111,0.54,221.2,714.8,12.3,756,11115,0.00,2.20,0.00,0.000,6,0.000,0.031,2506,2122,1969,0,0,0,0,0,0
$GC,11439,0.54,221.2,674.5,12.4,772,11443,0.00,2.17,0.00,0.000,4,0.000,0.043,2506,3535,1968,0,0,0,0,0,0
$GC,11517,0.54,221.2,663.9,13.3,775,11524,0.00,2.15,0.00,0.000,6,0.000,0.028,2516,2116,1969,0,0,0,0,0,0
$GC,11834,0.54,221.2,626.1,11.8,791,11838,0.00,2.12,0.00,0.000,4,0.000,0.037,2526,710,1968,0,0,0,0,0,0
$GC,11935,0.55,224.0,614.1,11.7,795,11945,0.00,2.15,4.03,0.606,6,0.000,0.031,2526,2115,1958,0,0,0,0,0,0
$GC,12275,0.57,240.7,575.1,11.2,812,12298,0.00,2.17,15.38,0.796,4,0.000,0.034,2536,711,1883,0,0,0,0,0,0
$GC,12326,0.58,250.7,568.9,11.4,814,12344,0.00,2.15,8.95,0.694,6,0.000,0.031,2536,2112,1847,0,0,0,0,0,0
$GC,12655,0.58,250.7,526.3,13.0,830,12659,0.00,2.22,0.00,0.000,4,0.000,0.044,2536,3542,1846,0,0,0,0,0,0
$GC,12705,0.58,250.7,518.5,14.7,832,12710,0.17,2.17,0.00,0.000,6,0.170,0.027,2500,2105,1846,0,0,0,0,0,0
$GC,13027,0.58,250.7,482.7,11.9,854,13031,0.00,2.22,0.00,0.000,4,0.000,0.041,2501,3538,1846,0,0,0,0,0,0
$GC,13049,0.58,250.7,479.6,12.2,855,13056,0.00,2.17,0.00,0.000,6,0.000,0.028,2508,2127,1848,0,0,0,0,0,0
$GC,13374,0.58,250.7,437.8,12.4,886,13378,0.00,2.15,0.00,0.000,4,0.000,0.037,2519,709,1846,0,0,0,0,0,0
$GC,13396,0.58,250.7,435.0,12.3,887,13403,0.00,2.22,0.00,0.000,6,0.000,0.031,2524,2135,1846,0,0,0,0,0,0
$GC,13722,0.58,250.7,394.3,11.9,918,13726,0.00,2.15,0.00,0.000,4,0.000,0.043,2519,3539,1847,0,0,0,0,0,0
$GC,13777,0.58,250.7,386.8,13.3,922,13784,0.00,2.10,0.00,0.000,6,0.000,0.027,2529,2140,1847,0,0,0,0,0,0
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$STATE,17083,end climb,SURFACE_DEPTH_REACHED
$STATE,17083,begin surface coast
$FINISH,0.4,1.009741
$STATE,17107,end surface coast,CONTROL_FINISHED_OK
$STATE,17107,begin surface
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$IRIDIUM_FIX,2129.53,12001.37,150811,222227
$TT8_MAMPS,0.027713,0.027713
$HUMID,43.10
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,23.1,57.147
$10V_AH,9.8,52.765
$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
$DEVICE_SECS,16.575,190.650,642.650,0.000,0.000,22.233,17.126,178.200,0.000,0.000,11.939,3310.500,9839.167,745.273,3237.649,405.993,0.000,2242.323,0.000,2545.747,0.000,0.541,0.000
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$SENSOR_SECS,949.248,2078.645,628.052,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93753,1365
$CAP_FILE_SIZE,191922,0
$CFSIZE,260165632,218202112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160811,081036,2141.380,12000.839,32,0.9,32,-2.6