version: 66.09
glider: 181
mission: 6
dive: 365
start: 8 18 111 14 26 33
data:
$ID,181
$MISSION,6
$DIVE,365
$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,-40995.277
$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,50
$R_STBD_OVSHOOT,40
$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
$GPS1,180811,141937,2139.203,11959.032,30,0.9,31,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.8
$GPS2,180811,142608,2139.266,11959.008,14,0.9,14,-2.6
$SPEED_LIMITS,0.204,0.329
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,182.3,294966,-16.3,-11.786
$D_GRID,2869
$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,14,begin dive
$GC,16,-0.54,-219.0,0.0,0.0,0,83,0.00,0.00,-64.40,0.000,2,0.000,0.000,206,2631,2279,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.1,-3.4,10,135,8.10,2.15,-32.95,0.000,4,0.230,0.034,2131,1175,3759,0,0,0,0,0,0
$GC,171,-0.54,-219.0,26.8,-30.0,23,178,0.00,2.22,0.00,0.000,6,0.000,0.038,2122,2596,3758,0,0,0,0,0,0
$GC,309,-0.54,-219.0,65.9,-32.8,48,317,0.00,1.85,0.00,0.000,4,0.000,0.043,2113,3783,3757,0,0,0,0,0,0
$GC,411,-0.54,-219.0,93.8,-20.3,66,419,0.10,1.73,0.00,0.000,6,0.138,0.023,2145,2627,3757,0,0,0,0,0,0
$GC,554,-0.54,-219.0,120.7,-17.5,91,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2625,3758,0,0,0,0,0,0
$GC,692,-0.54,-219.0,144.2,-14.8,116,701,0.00,2.12,0.00,0.000,4,0.000,0.027,2145,1199,3758,0,0,0,0,0,0
$GC,729,-0.54,-219.0,149.2,-13.5,122,737,0.00,2.22,0.00,0.000,6,0.000,0.034,2139,2636,3758,0,0,0,0,0,0
$GC,873,-0.54,-219.0,162.2,-9.0,147,880,0.00,2.15,0.00,0.000,4,0.000,0.026,2139,1183,3759,0,0,0,0,0,0
$GC,904,-0.54,-219.0,165.0,-8.8,152,912,0.00,2.20,0.00,0.000,6,0.000,0.033,2135,2608,3759,0,0,0,0,0,0
$GC,1046,-0.54,-219.0,178.4,-11.7,177,1053,0.00,1.77,0.00,0.000,4,0.000,0.043,2138,3777,3759,0,0,0,0,0,0
$GC,1098,-0.54,-219.0,184.5,-10.8,186,1107,0.00,1.70,0.00,0.000,6,0.000,0.023,2138,2627,3762,0,0,0,0,0,0
$GC,1239,-0.54,-219.0,203.0,-13.4,209,1243,0.00,2.08,0.00,0.000,4,0.000,0.028,2138,1200,3759,0,0,0,0,0,0
$GC,1261,-0.54,-219.0,206.2,-13.5,210,1268,0.00,2.22,0.00,0.000,6,0.000,0.034,2138,2643,3759,0,0,0,0,0,0
$GC,1586,-0.54,-219.0,249.9,-14.7,241,1590,0.00,1.70,0.00,0.000,4,0.000,0.044,2138,3776,3757,0,0,0,0,0,0
$GC,1621,-0.54,-219.0,254.6,-13.6,244,1625,0.00,1.65,0.00,0.000,6,0.000,0.023,2138,2633,3757,0,0,0,0,0,0
$GC,1952,-0.54,-219.0,292.7,-10.8,275,1956,0.00,2.08,0.00,0.000,4,0.000,0.028,2138,1205,3755,0,0,0,0,0,0
$GC,1997,-0.54,-219.0,297.6,-10.5,278,2004,0.00,2.17,0.00,0.000,6,0.000,0.032,2138,2638,3755,0,0,0,0,0,0
$GC,2323,-0.54,-219.0,331.2,-9.8,309,2327,0.00,1.75,0.00,0.000,4,0.000,0.043,2132,3770,3752,0,0,0,0,0,0
$GC,2358,-0.54,-219.0,334.3,-9.0,312,2362,0.00,1.70,0.00,0.000,6,0.000,0.024,2132,2629,3752,0,0,0,0,0,0
$GC,2689,-0.54,-219.0,367.7,-11.5,343,2693,0.00,2.10,0.00,0.000,4,0.000,0.028,2132,1194,3749,0,0,0,0,0,0
$GC,2763,-0.54,-219.0,374.9,-8.9,349,2767,0.00,2.15,0.00,0.000,6,0.000,0.034,2126,2611,3749,0,0,0,0,0,0
$GC,3088,-0.54,-219.0,407.7,-9.7,379,3092,0.00,1.83,0.00,0.000,4,0.000,0.045,2125,3779,3746,0,0,0,0,0,0
$GC,3127,-0.54,-219.0,411.3,-9.3,382,3134,0.00,1.77,0.00,0.000,6,0.000,0.024,2125,2565,3745,0,0,0,0,0,0
$GC,3453,-0.54,-219.0,441.8,-9.5,413,3457,0.00,1.88,0.00,0.000,4,0.000,0.044,2117,3783,3746,0,0,0,0,0,0
$GC,3488,-0.54,-219.0,445.2,-9.7,416,3492,0.00,1.70,0.00,0.000,6,0.000,0.025,2117,2618,3742,0,0,0,0,0,0
$GC,3819,-0.54,-219.0,481.8,-10.8,447,3823,0.00,2.08,0.00,0.000,4,0.000,0.029,2116,1204,3740,0,0,0,0,0,0
$GC,3893,-0.54,-219.0,489.1,-8.9,453,3898,0.12,2.12,0.00,0.000,6,0.147,0.034,2147,2599,3740,0,0,0,0,0,0
$GC,4217,-0.54,-219.0,511.8,-6.7,475,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2599,3737,0,0,0,0,0,0
$GC,4523,-0.54,-219.0,530.0,-5.6,490,4527,0.00,2.10,0.00,0.000,4,0.000,0.029,2147,1199,3734,0,0,0,0,0,0
$GC,4550,-0.54,-219.0,531.8,-5.5,491,4554,0.00,2.15,0.00,0.000,6,0.000,0.034,2147,2599,3734,0,0,0,0,0,0
$GC,4874,-0.54,-219.0,552.2,-7.1,507,4878,0.00,1.83,0.00,0.000,4,0.000,0.044,2146,3783,3731,0,0,0,0,0,0
$GC,5132,-0.54,-219.0,577.6,-11.7,518,5136,0.00,1.88,0.00,0.000,6,0.000,0.025,2145,2504,3730,0,0,0,0,0,0
$GC,5455,-0.54,-219.0,610.1,-10.7,534,5459,0.00,1.98,0.00,0.000,4,0.000,0.043,2146,3777,3729,0,0,0,0,0,0
$GC,5712,-0.54,-219.0,640.5,-12.0,545,5717,0.00,1.88,0.00,0.000,6,0.000,0.024,2147,2538,3727,0,0,0,0,0,0
$GC,6035,-0.54,-219.0,671.2,-8.9,561,6038,0.00,1.92,0.00,0.000,4,0.000,0.044,2147,3775,3724,0,0,0,0,0,0
$GC,6294,-0.54,-219.0,694.6,-8.5,572,6298,0.00,1.77,0.00,0.000,6,0.000,0.024,2147,2567,3723,0,0,0,0,0,0
$GC,6616,-0.54,-219.0,719.6,-7.8,588,6620,0.00,1.88,0.00,0.000,4,0.000,0.043,2147,3777,3721,0,0,0,0,0,0
$GC,6663,-0.54,-219.0,723.4,-8.1,590,6667,0.00,1.77,0.00,0.000,6,0.000,0.024,2147,2595,3721,0,0,0,0,0,0
$GC,6996,-0.54,-219.0,747.8,-7.4,606,7000,0.00,2.08,0.00,0.000,4,0.000,0.031,2147,1196,3723,0,0,0,0,0,0
$GC,7252,-0.54,-219.0,768.8,-8.0,617,7259,0.00,2.15,0.00,0.000,6,0.000,0.034,2148,2590,3718,0,0,0,0,0,0
$GC,7570,-0.54,-219.0,794.5,-8.4,633,7574,0.00,2.10,0.00,0.000,4,0.000,0.031,2148,1194,3716,0,0,0,0,0,0
$GC,7827,-0.54,-219.0,818.6,-9.9,644,7834,0.00,2.15,0.00,0.000,6,0.000,0.034,2148,2579,3715,0,0,0,0,0,0
$GC,8144,-0.54,-219.0,850.0,-10.5,660,8148,0.00,2.08,0.00,0.000,4,0.000,0.031,2148,1196,3713,0,0,0,0,0,0
$GC,8400,-0.54,-219.0,879.3,-11.9,671,8408,0.00,2.15,0.00,0.000,6,0.000,0.034,2148,2569,3712,0,0,0,0,0,0
$GC,8718,-0.54,-219.0,915.0,-11.4,687,8722,0.00,1.85,0.00,0.000,4,0.000,0.044,2148,3776,3711,0,0,0,0,0,0
$GC,8768,-0.54,-219.0,921.1,-11.4,689,8772,0.00,1.77,0.00,0.000,6,0.000,0.024,2148,2573,3711,0,0,0,0,0,0
$GC,9096,-0.54,-219.0,957.3,-11.4,705,9099,0.00,1.88,0.00,0.000,4,0.000,0.044,2148,3775,3710,0,0,0,0,0,0
$GC,9169,-0.54,-219.0,966.2,-11.8,708,9173,0.00,1.75,0.00,0.000,6,0.000,0.024,2154,2584,3710,0,0,0,0,0,0
$STATE,9392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9392,begin apogee
$GC,9398,-0.13,0.0,991.3,11.1,719,9569,0.30,0.00,165.48,1.090,4,0.061,0.000,2294,2115,2868,0,0,0,0,0,0
$STATE,9570,end apogee,CONTROL_FINISHED_OK
$STATE,9570,begin climb
$GC,9572,0.54,219.0,1004.6,0.0,727,9763,0.55,2.25,177.85,1.068,4,0.046,0.036,2516,718,1978,0,0,0,0,0,0
$GC,9841,0.54,219.0,987.9,12.1,739,9845,0.00,2.28,0.00,0.000,6,0.000,0.031,2516,2132,1977,0,0,0,0,0,0
$GC,10164,0.54,219.0,946.2,13.1,755,10168,0.00,2.20,0.00,0.000,4,0.000,0.043,2516,3547,1976,0,0,0,0,0,0
$GC,10191,0.54,219.0,942.1,13.8,756,10195,0.12,2.17,0.00,0.000,6,0.187,0.027,2496,2117,1975,0,0,0,0,0,0
$GC,10512,0.54,219.0,904.1,11.8,772,10516,0.00,2.15,0.00,0.000,4,0.000,0.037,2506,710,1975,0,0,0,0,0,0
$GC,10574,0.54,219.0,896.5,12.0,774,10581,0.00,2.20,0.00,0.000,6,0.000,0.031,2506,2135,1975,0,0,0,0,0,0
$GC,10890,0.54,219.5,860.0,11.8,790,10894,0.00,2.17,0.00,0.000,4,0.000,0.043,2506,3535,1973,0,0,0,0,0,0
$GC,10923,0.54,219.5,855.5,12.8,791,10927,0.00,2.15,0.00,0.000,6,0.000,0.027,2515,2109,1974,0,0,0,0,0,0
$GC,11239,0.54,219.5,817.2,11.9,806,11243,0.00,2.10,0.00,0.000,4,0.000,0.037,2523,719,1973,0,0,0,0,0,0
$GC,11301,0.54,219.5,809.6,12.6,809,11306,0.12,2.15,0.00,0.000,6,0.168,0.031,2501,2127,1973,0,0,0,0,0,0
$GC,11631,0.57,245.9,774.1,10.8,825,11657,0.00,2.22,21.83,0.927,4,0.000,0.042,2494,3541,1868,0,0,0,0,0,0
$GC,11769,0.57,245.9,756.6,12.6,831,11773,0.00,2.15,0.00,0.000,6,0.000,0.028,2503,2130,1866,0,0,0,0,0,0
$GC,12094,0.57,245.9,719.2,11.8,847,12098,0.00,2.15,0.00,0.000,4,0.000,0.037,2513,713,1866,0,0,0,0,0,0
$GC,12166,0.58,253.0,710.5,11.5,850,12179,0.00,2.17,7.10,0.768,6,0.000,0.032,2514,2135,1839,0,0,0,0,0,0
$GC,12489,0.58,253.0,671.6,12.1,866,12493,0.00,2.17,0.00,0.000,4,0.000,0.043,2513,3541,1838,0,0,0,0,0,0
$GC,12544,0.58,253.0,663.7,13.3,868,12552,0.00,2.15,0.00,0.000,6,0.000,0.027,2529,2141,1837,0,0,0,0,0,0
$GC,12863,0.58,253.0,622.6,13.4,884,12867,0.00,2.15,0.00,0.000,4,0.000,0.037,2533,723,1835,0,0,0,0,0,0
$GC,12940,0.58,253.0,611.2,14.7,887,12947,0.00,2.22,0.00,0.000,6,0.000,0.033,2533,2163,1838,0,0,0,0,0,0
$GC,13256,0.58,253.0,566.5,14.1,903,13260,0.00,2.12,0.00,0.000,4,0.000,0.043,2533,3540,1838,0,0,0,0,0,0
$GC,13342,0.58,253.0,553.7,15.4,907,13347,0.12,2.08,0.00,0.000,6,0.177,0.027,2513,2160,1838,0,0,0,0,0,0
$GC,13671,0.61,274.2,515.0,11.0,923,13694,0.00,2.28,18.40,0.777,4,0.000,0.037,2522,723,1751,0,0,0,0,0,0
$GC,13812,0.65,306.9,499.4,10.6,929,13844,0.00,2.20,26.20,0.753,6,0.000,0.031,2522,2156,1616,0,0,0,0,0,0
$GC,14171,0.68,329.9,461.9,11.0,962,14197,0.00,2.25,19.25,0.727,4,0.000,0.043,2522,3541,1524,0,0,0,0,0,0
$GC,14240,0.68,329.9,453.5,12.9,968,14244,0.00,2.12,0.00,0.000,6,0.000,0.027,2530,2148,1524,0,0,0,0,0,0
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$STATE,18069,end climb,SURFACE_DEPTH_REACHED
$STATE,18069,begin surface coast
$FINISH,0.4,1.008087
$STATE,18102,end surface coast,CONTROL_FINISHED_OK
$STATE,18104,begin surface
$SM_CCo,18181,0.00,0.000,0,0,441,595.34
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$IRIDIUM_FIX,2129.53,11956.20,180811,090934
$TT8_MAMPS,0.027713,0.027713
$HUMID,44.09
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.70
$XPDR_PINGS,0
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$10V_AH,9.8,54.392
$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
$DEVICE_SECS,16.625,191.350,644.925,0.000,0.000,30.958,20.094,183.781,0.000,0.000,17.443,3608.788,10172.605,732.896,3607.723,434.141,0.000,2352.257,0.000,2824.460,0.000,0.540,0.000
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$SENSOR_SECS,1025.351,2245.171,742.224,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,100337,1474
$CAP_FILE_SIZE,205318,0
$CFSIZE,260165632,216985600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180811,193054,2138.917,11958.961,23,1.0,41,-2.6