version: 66.09
glider: 181
mission: 6
dive: 388
start: 8 23 111 11 50 50
data:
$ID,181
$MISSION,6
$DIVE,388
$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,-41032.98
$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,53
$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
$GPS1,230811,114401,2115.208,11947.285,36,1.2,36,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.1
$GPS2,230811,115025,2115.173,11947.258,9,0.9,14,-2.5
$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,177.4,251333,-16.3,-11.786
$D_GRID,3378
$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,-0.54,-219.0,0.0,0.0,0,82,0.00,0.00,-63.05,0.000,2,0.000,0.000,205,2620,2213,0,0,0,0,0,0
$GC,85,-0.54,-219.0,3.0,-3.1,11,139,8.10,2.20,-36.30,0.000,4,0.230,0.040,2141,1185,3764,0,0,0,0,0,0
$GC,168,-0.54,-219.0,23.5,-33.2,25,175,0.00,2.17,0.00,0.000,6,0.000,0.039,2138,2585,3765,0,0,0,0,0,0
$GC,312,-0.54,-219.0,63.5,-26.5,50,318,0.00,1.83,0.00,0.000,4,0.000,0.043,2129,3786,3764,0,0,0,0,0,0
$GC,410,-0.54,-219.0,85.0,-19.5,67,417,0.00,1.70,0.00,0.000,6,0.000,0.023,2129,2614,3764,0,0,0,0,0,0
$GC,553,-0.54,-219.0,109.6,-18.8,92,559,0.00,2.05,0.00,0.000,4,0.000,0.025,2129,1198,3764,0,0,0,0,0,0
$GC,572,-0.54,-219.0,113.1,-18.5,95,579,0.00,2.20,0.00,0.000,6,0.000,0.034,2124,2640,3764,0,0,0,0,0,0
$GC,716,-0.54,-219.0,137.2,-16.2,120,723,0.00,1.73,0.00,0.000,4,0.000,0.041,2116,3789,3763,0,0,0,0,0,0
$GC,792,-0.54,-219.0,150.8,-16.9,133,798,0.00,1.62,0.00,0.000,6,0.000,0.022,2116,2682,3763,0,0,0,0,0,0
$GC,935,-0.54,-219.0,175.3,-16.3,158,942,0.00,2.15,0.00,0.000,4,0.000,0.026,2116,1200,3764,0,0,0,0,0,0
$GC,1000,-0.54,-219.0,184.0,-11.7,169,1007,0.12,2.20,0.00,0.000,6,0.154,0.032,2146,2659,3764,0,0,0,0,0,0
$GC,1146,-0.54,-219.0,199.3,-10.9,194,1153,0.00,1.70,0.00,0.000,4,0.000,0.041,2139,3780,3764,0,0,0,0,0,0
$GC,1209,-0.54,-219.0,206.8,-10.8,200,1215,0.00,1.65,0.00,0.000,6,0.000,0.022,2139,2663,3764,0,0,0,0,0,0
$GC,1534,-0.54,-219.0,243.6,-12.7,231,1538,0.00,2.12,0.00,0.000,4,0.000,0.026,2139,1200,3764,0,0,0,0,0,0
$GC,1585,-0.54,-219.0,249.6,-11.3,235,1589,0.00,2.20,0.00,0.000,6,0.000,0.032,2139,2660,3764,0,0,0,0,0,0
$GC,1911,-0.54,-219.0,284.1,-9.2,265,1915,0.00,1.67,0.00,0.000,4,0.000,0.041,2131,3780,3762,0,0,0,0,0,0
$GC,1950,-0.54,-219.0,288.1,-9.6,268,1957,0.00,1.67,0.00,0.000,6,0.000,0.024,2132,2644,3762,0,0,0,0,0,0
$GC,2276,-0.54,-219.0,323.1,-10.6,299,2280,0.00,2.10,0.00,0.000,4,0.000,0.028,2131,1206,3760,0,0,0,0,0,0
$GC,2327,-0.54,-219.0,328.2,-9.6,303,2331,0.00,2.17,0.00,0.000,6,0.000,0.031,2125,2647,3759,0,0,0,0,0,0
$GC,2654,-0.54,-219.0,365.4,-11.6,333,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2648,3757,0,0,0,0,0,0
$GC,2973,-0.54,-219.0,400.7,-10.2,363,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2648,3754,0,0,0,0,0,0
$GC,3292,-0.54,-219.0,431.1,-9.7,393,3296,0.00,2.15,0.00,0.000,4,0.000,0.029,2125,1208,3751,0,0,0,0,0,0
$GC,3332,-0.54,-219.0,435.0,-9.1,396,3336,0.00,2.17,0.00,0.000,6,0.000,0.034,2125,2634,3751,0,0,0,0,0,0
$GC,3659,-0.54,-219.0,463.9,-8.7,426,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2635,3749,0,0,0,0,0,0
$GC,3978,-0.54,-219.0,492.6,-9.9,456,3981,0.00,1.75,0.00,0.000,4,0.000,0.047,2124,3774,3745,0,0,0,0,0,0
$GC,4001,-0.54,-219.0,495.0,-9.6,458,4005,0.00,1.67,0.00,0.000,6,0.000,0.024,2124,2635,3745,0,0,0,0,0,0
$GC,4325,-0.54,-219.0,528.5,-10.9,476,4329,0.00,2.12,0.00,0.000,4,0.000,0.031,2124,1200,3742,0,0,0,0,0,0
$GC,4390,-0.54,-219.0,535.1,-10.0,479,4394,0.00,2.17,0.00,0.000,6,0.000,0.035,2124,2620,3742,0,0,0,0,0,0
$GC,4718,-0.54,-219.0,570.7,-10.9,495,4721,0.00,1.77,0.00,0.000,4,0.000,0.047,2123,3776,3739,0,0,0,0,0,0
$GC,4745,-0.54,-219.0,573.8,-10.6,496,4749,0.00,1.75,0.00,0.000,6,0.000,0.026,2123,2618,3739,0,0,0,0,0,0
$GC,5073,-0.54,-219.0,605.2,-8.9,512,5077,0.00,2.10,0.00,0.000,4,0.000,0.031,2123,1203,3737,0,0,0,0,0,0
$GC,5133,-0.54,-219.0,610.2,-7.5,514,5140,0.00,2.15,0.00,0.000,6,0.000,0.035,2115,2610,3736,0,0,0,0,0,0
$GC,5450,-0.54,-219.0,637.3,-9.0,530,5453,0.00,1.80,0.00,0.000,4,0.000,0.047,2113,3776,3734,0,0,0,0,0,0
$GC,5474,-0.54,-219.0,639.2,-8.9,531,5479,0.12,1.75,0.00,0.000,6,0.129,0.027,2150,2587,3734,0,0,0,0,0,0
$GC,5808,-0.54,-219.0,661.1,-7.0,547,5812,0.00,2.08,0.00,0.000,4,0.000,0.032,2150,1200,3731,0,0,0,0,0,0
$GC,6065,-0.54,-219.0,683.5,-8.9,558,6070,0.00,2.12,0.00,0.000,6,0.000,0.034,2150,2585,3730,0,0,0,0,0,0
$GC,6387,-0.54,-219.0,711.1,-8.6,574,6391,0.00,2.10,0.00,0.000,4,0.000,0.031,2150,1194,3729,0,0,0,0,0,0
$GC,6645,-0.54,-219.0,735.1,-9.1,585,6651,0.00,2.10,0.00,0.000,6,0.000,0.034,2150,2560,3727,0,0,0,0,0,0
$GC,6961,-0.54,-219.0,761.7,-8.5,601,6965,0.00,2.05,0.00,0.000,4,0.000,0.031,2150,1200,3725,0,0,0,0,0,0
$GC,7218,-0.54,-219.0,785.7,-9.8,612,7225,0.00,2.05,0.00,0.000,6,0.000,0.034,2150,2531,3723,0,0,0,0,0,0
$GC,7536,-0.54,-219.0,814.1,-8.9,628,7539,0.00,2.00,0.00,0.000,4,0.000,0.032,2158,1205,3722,0,0,0,0,0,0
$GC,7792,-0.54,-219.0,838.2,-9.3,639,7796,0.00,2.00,0.00,0.000,6,0.000,0.034,2158,2514,3721,0,0,0,0,0,0
$GC,8115,-0.54,-219.0,867.3,-9.3,655,8118,0.00,1.98,0.00,0.000,4,0.000,0.033,2160,1205,3720,0,0,0,0,0,0
$GC,8373,-0.54,-219.0,892.7,-10.0,666,8377,0.00,2.00,0.00,0.000,6,0.000,0.034,2160,2506,3719,0,0,0,0,0,0
$GC,8695,-0.54,-219.0,926.5,-10.6,682,8699,0.00,1.98,0.00,0.000,4,0.000,0.033,2161,1202,3717,0,0,0,0,0,0
$GC,8838,-0.54,-219.0,942.0,-10.9,688,8842,0.00,2.00,0.00,0.000,6,0.000,0.035,2160,2500,3717,0,0,0,0,0,0
$GC,9165,-0.54,-219.0,974.6,-9.4,704,9166,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2501,3715,0,0,0,0,0,0
$STATE,9348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9348,begin apogee
$GC,9354,-0.13,0.0,991.6,9.0,713,9526,0.30,0.00,167.15,1.085,4,0.061,0.000,2296,2113,2869,0,0,0,0,0,0
$STATE,9527,end apogee,CONTROL_FINISHED_OK
$STATE,9527,begin climb
$GC,9530,0.54,219.0,1001.1,0.0,721,9716,0.55,2.22,178.30,1.062,4,0.050,0.037,2513,742,1976,0,0,0,0,0,0
$GC,9909,0.54,219.0,964.5,13.9,739,9913,0.00,2.17,0.00,0.000,6,0.000,0.034,2513,2128,1974,0,0,0,0,0,0
$GC,10235,0.54,219.0,917.4,14.1,755,10240,0.00,2.20,0.00,0.000,4,0.000,0.044,2513,3541,1973,0,0,0,0,0,0
$GC,10383,0.54,219.0,895.8,14.8,761,10390,0.00,2.12,0.00,0.000,6,0.000,0.028,2522,2138,1972,0,0,0,0,0,0
$GC,10699,0.54,219.0,850.9,14.2,777,10703,0.00,2.15,0.00,0.000,4,0.000,0.037,2534,719,1971,0,0,0,0,0,0
$GC,10794,0.54,219.0,837.3,13.8,781,10799,0.15,2.15,0.00,0.000,6,0.164,0.034,2495,2120,1972,0,0,0,0,0,0
$GC,11111,0.55,223.3,799.5,11.6,796,11121,0.00,2.22,4.62,0.709,4,0.000,0.044,2495,3539,1958,0,0,0,0,0,0
$GC,11171,0.55,223.3,791.3,13.7,798,11178,0.00,2.15,0.00,0.000,6,0.000,0.026,2503,2113,1958,0,0,0,0,0,0
$GC,11488,0.55,223.3,752.4,11.9,814,11492,0.00,2.12,0.00,0.000,4,0.000,0.037,2514,713,1957,0,0,0,0,0,0
$GC,11583,0.55,223.3,740.4,12.4,818,11587,0.00,2.12,0.00,0.000,6,0.000,0.032,2513,2103,1957,0,0,0,0,0,0
$GC,11905,0.55,223.3,699.5,12.7,834,11909,0.00,2.22,0.00,0.000,4,0.000,0.044,2514,3538,1956,0,0,0,0,0,0
$GC,11972,0.55,223.3,689.9,14.0,837,11976,0.00,2.15,0.00,0.000,6,0.000,0.028,2524,2113,1956,0,0,0,0,0,0
$GC,12300,0.55,223.3,646.9,13.1,853,12304,0.00,2.12,0.00,0.000,4,0.000,0.038,2534,711,1956,0,0,0,0,0,0
$GC,12431,0.55,223.3,629.6,13.2,859,12436,0.15,2.12,0.00,0.000,6,0.159,0.033,2495,2100,1956,0,0,0,0,0,0
$GC,12766,0.59,256.5,593.5,10.6,875,12798,0.00,2.28,26.85,0.828,4,0.000,0.043,2494,3541,1822,0,0,0,0,0,0
$GC,12874,0.59,256.5,580.8,12.2,880,12878,0.00,2.17,0.00,0.000,6,0.000,0.027,2503,2113,1821,0,0,0,0,0,0
$GC,13201,0.62,284.4,544.3,10.8,896,13230,0.00,2.22,22.20,0.783,4,0.000,0.037,2513,722,1709,0,0,0,0,0,0
$GC,13291,0.65,310.9,534.9,10.8,900,13318,0.00,2.15,21.92,0.755,6,0.000,0.032,2513,2113,1600,0,0,0,0,0,0
$GC,13630,0.69,336.3,497.9,10.9,917,13656,0.00,2.25,20.60,0.742,4,0.000,0.044,2513,3534,1497,0,0,0,0,0,0
$GC,13720,0.69,336.3,487.1,12.2,925,13724,0.00,2.17,0.00,0.000,6,0.000,0.027,2523,2114,1496,0,0,0,0,0,0
$GC,14045,0.73,371.5,450.7,10.5,955,14079,0.00,2.25,28.55,0.729,4,0.000,0.037,2533,714,1354,0,0,0,0,0,0
$GC,14115,0.79,423.5,443.5,9.9,961,14162,0.12,2.17,41.30,0.711,6,0.092,0.031,2588,2120,1141,0,0,0,0,0,0
$GC,14488,0.79,423.5,387.1,14.9,996,14492,0.00,2.22,0.00,0.000,4,0.000,0.043,2587,3542,1143,0,0,0,0,0,0
$GC,14573,0.79,423.5,373.3,16.5,1003,14577,0.00,2.15,0.00,0.000,6,0.000,0.027,2597,2127,1143,0,0,0,0,0,0
$GC,14898,0.79,423.5,319.7,16.0,1033,14902,0.00,2.15,0.00,0.000,4,0.000,0.036,2608,710,1142,0,0,0,0,0,0
$GC,14973,0.79,423.5,308.2,15.2,1039,14978,0.12,2.17,0.00,0.000,6,0.154,0.032,2575,2129,1142,0,0,0,0,0,0
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$GC,17193,1.10,672.6,37.2,8.8,1353,17205,0.00,0.00,6.57,0.422,6,0.000,0.000,2662,2184,440,0,0,0,0,0,0
$GC,17344,1.20,757.9,24.7,8.7,1379,17352,0.12,2.25,0.00,0.000,4,0.083,0.034,2744,721,440,0,0,0,0,0,0
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$STATE,17533,end climb,SURFACE_DEPTH_REACHED
$STATE,17533,begin surface coast
$FINISH,0.3,1.018956
$STATE,17562,end surface coast,CONTROL_FINISHED_OK
$STATE,17562,begin surface
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$IRIDIUM_FIX,2111.01,11938.09,230811,060654
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.76
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,23.1,63.146
$10V_AH,9.8,57.381
$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
$DEVICE_SECS,16.775,174.200,651.825,0.000,0.000,23.917,20.567,181.710,0.250,0.000,16.811,3428.919,10436.940,746.557,3000.632,394.670,0.000,2265.135,0.000,2736.758,0.000,0.540,0.000
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$SENSOR_SECS,982.431,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323560
$DATA_FILE_SIZE,80181,1416
$CAP_FILE_SIZE,197022,0
$CFSIZE,260165632,214654976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230811,164606,2113.170,11947.466,37,0.9,37,-2.5