version: 66.09
glider: 181
mission: 6
dive: 482
start: 9 11 111 18 7 16
data:
$ID,181
$MISSION,6
$DIVE,482
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$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,-41178.402
$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,2300
$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,2500
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$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
$GPS1,110911,180031,1856.472,12009.421,39,1.5,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.7
$GPS2,110911,180620,1856.516,12009.529,14,0.9,14,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.285,-0.127
$KALMAN_X,2886.6,739.9,1152.3,14862.5,-2132.4
$KALMAN_Y,26618.6,340.1,983.4,-61383.9,-649.5
$MHEAD_RNG_PITCHd_Wd,138.3,56429,-17.4,-11.786
$D_GRID,2043
$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,15,begin dive
$GC,17,-0.53,-194.6,0.0,0.0,0,82,0.00,0.00,-61.92,0.000,2,0.000,0.000,191,2527,2224,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.5,-4.0,11,133,8.07,2.22,-30.75,0.000,4,0.225,0.041,2122,1083,3665,0,0,0,0,0,0
$GC,140,-0.53,-194.6,19.0,-32.6,20,147,0.00,2.17,0.00,0.000,6,0.000,0.037,2114,2480,3665,0,0,0,0,0,0
$GC,283,-0.53,-194.6,62.1,-21.0,45,290,0.00,2.00,0.00,0.000,4,0.000,0.041,2104,3784,3664,0,0,0,0,0,0
$GC,404,-0.53,-194.6,90.9,-20.9,66,411,0.00,1.77,0.00,0.000,6,0.000,0.023,2104,2568,3664,0,0,0,0,0,0
$GC,547,-0.53,-194.6,117.5,-16.2,91,553,0.00,1.88,0.00,0.000,4,0.000,0.040,2094,3790,3664,0,0,0,0,0,0
$GC,566,-0.53,-194.6,120.6,-16.4,94,573,0.10,1.50,0.00,0.000,6,0.132,0.023,2128,2770,3664,0,0,0,0,0,0
$GC,711,-0.53,-194.6,144.4,-19.2,119,718,0.00,2.47,0.00,0.000,4,0.000,0.027,2128,1093,3664,0,0,0,0,0,0
$GC,758,-0.53,-194.6,152.8,-15.6,127,765,0.00,2.60,0.00,0.000,6,0.000,0.033,2125,2787,3664,0,0,0,0,0,0
$GC,902,-0.53,-194.6,173.2,-12.8,152,909,0.00,2.55,0.00,0.000,4,0.000,0.028,2125,1094,3665,0,0,0,0,0,0
$GC,944,-0.53,-194.6,178.1,-11.5,159,951,0.00,2.45,0.00,0.000,6,0.000,0.034,2125,2692,3665,0,0,0,0,0,0
$GC,1087,-0.53,-194.6,195.3,-12.3,184,1094,0.00,1.65,0.00,0.000,4,0.000,0.042,2117,3789,3665,0,0,0,0,0,0
$GC,1129,-0.53,-194.6,200.6,-12.7,191,1136,0.00,1.65,0.00,0.000,6,0.000,0.023,2117,2642,3665,0,0,0,0,0,0
$GC,1455,-0.53,-194.6,237.9,-10.0,222,1459,0.00,2.30,0.00,0.000,4,0.000,0.028,2117,1084,3665,0,0,0,0,0,0
$GC,1496,-0.53,-194.6,241.7,-9.4,225,1500,0.00,2.38,0.00,0.000,6,0.000,0.032,2112,2640,3664,0,0,0,0,0,0
$GC,1821,-0.53,-194.6,278.6,-12.0,255,1825,0.00,1.75,0.00,0.000,4,0.000,0.044,2111,3790,3663,0,0,0,0,0,0
$GC,1849,-0.53,-194.6,282.1,-12.6,257,1856,0.00,1.77,0.00,0.000,6,0.000,0.023,2111,2564,3663,0,0,0,0,0,0
$GC,2176,-0.53,-194.6,317.2,-10.0,288,2180,0.00,2.17,0.00,0.000,4,0.000,0.028,2111,1090,3659,0,0,0,0,0,0
$GC,2210,-0.53,-194.6,320.5,-8.9,290,2217,0.00,2.28,0.00,0.000,6,0.000,0.032,2111,2577,3659,0,0,0,0,0,0
$GC,2536,-0.53,-194.6,350.8,-9.8,321,2540,0.00,1.88,0.00,0.000,4,0.000,0.044,2109,3774,3657,0,0,0,0,0,0
$GC,2604,-0.53,-194.6,357.9,-10.1,327,2608,0.00,1.73,0.00,0.000,6,0.000,0.024,2109,2587,3656,0,0,0,0,0,0
$GC,2935,-0.53,-194.6,401.0,-13.8,358,2939,0.00,2.22,0.00,0.000,4,0.000,0.030,2109,1096,3653,0,0,0,0,0,0
$GC,2956,-0.53,-194.6,404.2,-13.6,359,2963,0.00,2.33,0.00,0.000,6,0.000,0.034,2100,2615,3653,0,0,0,0,0,0
$GC,3282,-0.53,-194.6,445.7,-11.7,390,3286,0.00,1.80,0.00,0.000,4,0.000,0.044,2091,3792,3649,0,0,0,0,0,0
$GC,3331,-0.53,-194.6,452.1,-12.2,394,3339,0.10,1.75,0.00,0.000,6,0.116,0.024,2127,2625,3648,0,0,0,0,0,0
$GC,3657,-0.53,-194.6,481.3,-8.7,425,3662,0.00,2.30,0.00,0.000,4,0.000,0.031,2127,1089,3646,0,0,0,0,0,0
$GC,3735,-0.53,-194.6,488.4,-9.1,431,3742,0.00,2.30,0.00,0.000,6,0.000,0.033,2125,2581,3645,0,0,0,0,0,0
$GC,4057,-0.53,-194.6,518.3,-9.7,453,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2582,3643,0,0,0,0,0,0
$GC,4365,-0.53,-194.6,552.1,-11.2,468,4369,0.00,1.90,0.00,0.000,4,0.000,0.047,2117,3778,3640,0,0,0,0,0,0
$GC,4397,-0.53,-194.6,556.0,-11.1,469,4401,0.00,1.83,0.00,0.000,6,0.000,0.026,2116,2545,3640,0,0,0,0,0,0
$GC,4720,-0.53,-194.6,588.4,-9.5,485,4724,0.00,2.15,0.00,0.000,4,0.000,0.031,2116,1112,3638,0,0,0,0,0,0
$GC,4761,-0.53,-194.6,592.2,-9.0,487,4765,0.00,2.22,0.00,0.000,6,0.000,0.035,2112,2548,3638,0,0,0,0,0,0
$GC,5089,-0.53,-194.6,624.8,-10.2,503,5093,0.00,1.92,0.00,0.000,4,0.000,0.047,2111,3786,3635,0,0,0,0,0,0
$GC,5139,-0.53,-194.6,630.3,-10.4,505,5143,0.00,1.83,0.00,0.000,6,0.000,0.026,2111,2552,3634,0,0,0,0,0,0
$GC,5466,-0.53,-194.6,667.3,-11.8,521,5470,0.00,2.17,0.00,0.000,4,0.000,0.032,2111,1103,3633,0,0,0,0,0,0
$GC,5493,-0.53,-194.6,670.7,-12.2,522,5497,0.00,2.28,0.00,0.000,6,0.000,0.036,2111,2566,3632,0,0,0,0,0,0
$GC,5815,-0.53,-194.6,704.4,-10.1,538,5819,0.00,1.90,0.00,0.000,4,0.000,0.049,2111,3786,3631,0,0,0,0,0,0
$GC,5877,-0.53,-194.6,710.4,-9.5,540,5884,0.00,1.80,0.00,0.000,6,0.000,0.027,2111,2585,3630,0,0,0,0,0,0
$GC,6193,-0.53,-194.6,738.9,-8.6,556,6197,0.00,2.22,0.00,0.000,4,0.000,0.033,2111,1113,3628,0,0,0,0,0,0
$GC,6258,-0.53,-194.6,744.4,-8.6,559,6262,0.00,2.25,0.00,0.000,6,0.000,0.037,2111,2553,3628,0,0,0,0,0,0
$GC,6586,-0.53,-194.6,774.8,-10.0,575,6590,0.00,1.92,0.00,0.000,4,0.000,0.050,2111,3783,3627,0,0,0,0,0,0
$GC,6641,-0.53,-194.6,781.2,-11.1,577,6645,0.00,1.80,0.00,0.000,6,0.000,0.028,2111,2569,3625,0,0,0,0,0,0
$GC,6963,-0.53,-194.6,822.1,-13.3,593,6967,0.00,2.20,0.00,0.000,4,0.000,0.034,2111,1110,3624,0,0,0,0,0,0
$GC,7030,-0.53,-194.6,831.4,-13.5,596,7034,0.00,2.20,0.00,0.000,6,0.000,0.036,2111,2526,3624,0,0,0,0,0,0
$GC,7352,-0.53,-194.6,871.3,-12.0,612,7356,0.00,2.00,0.00,0.000,4,0.000,0.049,2111,3773,3623,0,0,0,0,0,0
$GC,7413,-0.53,-194.6,878.3,-10.9,614,7420,0.00,1.83,0.00,0.000,6,0.000,0.028,2111,2562,3622,0,0,0,0,0,0
$GC,7730,-0.53,-194.6,910.4,-9.7,630,7734,0.00,2.20,0.00,0.000,4,0.000,0.034,2111,1110,3620,0,0,0,0,0,0
$GC,7757,-0.53,-194.6,913.1,-9.8,631,7761,0.00,2.33,0.00,0.000,6,0.000,0.037,2111,2584,3621,0,0,0,0,0,0
$GC,8079,-0.53,-194.6,941.1,-8.6,647,8083,0.00,1.90,0.00,0.000,4,0.000,0.050,2112,3769,3619,0,0,0,0,0,0
$GC,8107,-0.53,-194.6,943.7,-8.6,648,8110,0.00,1.75,0.00,0.000,6,0.000,0.028,2111,2589,3619,0,0,0,0,0,0
$GC,8435,-0.53,-194.6,969.3,-8.0,664,8439,0.00,2.25,0.00,0.000,4,0.000,0.034,2111,1105,3618,0,0,0,0,0,0
$GC,8508,-0.53,-194.6,975.5,-8.0,667,8512,0.00,2.22,0.00,0.000,6,0.000,0.037,2111,2531,3618,0,0,0,0,0,0
$STATE,8698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8698,begin apogee
$GC,8704,-0.13,0.0,991.7,8.8,676,8859,0.43,0.00,150.00,1.074,4,0.112,0.000,2253,2116,2868,0,0,0,0,0,0
$STATE,8860,end apogee,CONTROL_FINISHED_OK
$STATE,8860,begin climb
$GC,8862,0.53,194.6,1000.1,0.0,683,9031,0.62,2.25,158.48,1.055,4,0.060,0.038,2480,726,2074,0,0,0,0,0,0
$GC,9036,0.64,286.8,996.0,8.0,691,9119,0.00,2.28,75.88,1.034,6,0.000,0.032,2480,2126,1699,0,0,0,0,0,0
$GC,9436,0.74,364.1,960.2,8.6,711,9505,0.17,2.30,62.60,1.027,4,0.078,0.043,2552,3536,1384,0,0,0,0,0,0
$GC,9588,0.74,364.1,939.0,15.1,718,9592,0.00,2.10,0.00,0.000,6,0.000,0.028,2561,2179,1382,0,0,0,0,0,0
$GC,9915,0.74,364.1,892.6,13.4,734,9916,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2179,1384,0,0,0,0,0,0
$GC,10225,0.74,364.1,852.1,13.2,749,10229,0.00,2.20,0.00,0.000,4,0.000,0.036,2572,730,1385,0,0,0,0,0,0
$GC,10280,0.74,364.1,844.8,12.5,751,10288,0.12,2.25,0.00,0.000,6,0.163,0.034,2541,2192,1385,0,0,0,0,0,0
$GC,10596,0.74,364.1,807.3,12.3,767,10600,0.00,2.10,0.00,0.000,4,0.000,0.045,2541,3543,1385,0,0,0,0,0,0
$GC,10652,0.74,364.1,799.4,13.7,769,10659,0.00,2.00,0.00,0.000,6,0.000,0.028,2548,2242,1385,0,0,0,0,0,0
$GC,10968,0.74,364.1,755.5,14.1,785,10972,0.00,2.30,0.00,0.000,4,0.000,0.036,2560,727,1386,0,0,0,0,0,0
$GC,11018,0.74,364.1,748.3,14.2,787,11022,0.00,2.35,0.00,0.000,6,0.000,0.033,2560,2258,1386,0,0,0,0,0,0
$GC,11341,0.74,364.1,696.0,16.3,803,11345,0.00,1.98,0.00,0.000,4,0.000,0.044,2560,3539,1386,0,0,0,0,0,0
$GC,11357,0.74,364.1,693.0,16.1,803,11365,0.12,2.00,0.00,0.000,6,0.171,0.027,2537,2216,1386,0,0,0,0,0,0
$GC,11673,0.74,364.1,647.9,14.3,819,11677,0.00,2.28,0.00,0.000,4,0.000,0.036,2547,722,1386,0,0,0,0,0,0
$GC,11746,0.74,364.1,637.5,13.7,822,11750,0.00,2.25,0.00,0.000,6,0.000,0.033,2547,2189,1386,0,0,0,0,0,0
$GC,12067,0.74,364.1,593.5,13.1,838,12071,0.00,2.10,0.00,0.000,4,0.000,0.044,2547,3542,1386,0,0,0,0,0,0
$GC,12111,0.74,364.1,587.1,14.4,840,12115,0.00,2.03,0.00,0.000,6,0.000,0.028,2556,2205,1386,0,0,0,0,0,0
$GC,12438,0.74,364.1,541.6,14.3,856,12442,0.00,2.25,0.00,0.000,4,0.000,0.037,2567,722,1386,0,0,0,0,0,0
$GC,12556,0.74,364.1,525.8,13.1,861,12560,0.00,2.15,0.00,0.000,6,0.000,0.033,2567,2123,1386,0,0,0,0,0,0
$GC,12882,0.74,364.1,480.2,14.0,883,12886,0.00,2.20,0.00,0.000,4,0.000,0.043,2567,3541,1386,0,0,0,0,0,0
$GC,12945,0.74,364.1,470.7,15.3,888,12950,0.15,2.08,0.00,0.000,6,0.164,0.028,2537,2166,1386,0,0,0,0,0,0
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$STATE,16909,end climb,SURFACE_DEPTH_REACHED
$STATE,16909,begin surface coast
$FINISH,0.3,1.020464
$STATE,16938,end surface coast,CONTROL_FINISHED_OK
$STATE,16938,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,46.22
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.4,78.928
$10V_AH,9.8,66.067
$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
$DEVICE_SECS,16.925,199.150,638.150,0.000,0.000,24.821,17.572,152.330,0.000,0.000,17.494,3331.074,10174.185,763.324,2691.281,386.607,33.356,2177.003,0.000,2466.416,0.000,0.539,0.000
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$SENSOR_SECS,973.014,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322256
$DATA_FILE_SIZE,80154,1402
$CAP_FILE_SIZE,192427,0
$CFSIZE,260165632,206237696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110911,225207,1855.384,12010.637,38,0.8,38,-2.0