version: 66.09
glider: 181
mission: 6
dive: 489
start: 9 13 111 5 7 9
data:
$ID,181
$MISSION,6
$DIVE,489
$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,1
$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,-41187.215
$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,45
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,130911,050037,1853.599,12021.039,38,0.9,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-65.8
$GPS2,130911,050613,1853.606,12020.998,11,1.1,16,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.091,-0.299
$KALMAN_X,14296.5,-879.2,-1246.7,27526.2,6612.6
$KALMAN_Y,49406.8,-38.8,-206.1,-87989.8,4704.2
$MHEAD_RNG_PITCHd_Wd,165.1,40104,-17.4,-11.786
$D_GRID,2193
$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,-0.53,-194.6,0.0,0.0,0,81,0.00,0.00,-62.03,0.000,2,0.000,0.000,186,2505,2236,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.6,-4.1,11,131,8.12,2.17,-30.10,0.000,4,0.225,0.041,2120,1086,3664,0,0,0,0,0,0
$GC,196,-0.53,-194.6,33.7,-25.7,30,203,0.00,2.20,0.00,0.000,6,0.000,0.035,2111,2509,3663,0,0,0,0,0,0
$GC,339,-0.53,-194.6,70.5,-23.1,55,346,0.00,1.98,0.00,0.000,4,0.000,0.044,2101,3792,3662,0,0,0,0,0,0
$GC,432,-0.53,-194.6,88.5,-17.4,71,439,0.00,1.92,0.00,0.000,6,0.000,0.024,2101,2474,3661,0,0,0,0,0,0
$GC,575,-0.53,-194.6,116.1,-17.1,96,582,0.00,2.03,0.00,0.000,4,0.000,0.041,2091,3789,3662,0,0,0,0,0,0
$GC,605,-0.53,-194.6,121.9,-19.1,101,613,0.12,1.90,0.00,0.000,6,0.158,0.024,2123,2499,3662,0,0,0,0,0,0
$GC,751,-0.53,-194.6,142.6,-14.4,126,757,0.00,2.00,0.00,0.000,4,0.000,0.041,2116,3786,3662,0,0,0,0,0,0
$GC,832,-0.53,-194.6,155.1,-14.1,140,838,0.00,1.88,0.00,0.000,6,0.000,0.024,2115,2492,3663,0,0,0,0,0,0
$GC,977,-0.53,-194.6,173.0,-11.6,165,984,0.00,2.00,0.00,0.000,4,0.000,0.042,2111,3790,3663,0,0,0,0,0,0
$GC,1008,-0.53,-194.6,176.6,-11.2,170,1015,0.00,1.88,0.00,0.000,6,0.000,0.024,2111,2501,3663,0,0,0,0,0,0
$GC,1153,-0.53,-194.6,193.9,-13.4,195,1159,0.00,2.05,0.00,0.000,4,0.000,0.029,2111,1097,3664,0,0,0,0,0,0
$GC,1200,-0.53,-194.6,200.9,-13.8,203,1204,0.00,2.15,0.00,0.000,6,0.000,0.034,2109,2512,3663,0,0,0,0,0,0
$GC,1525,-0.53,-194.6,250.6,-13.9,233,1529,0.00,2.10,0.00,0.000,4,0.000,0.029,2109,1098,3663,0,0,0,0,0,0
$GC,1626,-0.53,-194.6,263.3,-12.2,241,1633,0.00,2.12,0.00,0.000,6,0.000,0.032,2100,2501,3663,0,0,0,0,0,0
$GC,1951,-0.53,-194.6,303.4,-11.8,272,1955,0.00,1.95,0.00,0.000,4,0.000,0.043,2090,3777,3661,0,0,0,0,0,0
$GC,2058,-0.53,-194.6,316.1,-11.3,281,2065,0.12,1.88,0.00,0.000,6,0.142,0.024,2125,2499,3660,0,0,0,0,0,0
$GC,2384,-0.53,-194.6,350.3,-11.8,312,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2497,3657,0,0,0,0,0,0
$GC,2705,-0.53,-194.6,388.4,-11.0,342,2709,0.00,2.00,0.00,0.000,4,0.000,0.044,2125,3776,3654,0,0,0,0,0,0
$GC,2733,-0.53,-194.6,392.0,-11.1,344,2739,0.00,1.88,0.00,0.000,6,0.000,0.025,2125,2501,3654,0,0,0,0,0,0
$GC,3058,-0.53,-194.6,423.4,-9.7,375,3062,0.00,2.00,0.00,0.000,4,0.000,0.045,2122,3776,3651,0,0,0,0,0,0
$GC,3092,-0.53,-194.6,426.9,-10.0,378,3096,0.00,1.88,0.00,0.000,6,0.000,0.026,2122,2500,3650,0,0,0,0,0,0
$GC,3423,-0.53,-194.6,463.5,-10.9,409,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2499,3647,0,0,0,0,0,0
$GC,3744,-0.53,-194.6,494.1,-8.5,439,3747,0.00,2.00,0.00,0.000,4,0.000,0.045,2113,3777,3644,0,0,0,0,0,0
$GC,3772,-0.53,-194.6,496.8,-8.4,441,3779,0.00,1.90,0.00,0.000,6,0.000,0.027,2113,2495,3644,0,0,0,0,0,0
$GC,4099,-0.53,-194.6,525.1,-8.8,459,4103,0.00,2.08,0.00,0.000,4,0.000,0.032,2113,1104,3641,0,0,0,0,0,0
$GC,4128,-0.53,-194.6,527.9,-8.9,460,4132,0.00,2.15,0.00,0.000,6,0.000,0.035,2112,2496,3641,0,0,0,0,0,0
$GC,4444,-0.53,-194.6,557.4,-9.6,475,4447,0.00,2.00,0.00,0.000,4,0.000,0.047,2111,3781,3639,0,0,0,0,0,0
$GC,4524,-0.53,-194.6,565.2,-9.8,478,4527,0.00,1.90,0.00,0.000,6,0.000,0.026,2111,2498,3639,0,0,0,0,0,0
$GC,4846,-0.53,-194.6,599.1,-11.0,494,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2497,3636,0,0,0,0,0,0
$GC,5155,-0.53,-194.6,632.2,-10.8,509,5158,0.00,2.03,0.00,0.000,4,0.000,0.047,2111,3786,3634,0,0,0,0,0,0
$GC,5178,-0.53,-194.6,634.8,-11.0,510,5182,0.00,1.90,0.00,0.000,6,0.000,0.027,2111,2502,3634,0,0,0,0,0,0
$GC,5512,-0.53,-194.6,673.2,-11.9,526,5516,0.00,2.10,0.00,0.000,4,0.000,0.033,2111,1102,3631,0,0,0,0,0,0
$GC,5544,-0.53,-194.6,677.6,-12.4,527,5551,0.00,2.17,0.00,0.000,6,0.000,0.036,2111,2510,3631,0,0,0,0,0,0
$GC,5861,-0.53,-194.6,715.8,-12.2,543,5865,0.00,1.98,0.00,0.000,4,0.000,0.048,2111,3779,3629,0,0,0,0,0,0
$GC,5899,-0.53,-194.6,720.7,-12.3,544,5906,0.00,1.92,0.00,0.000,6,0.000,0.027,2111,2498,3629,0,0,0,0,0,0
$GC,6215,-0.53,-194.6,754.7,-10.0,560,6219,0.00,2.10,0.00,0.000,4,0.000,0.033,2111,1106,3627,0,0,0,0,0,0
$GC,6244,-0.53,-194.6,757.6,-9.8,561,6248,0.00,2.17,0.00,0.000,6,0.000,0.036,2111,2505,3627,0,0,0,0,0,0
$GC,6566,-0.53,-194.6,782.7,-6.9,577,6569,0.00,2.00,0.00,0.000,4,0.000,0.048,2111,3784,3625,0,0,0,0,0,0
$GC,6644,-0.53,-194.6,787.8,-6.2,580,6648,0.00,1.92,0.00,0.000,6,0.000,0.027,2111,2495,3624,0,0,0,0,0,0
$GC,6966,-0.53,-194.6,806.3,-6.0,596,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2493,3623,0,0,0,0,0,0
$GC,7275,-0.53,-194.6,826.0,-6.7,611,7279,0.00,2.10,0.00,0.000,4,0.000,0.034,2111,1106,3622,0,0,0,0,0,0
$GC,7298,-0.53,-194.6,827.8,-7.1,612,7302,0.00,2.17,0.00,0.000,6,0.000,0.037,2111,2504,3621,0,0,0,0,0,0
$GC,7627,-0.53,-194.6,852.1,-7.8,628,7630,0.00,2.00,0.00,0.000,4,0.000,0.049,2111,3777,3620,0,0,0,0,0,0
$GC,7695,-0.53,-194.6,857.7,-8.1,631,7699,0.00,1.92,0.00,0.000,6,0.000,0.027,2111,2489,3619,0,0,0,0,0,0
$GC,8029,-0.53,-194.6,888.0,-9.8,647,8033,0.00,2.05,0.00,0.000,4,0.000,0.047,2111,3780,3618,0,0,0,0,0,0
$GC,8053,-0.53,-194.6,890.4,-9.7,648,8056,0.00,1.92,0.00,0.000,6,0.000,0.028,2111,2495,3618,0,0,0,0,0,0
$GC,8380,-0.53,-194.6,923.5,-10.3,664,8384,0.00,2.10,0.00,0.000,4,0.000,0.034,2111,1102,3617,0,0,0,0,0,0
$GC,8408,-0.53,-194.6,926.7,-10.5,665,8412,0.00,2.20,0.00,0.000,6,0.000,0.037,2111,2502,3617,0,0,0,0,0,0
$GC,8729,-0.53,-194.6,959.4,-9.7,681,8732,0.00,2.03,0.00,0.000,4,0.000,0.049,2111,3788,3616,0,0,0,0,0,0
$GC,8756,-0.53,-194.6,962.2,-9.1,682,8760,0.00,1.92,0.00,0.000,6,0.000,0.027,2111,2499,3616,0,0,0,0,0,0
$GC,9085,-0.53,-194.6,984.9,-5.7,698,9089,0.00,2.10,0.00,0.000,4,0.000,0.033,2111,1104,3615,0,0,0,0,0,0
$GC,9125,-0.53,-194.6,987.1,-5.3,700,9129,0.00,2.20,0.00,0.000,6,0.000,0.037,2111,2509,3614,0,0,0,0,0,0
$STATE,9202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9202,begin apogee
$GC,9209,-0.13,0.0,990.8,4.5,704,9366,0.43,0.00,149.50,1.069,6,0.112,0.000,2253,2108,2868,0,0,0,0,0,0
$STATE,9366,end apogee,CONTROL_FINISHED_OK
$STATE,9366,begin climb
$GC,9369,0.53,194.6,992.7,0.0,711,9534,0.57,2.22,157.82,1.047,4,0.056,0.035,2486,736,2077,0,0,0,0,0,0
$GC,9593,0.53,194.6,973.6,14.5,722,9598,0.00,2.20,0.00,0.000,6,0.000,0.032,2485,2129,2076,0,0,0,0,0,0
$GC,9921,0.53,194.6,930.7,12.0,738,9922,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2131,2075,0,0,0,0,0,0
$GC,10230,0.58,237.7,897.3,10.0,753,10274,0.00,2.28,35.45,0.994,4,0.000,0.038,2495,731,1900,0,0,0,0,0,0
$GC,10299,0.64,288.6,890.4,9.7,756,10346,0.00,2.20,41.62,0.972,6,0.000,0.033,2495,2135,1692,0,0,0,0,0,0
$GC,10668,0.71,345.7,854.3,9.5,774,10721,0.10,2.28,46.28,0.966,4,0.105,0.044,2541,3535,1458,0,0,0,0,0,0
$GC,10799,0.71,345.7,837.5,13.5,780,10803,0.00,2.17,0.00,0.000,6,0.000,0.028,2551,2131,1457,0,0,0,0,0,0
$GC,11127,0.71,345.7,792.8,13.8,796,11131,0.00,2.17,0.00,0.000,4,0.000,0.038,2562,719,1458,0,0,0,0,0,0
$GC,11199,0.71,345.7,782.7,13.2,799,11204,0.12,2.17,0.00,0.000,6,0.167,0.034,2530,2122,1459,0,0,0,0,0,0
$GC,11521,0.71,345.7,742.7,12.8,815,11525,0.00,2.22,0.00,0.000,4,0.000,0.045,2530,3543,1460,0,0,0,0,0,0
$GC,11584,0.71,345.7,733.8,14.8,818,11588,0.00,2.17,0.00,0.000,6,0.000,0.028,2538,2114,1461,0,0,0,0,0,0
$GC,11911,0.71,345.7,689.6,13.0,834,11915,0.00,2.12,0.00,0.000,4,0.000,0.039,2549,721,1460,0,0,0,0,0,0
$GC,11978,0.71,345.7,680.7,13.4,837,11982,0.00,2.17,0.00,0.000,6,0.000,0.034,2549,2128,1460,0,0,0,0,0,0
$GC,12299,0.73,355.4,641.5,11.4,853,12314,0.00,2.25,9.70,0.773,4,0.000,0.046,2549,3543,1420,0,0,0,0,0,0
$GC,12387,0.73,355.4,630.6,12.0,856,12391,0.00,2.17,0.00,0.000,6,0.000,0.028,2558,2123,1419,0,0,0,0,0,0
$GC,12709,0.74,363.1,593.8,11.5,872,12723,0.00,2.22,7.90,0.711,4,0.000,0.037,2569,717,1388,0,0,0,0,0,0
$GC,12776,0.74,366.6,585.9,11.6,875,12786,0.12,2.20,4.55,0.543,6,0.155,0.034,2536,2135,1374,0,0,0,0,0,0
$GC,13110,0.77,388.4,550.8,10.9,891,13135,0.00,2.28,18.88,0.761,4,0.000,0.044,2537,3538,1284,0,0,0,0,0,0
$GC,13216,0.77,388.4,537.8,12.2,895,13223,0.00,2.17,0.00,0.000,6,0.000,0.028,2545,2122,1283,0,0,0,0,0,0
$GC,13533,0.77,388.4,500.2,11.9,911,13537,0.00,2.15,0.00,0.000,4,0.000,0.038,2555,714,1283,0,0,0,0,0,0
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$STATE,17687,end climb,SURFACE_DEPTH_REACHED
$STATE,17687,begin surface coast
$FINISH,0.4,0.997196
$STATE,17718,end surface coast,CONTROL_FINISHED_OK
$STATE,17718,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,48.38
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,23.80
$XPDR_PINGS,5
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$10V_AH,9.8,66.715
$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
$DEVICE_SECS,16.400,194.575,652.775,0.000,0.000,23.953,16.250,145.846,1.250,0.000,20.495,3447.123,10763.581,764.973,2745.088,394.682,33.358,2207.552,0.000,2528.205,0.000,0.540,0.000
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$SENSOR_SECS,1002.021,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322272
$DATA_FILE_SIZE,83566,1444
$CAP_FILE_SIZE,195990,0
$CFSIZE,260165632,205598720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130911,050613,1853.606,12020.998,11,1.1,16,-2.0