version: 66.09
glider: 181
mission: 6
dive: 507
start: 9 16 111 11 57 30
data:
$ID,181
$MISSION,6
$DIVE,507
$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,-5
$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,-41224.164
$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,15
$C_ROLL_DIVE,2610
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,45
$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
$GPS1,160911,115022,1840.205,12031.248,8,3.8,28,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.4
$GPS2,160911,115634,1840.322,12031.286,14,3.6,33,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W3A
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.247,0.191
$KALMAN_X,29563.4,-74.9,645.1,27581.5,442.6
$KALMAN_Y,82264.0,-59.8,415.9,-146030.6,-753.7
$MHEAD_RNG_PITCHd_Wd,309.8,65799,-17.4,-11.786
$D_GRID,1124
$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,15,begin dive
$GC,17,-0.53,-194.6,0.0,0.0,0,75,0.00,0.00,-55.45,0.000,2,0.000,0.000,179,2614,2057,0,0,0,0,0,0
$GC,79,-0.53,-194.6,3.2,-3.7,10,127,8.07,0.80,-34.83,0.000,4,0.225,0.065,2121,2061,3664,0,0,0,0,0,0
$GC,202,-0.53,-194.6,40.7,-30.4,31,209,0.00,0.82,0.00,0.000,6,0.000,0.040,2119,2603,3663,0,0,0,0,0,0
$GC,345,-0.53,-194.6,78.4,-22.7,56,352,0.00,0.77,0.00,0.000,4,0.000,0.039,2115,3132,3662,0,0,0,0,0,0
$GC,524,-0.53,-194.6,118.8,-15.1,87,531,0.00,0.75,0.00,0.000,6,0.000,0.026,2115,2586,3662,0,0,0,0,0,0
$GC,667,-0.53,-194.6,142.6,-15.0,112,673,0.00,0.65,0.00,0.000,4,0.000,0.025,2115,2074,3662,0,0,0,0,0,0
$GC,742,-0.53,-194.6,153.2,-14.2,125,749,0.00,0.80,0.00,0.000,6,0.000,0.037,2112,2611,3662,0,0,0,0,0,0
$GC,885,-0.53,-194.6,174.6,-15.7,150,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2611,3663,0,0,0,0,0,0
$GC,1028,-0.53,-194.6,193.9,-13.0,175,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2611,3663,0,0,0,0,0,0
$GC,1165,-0.53,-194.6,212.0,-13.5,192,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2611,3663,0,0,0,0,0,0
$GC,1488,-0.53,-194.6,258.1,-15.6,222,1492,0.00,0.70,0.00,0.000,4,0.000,0.026,2111,2085,3663,0,0,0,0,0,0
$GC,1556,-0.53,-194.6,268.9,-14.7,228,1560,0.00,0.77,0.00,0.000,6,0.000,0.037,2108,2603,3663,0,0,0,0,0,0
$GC,1888,-0.53,-194.6,310.9,-10.7,259,1892,0.00,0.68,0.00,0.000,4,0.000,0.026,2108,2094,3660,0,0,0,0,0,0
$GC,1934,-0.53,-194.6,315.6,-10.3,263,1938,0.00,0.77,0.00,0.000,6,0.000,0.038,2104,2609,3659,0,0,0,0,0,0
$GC,2265,-0.53,-194.6,345.4,-8.9,294,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2609,3657,0,0,0,0,0,0
$GC,2588,-0.53,-194.6,374.4,-10.1,324,2592,0.00,0.70,0.00,0.000,4,0.000,0.028,2104,2096,3654,0,0,0,0,0,0
$GC,2674,-0.53,-194.6,383.9,-10.8,331,2680,0.00,0.77,0.00,0.000,6,0.000,0.040,2100,2605,3653,0,0,0,0,0,0
$GC,2999,-0.53,-194.6,420.4,-10.7,362,3003,0.00,0.70,0.00,0.000,4,0.000,0.028,2100,2094,3650,0,0,0,0,0,0
$GC,3103,-0.53,-194.6,431.6,-11.2,371,3107,0.08,0.77,0.00,0.000,6,0.130,0.041,2123,2598,3648,0,0,0,0,0,0
$GC,3435,-0.53,-194.6,461.7,-8.7,402,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2598,3645,0,0,0,0,0,0
$GC,3754,-0.53,-194.6,492.4,-10.4,432,3758,0.00,0.70,0.00,0.000,4,0.000,0.029,2123,2092,3642,0,0,0,0,0,0
$GC,3800,-0.53,-194.6,497.4,-10.5,436,3804,0.00,0.80,0.00,0.000,6,0.000,0.041,2121,2609,3642,0,0,0,0,0,0
$GC,4122,-0.53,-194.6,532.1,-10.4,453,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2609,3639,0,0,0,0,0,0
$GC,4432,-0.53,-194.6,562.3,-9.5,468,4436,0.00,0.70,0.00,0.000,4,0.000,0.030,2121,2107,3637,0,0,0,0,0,0
$GC,4523,-0.53,-194.6,571.0,-9.2,472,4526,0.00,0.77,0.00,0.000,6,0.000,0.043,2118,2609,3636,0,0,0,0,0,0
$GC,4857,-0.53,-194.6,602.8,-9.4,488,4860,0.00,0.70,0.00,0.000,4,0.000,0.030,2118,2108,3634,0,0,0,0,0,0
$GC,4998,-0.53,-194.6,616.6,-9.8,494,5002,0.00,0.77,0.00,0.000,6,0.000,0.043,2114,2607,3632,0,0,0,0,0,0
$GC,5326,-0.53,-194.6,650.2,-10.5,510,5327,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2608,3630,0,0,0,0,0,0
$GC,5635,-0.53,-194.6,687.1,-11.5,525,5639,0.00,0.70,0.00,0.000,4,0.000,0.031,2114,2109,3629,0,0,0,0,0,0
$GC,5807,-0.53,-194.6,707.0,-11.1,532,5814,0.00,0.77,0.00,0.000,6,0.000,0.043,2112,2608,3627,0,0,0,0,0,0
$GC,6123,-0.53,-194.6,742.8,-11.1,548,6127,0.00,0.70,0.00,0.000,4,0.000,0.031,2112,2110,3625,0,0,0,0,0,0
$GC,6192,-0.53,-194.6,750.2,-10.5,551,6196,0.00,0.77,0.00,0.000,6,0.000,0.045,2111,2607,3625,0,0,0,0,0,0
$GC,6526,-0.53,-194.6,786.2,-10.9,567,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2607,3623,0,0,0,0,0,0
$GC,6834,-0.53,-194.6,816.5,-9.0,582,6838,0.00,0.70,0.00,0.000,4,0.000,0.031,2111,2110,3621,0,0,0,0,0,0
$GC,6941,-0.53,-194.6,825.6,-7.9,586,6947,0.00,0.80,0.00,0.000,6,0.000,0.044,2111,2619,3621,0,0,0,0,0,0
$GC,7257,-0.53,-194.6,850.0,-7.9,602,7260,0.00,0.73,0.00,0.000,4,0.000,0.030,2111,2106,3619,0,0,0,0,0,0
$GC,7335,-0.53,-194.6,856.4,-7.5,605,7338,0.00,0.80,0.00,0.000,6,0.000,0.044,2112,2617,3619,0,0,0,0,0,0
$GC,7658,-0.53,-194.6,878.9,-6.9,621,7661,0.00,0.73,0.00,0.000,4,0.000,0.031,2111,2107,3618,0,0,0,0,0,0
$GC,7775,-0.53,-194.6,885.7,-5.4,626,7779,0.00,0.77,0.00,0.000,6,0.000,0.044,2111,2606,3617,0,0,0,0,0,0
$GC,8104,-0.53,-194.6,908.0,-7.8,642,8107,0.00,0.70,0.00,0.000,4,0.000,0.031,2111,2110,3615,0,0,0,0,0,0
$GC,8149,-0.53,-194.6,912.2,-8.9,644,8153,0.00,0.77,0.00,0.000,6,0.000,0.045,2111,2607,3616,0,0,0,0,0,0
$GC,8482,-0.53,-194.6,939.0,-8.2,660,8486,0.00,0.70,0.00,0.000,4,0.000,0.031,2111,2110,3614,0,0,0,0,0,0
$GC,8545,-0.53,-194.6,944.7,-8.7,662,8552,0.00,0.77,0.00,0.000,6,0.000,0.045,2112,2605,3614,0,0,0,0,0,0
$GC,8861,-0.53,-194.6,974.4,-9.6,678,8865,0.00,0.70,0.00,0.000,4,0.000,0.031,2111,2112,3612,0,0,0,0,0,0
$GC,8980,-0.53,-194.6,985.7,-8.9,683,8984,0.00,0.77,0.00,0.000,6,0.000,0.045,2111,2604,3612,0,0,0,0,0,0
$STATE,9037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9037,begin apogee
$GC,9043,-0.13,0.0,991.1,9.0,686,9198,0.43,0.00,149.40,1.074,6,0.113,0.000,2253,2176,2868,0,0,0,0,0,0
$STATE,9199,end apogee,CONTROL_FINISHED_OK
$STATE,9199,begin climb
$GC,9201,0.53,194.6,999.5,0.0,693,9366,0.57,0.00,158.10,1.056,6,0.054,0.000,2480,2175,2075,0,0,0,0,0,0
$GC,9665,0.57,231.2,963.3,10.3,716,9697,0.00,0.00,30.42,1.011,6,0.000,0.000,2480,2175,1926,0,0,0,0,0,0
$GC,9993,0.65,295.5,931.8,9.2,732,10054,0.00,0.88,51.95,1.014,4,0.000,0.042,2480,2703,1664,0,0,0,0,0,0
$GC,10105,0.72,345.9,921.3,9.7,737,10151,0.10,0.82,41.55,0.986,6,0.055,0.031,2536,2157,1457,0,0,0,0,0,0
$GC,10474,0.72,345.9,874.1,13.5,755,10478,0.00,0.82,0.00,0.000,4,0.000,0.041,2536,2694,1458,0,0,0,0,0,0
$GC,10547,0.72,345.9,863.2,14.8,758,10551,0.00,0.80,0.00,0.000,6,0.000,0.031,2540,2156,1459,0,0,0,0,0,0
$GC,10874,0.72,345.9,816.3,14.6,774,10875,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2156,1461,0,0,0,0,0,0
$GC,11184,0.72,345.9,771.7,14.2,789,11188,0.00,0.82,0.00,0.000,4,0.000,0.040,2540,2697,1460,0,0,0,0,0,0
$GC,11245,0.72,345.9,762.7,14.3,791,11252,0.00,0.77,0.00,0.000,6,0.000,0.031,2543,2163,1461,0,0,0,0,0,0
$GC,11562,0.73,357.4,723.7,11.3,807,11576,0.00,0.73,11.27,0.825,4,0.000,0.032,2547,1643,1412,0,0,0,0,0,0
$GC,11634,0.73,357.4,715.2,11.8,809,11638,0.00,0.80,0.00,0.000,6,0.000,0.037,2547,2168,1411,0,0,0,0,0,0
$GC,11956,0.73,357.4,676.0,12.1,825,11959,0.00,0.77,0.00,0.000,4,0.000,0.044,2547,2686,1410,0,0,0,0,0,0
$GC,12047,0.73,357.4,663.8,14.3,829,12051,0.00,0.77,0.00,0.000,6,0.000,0.031,2550,2159,1410,0,0,0,0,0,0
$GC,12380,0.73,357.4,615.4,14.9,845,12384,0.00,0.80,0.00,0.000,4,0.000,0.041,2550,2687,1410,0,0,0,0,0,0
$GC,12470,0.73,357.4,601.5,16.2,849,12474,0.00,0.77,0.00,0.000,6,0.000,0.031,2554,2158,1410,0,0,0,0,0,0
$GC,12804,0.73,357.4,552.9,13.8,865,12808,0.00,0.73,0.00,0.000,4,0.000,0.037,2557,1651,1410,0,0,0,0,0,0
$GC,12860,0.73,357.4,545.0,13.6,867,12863,0.00,0.77,0.00,0.000,6,0.000,0.037,2557,2164,1410,0,0,0,0,0,0
$GC,13182,0.73,357.4,502.6,13.4,883,13186,0.00,0.80,0.00,0.000,4,0.000,0.043,2557,2688,1410,0,0,0,0,0,0
$GC,13284,0.73,357.4,488.4,14.1,891,13288,0.00,0.77,0.00,0.000,6,0.000,0.031,2560,2156,1410,0,0,0,0,0,0
$GC,13617,0.73,357.4,446.4,12.5,922,13620,0.00,0.73,0.00,0.000,4,0.000,0.036,2564,1646,1411,0,0,0,0,0,0
$GC,13674,0.73,357.4,439.0,12.6,927,13677,0.00,0.80,0.00,0.000,6,0.000,0.036,2564,2176,1411,0,0,0,0,0,0
$GC,14004,0.73,357.4,399.0,11.8,958,14008,0.00,0.75,0.00,0.000,4,0.000,0.041,2564,2686,1410,0,0,0,0,0,0
$GC,14042,0.73,357.4,393.9,12.7,961,14050,0.10,0.75,0.00,0.000,6,0.137,0.031,2535,2168,1411,0,0,0,0,0,0
$GC,14371,0.74,362.4,357.1,11.6,992,14383,0.00,0.73,5.93,0.609,4,0.000,0.032,2537,1648,1390,0,0,0,0,0,0
$GC,14407,0.74,367.1,352.6,11.6,995,14420,0.00,0.77,5.25,0.517,6,0.000,0.036,2537,2163,1373,0,0,0,0,0,0
$GC,14738,0.76,385.7,317.3,11.0,1026,14760,0.00,0.77,16.52,0.622,4,0.000,0.037,2537,2697,1295,0,0,0,0,0,0
$GC,14866,0.76,385.7,302.3,12.1,1037,14873,0.00,0.77,0.00,0.000,6,0.000,0.030,2540,2168,1295,0,0,0,0,0,0
$GC,15192,0.79,404.3,261.5,11.0,1068,15214,0.00,0.77,15.68,0.596,4,0.000,0.033,2543,1647,1220,0,0,0,0,0,0
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$GC,17261,1.36,866.7,24.2,8.1,1376,17268,0.00,0.75,0.00,0.000,6,0.000,0.031,2706,2165,440,0,0,0,0,0,0
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$STATE,17481,end climb,SURFACE_DEPTH_REACHED
$STATE,17481,begin surface coast
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$STATE,17505,end surface coast,CONTROL_FINISHED_OK
$STATE,17505,begin surface
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$IRIDIUM_FIX,1830.49,12032.08,160911,080856
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.42
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.90
$XPDR_PINGS,0
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$10V_AH,9.9,68.199
$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
$DEVICE_SECS,16.450,59.275,635.825,0.000,0.000,29.371,42.064,145.543,0.000,0.000,37.567,3411.160,10609.484,736.553,2805.521,383.323,33.355,2139.888,0.000,2550.013,0.000,0.541,0.000
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$SENSOR_SECS,985.618,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321520
$DATA_FILE_SIZE,80201,1418
$CAP_FILE_SIZE,183560,0
$CFSIZE,260165632,204173312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160911,165137,1841.305,12029.242,27,2.0,27,-2.0