version: 66.09
glider: 181
mission: 6
dive: 632
start: 10 11 111 1 21 15
data:
$ID,181
$MISSION,6
$DIVE,632
$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,320
$T_MISSION,350
$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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,2
$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,-41386.188
$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,20
$C_ROLL_DIVE,2590
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,37
$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
$GPS1,111011,011507,2155.360,12010.644,41,1.2,41,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-63.3
$GPS2,111011,012050,2155.282,12010.742,10,1.9,10,-2.7
$SPEED_LIMITS,0.179,0.281
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.206,0.235
$KALMAN_X,28223.1,-227.3,-456.5,-48601.6,-2485.5
$KALMAN_Y,68902.1,-606.5,-201.3,102840.5,390.9
$MHEAD_RNG_PITCHd_Wd,20.1,47280,-16.5,-10.312
$D_GRID,1687
$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,-0.49,-170.3,0.0,0.0,0,83,0.00,0.00,-63.70,0.000,2,0.000,0.000,127,2593,2250,0,0,0,0,0,0
$GC,86,-0.49,-170.3,3.2,-3.1,10,131,8.48,1.15,-30.70,0.000,4,0.224,0.065,2133,3309,3566,0,0,0,0,0,0
$GC,185,-0.49,-170.3,31.0,-36.8,26,192,0.00,1.05,0.00,0.000,6,0.000,0.024,2133,2589,3567,0,0,0,0,0,0
$GC,326,-0.49,-170.3,79.5,-27.4,51,332,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2585,3565,0,0,0,0,0,0
$GC,467,-0.49,-170.3,120.4,-27.1,76,474,0.00,1.08,0.00,0.000,4,0.000,0.036,2127,3294,3563,0,0,0,0,0,0
$GC,492,-0.49,-170.3,126.6,-23.9,80,500,0.00,1.02,0.00,0.000,6,0.000,0.024,2127,2579,3563,0,0,0,0,0,0
$GC,635,-0.49,-170.3,153.0,-20.8,105,642,0.00,1.10,0.00,0.000,4,0.000,0.038,2122,3295,3562,0,0,0,0,0,0
$GC,721,-0.49,-170.3,166.9,-15.0,120,729,0.00,1.00,0.00,0.000,6,0.000,0.024,2122,2588,3562,0,0,0,0,0,0
$GC,865,-0.49,-170.3,188.1,-14.2,145,872,0.00,0.95,0.00,0.000,4,0.000,0.024,2122,1889,3562,0,0,0,0,0,0
$GC,919,-0.49,-170.3,195.6,-13.6,154,926,0.00,1.08,0.00,0.000,6,0.000,0.036,2117,2596,3562,0,0,0,0,0,0
$GC,1056,-0.49,-170.3,215.7,-15.1,169,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2596,3562,0,0,0,0,0,0
$GC,1376,-0.49,-170.3,260.0,-14.1,199,1380,0.00,1.05,0.00,0.000,4,0.000,0.039,2112,3293,3562,0,0,0,0,0,0
$GC,1415,-0.49,-170.3,265.7,-13.3,202,1423,0.08,1.00,0.00,0.000,6,0.139,0.024,2136,2590,3562,0,0,0,0,0,0
$GC,1741,-0.49,-170.3,307.6,-13.5,233,1745,0.00,0.95,0.00,0.000,4,0.000,0.024,2136,1879,3559,0,0,0,0,0,0
$GC,1766,-0.49,-170.3,310.7,-13.2,235,1769,0.00,1.08,0.00,0.000,6,0.000,0.034,2133,2590,3559,0,0,0,0,0,0
$GC,2096,-0.49,-170.3,356.0,-13.8,266,2100,0.00,1.00,0.00,0.000,4,0.000,0.027,2133,1887,3557,0,0,0,0,0,0
$GC,2178,-0.49,-170.3,366.3,-12.5,273,2181,0.00,1.08,0.00,0.000,6,0.000,0.037,2128,2587,3556,0,0,0,0,0,0
$GC,2508,-0.49,-170.3,406.3,-11.4,304,2512,0.00,0.98,0.00,0.000,4,0.000,0.026,2127,1897,3553,0,0,0,0,0,0
$GC,2588,-0.49,-170.3,414.7,-10.6,311,2592,0.00,1.08,0.00,0.000,6,0.000,0.037,2125,2590,3552,0,0,0,0,0,0
$GC,2919,-0.49,-170.3,452.8,-11.4,342,2923,0.00,1.10,0.00,0.000,4,0.000,0.042,2119,3293,3549,0,0,0,0,0,0
$GC,3004,-0.49,-170.3,462.4,-11.3,349,3011,0.00,1.00,0.00,0.000,6,0.000,0.024,2119,2597,3548,0,0,0,0,0,0
$GC,3328,-0.49,-170.3,503.9,-14.0,379,3332,0.00,0.98,0.00,0.000,4,0.000,0.025,2119,1886,3544,0,0,0,0,0,0
$GC,3352,-0.49,-170.3,507.1,-14.3,380,3355,0.00,1.08,0.00,0.000,6,0.000,0.037,2114,2583,3544,0,0,0,0,0,0
$GC,3686,-0.49,-170.3,555.2,-14.0,396,3689,0.00,0.98,0.00,0.000,4,0.000,0.026,2114,1899,3541,0,0,0,0,0,0
$GC,3701,-0.49,-170.3,558.0,-14.2,396,3710,0.08,1.05,0.00,0.000,6,0.142,0.038,2136,2580,3541,0,0,0,0,0,0
$GC,4018,-0.49,-170.3,597.3,-12.4,412,4021,0.00,0.98,0.00,0.000,4,0.000,0.028,2136,1896,3538,0,0,0,0,0,0
$GC,4110,-0.49,-170.3,608.4,-12.0,416,4114,0.00,1.08,0.00,0.000,6,0.000,0.041,2133,2585,3537,0,0,0,0,0,0
$GC,4443,-0.49,-170.3,647.3,-11.3,432,4447,0.00,1.00,0.00,0.000,4,0.000,0.028,2133,1888,3533,0,0,0,0,0,0
$GC,4512,-0.49,-170.3,654.8,-10.8,435,4516,0.00,1.10,0.00,0.000,6,0.000,0.041,2128,2591,3533,0,0,0,0,0,0
$GC,4845,-0.49,-170.3,692.9,-11.6,451,4848,0.00,1.00,0.00,0.000,4,0.000,0.029,2128,1899,3531,0,0,0,0,0,0
$GC,4936,-0.49,-170.3,703.2,-11.2,455,4939,0.00,1.08,0.00,0.000,6,0.000,0.041,2125,2583,3531,0,0,0,0,0,0
$GC,5270,-0.49,-170.3,743.3,-12.3,471,5273,0.00,1.10,0.00,0.000,4,0.000,0.046,2120,3291,3527,0,0,0,0,0,0
$GC,5325,-0.49,-170.3,750.8,-13.5,473,5329,0.00,1.02,0.00,0.000,6,0.000,0.026,2120,2593,3527,0,0,0,0,0,0
$GC,5648,-0.49,-170.3,793.0,-13.3,489,5651,0.00,1.02,0.00,0.000,4,0.000,0.029,2120,1886,3525,0,0,0,0,0,0
$GC,5725,-0.49,-170.3,804.0,-13.2,492,5730,0.00,1.10,0.00,0.000,6,0.000,0.039,2115,2588,3524,0,0,0,0,0,0
$GC,6047,-0.49,-170.3,847.0,-13.3,508,6051,0.00,1.10,0.00,0.000,4,0.000,0.047,2112,3291,3522,0,0,0,0,0,0
$GC,6098,-0.49,-170.3,854.1,-13.8,510,6102,0.08,1.02,0.00,0.000,6,0.135,0.027,2136,2592,3522,0,0,0,0,0,0
$GC,6425,-0.49,-170.3,888.9,-10.4,526,6428,0.00,1.00,0.00,0.000,4,0.000,0.028,2137,1884,3520,0,0,0,0,0,0
$GC,6526,-0.49,-170.3,899.4,-10.4,530,6530,0.00,1.10,0.00,0.000,6,0.000,0.039,2134,2585,3519,0,0,0,0,0,0
$GC,6847,-0.49,-170.3,934.2,-10.9,546,6851,0.00,1.00,0.00,0.000,4,0.000,0.028,2134,1890,3518,0,0,0,0,0,0
$GC,6965,-0.49,-170.3,946.8,-10.3,551,6969,0.00,1.10,0.00,0.000,6,0.000,0.041,2129,2584,3517,0,0,0,0,0,0
$GC,7294,-0.49,-170.3,980.3,-10.1,567,7298,0.00,1.00,0.00,0.000,4,0.000,0.028,2129,1894,3515,0,0,0,0,0,0
$GC,7366,-0.49,-170.3,987.8,-9.4,570,7369,0.00,1.10,0.00,0.000,6,0.000,0.040,2125,2588,3515,0,0,0,0,0,0
$STATE,7402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7402,begin apogee
$GC,7409,-0.13,0.0,991.6,10.2,572,7544,0.40,0.00,129.10,1.060,6,0.126,0.000,2252,2152,2869,0,0,0,0,0,0
$STATE,7545,end apogee,CONTROL_FINISHED_OK
$STATE,7545,begin climb
$GC,7547,0.49,170.3,997.4,0.0,578,7692,0.57,1.10,138.23,1.040,4,0.083,0.033,2459,1467,2174,0,0,0,0,0,0
$GC,7771,0.59,259.0,988.4,6.7,588,7848,0.00,1.10,71.78,1.024,6,0.000,0.031,2459,2178,1812,0,0,0,0,0,0
$GC,8156,0.69,339.3,961.3,7.0,607,8225,0.17,1.05,64.25,1.017,4,0.073,0.037,2540,2859,1486,0,0,0,0,0,0
$GC,8312,0.69,339.3,945.4,11.3,614,8316,0.00,1.05,0.00,0.000,6,0.000,0.028,2544,2159,1486,0,0,0,0,0,0
$GC,8640,0.71,349.2,912.4,9.9,630,8654,0.00,1.10,10.88,0.893,4,0.000,0.037,2545,2870,1444,0,0,0,0,0,0
$GC,8711,0.71,349.2,904.8,10.8,633,8715,0.00,1.08,0.00,0.000,6,0.000,0.028,2549,2159,1444,0,0,0,0,0,0
$GC,9039,0.74,381.0,873.5,9.0,649,9072,0.00,1.15,26.85,0.951,4,0.000,0.038,2550,2861,1314,0,0,0,0,0,0
$GC,9103,0.80,425.3,867.8,8.5,652,9147,0.00,1.05,36.33,0.947,6,0.000,0.027,2554,2160,1134,0,0,0,0,0,0
$GC,9456,0.85,467.4,836.4,8.6,669,9499,0.00,1.12,35.42,0.941,4,0.000,0.039,2554,2853,963,0,0,0,0,0,0
$GC,9571,0.86,476.4,826.0,9.9,674,9585,0.00,1.02,9.18,0.798,6,0.000,0.028,2557,2173,927,0,0,0,0,0,0
$GC,9903,0.89,500.8,796.2,9.3,690,9929,0.00,1.10,22.08,0.898,4,0.000,0.034,2562,1475,827,0,0,0,0,0,0
$GC,9951,0.94,537.9,791.6,8.8,692,9989,0.08,1.08,32.15,0.900,6,0.058,0.031,2611,2168,675,0,0,0,0,0,0
$GC,10317,0.94,537.9,746.6,12.7,710,10321,0.00,1.05,0.00,0.000,4,0.000,0.032,2615,1470,675,0,0,0,0,0,0
$GC,10431,0.94,537.9,731.2,14.3,715,10435,0.00,1.08,0.00,0.000,6,0.000,0.034,2616,2166,675,0,0,0,0,0,0
$GC,10764,0.94,537.9,687.5,12.6,731,10767,0.00,1.08,0.00,0.000,4,0.000,0.040,2615,2871,674,0,0,0,0,0,0
$GC,10901,0.94,537.9,669.2,13.6,737,10905,0.00,1.05,0.00,0.000,6,0.000,0.027,2620,2162,673,0,0,0,0,0,0
$GC,11234,0.94,537.9,624.4,13.5,753,11238,0.00,1.02,0.00,0.000,4,0.000,0.034,2625,1469,674,0,0,0,0,0,0
$GC,11266,0.94,537.9,619.8,13.2,754,11271,0.00,1.08,0.00,0.000,6,0.000,0.032,2625,2168,673,0,0,0,0,0,0
$GC,11589,0.94,537.9,577.7,12.9,770,11593,0.00,1.05,0.00,0.000,4,0.000,0.041,2625,2858,673,0,0,0,0,0,0
$GC,11712,0.94,537.9,559.7,14.5,775,11716,0.00,1.02,0.00,0.000,6,0.000,0.027,2629,2168,674,0,0,0,0,0,0
$GC,12035,0.94,537.9,518.3,12.8,791,12039,0.00,1.02,0.00,0.000,4,0.000,0.034,2634,1474,673,0,0,0,0,0,0
$GC,12068,0.94,537.9,513.7,13.1,792,12073,0.10,1.05,0.00,0.000,6,0.122,0.032,2599,2162,673,0,0,0,0,0,0
$GC,12395,0.94,537.9,478.1,10.9,817,12399,0.00,1.05,0.00,0.000,4,0.000,0.037,2600,2860,673,0,0,0,0,0,0
$GC,12453,0.94,537.9,471.3,12.2,822,12457,0.00,1.05,0.00,0.000,6,0.000,0.028,2602,2159,674,0,0,0,0,0,0
$GC,12785,0.94,537.9,434.3,11.3,853,12788,0.00,1.02,0.00,0.000,4,0.000,0.034,2608,1469,674,0,0,0,0,0,0
$GC,12832,0.94,537.9,429.0,11.6,857,12835,0.00,1.05,0.00,0.000,6,0.000,0.029,2608,2163,674,0,0,0,0,0,0
$GC,13163,0.94,537.9,388.7,11.8,888,13166,0.00,1.05,0.00,0.000,4,0.000,0.036,2608,2863,674,0,0,0,0,0,0
$GC,13231,0.94,537.9,380.7,12.3,894,13236,0.00,1.05,0.00,0.000,6,0.000,0.027,2611,2162,675,0,0,0,0,0,0
$GC,13563,0.94,537.9,344.3,10.9,925,13566,0.00,1.08,0.00,0.000,4,0.000,0.034,2611,2868,676,0,0,0,0,0,0
$GC,13643,0.94,537.9,335.3,12.0,932,13646,0.00,1.05,0.00,0.000,6,0.000,0.028,2614,2166,676,0,0,0,0,0,0
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$GC,16424,1.06,637.1,24.7,11.7,1314,16431,0.00,1.02,0.30,0.082,6,0.000,0.026,2622,2157,441,0,0,0,0,0,0
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$STATE,16614,end climb,SURFACE_DEPTH_REACHED
$STATE,16614,begin surface coast
$FINISH,0.7,1.009033
$STATE,16643,end surface coast,CONTROL_FINISHED_OK
$STATE,16643,begin surface
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$IRIDIUM_FIX,2145.77,12013.21,101011,202013
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.07
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.6,105.538
$10V_AH,9.8,79.135
$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,16.275,89.700,636.200,0.000,0.000,24.808,25.145,141.748,0.000,0.000,12.709,3482.198,9734.588,697.026,2726.010,410.847,0.000,2114.998,0.000,2511.161,0.000,0.539,0.000
$DEVICE_MAMPS,224.145,65.025,1060.290,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,935.647,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322768
$DATA_FILE_SIZE,77022,1352
$CAP_FILE_SIZE,181478,0
$CFSIZE,260165632,193806336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.221,187.0,1
$GPS,111011,060107,2155.963,12011.403,33,1.1,33,-2.7