version: 66.09
glider: 181
mission: 6
dive: 161
start: 7 10 111 22 43 15
data:
$ID,181
$MISSION,6
$DIVE,161
$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,300
$T_MISSION,340
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,135
$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,-40714.398
$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,42
$R_STBD_OVSHOOT,39
$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,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,100711,223636,1924.664,12001.903,32,1.0,32,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-64.6
$GPS2,100711,224250,1924.704,12001.955,11,2.0,11,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,HEADING
$TGT_LATLONG,1917.068,12010.045
$TGT_RADIUS,1852.000
$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,137.1,20000,-15.3,-11.000
$D_GRID,4203
$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,14,begin dive
$GC,16,-0.52,-219.0,0.0,0.0,0,89,0.00,0.00,-70.62,0.000,2,0.000,0.000,198,2609,2409,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.1,-3.5,10,137,7.88,1.85,-27.40,0.000,4,0.230,0.058,2135,3780,3767,0,0,0,0,0,0
$GC,218,-0.52,-219.0,60.2,-57.1,31,226,0.00,1.80,0.00,0.000,6,0.000,0.024,2135,2582,3768,0,0,0,0,0,0
$GC,352,-0.52,-219.0,105.7,-32.2,56,360,0.00,2.08,0.00,0.000,4,0.000,0.026,2135,1189,3768,0,0,0,0,0,0
$GC,394,-0.52,-219.0,118.7,-26.4,63,402,0.00,2.12,0.00,0.000,6,0.000,0.036,2121,2548,3769,0,0,0,0,0,0
$GC,527,-0.52,-219.0,148.5,-21.7,88,535,0.00,1.90,0.00,0.000,4,0.000,0.043,2115,3770,3770,0,0,0,0,0,0
$GC,585,-0.52,-219.0,159.4,-16.8,98,593,0.10,1.77,0.00,0.000,6,0.122,0.024,2150,2574,3771,0,0,0,0,0,0
$GC,721,-0.52,-219.0,179.2,-16.5,123,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2573,3771,0,0,0,0,0,0
$GC,858,-0.52,-219.0,202.2,-15.0,148,862,0.00,1.85,0.00,0.000,4,0.000,0.043,2143,3775,3771,0,0,0,0,0,0
$GC,896,-0.52,-219.0,207.6,-13.5,151,903,0.00,1.70,0.00,0.000,6,0.000,0.024,2142,2634,3771,0,0,0,0,0,0
$GC,1221,-0.52,-219.0,258.1,-17.4,182,1225,0.00,2.08,0.00,0.000,4,0.000,0.028,2142,1199,3771,0,0,0,0,0,0
$GC,1285,-0.52,-219.0,267.6,-14.2,187,1289,0.00,2.17,0.00,0.000,6,0.000,0.034,2139,2638,3771,0,0,0,0,0,0
$GC,1610,-0.52,-219.0,320.9,-16.1,217,1614,0.00,1.75,0.00,0.000,4,0.000,0.044,2138,3771,3769,0,0,0,0,0,0
$GC,1649,-0.52,-219.0,326.8,-14.4,220,1656,0.00,1.70,0.00,0.000,6,0.000,0.024,2138,2627,3768,0,0,0,0,0,0
$GC,1974,-0.52,-219.0,368.8,-12.4,251,1978,0.00,2.08,0.00,0.000,4,0.000,0.028,2138,1196,3766,0,0,0,0,0,0
$GC,2014,-0.52,-219.0,373.5,-11.9,254,2018,0.00,2.17,0.00,0.000,6,0.000,0.036,2138,2633,3765,0,0,0,0,0,0
$GC,2339,-0.52,-219.0,413.1,-12.6,284,2343,0.00,1.77,0.00,0.000,4,0.000,0.047,2138,3774,3762,0,0,0,0,0,0
$GC,2374,-0.52,-219.0,417.5,-12.8,287,2378,0.00,1.70,0.00,0.000,6,0.000,0.025,2138,2633,3762,0,0,0,0,0,0
$GC,2704,-0.52,-219.0,459.5,-13.1,318,2708,0.00,2.10,0.00,0.000,4,0.000,0.030,2138,1196,3758,0,0,0,0,0,0
$GC,2744,-0.52,-219.0,464.2,-12.1,321,2748,0.00,2.17,0.00,0.000,6,0.000,0.037,2137,2631,3758,0,0,0,0,0,0
$GC,3069,-0.52,-219.0,500.4,-10.9,351,3073,0.00,1.75,0.00,0.000,4,0.000,0.048,2138,3783,3755,0,0,0,0,0,0
$GC,3119,-0.52,-219.0,505.0,-8.7,353,3123,0.00,1.73,0.00,0.000,6,0.000,0.025,2138,2621,3754,0,0,0,0,0,0
$GC,3447,-0.52,-219.0,535.5,-9.9,369,3451,0.00,2.10,0.00,0.000,4,0.000,0.031,2138,1196,3751,0,0,0,0,0,0
$GC,3497,-0.52,-219.0,540.3,-9.2,371,3501,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2630,3751,0,0,0,0,0,0
$GC,3819,-0.52,-219.0,570.9,-9.8,387,3823,0.00,1.75,0.00,0.000,4,0.000,0.048,2138,3777,3748,0,0,0,0,0,0
$GC,3865,-0.52,-219.0,575.0,-9.1,389,3869,0.00,1.70,0.00,0.000,6,0.000,0.027,2138,2631,3748,0,0,0,0,0,0
$GC,4198,-0.52,-219.0,610.6,-11.3,405,4202,0.00,2.10,0.00,0.000,4,0.000,0.031,2138,1200,3744,0,0,0,0,0,0
$GC,4243,-0.52,-219.0,615.8,-11.3,407,4247,0.00,2.20,0.00,0.000,6,0.000,0.038,2138,2642,3745,0,0,0,0,0,0
$GC,4565,-0.52,-219.0,650.1,-10.4,423,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2643,3741,0,0,0,0,0,0
$GC,4875,-0.52,-219.0,682.1,-10.0,438,4878,0.00,1.73,0.00,0.000,4,0.000,0.050,2138,3775,3739,0,0,0,0,0,0
$GC,4899,-0.52,-219.0,684.5,-10.0,439,4903,0.00,1.67,0.00,0.000,6,0.000,0.027,2138,2624,3739,0,0,0,0,0,0
$GC,5232,-0.52,-219.0,715.9,-9.6,455,5236,0.00,2.10,0.00,0.000,4,0.000,0.032,2138,1205,3737,0,0,0,0,0,0
$GC,5278,-0.52,-219.0,720.5,-10.0,457,5282,0.00,2.17,0.00,0.000,6,0.000,0.038,2138,2624,3737,0,0,0,0,0,0
$GC,5611,-0.52,-219.0,751.5,-9.4,473,5615,0.00,1.77,0.00,0.000,4,0.000,0.049,2137,3783,3734,0,0,0,0,0,0
$GC,5635,-0.52,-219.0,753.7,-9.3,474,5639,0.00,1.70,0.00,0.000,6,0.000,0.027,2137,2624,3734,0,0,0,0,0,0
$GC,5968,-0.52,-219.0,780.4,-7.3,490,5972,0.00,2.10,0.00,0.000,4,0.000,0.032,2138,1202,3732,0,0,0,0,0,0
$GC,6034,-0.52,-219.0,785.0,-6.5,493,6038,0.00,2.15,0.00,0.000,6,0.000,0.038,2138,2613,3732,0,0,0,0,0,0
$GC,6362,-0.52,-219.0,806.6,-6.7,509,6366,0.00,2.12,0.00,0.000,4,0.000,0.032,2137,1203,3730,0,0,0,0,0,0
$GC,6403,-0.52,-219.0,809.3,-6.5,511,6407,0.00,2.12,0.00,0.000,6,0.000,0.038,2138,2589,3730,0,0,0,0,0,0
$GC,6730,-0.52,-219.0,835.1,-8.5,527,6734,0.00,1.83,0.00,0.000,4,0.000,0.050,2138,3778,3728,0,0,0,0,0,0
$GC,6754,-0.52,-219.0,837.1,-8.6,528,6758,0.00,1.80,0.00,0.000,6,0.000,0.028,2138,2589,3728,0,0,0,0,0,0
$GC,7087,-0.52,-219.0,865.4,-8.8,544,7088,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2585,3727,0,0,0,0,0,0
$GC,7396,-0.52,-219.0,892.8,-8.8,559,7397,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2585,3726,0,0,0,0,0,0
$GC,7706,-0.52,-219.0,919.1,-8.3,574,7709,0.00,2.05,0.00,0.000,4,0.000,0.034,2138,1211,3724,0,0,0,0,0,0
$GC,7744,-0.52,-219.0,922.3,-7.8,575,7751,0.00,2.15,0.00,0.000,6,0.000,0.039,2138,2606,3724,0,0,0,0,0,0
$GC,8061,-0.52,-219.0,948.0,-8.0,591,8065,0.00,2.12,0.00,0.000,4,0.000,0.034,2138,1205,3723,0,0,0,0,0,0
$GC,8100,-0.52,-219.0,951.2,-8.0,592,8107,0.00,2.15,0.00,0.000,6,0.000,0.038,2138,2592,3722,0,0,0,0,0,0
$GC,8416,-0.52,-219.0,974.3,-7.0,608,8420,0.00,1.83,0.00,0.000,4,0.000,0.050,2138,3778,3721,0,0,0,0,0,0
$GC,8440,-0.52,-219.0,976.1,-6.9,609,8444,0.00,1.83,0.00,0.000,6,0.000,0.028,2138,2572,3721,0,0,0,0,0,0
$STATE,8667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8667,begin apogee
$GC,8673,-0.13,0.0,991.2,6.6,620,8846,0.40,0.00,167.25,1.102,4,0.109,0.000,2275,2115,2869,0,0,0,0,0,0
$STATE,8846,end apogee,CONTROL_FINISHED_OK
$STATE,8847,begin climb
$GC,8849,0.52,219.0,997.8,0.0,628,9035,0.60,2.25,176.93,1.073,4,0.047,0.038,2509,728,1976,0,0,0,0,0,0
$GC,9217,0.52,219.0,959.2,14.0,645,9221,0.00,2.22,0.00,0.000,6,0.000,0.034,2509,2126,1976,0,0,0,0,0,0
$GC,9544,0.52,219.0,910.7,14.5,661,9548,0.00,2.17,0.00,0.000,4,0.000,0.036,2518,725,1980,0,0,0,0,0,0
$GC,9774,0.52,219.0,878.2,13.5,671,9778,0.00,2.20,0.00,0.000,6,0.000,0.034,2518,2141,1976,0,0,0,0,0,0
$GC,10096,0.52,219.0,835.3,13.0,687,10100,0.00,2.17,0.00,0.000,4,0.000,0.045,2518,3545,1976,0,0,0,0,0,0
$GC,10162,0.52,219.0,825.3,13.9,690,10167,0.15,2.12,0.00,0.000,6,0.190,0.028,2492,2138,1976,0,0,0,0,0,0
$GC,10484,0.52,219.0,788.7,11.8,706,10488,0.00,2.15,0.00,0.000,4,0.000,0.037,2502,714,1975,0,0,0,0,0,0
$GC,10600,0.52,219.0,774.5,12.3,711,10605,0.00,2.17,0.00,0.000,6,0.000,0.033,2501,2138,1975,0,0,0,0,0,0
$GC,10923,0.52,219.0,731.2,13.8,727,10927,0.00,2.15,0.00,0.000,4,0.000,0.044,2501,3538,1975,0,0,0,0,0,0
$GC,10963,0.52,219.0,725.1,15.4,729,10967,0.00,2.10,0.00,0.000,6,0.000,0.028,2511,2140,1975,0,0,0,0,0,0
$GC,11290,0.52,219.0,676.3,14.9,745,11294,0.00,2.15,0.00,0.000,4,0.000,0.037,2521,712,1978,0,0,0,0,0,0
$GC,11361,0.52,219.0,665.5,14.6,748,11366,0.12,2.17,0.00,0.000,6,0.168,0.034,2491,2141,1975,0,0,0,0,0,0
$GC,11678,0.52,219.0,625.5,12.1,763,11682,0.00,2.17,0.00,0.000,4,0.000,0.045,2489,3543,1975,0,0,0,0,0,0
$GC,11733,0.52,219.0,618.3,12.7,765,11737,0.00,2.15,0.00,0.000,6,0.000,0.028,2497,2146,1974,0,0,0,0,0,0
$GC,12056,0.53,223.4,583.0,10.9,781,12065,0.00,2.17,5.15,0.707,4,0.000,0.037,2509,712,1958,0,0,0,0,0,0
$GC,12110,0.53,223.4,576.5,11.7,783,12117,0.00,2.17,0.00,0.000,6,0.000,0.033,2508,2140,1958,0,0,0,0,0,0
$GC,12427,0.53,223.4,536.6,13.4,799,12428,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2141,1957,0,0,0,0,0,0
$GC,12737,0.53,223.4,493.7,14.2,816,12741,0.00,2.15,0.00,0.000,4,0.000,0.044,2508,3544,1957,0,0,0,0,0,0
$GC,12765,0.53,223.4,489.2,15.6,818,12770,0.00,2.12,0.00,0.000,6,0.000,0.028,2517,2127,1957,0,0,0,0,0,0
$GC,13091,0.53,223.4,440.6,14.6,848,13095,0.00,2.12,0.00,0.000,4,0.000,0.038,2529,713,1957,0,0,0,0,0,0
$GC,13221,0.53,223.4,421.5,14.9,859,13226,0.15,2.15,0.00,0.000,6,0.163,0.034,2488,2130,1957,0,0,0,0,0,0
$GC,13546,0.53,223.4,380.9,11.5,889,13550,0.00,2.15,0.00,0.000,4,0.000,0.044,2488,3536,1957,0,0,0,0,0,0
$GC,13609,0.53,223.4,373.6,11.4,894,13613,0.00,2.10,0.00,0.000,6,0.000,0.028,2497,2133,1960,0,0,0,0,0,0
$GC,13935,0.64,313.3,342.9,7.9,924,14011,0.00,2.28,66.10,0.694,4,0.000,0.037,2507,723,1591,0,0,0,0,0,0
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$GC,16150,1.12,700.7,35.8,6.5,1244,16181,0.17,2.28,21.80,0.496,4,0.067,0.039,2707,3538,437,0,0,0,0,0,0
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$GC,16356,1.12,700.7,10.0,11.1,1280,16364,0.00,2.25,0.00,0.000,4,0.000,0.037,2684,3535,440,0,0,0,0,0,0
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$STATE,16415,end climb,SURFACE_DEPTH_REACHED
$STATE,16415,begin surface coast
$FINISH,0.0,1.020912
$STATE,16437,end surface coast,CONTROL_FINISHED_OK
$STATE,16437,begin surface
$SM_CCo,16514,0.00,0.000,0,0,441,595.59
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$IRIDIUM_FIX,1918.37,11959.43,100711,171719
$TT8_MAMPS,0.027713,0.027713
$HUMID,41.88
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,23.7,25.406
$10V_AH,10.0,25.522
$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
$DEVICE_SECS,16.600,174.350,627.550,0.000,0.000,30.034,24.591,175.888,0.250,0.000,13.608,3134.768,9414.468,679.114,3302.907,343.205,0.000,2094.829,0.000,2338.823,0.000,0.541,0.000
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$SENSOR_SECS,903.526,1317.089,1369.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322720
$DATA_FILE_SIZE,87153,1293
$CAP_FILE_SIZE,181364,0
$CFSIZE,260165632,236097536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110711,031936,1924.330,12004.184,29,0.9,29,-2.1