version: 66.09
glider: 181
mission: 6
dive: 187
start: 7 16 111 3 10 9
data:
$ID,181
$MISSION,6
$DIVE,187
$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,-5
$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,1
$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,-40754.574
$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,48
$R_STBD_OVSHOOT,29
$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
$GPS1,160711,030336,1924.319,12030.338,23,1.8,23,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-66.9
$GPS2,160711,030944,1924.476,12030.349,15,1.7,15,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,2000.000
$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,180.6,92588,-15.3,-11.000
$D_GRID,2890
$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,-0.52,-219.0,0.0,0.0,0,89,0.00,0.00,-71.05,0.000,2,0.000,0.000,202,2612,2449,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.3,-3.6,10,137,7.85,1.85,-26.30,0.000,4,0.228,0.060,2133,3780,3765,0,0,0,0,0,0
$GC,156,-0.52,-219.0,28.1,-45.8,19,164,0.00,1.80,0.00,0.000,6,0.000,0.024,2133,2577,3766,0,0,0,0,0,0
$GC,289,-0.52,-219.0,92.4,-32.2,44,296,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2574,3766,0,0,0,0,0,0
$GC,422,-0.52,-219.0,127.6,-23.2,69,430,0.00,1.90,0.00,0.000,4,0.000,0.041,2124,3784,3767,0,0,0,0,0,0
$GC,494,-0.52,-219.0,145.6,-22.5,82,502,0.00,1.77,0.00,0.000,6,0.000,0.023,2124,2589,3768,0,0,0,0,0,0
$GC,630,-0.52,-219.0,180.9,-24.1,107,638,0.00,2.05,0.00,0.000,4,0.000,0.027,2126,1202,3769,0,0,0,0,0,0
$GC,708,-0.52,-219.0,196.5,-16.5,121,717,0.08,2.15,0.00,0.000,6,0.142,0.035,2144,2588,3769,0,0,0,0,0,0
$GC,845,-0.52,-219.0,214.8,-16.1,136,849,0.00,1.80,0.00,0.000,4,0.000,0.041,2137,3787,3769,0,0,0,0,0,0
$GC,881,-0.52,-219.0,220.8,-17.7,139,885,0.00,1.70,0.00,0.000,6,0.000,0.023,2137,2601,3769,0,0,0,0,0,0
$GC,1212,-0.52,-219.0,280.3,-16.1,170,1215,0.00,1.80,0.00,0.000,4,0.000,0.042,2137,3781,3769,0,0,0,0,0,0
$GC,1234,-0.52,-219.0,284.0,-16.0,172,1238,0.00,1.65,0.00,0.000,6,0.000,0.024,2137,2636,3769,0,0,0,0,0,0
$GC,1565,-0.52,-219.0,329.0,-15.2,203,1569,0.00,2.08,0.00,0.000,4,0.000,0.028,2137,1201,3768,0,0,0,0,0,0
$GC,1605,-0.52,-219.0,334.3,-13.2,206,1609,0.00,2.17,0.00,0.000,6,0.000,0.034,2137,2642,3768,0,0,0,0,0,0
$GC,1930,-0.52,-219.0,373.6,-12.1,236,1934,0.00,1.75,0.00,0.000,4,0.000,0.045,2135,3774,3765,0,0,0,0,0,0
$GC,1965,-0.52,-219.0,378.0,-12.5,239,1969,0.00,1.70,0.00,0.000,6,0.000,0.025,2131,2629,3764,0,0,0,0,0,0
$GC,2295,-0.52,-219.0,424.6,-15.3,270,2299,0.00,2.08,0.00,0.000,4,0.000,0.029,2135,1201,3760,0,0,0,0,0,0
$GC,2349,-0.52,-219.0,432.3,-12.3,274,2357,0.00,2.20,0.00,0.000,6,0.000,0.035,2127,2624,3760,0,0,0,0,0,0
$GC,2675,-0.52,-219.0,476.7,-14.1,305,2679,0.00,1.75,0.00,0.000,4,0.000,0.047,2125,3777,3756,0,0,0,0,0,0
$GC,2713,-0.52,-219.0,482.0,-13.1,308,2721,0.00,1.73,0.00,0.000,6,0.000,0.025,2125,2622,3756,0,0,0,0,0,0
$GC,3045,-0.52,-219.0,524.8,-12.9,331,3049,0.00,2.08,0.00,0.000,4,0.000,0.030,2125,1202,3752,0,0,0,0,0,0
$GC,3060,-0.52,-219.0,526.9,-12.4,331,3067,0.00,2.20,0.00,0.000,6,0.000,0.037,2125,2649,3752,0,0,0,0,0,0
$GC,3376,-0.52,-219.0,562.3,-11.0,347,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2651,3750,0,0,0,0,0,0
$GC,3687,-0.52,-219.0,596.9,-11.0,362,3691,0.00,2.15,0.00,0.000,4,0.000,0.031,2125,1206,3746,0,0,0,0,0,0
$GC,3742,-0.52,-219.0,602.5,-9.2,364,3749,0.00,2.17,0.00,0.000,6,0.000,0.037,2125,2626,3746,0,0,0,0,0,0
$GC,4058,-0.52,-219.0,638.6,-12.4,380,4062,0.00,1.77,0.00,0.000,4,0.000,0.050,2123,3784,3745,0,0,0,0,0,0
$GC,4097,-0.52,-219.0,643.3,-11.6,381,4104,0.00,1.70,0.00,0.000,6,0.000,0.026,2123,2611,3743,0,0,0,0,0,0
$GC,4413,-0.52,-219.0,685.0,-14.1,397,4416,0.00,1.80,0.00,0.000,4,0.000,0.047,2115,3777,3738,0,0,0,0,0,0
$GC,4445,-0.52,-219.0,689.9,-14.4,398,4450,0.10,1.73,0.00,0.000,6,0.113,0.026,2151,2626,3740,0,0,0,0,0,0
$GC,4768,-0.52,-219.0,720.6,-9.1,414,4772,0.00,2.10,0.00,0.000,4,0.000,0.031,2151,1200,3737,0,0,0,0,0,0
$GC,4817,-0.52,-219.0,725.1,-8.9,416,4821,0.00,2.17,0.00,0.000,6,0.000,0.036,2151,2624,3737,0,0,0,0,0,0
$GC,5140,-0.52,-219.0,750.1,-7.3,432,5144,0.00,2.12,0.00,0.000,4,0.000,0.032,2151,1206,3735,0,0,0,0,0,0
$GC,5189,-0.52,-219.0,753.8,-7.0,434,5193,0.00,2.15,0.00,0.000,6,0.000,0.037,2151,2615,3734,0,0,0,0,0,0
$GC,5511,-0.52,-219.0,771.8,-4.6,450,5515,0.00,2.10,0.00,0.000,4,0.000,0.031,2151,1209,3736,0,0,0,0,0,0
$GC,5562,-0.52,-219.0,773.7,-4.2,452,5566,0.00,2.12,0.00,0.000,6,0.000,0.036,2151,2597,3731,0,0,0,0,0,0
$GC,5884,-0.52,-219.0,780.7,-1.9,468,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2598,3730,0,0,0,0,0,0
$GC,6194,-0.52,-219.0,789.1,-3.7,483,6198,0.00,2.10,0.00,0.000,4,0.000,0.033,2151,1205,3729,0,0,0,0,0,0
$GC,6226,-0.52,-219.0,790.9,-4.2,484,6233,0.00,2.12,0.00,0.000,6,0.000,0.037,2148,2578,3729,0,0,0,0,0,0
$GC,6542,-0.52,-219.0,810.4,-7.2,500,6546,0.00,1.90,0.00,0.000,4,0.000,0.050,2148,3784,3727,0,0,0,0,0,0
$GC,6570,-0.52,-219.0,812.6,-7.7,501,6574,0.00,1.77,0.00,0.000,6,0.000,0.028,2151,2573,3727,0,0,0,0,0,0
$GC,6898,-0.52,-219.0,841.3,-9.4,517,6901,0.00,2.03,0.00,0.000,4,0.000,0.033,2150,1212,3725,0,0,0,0,0,0
$GC,6936,-0.52,-219.0,845.2,-9.6,518,6943,0.00,2.12,0.00,0.000,6,0.000,0.037,2151,2585,3725,0,0,0,0,0,0
$GC,7253,-0.52,-219.0,874.4,-9.3,534,7257,0.00,2.08,0.00,0.000,4,0.000,0.034,2151,1209,3723,0,0,0,0,0,0
$GC,7511,-0.52,-219.0,897.1,-8.0,545,7518,0.00,2.08,0.00,0.000,6,0.000,0.036,2151,2565,3722,0,0,0,0,0,0
$GC,7827,-0.52,-219.0,917.2,-5.9,561,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2564,3721,0,0,0,0,0,0
$GC,8136,-0.52,-219.0,933.1,-4.8,576,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2564,3720,0,0,0,0,0,0
$GC,8446,-0.52,-219.0,947.7,-4.8,591,8447,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2564,3719,0,0,0,0,0,0
$GC,8755,-0.52,-219.0,965.4,-6.4,606,8758,0.00,2.05,0.00,0.000,4,0.000,0.035,2157,1211,3718,0,0,0,0,0,0
$GC,8801,-0.52,-219.0,968.4,-6.8,608,8805,0.00,2.05,0.00,0.000,6,0.000,0.036,2157,2548,3718,0,0,0,0,0,0
$STATE,9132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9132,begin apogee
$GC,9138,-0.13,0.0,991.0,7.1,624,9309,0.30,0.00,164.90,1.101,4,0.070,0.000,2285,2117,2869,0,0,0,0,0,0
$STATE,9309,end apogee,CONTROL_FINISHED_OK
$STATE,9310,begin climb
$GC,9312,0.52,219.0,998.3,0.0,632,9502,0.57,2.28,176.15,1.070,4,0.047,0.040,2503,722,1976,0,0,0,0,0,0
$GC,9686,0.52,219.0,958.3,14.2,649,9691,0.00,2.22,0.00,0.000,6,0.000,0.034,2503,2122,1977,0,0,0,0,0,0
$GC,10015,0.52,219.0,909.6,14.5,665,10019,0.00,2.17,0.00,0.000,4,0.000,0.037,2513,719,1980,0,0,0,0,0,0
$GC,10198,0.52,219.0,884.3,13.1,673,10202,0.00,2.20,0.00,0.000,6,0.000,0.035,2513,2140,1983,0,0,0,0,0,0
$GC,10521,0.52,219.0,839.4,14.2,689,10525,0.00,2.17,0.00,0.000,4,0.000,0.046,2513,3541,1981,0,0,0,0,0,0
$GC,10575,0.52,219.0,830.4,16.3,691,10583,0.12,2.17,0.00,0.000,6,0.186,0.028,2493,2103,1981,0,0,0,0,0,0
$GC,10892,0.52,219.0,791.9,12.2,707,10896,0.00,2.22,0.00,0.000,4,0.000,0.042,2493,3542,1979,0,0,0,0,0,0
$GC,10924,0.52,219.0,787.2,13.9,708,10931,0.00,2.12,0.00,0.000,6,0.000,0.027,2503,2133,1981,0,0,0,0,0,0
$GC,11240,0.52,219.0,745.0,14.0,724,11241,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2133,1979,0,0,0,0,0,0
$GC,11550,0.52,219.0,701.2,14.1,739,11554,0.00,2.12,0.00,0.000,4,0.000,0.037,2513,714,1983,0,0,0,0,0,0
$GC,11622,0.52,219.0,691.0,13.6,742,11626,0.00,2.15,0.00,0.000,6,0.000,0.033,2513,2131,1980,0,0,0,0,0,0
$GC,11944,0.52,219.0,645.4,13.9,758,11948,0.00,2.17,0.00,0.000,4,0.000,0.044,2513,3545,1979,0,0,0,0,0,0
$GC,11977,0.52,219.0,640.2,15.4,759,11985,0.12,2.12,0.00,0.000,6,0.177,0.027,2492,2128,1979,0,0,0,0,0,0
$GC,12293,0.52,219.0,602.5,11.3,775,12297,0.00,2.20,0.00,0.000,4,0.000,0.042,2492,3545,1978,0,0,0,0,0,0
$GC,12309,0.52,219.0,600.5,11.2,775,12316,0.00,2.15,0.00,0.000,6,0.000,0.028,2500,2140,1979,0,0,0,0,0,0
$GC,12626,0.52,219.0,561.7,13.0,791,12630,0.00,2.15,0.00,0.000,4,0.000,0.038,2511,712,1978,0,0,0,0,0,0
$GC,12780,0.52,219.0,541.8,13.8,798,12783,0.00,2.17,0.00,0.000,6,0.000,0.034,2511,2128,1979,0,0,0,0,0,0
$GC,13103,0.52,219.0,497.7,13.5,814,13107,0.00,2.17,0.00,0.000,4,0.000,0.044,2511,3542,1979,0,0,0,0,0,0
$GC,13147,0.52,219.0,491.2,14.5,817,13154,0.15,2.17,0.00,0.000,6,0.170,0.029,2482,2095,1979,0,0,0,0,0,0
$GC,13473,0.61,291.8,459.5,8.5,848,13533,0.12,0.00,55.35,0.767,6,0.094,0.000,2540,2095,1679,0,0,0,0,0,0
$GC,13851,0.61,291.8,408.4,15.4,884,13852,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2095,1677,0,0,0,0,0,0
$GC,14171,0.61,291.8,357.5,16.3,914,14175,0.00,2.25,0.00,0.000,4,0.000,0.043,2540,3535,1676,0,0,0,0,0,0
$GC,14226,0.61,291.8,347.0,18.3,918,14235,0.08,2.20,0.00,0.000,6,0.158,0.027,2526,2111,1675,0,0,0,0,0,0
$GC,14553,0.61,291.8,294.2,15.4,949,14557,0.00,2.10,0.00,0.000,4,0.000,0.035,2535,712,1676,0,0,0,0,0,0
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$GC,16789,1.19,760.2,44.0,4.3,1275,16821,0.22,2.33,25.23,0.477,4,0.058,0.034,2740,714,439,0,0,0,0,0,0
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$STATE,17125,end climb,SURFACE_DEPTH_REACHED
$STATE,17125,begin surface coast
$FINISH,0.1,1.020484
$STATE,17149,end surface coast,CONTROL_FINISHED_OK
$STATE,17149,begin surface
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$IRIDIUM_FIX,1913.80,12022.95,150711,222240
$TT8_MAMPS,0.028462,0.028462
$HUMID,41.45
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.10
$XPDR_PINGS,3
$24V_AH,23.6,29.714
$10V_AH,10.0,29.366
$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,16.575,166.875,621.175,0.000,0.000,29.058,17.688,174.228,0.750,0.000,18.100,3206.414,9977.365,691.234,3350.099,356.523,0.000,2121.684,0.000,2365.372,0.000,0.542,0.000
$DEVICE_MAMPS,227.970,59.670,1100.835,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,933.779,1356.313,1421.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321504
$DATA_FILE_SIZE,90246,1338
$CAP_FILE_SIZE,179850,0
$CFSIZE,260165632,233603072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160711,075830,1923.705,12032.448,37,1.3,37,-2.1