version: 66.09
glider: 181
mission: 6
dive: 198
start: 7 18 111 8 26 23
data:
$ID,181
$MISSION,6
$DIVE,198
$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,-40768.406
$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,51
$R_STBD_OVSHOOT,27
$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
$GPS1,180711,081636,1908.425,12035.411,26,1.2,26,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-58.8
$GPS2,180711,082558,1908.564,12035.482,12,2.5,31,-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,188.0,63427,-15.3,-11.000
$D_GRID,2651
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.52,-219.0,0.0,0.0,0,90,0.00,0.00,-70.57,0.000,2,0.000,0.000,129,2599,2458,0,0,0,0,0,0
$GC,93,-0.52,-219.0,3.6,-4.3,10,132,8.23,1.90,-25.00,0.000,4,0.230,0.056,2131,3789,3765,0,0,0,0,0,0
$GC,161,-0.52,-219.0,33.0,-52.1,20,169,0.00,1.83,0.00,0.000,6,0.000,0.029,2131,2589,3766,0,0,0,0,0,0
$GC,295,-0.52,-219.0,92.0,-37.1,45,303,0.00,1.90,0.00,0.000,4,0.000,0.047,2122,3777,3769,0,0,0,0,0,0
$GC,398,-0.52,-219.0,127.2,-19.6,64,406,0.00,1.70,0.00,0.000,6,0.000,0.024,2122,2627,3768,0,0,0,0,0,0
$GC,533,-0.52,-219.0,153.2,-22.1,89,541,0.00,2.10,0.00,0.000,4,0.000,0.028,2122,1218,3768,0,0,0,0,0,0
$GC,554,-0.52,-219.0,157.9,-20.9,92,564,0.10,2.22,0.00,0.000,6,0.142,0.037,2145,2647,3768,0,0,0,0,0,0
$GC,693,-0.52,-219.0,179.5,-15.9,117,701,0.00,1.75,0.00,0.000,4,0.000,0.044,2138,3774,3769,0,0,0,0,0,0
$GC,770,-0.52,-219.0,192.3,-13.6,131,778,0.00,1.62,0.00,0.000,6,0.000,0.024,2138,2677,3769,0,0,0,0,0,0
$GC,906,-0.52,-219.0,214.8,-17.1,148,910,0.00,2.12,0.00,0.000,4,0.000,0.028,2138,1218,3773,0,0,0,0,0,0
$GC,965,-0.52,-219.0,223.2,-12.3,153,972,0.00,2.15,0.00,0.000,6,0.000,0.035,2138,2638,3769,0,0,0,0,0,0
$GC,1291,-0.52,-219.0,268.2,-13.5,184,1294,0.00,1.77,0.00,0.000,4,0.000,0.045,2137,3781,3769,0,0,0,0,0,0
$GC,1358,-0.52,-219.0,275.4,-9.6,190,1362,0.00,1.65,0.00,0.000,6,0.000,0.024,2137,2637,3768,0,0,0,0,0,0
$GC,1689,-0.52,-219.0,317.4,-12.8,221,1693,0.00,2.10,0.00,0.000,4,0.000,0.030,2137,1203,3763,0,0,0,0,0,0
$GC,1772,-0.52,-219.0,326.4,-9.3,228,1779,0.00,2.17,0.00,0.000,6,0.000,0.035,2142,2637,3764,0,0,0,0,0,0
$GC,2097,-0.52,-219.0,363.8,-12.7,259,2101,0.00,1.73,0.00,0.000,4,0.000,0.047,2133,3775,3763,0,0,0,0,0,0
$GC,2149,-0.52,-219.0,369.6,-10.7,263,2155,0.00,1.65,0.00,0.000,6,0.000,0.027,2133,2635,3760,0,0,0,0,0,0
$GC,2474,-0.52,-219.0,407.9,-12.5,294,2478,0.00,2.12,0.00,0.000,4,0.000,0.031,2133,1197,3756,0,0,0,0,0,0
$GC,2540,-0.52,-219.0,415.7,-10.7,299,2547,0.00,2.20,0.00,0.000,6,0.000,0.037,2125,2638,3756,0,0,0,0,0,0
$GC,2865,-0.52,-219.0,460.5,-14.0,330,2869,0.00,2.12,0.00,0.000,4,0.000,0.031,2125,1203,3752,0,0,0,0,0,0
$GC,2887,-0.52,-219.0,463.7,-13.8,331,2894,0.00,2.17,0.00,0.000,6,0.000,0.039,2125,2621,3752,0,0,0,0,0,0
$GC,3211,-0.52,-219.0,505.5,-13.1,360,3215,0.00,1.77,0.00,0.000,4,0.000,0.049,2124,3777,3749,0,0,0,0,0,0
$GC,3280,-0.52,-219.0,513.2,-9.8,363,3284,0.00,1.67,0.00,0.000,6,0.000,0.027,2124,2631,3748,0,0,0,0,0,0
$GC,3613,-0.52,-219.0,554.7,-12.7,379,3617,0.00,2.10,0.00,0.000,4,0.000,0.031,2124,1203,3745,0,0,0,0,0,0
$GC,3669,-0.52,-219.0,560.9,-10.4,381,3675,0.00,2.17,0.00,0.000,6,0.000,0.037,2124,2624,3745,0,0,0,0,0,0
$GC,3985,-0.52,-219.0,594.2,-10.9,397,3989,0.00,1.77,0.00,0.000,4,0.000,0.049,2124,3776,3742,0,0,0,0,0,0
$GC,4058,-0.52,-219.0,600.5,-7.4,400,4062,0.00,1.75,0.00,0.000,6,0.000,0.027,2124,2614,3741,0,0,0,0,0,0
$GC,4385,-0.52,-219.0,631.9,-10.2,416,4389,0.00,2.08,0.00,0.000,4,0.000,0.031,2124,1206,3739,0,0,0,0,0,0
$GC,4435,-0.52,-219.0,636.6,-8.7,418,4439,0.00,2.17,0.00,0.000,6,0.000,0.037,2124,2629,3739,0,0,0,0,0,0
$GC,4751,-0.52,-219.0,669.8,-11.5,433,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2631,3736,0,0,0,0,0,0
$GC,5060,-0.52,-219.0,705.4,-11.8,448,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2631,3733,0,0,0,0,0,0
$GC,5369,-0.52,-219.0,742.3,-11.9,463,5373,0.00,2.15,0.00,0.000,4,0.000,0.033,2124,1210,3735,0,0,0,0,0,0
$GC,5393,-0.52,-219.0,745.1,-12.4,464,5397,0.00,2.20,0.00,0.000,6,0.000,0.041,2124,2630,3731,0,0,0,0,0,0
$GC,5719,-0.52,-219.0,784.0,-12.0,480,5723,0.00,2.15,0.00,0.000,4,0.000,0.033,2124,1210,3729,0,0,0,0,0,0
$GC,5764,-0.52,-219.0,788.9,-10.6,482,5768,0.00,2.17,0.00,0.000,6,0.000,0.040,2124,2616,3729,0,0,0,0,0,0
$GC,6086,-0.52,-219.0,821.9,-10.0,498,6090,0.00,1.80,0.00,0.000,4,0.000,0.050,2125,3774,3727,0,0,0,0,0,0
$GC,6113,-0.52,-219.0,824.7,-9.9,499,6117,0.00,1.73,0.00,0.000,6,0.000,0.028,2124,2600,3727,0,0,0,0,0,0
$GC,6442,-0.52,-219.0,853.6,-8.8,515,6446,0.00,2.12,0.00,0.000,4,0.000,0.034,2124,1198,3725,0,0,0,0,0,0
$GC,6492,-0.52,-219.0,857.9,-8.3,517,6496,0.00,2.17,0.00,0.000,6,0.000,0.039,2124,2606,3725,0,0,0,0,0,0
$GC,6813,-0.52,-219.0,884.4,-8.9,533,6817,0.00,1.83,0.00,0.000,4,0.000,0.051,2124,3781,3723,0,0,0,0,0,0
$GC,6847,-0.52,-219.0,887.3,-8.9,534,6851,0.00,1.73,0.00,0.000,6,0.000,0.028,2125,2611,3723,0,0,0,0,0,0
$GC,7168,-0.52,-219.0,914.4,-8.7,550,7172,0.00,2.10,0.00,0.000,4,0.000,0.034,2123,1205,3721,0,0,0,0,0,0
$GC,7229,-0.52,-219.0,919.4,-7.8,552,7236,0.00,2.17,0.00,0.000,6,0.000,0.040,2124,2603,3721,0,0,0,0,0,0
$GC,7546,-0.52,-219.0,944.4,-8.4,568,7549,0.00,1.83,0.00,0.000,4,0.000,0.052,2124,3776,3719,0,0,0,0,0,0
$GC,7573,-0.52,-219.0,946.7,-8.7,569,7577,0.00,1.75,0.00,0.000,6,0.000,0.029,2123,2590,3719,0,0,0,0,0,0
$GC,7901,-0.52,-219.0,973.1,-8.5,585,7905,0.00,2.08,0.00,0.000,4,0.000,0.034,2124,1209,3718,0,0,0,0,0,0
$GC,7940,-0.52,-219.0,976.6,-8.3,586,7947,0.00,2.20,0.00,0.000,6,0.000,0.039,2124,2599,3718,0,0,0,0,0,0
$STATE,8109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8110,begin apogee
$GC,8116,-0.13,0.0,990.8,8.7,595,8285,0.45,0.00,162.95,1.100,4,0.108,0.000,2276,2116,2871,0,0,0,0,0,0
$STATE,8286,end apogee,CONTROL_FINISHED_OK
$STATE,8286,begin climb
$GC,8288,0.52,219.0,999.2,0.0,603,8472,0.60,2.40,175.20,1.071,4,0.052,0.044,2504,3551,1977,0,0,0,0,0,0
$GC,8677,0.52,219.0,957.0,15.2,620,8682,0.00,2.20,0.00,0.000,6,0.000,0.029,2514,2146,1977,0,0,0,0,0,0
$GC,9005,0.52,219.0,906.9,15.5,636,9009,0.00,2.20,0.00,0.000,4,0.000,0.042,2514,3542,1979,0,0,0,0,0,0
$GC,9145,0.52,219.0,883.0,17.0,642,9149,0.12,2.20,0.00,0.000,6,0.188,0.028,2495,2106,1979,0,0,0,0,0,0
$GC,9461,0.52,219.0,836.5,14.6,657,9465,0.00,2.12,0.00,0.000,4,0.000,0.040,2504,718,1977,0,0,0,0,0,0
$GC,9493,0.52,219.0,831.5,14.1,658,9497,0.00,2.17,0.00,0.000,6,0.000,0.034,2504,2131,1978,0,0,0,0,0,0
$GC,9816,0.52,219.0,781.9,15.6,674,9820,0.00,2.17,0.00,0.000,4,0.000,0.045,2504,3536,1977,0,0,0,0,0,0
$GC,9901,0.52,219.0,767.7,16.8,678,9905,0.00,2.15,0.00,0.000,6,0.000,0.029,2513,2120,1977,0,0,0,0,0,0
$GC,10229,0.52,219.0,717.4,15.0,694,10233,0.00,2.12,0.00,0.000,4,0.000,0.038,2524,716,1977,0,0,0,0,0,0
$GC,10385,0.52,219.0,694.7,14.1,701,10389,0.12,2.12,0.00,0.000,6,0.170,0.034,2493,2107,1976,0,0,0,0,0,0
$GC,10712,0.52,219.0,653.7,12.5,717,10716,0.00,2.22,0.00,0.000,4,0.000,0.046,2493,3542,1976,0,0,0,0,0,0
$GC,10779,0.52,219.0,644.3,13.4,720,10783,0.00,2.20,0.00,0.000,6,0.000,0.031,2501,2091,1976,0,0,0,0,0,0
$GC,11106,0.52,219.0,603.1,12.4,736,11110,0.00,2.08,0.00,0.000,4,0.000,0.038,2511,713,1975,0,0,0,0,0,0
$GC,11146,0.52,219.0,598.0,12.5,738,11150,0.00,2.12,0.00,0.000,6,0.000,0.034,2511,2107,1976,0,0,0,0,0,0
$GC,11473,0.52,219.0,556.3,12.8,754,11478,0.00,2.20,0.00,0.000,4,0.000,0.045,2511,3532,1975,0,0,0,0,0,0
$GC,11524,0.52,219.0,549.2,14.3,756,11528,0.12,2.15,0.00,0.000,6,0.178,0.029,2490,2108,1975,0,0,0,0,0,0
$GC,11840,0.52,219.0,512.8,11.3,771,11843,0.00,2.10,0.00,0.000,4,0.000,0.040,2499,719,1975,0,0,0,0,0,0
$GC,11911,0.52,219.0,504.6,11.1,774,11915,0.00,2.10,0.00,0.000,6,0.000,0.034,2499,2096,1975,0,0,0,0,0,0
$GC,12241,0.52,219.0,465.1,12.3,803,12245,0.00,2.22,0.00,0.000,4,0.000,0.046,2499,3535,1975,0,0,0,0,0,0
$GC,12349,0.52,219.0,451.7,12.6,812,12353,0.00,2.15,0.00,0.000,6,0.000,0.030,2508,2106,1976,0,0,0,0,0,0
$GC,12674,0.52,219.0,413.0,11.6,842,12678,0.00,2.10,0.00,0.000,4,0.000,0.040,2519,715,1976,0,0,0,0,0,0
$GC,12749,0.52,219.0,404.1,11.8,848,12753,0.00,2.12,0.00,0.000,6,0.000,0.034,2519,2111,1980,0,0,0,0,0,0
$GC,13074,0.52,219.0,361.9,13.0,878,13075,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2111,1976,0,0,0,0,0,0
$GC,13396,0.52,219.0,321.2,12.5,908,13400,0.00,2.10,0.00,0.000,4,0.000,0.037,2529,727,1976,0,0,0,0,0,0
$GC,13459,0.52,219.0,313.1,12.5,913,13464,0.15,2.08,0.00,0.000,6,0.158,0.034,2488,2088,1976,0,0,0,0,0,0
$GC,13786,0.60,280.5,282.9,8.9,943,13837,0.00,2.30,45.85,0.654,4,0.000,0.044,2488,3534,1724,0,0,0,0,0,0
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$STATE,16397,end climb,SURFACE_DEPTH_REACHED
$STATE,16397,begin surface coast
$FINISH,0.3,1.020538
$STATE,16419,end surface coast,CONTROL_FINISHED_OK
$STATE,16419,begin surface
$SM_CCo,16497,0.00,0.000,0,0,442,595.10
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$IRIDIUM_FIX,1900.10,12051.18,180711,080850
$TT8_MAMPS,0.027713,0.027713
$HUMID,41.96
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.6,31.527
$10V_AH,10.1,30.997
$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
$DEVICE_SECS,17.075,182.800,624.050,0.000,0.000,60.448,92.721,181.528,0.000,0.000,34.946,3244.457,9179.680,676.810,3573.368,370.053,0.000,2140.076,0.000,2406.385,0.000,0.541,0.000
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$SENSOR_SECS,934.602,1377.827,1526.377,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,90189,1341
$CAP_FILE_SIZE,185996,0
$CFSIZE,260165632,232525824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180711,130236,1906.850,12036.203,38,1.6,38,-2.1