version: 66.09
glider: 181
mission: 6
dive: 334
start: 8 12 111 6 56 55
data:
$ID,181
$MISSION,6
$DIVE,334
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,250
$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,-40956.188
$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,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,45
$R_STBD_OVSHOOT,32
$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,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
$GPS1,120811,064936,2055.832,12005.936,36,0.9,42,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-72.6
$GPS2,120811,065631,2056.021,12006.172,9,1.1,14,-2.4
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$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,355.7,91327,-15.4,-11.786
$D_GRID,3320
$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,-0.56,-243.3,0.0,0.0,0,84,0.00,0.00,-64.82,0.000,2,0.000,0.000,213,2608,2312,0,0,0,0,0,0
$GC,87,-0.56,-243.3,3.6,-4.1,10,136,7.90,1.88,-30.73,0.000,4,0.226,0.060,2122,3779,3864,0,0,0,0,0,0
$GC,264,-0.56,-243.3,71.2,-20.5,40,272,0.00,1.80,0.00,0.000,6,0.000,0.023,2122,2573,3865,0,0,0,0,0,0
$GC,405,-0.56,-243.3,101.1,-19.3,65,412,0.00,2.03,0.00,0.000,4,0.000,0.027,2121,1210,3865,0,0,0,0,0,0
$GC,464,-0.56,-243.3,111.6,-16.9,75,471,0.00,2.22,0.00,0.000,6,0.000,0.034,2111,2657,3865,0,0,0,0,0,0
$GC,603,-0.56,-243.3,141.2,-22.5,100,611,0.00,1.75,0.00,0.000,4,0.000,0.044,2111,3781,3863,0,0,0,0,0,0
$GC,662,-0.56,-243.3,151.5,-15.3,110,670,0.00,1.65,0.00,0.000,6,0.000,0.023,2111,2668,3866,0,0,0,0,0,0
$GC,803,-0.56,-243.3,176.2,-19.6,135,810,0.00,2.15,0.00,0.000,4,0.000,0.027,2111,1196,3866,0,0,0,0,0,0
$GC,861,-0.56,-243.3,185.6,-14.0,145,868,0.00,2.17,0.00,0.000,6,0.000,0.034,2111,2624,3866,0,0,0,0,0,0
$GC,1005,-0.56,-243.3,207.2,-15.7,167,1009,0.00,1.75,0.00,0.000,4,0.000,0.043,2108,3783,3866,0,0,0,0,0,0
$GC,1043,-0.56,-243.3,212.9,-13.7,170,1052,0.08,1.67,0.00,0.000,6,0.129,0.022,2135,2642,3866,0,0,0,0,0,0
$GC,1369,-0.56,-243.3,251.4,-12.6,201,1373,0.00,2.10,0.00,0.000,4,0.000,0.028,2135,1200,3865,0,0,0,0,0,0
$GC,1425,-0.56,-243.3,257.3,-9.6,205,1432,0.00,2.15,0.00,0.000,6,0.000,0.032,2130,2638,3864,0,0,0,0,0,0
$GC,1750,-0.56,-243.3,298.3,-13.1,236,1754,0.00,1.73,0.00,0.000,4,0.000,0.044,2125,3774,3862,0,0,0,0,0,0
$GC,1818,-0.56,-243.3,305.9,-10.2,242,1822,0.00,1.65,0.00,0.000,6,0.000,0.024,2125,2633,3861,0,0,0,0,0,0
$GC,2149,-0.56,-243.3,348.1,-13.3,273,2153,0.00,2.10,0.00,0.000,4,0.000,0.028,2125,1202,3859,0,0,0,0,0,0
$GC,2230,-0.56,-243.3,356.4,-9.1,280,2234,0.00,2.12,0.00,0.000,6,0.000,0.033,2125,2606,3859,0,0,0,0,0,0
$GC,2556,-0.56,-243.3,393.3,-12.3,310,2559,0.00,1.77,0.00,0.000,4,0.000,0.045,2125,3776,3859,0,0,0,0,0,0
$GC,2594,-0.56,-243.3,398.0,-11.7,313,2601,0.00,1.75,0.00,0.000,6,0.000,0.024,2125,2602,3855,0,0,0,0,0,0
$GC,2920,-0.56,-243.3,434.0,-10.6,344,2924,0.00,2.05,0.00,0.000,4,0.000,0.029,2125,1209,3853,0,0,0,0,0,0
$GC,2991,-0.56,-243.3,440.6,-8.8,350,2995,0.00,2.10,0.00,0.000,6,0.000,0.033,2125,2589,3852,0,0,0,0,0,0
$GC,3316,-0.56,-243.3,473.8,-11.1,380,3320,0.00,1.83,0.00,0.000,4,0.000,0.045,2123,3786,3851,0,0,0,0,0,0
$GC,3389,-0.56,-243.3,481.4,-9.7,386,3396,0.00,1.77,0.00,0.000,6,0.000,0.024,2122,2600,3850,0,0,0,0,0,0
$GC,3722,-0.56,-243.3,520.4,-12.2,410,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2600,3847,0,0,0,0,0,0
$GC,4029,-0.56,-243.3,558.6,-12.6,425,4033,0.00,1.83,0.00,0.000,4,0.000,0.044,2114,3779,3844,0,0,0,0,0,0
$GC,4052,-0.56,-243.3,561.4,-12.7,426,4056,0.00,1.73,0.00,0.000,6,0.000,0.025,2114,2604,3844,0,0,0,0,0,0
$GC,4386,-0.56,-243.3,601.6,-12.1,442,4390,0.00,2.10,0.00,0.000,4,0.000,0.030,2113,1200,3842,0,0,0,0,0,0
$GC,4425,-0.56,-243.3,606.3,-11.0,443,4432,0.00,2.17,0.00,0.000,6,0.000,0.035,2112,2607,3842,0,0,0,0,0,0
$GC,4742,-0.56,-243.3,636.4,-9.3,459,4745,0.00,1.80,0.00,0.000,4,0.000,0.047,2112,3778,3839,0,0,0,0,0,0
$GC,4776,-0.56,-243.3,639.5,-9.3,460,4779,0.00,1.73,0.00,0.000,6,0.000,0.025,2112,2605,3839,0,0,0,0,0,0
$GC,5099,-0.56,-243.3,671.7,-10.9,476,5103,0.00,2.08,0.00,0.000,4,0.000,0.031,2112,1201,3836,0,0,0,0,0,0
$GC,5166,-0.56,-243.3,678.3,-8.8,479,5170,0.00,2.15,0.00,0.000,6,0.000,0.035,2112,2603,3836,0,0,0,0,0,0
$GC,5488,-0.56,-243.3,713.7,-11.6,495,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2603,3834,0,0,0,0,0,0
$GC,5797,-0.56,-243.3,746.7,-10.1,510,5799,0.10,0.00,0.00,0.000,6,0.171,0.000,2138,2603,3831,0,0,0,0,0,0
$GC,6107,-0.56,-243.3,767.2,-6.3,525,6111,0.00,2.12,0.00,0.000,4,0.000,0.031,2138,1196,3830,0,0,0,0,0,0
$GC,6139,-0.56,-243.3,769.6,-6.2,526,6143,0.00,2.15,0.00,0.000,6,0.000,0.035,2138,2590,3830,0,0,0,0,0,0
$GC,6458,-0.56,-243.3,789.4,-6.5,541,6461,0.00,2.10,0.00,0.000,4,0.000,0.031,2138,1196,3828,0,0,0,0,0,0
$GC,6530,-0.56,-243.3,794.3,-6.5,544,6535,0.00,2.15,0.00,0.000,6,0.000,0.034,2138,2590,3827,0,0,0,0,0,0
$GC,6852,-0.56,-243.3,815.8,-6.9,560,6856,0.00,2.10,0.00,0.000,4,0.000,0.031,2138,1197,3825,0,0,0,0,0,0
$GC,7110,-0.56,-243.3,835.9,-7.9,571,7117,0.00,2.12,0.00,0.000,6,0.000,0.037,2138,2565,3824,0,0,0,0,0,0
$GC,7427,-0.56,-243.3,861.0,-8.3,587,7430,0.00,1.88,0.00,0.000,4,0.000,0.046,2138,3782,3822,0,0,0,0,0,0
$GC,7488,-0.56,-243.3,866.4,-8.5,589,7495,0.00,1.80,0.00,0.000,6,0.000,0.025,2142,2567,3822,0,0,0,0,0,0
$GC,7804,-0.56,-243.3,893.6,-8.9,605,7808,0.00,2.03,0.00,0.000,4,0.000,0.032,2142,1213,3820,0,0,0,0,0,0
$GC,7922,-0.56,-243.3,905.1,-10.1,610,7926,0.00,2.10,0.00,0.000,6,0.000,0.034,2142,2571,3820,0,0,0,0,0,0
$GC,8245,-0.56,-243.3,935.9,-9.9,626,8249,0.00,2.08,0.00,0.000,4,0.000,0.032,2149,1200,3818,0,0,0,0,0,0
$GC,8318,-0.56,-243.3,942.7,-9.2,629,8322,0.00,2.10,0.00,0.000,6,0.000,0.034,2150,2566,3818,0,0,0,0,0,0
$GC,8640,-0.56,-243.3,970.2,-8.3,645,8641,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2566,3817,0,0,0,0,0,0
$STATE,8884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8884,begin apogee
$GC,8890,-0.13,0.0,991.5,8.6,657,9081,0.32,0.00,185.07,1.092,4,0.059,0.000,2296,2122,2871,0,0,0,0,0,0
$STATE,9082,end apogee,CONTROL_FINISHED_OK
$STATE,9082,begin climb
$GC,9084,0.56,243.3,1000.7,0.0,666,9296,0.57,2.38,199.10,1.064,4,0.045,0.043,2514,3535,1879,0,0,0,0,0,0
$GC,9419,0.56,243.3,963.1,16.4,681,9423,0.00,2.22,0.00,0.000,6,0.000,0.028,2524,2126,1879,0,0,0,0,0,0
$GC,9737,0.56,243.3,916.1,13.7,696,9741,0.00,2.22,0.00,0.000,4,0.000,0.042,2525,3542,1877,0,0,0,0,0,0
$GC,9900,0.56,243.3,891.5,14.7,703,9905,0.12,2.17,0.00,0.000,6,0.190,0.028,2505,2117,1877,0,0,0,0,0,0
$GC,10218,0.58,260.6,854.6,11.2,718,10240,0.00,2.17,15.12,0.942,4,0.000,0.037,2515,720,1806,0,0,0,0,0,0
$GC,10297,0.61,287.8,845.6,10.9,721,10329,0.00,2.17,22.40,0.942,6,0.000,0.033,2515,2125,1695,0,0,0,0,0,0
$GC,10642,0.62,295.5,806.5,11.5,738,10656,0.00,2.28,7.53,0.819,4,0.000,0.044,2516,3535,1665,0,0,0,0,0,0
$GC,10724,0.62,295.5,795.5,12.5,741,10731,0.00,2.15,0.00,0.000,6,0.000,0.027,2524,2134,1664,0,0,0,0,0,0
$GC,11041,0.62,295.5,756.1,12.5,757,11042,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2134,1665,0,0,0,0,0,0
$GC,11349,0.62,295.5,715.2,13.7,772,11353,0.00,2.15,0.00,0.000,4,0.000,0.037,2535,714,1664,0,0,0,0,0,0
$GC,11371,0.62,295.5,712.1,13.5,773,11375,0.00,2.17,0.00,0.000,6,0.000,0.031,2535,2135,1664,0,0,0,0,0,0
$GC,11692,0.62,295.5,664.5,15.0,789,11694,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2135,1664,0,0,0,0,0,0
$GC,12002,0.62,295.5,619.6,14.0,804,12006,0.00,2.20,0.00,0.000,4,0.000,0.044,2535,3542,1664,0,0,0,0,0,0
$GC,12057,0.62,295.5,611.1,14.8,806,12061,0.00,2.15,0.00,0.000,6,0.000,0.027,2545,2118,1664,0,0,0,0,0,0
$GC,12373,0.62,295.5,567.0,13.7,821,12375,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2119,1664,0,0,0,0,0,0
$GC,12683,0.62,295.5,521.7,15.2,836,12687,0.00,2.12,0.00,0.000,4,0.000,0.035,2555,713,1664,0,0,0,0,0,0
$GC,12710,0.62,295.5,517.2,15.1,837,12715,0.12,2.20,0.00,0.000,6,0.167,0.031,2524,2153,1664,0,0,0,0,0,0
$GC,13034,0.62,295.5,473.6,13.1,861,13038,0.00,2.12,0.00,0.000,4,0.000,0.044,2524,3533,1664,0,0,0,0,0,0
$GC,13123,0.62,295.5,460.3,14.7,868,13130,0.00,2.08,0.00,0.000,6,0.000,0.028,2534,2165,1665,0,0,0,0,0,0
$GC,13450,0.62,295.5,418.2,12.4,899,13454,0.00,2.17,0.00,0.000,4,0.000,0.036,2543,723,1665,0,0,0,0,0,0
$GC,13535,0.62,295.5,407.7,11.9,906,13540,0.00,2.17,0.00,0.000,6,0.000,0.032,2542,2148,1666,0,0,0,0,0,0
$GC,13861,0.62,295.5,368.5,12.3,936,13865,0.00,2.15,0.00,0.000,4,0.000,0.044,2543,3542,1666,0,0,0,0,0,0
$GC,13901,0.62,295.5,362.9,13.9,939,13906,0.12,2.08,0.00,0.000,6,0.172,0.027,2520,2155,1666,0,0,0,0,0,0
$GC,14228,0.64,308.5,326.5,11.4,969,14250,0.00,2.25,12.35,0.662,4,0.000,0.037,2530,726,1610,0,0,0,0,0,0
$GC,14311,0.64,315.7,316.5,11.5,976,14324,0.00,2.17,7.22,0.545,6,0.000,0.031,2526,2154,1581,0,0,0,0,0,0
$GC,14644,0.73,383.7,282.4,9.6,1007,14700,0.00,2.25,50.70,0.628,4,0.000,0.042,2530,3535,1303,0,0,0,0,0,0
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$GC,16699,1.08,668.4,44.1,13.6,1304,16708,0.08,2.05,0.05,0.143,6,0.129,0.027,2675,2213,441,0,0,0,0,0,0
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$GC,16918,1.24,797.7,21.7,9.7,1342,16927,0.00,2.25,0.70,0.079,6,0.000,0.028,2685,2181,440,0,0,0,0,0,0
$GC,17060,1.36,894.2,9.0,8.6,1367,17068,0.20,0.00,0.03,0.200,6,0.061,0.000,2778,2182,441,0,0,0,0,0,0
$STATE,17106,end climb,SURFACE_DEPTH_REACHED
$STATE,17106,begin surface coast
$FINISH,0.2,1.020447
$STATE,17123,end surface coast,CONTROL_FINISHED_OK
$STATE,17123,begin surface
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$IRIDIUM_FIX,2047.91,12005.59,120811,010151
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.77
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.0,53.780
$10V_AH,9.8,50.255
$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
$DEVICE_SECS,16.725,166.800,671.350,0.000,0.000,31.113,44.391,177.705,0.000,0.000,17.358,3315.261,9933.348,743.311,3212.624,394.060,0.000,2193.518,0.000,2466.036,0.000,0.539,0.000
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$SENSOR_SECS,960.212,2097.714,655.834,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323060
$DATA_FILE_SIZE,93785,1378
$CAP_FILE_SIZE,186160,0
$CFSIZE,260165632,220073984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120811,114454,2058.042,12007.637,24,1.0,41,-2.4