version: 66.09
glider: 181
mission: 6
dive: 144
start: 7 7 111 14 35 38
data:
$ID,181
$MISSION,6
$DIVE,144
$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,-40692.926
$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,41
$R_STBD_OVSHOOT,35
$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
$GPS1,070711,142700,1946.952,11943.172,35,1.2,35,-2.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-71.7
$GPS2,070711,143513,1947.012,11943.047,10,1.1,15,-2.2
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,HEADING
$TGT_LATLONG,1939.376,11951.155
$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,137.2,20000,-15.3,-11.000
$D_GRID,3527
$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,18,-0.52,-219.0,0.0,0.0,0,91,0.00,0.00,-71.30,0.000,2,0.000,0.000,200,2610,2452,0,0,0,0,0,0
$GC,94,-0.52,-219.0,3.6,-4.0,10,134,8.00,1.85,-25.02,0.000,4,0.236,0.057,2134,3783,3765,0,0,0,0,0,0
$GC,250,-0.52,-219.0,85.9,-47.9,37,258,0.00,1.80,0.00,0.000,6,0.000,0.024,2134,2582,3767,0,0,0,0,0,0
$GC,384,-0.52,-219.0,125.4,-28.8,62,392,0.00,2.05,0.00,0.000,4,0.000,0.024,2134,1187,3768,0,0,0,0,0,0
$GC,415,-0.52,-219.0,132.9,-24.0,67,423,0.00,2.22,0.00,0.000,6,0.000,0.037,2124,2611,3768,0,0,0,0,0,0
$GC,550,-0.52,-219.0,164.3,-24.2,92,559,0.00,1.80,0.00,0.000,4,0.000,0.044,2116,3776,3769,0,0,0,0,0,0
$GC,583,-0.52,-219.0,173.1,-25.9,97,592,0.10,1.75,0.00,0.000,6,0.153,0.024,2145,2594,3769,0,0,0,0,0,0
$GC,720,-0.52,-219.0,198.4,-18.6,122,729,0.00,1.85,0.00,0.000,4,0.000,0.043,2138,3780,3770,0,0,0,0,0,0
$GC,783,-0.52,-219.0,211.4,-17.0,128,792,0.00,1.65,0.00,0.000,6,0.000,0.023,2138,2646,3770,0,0,0,0,0,0
$GC,1110,-0.52,-219.0,264.4,-15.3,159,1114,0.00,2.08,0.00,0.000,4,0.000,0.027,2138,1210,3771,0,0,0,0,0,0
$GC,1142,-0.52,-219.0,269.3,-14.2,161,1149,0.00,2.17,0.00,0.000,6,0.000,0.034,2138,2656,3770,0,0,0,0,0,0
$GC,1467,-0.52,-219.0,314.7,-14.5,192,1471,0.00,1.70,0.00,0.000,4,0.000,0.044,2130,3790,3768,0,0,0,0,0,0
$GC,1524,-0.52,-219.0,322.6,-12.9,197,1528,0.00,1.65,0.00,0.000,6,0.000,0.024,2130,2643,3767,0,0,0,0,0,0
$GC,1855,-0.52,-219.0,370.9,-13.7,228,1859,0.00,2.10,0.00,0.000,4,0.000,0.028,2130,1193,3764,0,0,0,0,0,0
$GC,1895,-0.52,-219.0,376.2,-13.2,231,1899,0.00,2.17,0.00,0.000,6,0.000,0.036,2125,2632,3763,0,0,0,0,0,0
$GC,2220,-0.52,-219.0,421.0,-14.5,261,2223,0.00,1.73,0.00,0.000,4,0.000,0.048,2124,3775,3760,0,0,0,0,0,0
$GC,2311,-0.52,-219.0,432.9,-11.3,269,2315,0.00,1.70,0.00,0.000,6,0.000,0.025,2124,2629,3761,0,0,0,0,0,0
$GC,2641,-0.52,-219.0,477.8,-14.3,300,2645,0.00,2.08,0.00,0.000,4,0.000,0.030,2124,1202,3755,0,0,0,0,0,0
$GC,2663,-0.52,-219.0,481.2,-14.2,301,2670,0.00,2.15,0.00,0.000,6,0.000,0.038,2125,2625,3755,0,0,0,0,0,0
$GC,2994,-0.52,-219.0,527.6,-14.5,324,2998,0.00,1.75,0.00,0.000,4,0.000,0.049,2124,3777,3751,0,0,0,0,0,0
$GC,3044,-0.52,-219.0,534.5,-12.5,326,3048,0.00,1.70,0.00,0.000,6,0.000,0.026,2124,2638,3751,0,0,0,0,0,0
$GC,3371,-0.52,-219.0,579.4,-14.2,342,3375,0.00,2.10,0.00,0.000,4,0.000,0.031,2125,1199,3747,0,0,0,0,0,0
$GC,3406,-0.52,-219.0,583.9,-13.0,343,3413,0.00,2.20,0.00,0.000,6,0.000,0.039,2125,2641,3747,0,0,0,0,0,0
$GC,3722,-0.52,-219.0,624.9,-13.1,359,3725,0.00,1.73,0.00,0.000,4,0.000,0.049,2124,3777,3743,0,0,0,0,0,0
$GC,3754,-0.52,-219.0,629.1,-12.2,360,3759,0.00,1.73,0.00,0.000,6,0.000,0.026,2125,2629,3743,0,0,0,0,0,0
$GC,4077,-0.52,-219.0,667.4,-12.0,376,4081,0.00,2.10,0.00,0.000,4,0.000,0.031,2125,1197,3740,0,0,0,0,0,0
$GC,4132,-0.52,-219.0,673.7,-10.8,378,4139,0.00,2.20,0.00,0.000,6,0.000,0.039,2125,2634,3739,0,0,0,0,0,0
$GC,4448,-0.52,-219.0,708.7,-11.4,394,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2634,3736,0,0,0,0,0,0
$GC,4758,-0.52,-219.0,741.5,-10.1,409,4762,0.00,1.75,0.00,0.000,4,0.000,0.051,2125,3781,3734,0,0,0,0,0,0
$GC,4791,-0.52,-219.0,744.9,-9.5,410,4795,0.00,1.73,0.00,0.000,6,0.000,0.027,2125,2629,3734,0,0,0,0,0,0
$GC,5114,-0.52,-219.0,775.8,-9.8,426,5118,0.00,2.10,0.00,0.000,4,0.000,0.033,2125,1200,3731,0,0,0,0,0,0
$GC,5154,-0.52,-219.0,779.4,-8.9,428,5158,0.00,2.20,0.00,0.000,6,0.000,0.040,2125,2640,3731,0,0,0,0,0,0
$GC,5481,-0.52,-219.0,807.9,-8.6,444,5484,0.00,1.75,0.00,0.000,4,0.000,0.052,2125,3784,3729,0,0,0,0,0,0
$GC,5509,-0.52,-219.0,810.2,-8.5,445,5513,0.00,1.73,0.00,0.000,6,0.000,0.028,2125,2637,3728,0,0,0,0,0,0
$GC,5836,-0.52,-219.0,835.7,-8.0,461,5840,0.00,2.12,0.00,0.000,4,0.000,0.033,2125,1194,3727,0,0,0,0,0,0
$GC,5886,-0.52,-219.0,839.8,-8.0,463,5890,0.00,2.20,0.00,0.000,6,0.000,0.039,2125,2632,3727,0,0,0,0,0,0
$GC,6203,-0.52,-219.0,865.0,-8.3,478,6206,0.00,1.75,0.00,0.000,4,0.000,0.050,2125,3777,3724,0,0,0,0,0,0
$GC,6236,-0.52,-219.0,867.9,-8.3,479,6240,0.00,1.70,0.00,0.000,6,0.000,0.028,2124,2615,3724,0,0,0,0,0,0
$GC,6558,-0.52,-219.0,896.7,-9.6,495,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2612,3722,0,0,0,0,0,0
$GC,6867,-0.52,-219.0,925.7,-9.2,510,6871,0.00,2.10,0.00,0.000,4,0.000,0.034,2124,1199,3721,0,0,0,0,0,0
$GC,6912,-0.52,-219.0,929.7,-8.9,512,6917,0.00,2.20,0.00,0.000,6,0.000,0.039,2124,2632,3721,0,0,0,0,0,0
$GC,7245,-0.52,-219.0,959.1,-8.9,528,7247,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2632,3718,0,0,0,0,0,0
$GC,7554,-0.52,-219.0,987.4,-9.1,543,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2632,3717,0,0,0,0,0,0
$STATE,7593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7593,begin apogee
$GC,7600,-0.13,0.0,991.3,9.1,545,7772,0.45,0.00,166.48,1.108,4,0.116,0.000,2275,2115,2869,0,0,0,0,0,0
$STATE,7773,end apogee,CONTROL_FINISHED_OK
$STATE,7773,begin climb
$GC,7776,0.52,219.0,999.9,0.0,553,7963,0.60,2.22,177.73,1.079,4,0.049,0.039,2507,739,1976,0,0,0,0,0,0
$GC,8126,0.52,219.0,966.9,13.0,569,8130,0.00,2.20,0.00,0.000,6,0.000,0.034,2509,2126,1974,0,0,0,0,0,0
$GC,8448,0.52,219.0,922.8,14.1,585,8452,0.00,2.15,0.00,0.000,4,0.000,0.036,2518,732,1972,0,0,0,0,0,0
$GC,8705,0.52,219.0,886.1,14.1,596,8712,0.00,2.17,0.00,0.000,6,0.000,0.035,2518,2130,1971,0,0,0,0,0,0
$GC,9022,0.52,219.0,837.8,15.4,612,9026,0.00,2.17,0.00,0.000,4,0.000,0.045,2518,3541,1970,0,0,0,0,0,0
$GC,9062,0.52,219.0,831.1,16.9,614,9067,0.15,2.10,0.00,0.000,6,0.190,0.027,2492,2144,1970,0,0,0,0,0,0
$GC,9389,0.52,219.0,787.3,13.1,630,9391,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2144,1969,0,0,0,0,0,0
$GC,9698,0.52,219.0,746.3,13.3,645,9702,0.00,2.15,0.00,0.000,4,0.000,0.036,2501,711,1969,0,0,0,0,0,0
$GC,9753,0.52,219.0,739.4,12.6,647,9760,0.00,2.17,0.00,0.000,6,0.000,0.034,2502,2138,1968,0,0,0,0,0,0
$GC,10069,0.52,219.0,695.6,14.4,663,10070,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2138,1968,0,0,0,0,0,0
$GC,10378,0.52,219.0,651.6,14.2,678,10382,0.00,2.17,0.00,0.000,4,0.000,0.037,2511,713,1971,0,0,0,0,0,0
$GC,10456,0.52,219.0,640.8,13.6,681,10460,0.00,2.17,0.00,0.000,6,0.000,0.035,2511,2140,1968,0,0,0,0,0,0
$GC,10772,0.52,219.0,597.0,13.8,696,10773,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2141,1968,0,0,0,0,0,0
$GC,11082,0.52,219.0,555.5,13.1,711,11086,0.00,2.17,0.00,0.000,4,0.000,0.037,2520,715,1967,0,0,0,0,0,0
$GC,11120,0.52,219.0,550.3,12.6,712,11128,0.08,2.20,0.00,0.000,6,0.150,0.035,2496,2132,1967,0,0,0,0,0,0
$GC,11436,0.52,219.0,513.4,11.7,728,11440,0.00,2.15,0.00,0.000,4,0.000,0.046,2496,3537,1967,0,0,0,0,0,0
$GC,11491,0.52,219.0,506.3,13.0,730,11498,0.00,2.10,0.00,0.000,6,0.000,0.028,2504,2133,1967,0,0,0,0,0,0
$GC,11814,0.52,219.0,467.1,11.8,758,11818,0.00,2.12,0.00,0.000,4,0.000,0.037,2514,717,1967,0,0,0,0,0,0
$GC,11889,0.52,219.0,458.1,12.0,764,11893,0.00,2.15,0.00,0.000,6,0.000,0.035,2515,2139,1967,0,0,0,0,0,0
$GC,12214,0.52,219.0,416.1,13.3,794,12218,0.00,2.15,0.00,0.000,4,0.000,0.037,2524,723,1965,0,0,0,0,0,0
$GC,12260,0.52,219.0,410.0,13.1,798,12265,0.12,2.15,0.00,0.000,6,0.166,0.035,2491,2141,1967,0,0,0,0,0,0
$GC,12585,0.52,219.0,370.5,11.8,828,12589,0.00,2.12,0.00,0.000,4,0.000,0.044,2491,3537,1964,0,0,0,0,0,0
$GC,12648,0.52,219.0,362.5,13.0,833,12652,0.00,2.08,0.00,0.000,6,0.000,0.027,2500,2141,1966,0,0,0,0,0,0
$GC,12973,0.52,219.0,321.2,12.3,863,12977,0.00,2.12,0.00,0.000,4,0.000,0.037,2510,722,1967,0,0,0,0,0,0
$GC,13108,0.52,219.0,304.8,12.1,874,13115,0.00,2.15,0.00,0.000,6,0.000,0.034,2510,2135,1967,0,0,0,0,0,0
$GC,13435,0.52,219.0,263.1,11.9,905,13439,0.00,2.12,0.00,0.000,4,0.000,0.044,2511,3535,1967,0,0,0,0,0,0
$GC,13488,0.52,219.0,256.3,13.0,909,13492,0.00,2.08,0.00,0.000,6,0.000,0.028,2519,2140,1967,0,0,0,0,0,0
$GC,13819,0.55,240.1,220.4,10.3,940,13843,0.00,2.20,15.77,0.636,4,0.000,0.039,2530,723,1890,0,0,0,0,0,0
$GC,13867,0.55,240.1,215.1,11.4,944,13871,0.12,2.12,0.00,0.000,6,0.159,0.034,2497,2123,1890,0,0,0,0,0,0
$GC,14190,0.65,321.2,184.8,8.3,990,14256,0.00,2.22,59.25,0.588,4,0.000,0.042,2497,3534,1557,0,0,0,0,0,0
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$GC,15670,1.20,767.0,19.0,15.0,1245,15678,0.00,2.20,0.00,0.000,4,0.000,0.041,2726,3534,443,0,0,0,0,0,0
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$STATE,15768,end climb,SURFACE_DEPTH_REACHED
$STATE,15769,begin surface coast
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$STATE,15787,end surface coast,CONTROL_FINISHED_OK
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$TT8_MAMPS,0.026964,0.026964
$HUMID,40.62
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.30
$XPDR_PINGS,1
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$10V_AH,10.1,23.017
$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
$DEVICE_SECS,16.825,161.800,623.325,0.000,0.000,55.253,51.531,176.606,0.250,0.000,18.414,3026.746,9059.198,656.779,3259.247,341.595,0.000,2025.595,0.000,2225.995,0.000,0.541,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322676
$DATA_FILE_SIZE,87061,1265
$CAP_FILE_SIZE,172034,0
$CFSIZE,260165632,237711360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070711,190107,1946.151,11943.056,27,1.3,27,-2.2