version: 66.09
glider: 181
mission: 6
dive: 160
start: 7 10 111 17 54 32
data:
$ID,181
$MISSION,6
$DIVE,160
$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,-40713.141
$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,47
$R_STBD_OVSHOOT,43
$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
$GPS1,100711,174706,1925.880,12000.738,37,0.9,37,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-65.8
$GPS2,100711,175407,1925.946,12000.668,7,0.9,13,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,HEADING
$TGT_LATLONG,1918.310,12008.759
$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,4242
$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,-219.0,0.0,0.0,0,96,0.00,0.00,-77.62,0.000,2,0.000,0.000,185,2625,2632,0,0,0,0,0,0
$GC,99,-0.52,-219.0,3.9,-4.2,11,138,7.95,1.83,-21.05,0.000,4,0.231,0.058,2134,3777,3767,0,0,0,0,0,0
$GC,172,-0.52,-219.0,39.2,-58.2,22,180,0.00,1.80,0.00,0.000,6,0.000,0.024,2133,2576,3767,0,0,0,0,0,0
$GC,306,-0.52,-219.0,95.9,-31.1,47,314,0.00,1.88,0.00,0.000,4,0.000,0.041,2124,3765,3768,0,0,0,0,0,0
$GC,322,-0.52,-219.0,101.9,-34.6,49,330,0.00,1.67,0.00,0.000,6,0.000,0.024,2124,2652,3768,0,0,0,0,0,0
$GC,455,-0.52,-219.0,141.5,-27.8,74,463,0.00,1.77,0.00,0.000,4,0.000,0.044,2121,3774,3769,0,0,0,0,0,0
$GC,487,-0.52,-219.0,148.9,-23.0,79,495,0.10,1.65,0.00,0.000,6,0.140,0.024,2146,2668,3770,0,0,0,0,0,0
$GC,625,-0.52,-219.0,174.8,-19.6,104,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2667,3770,0,0,0,0,0,0
$GC,757,-0.52,-219.0,197.9,-15.8,129,765,0.00,2.17,0.00,0.000,4,0.000,0.026,2147,1202,3771,0,0,0,0,0,0
$GC,809,-0.52,-219.0,205.5,-12.2,134,817,0.00,2.20,0.00,0.000,6,0.000,0.033,2139,2641,3771,0,0,0,0,0,0
$GC,1136,-0.52,-219.0,257.0,-14.9,165,1140,0.00,1.73,0.00,0.000,4,0.000,0.044,2138,3784,3771,0,0,0,0,0,0
$GC,1215,-0.52,-219.0,267.2,-10.4,172,1219,0.00,1.67,0.00,0.000,6,0.000,0.023,2138,2656,3771,0,0,0,0,0,0
$GC,1545,-0.52,-219.0,313.6,-13.6,203,1549,0.00,2.10,0.00,0.000,4,0.000,0.028,2138,1209,3769,0,0,0,0,0,0
$GC,1597,-0.52,-219.0,319.6,-11.1,207,1601,0.00,2.20,0.00,0.000,6,0.000,0.034,2138,2661,3772,0,0,0,0,0,0
$GC,1922,-0.52,-219.0,360.8,-12.8,237,1926,0.00,1.67,0.00,0.000,4,0.000,0.046,2137,3773,3765,0,0,0,0,0,0
$GC,1983,-0.52,-219.0,367.9,-10.2,242,1990,0.00,1.62,0.00,0.000,6,0.000,0.024,2138,2679,3764,0,0,0,0,0,0
$GC,2309,-0.52,-219.0,406.6,-13.1,273,2313,0.00,2.15,0.00,0.000,4,0.000,0.029,2138,1208,3762,0,0,0,0,0,0
$GC,2364,-0.52,-219.0,413.5,-11.1,277,2371,0.00,2.22,0.00,0.000,6,0.000,0.036,2138,2658,3761,0,0,0,0,0,0
$GC,2689,-0.52,-219.0,453.4,-13.0,308,2693,0.00,1.70,0.00,0.000,4,0.000,0.047,2138,3777,3757,0,0,0,0,0,0
$GC,2728,-0.52,-219.0,458.2,-12.0,311,2735,0.00,1.65,0.00,0.000,6,0.000,0.024,2138,2677,3757,0,0,0,0,0,0
$GC,3053,-0.52,-219.0,499.5,-13.7,342,3057,0.00,2.15,0.00,0.000,4,0.000,0.030,2138,1217,3753,0,0,0,0,0,0
$GC,3125,-0.52,-219.0,508.0,-10.3,345,3129,0.00,2.20,0.00,0.000,6,0.000,0.037,2136,2656,3753,0,0,0,0,0,0
$GC,3448,-0.52,-219.0,546.3,-11.6,361,3452,0.00,2.15,0.00,0.000,4,0.000,0.031,2138,1212,3750,0,0,0,0,0,0
$GC,3480,-0.52,-219.0,550.0,-11.0,362,3487,0.00,2.20,0.00,0.000,6,0.000,0.039,2138,2642,3747,0,0,0,0,0,0
$GC,3796,-0.52,-219.0,583.5,-11.1,378,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2642,3746,0,0,0,0,0,0
$GC,4106,-0.52,-219.0,617.3,-10.7,393,4110,0.00,2.15,0.00,0.000,4,0.000,0.032,2138,1212,3744,0,0,0,0,0,0
$GC,4130,-0.52,-219.0,619.9,-10.6,394,4134,0.00,2.22,0.00,0.000,6,0.000,0.040,2138,2655,3744,0,0,0,0,0,0
$GC,4456,-0.52,-219.0,655.8,-11.3,410,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2659,3741,0,0,0,0,0,0
$GC,4767,-0.52,-219.0,688.7,-9.9,425,4771,0.00,2.17,0.00,0.000,4,0.000,0.033,2138,1211,3739,0,0,0,0,0,0
$GC,4829,-0.52,-219.0,694.4,-8.7,428,4833,0.00,2.22,0.00,0.000,6,0.000,0.039,2138,2656,3739,0,0,0,0,0,0
$GC,5157,-0.52,-219.0,723.3,-9.1,444,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2662,3736,0,0,0,0,0,0
$GC,5465,-0.52,-219.0,751.4,-9.4,459,5469,0.00,2.17,0.00,0.000,4,0.000,0.033,2138,1209,3734,0,0,0,0,0,0
$GC,5521,-0.52,-219.0,756.5,-8.4,461,5528,0.00,2.20,0.00,0.000,6,0.000,0.039,2138,2644,3733,0,0,0,0,0,0
$GC,5838,-0.52,-219.0,785.8,-9.8,477,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2644,3732,0,0,0,0,0,0
$GC,6146,-0.52,-219.0,816.4,-9.4,492,6150,0.00,2.15,0.00,0.000,4,0.000,0.034,2138,1216,3730,0,0,0,0,0,0
$GC,6202,-0.52,-219.0,821.9,-9.4,494,6206,0.00,2.17,0.00,0.000,6,0.000,0.040,2138,2630,3729,0,0,0,0,0,0
$GC,6524,-0.52,-219.0,850.3,-8.7,510,6528,0.00,2.12,0.00,0.000,4,0.000,0.034,2138,1217,3731,0,0,0,0,0,0
$GC,6579,-0.52,-219.0,854.9,-7.9,512,6586,0.00,2.17,0.00,0.000,6,0.000,0.040,2138,2625,3728,0,0,0,0,0,0
$GC,6896,-0.52,-219.0,877.3,-7.0,528,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2625,3727,0,0,0,0,0,0
$GC,7204,-0.52,-219.0,897.9,-6.4,543,7208,0.00,2.12,0.00,0.000,4,0.000,0.035,2138,1217,3725,0,0,0,0,0,0
$GC,7232,-0.52,-219.0,899.9,-6.5,544,7236,0.00,2.15,0.00,0.000,6,0.000,0.041,2138,2606,3725,0,0,0,0,0,0
$GC,7554,-0.52,-219.0,918.2,-5.5,560,7558,0.00,2.10,0.00,0.000,4,0.000,0.035,2138,1214,3723,0,0,0,0,0,0
$GC,7587,-0.52,-219.0,920.2,-5.5,561,7593,0.00,2.15,0.00,0.000,6,0.000,0.041,2138,2607,3724,0,0,0,0,0,0
$GC,7904,-0.52,-219.0,937.3,-5.5,577,7908,0.00,2.12,0.00,0.000,4,0.000,0.036,2138,1212,3722,0,0,0,0,0,0
$GC,7931,-0.52,-219.0,939.1,-5.4,578,7935,0.00,2.12,0.00,0.000,6,0.000,0.041,2138,2593,3722,0,0,0,0,0,0
$GC,8259,-0.52,-219.0,958.4,-6.4,594,8263,0.00,2.10,0.00,0.000,4,0.000,0.034,2138,1211,3720,0,0,0,0,0,0
$GC,8286,-0.52,-219.0,960.3,-6.2,595,8291,0.00,2.15,0.00,0.000,6,0.000,0.041,2138,2580,3721,0,0,0,0,0,0
$GC,8608,-0.52,-219.0,981.2,-6.7,611,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2583,3719,0,0,0,0,0,0
$STATE,8750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8750,begin apogee
$GC,8757,-0.13,0.0,991.4,7.3,618,8929,0.40,0.00,166.80,1.110,4,0.110,0.000,2275,2122,2869,0,0,0,0,0,0
$STATE,8929,end apogee,CONTROL_FINISHED_OK
$STATE,8930,begin climb
$GC,8932,0.52,219.0,998.9,0.0,626,9118,0.62,2.40,176.40,1.076,4,0.057,0.044,2504,3548,1976,0,0,0,0,0,0
$GC,9269,0.52,219.0,958.5,17.0,641,9276,0.00,2.20,0.00,0.000,6,0.000,0.028,2514,2144,1975,0,0,0,0,0,0
$GC,9585,0.52,219.0,905.6,17.0,657,9589,0.00,2.20,0.00,0.000,4,0.000,0.041,2514,3542,1975,0,0,0,0,0,0
$GC,9719,0.52,219.0,881.4,17.9,663,9724,0.12,2.22,0.00,0.000,6,0.194,0.028,2495,2103,1974,0,0,0,0,0,0
$GC,10047,0.52,219.0,836.0,13.2,679,10048,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2103,1975,0,0,0,0,0,0
$GC,10355,0.52,219.0,796.8,12.4,694,10359,0.00,2.10,0.00,0.000,4,0.000,0.037,2505,716,1975,0,0,0,0,0,0
$GC,10418,0.52,219.0,788.9,12.8,697,10423,0.00,2.15,0.00,0.000,6,0.000,0.034,2505,2119,1976,0,0,0,0,0,0
$GC,10746,0.52,219.0,744.4,13.9,713,10750,0.00,2.17,0.00,0.000,4,0.000,0.044,2505,3536,1975,0,0,0,0,0,0
$GC,10772,0.52,219.0,740.2,14.7,714,10776,0.00,2.20,0.00,0.000,6,0.000,0.028,2514,2081,1976,0,0,0,0,0,0
$GC,11094,0.52,219.0,690.7,15.6,730,11095,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2081,1975,0,0,0,0,0,0
$GC,11404,0.52,219.0,645.1,14.0,745,11408,0.00,2.08,0.00,0.000,4,0.000,0.038,2525,714,1975,0,0,0,0,0,0
$GC,11495,0.52,219.0,632.8,13.2,749,11500,0.12,2.15,0.00,0.000,6,0.171,0.034,2493,2117,1975,0,0,0,0,0,0
$GC,11829,0.52,219.0,593.3,11.9,765,11833,0.00,2.17,0.00,0.000,4,0.000,0.044,2493,3537,1975,0,0,0,0,0,0
$GC,11923,0.52,219.0,580.3,13.1,769,11927,0.00,2.12,0.00,0.000,6,0.000,0.027,2501,2119,1976,0,0,0,0,0,0
$GC,12245,0.52,219.0,538.3,13.6,785,12249,0.00,2.10,0.00,0.000,4,0.000,0.037,2512,719,1975,0,0,0,0,0,0
$GC,12322,0.52,219.0,527.6,13.4,788,12330,0.00,2.17,0.00,0.000,6,0.000,0.033,2511,2118,1975,0,0,0,0,0,0
$GC,12643,0.52,219.0,482.2,13.4,810,12644,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2119,1975,0,0,0,0,0,0
$GC,12962,0.52,219.0,441.6,12.0,840,12966,0.00,2.17,0.00,0.000,4,0.000,0.044,2512,3539,1975,0,0,0,0,0,0
$GC,13003,0.52,219.0,436.3,12.8,843,13008,0.12,2.15,0.00,0.000,6,0.182,0.028,2490,2104,1975,0,0,0,0,0,0
$GC,13331,0.54,234.3,401.3,10.5,873,13354,0.00,2.17,13.25,0.728,4,0.000,0.037,2506,719,1913,0,0,0,0,0,0
$GC,13436,0.58,267.1,390.6,9.9,882,13470,0.00,2.10,25.27,0.698,6,0.000,0.032,2500,2103,1779,0,0,0,0,0,0
$GC,13788,0.58,267.1,349.3,12.7,915,13792,0.00,2.22,0.00,0.000,4,0.000,0.044,2500,3539,1777,0,0,0,0,0,0
$GC,13831,0.58,267.1,342.7,14.6,918,13839,0.00,2.20,0.00,0.000,6,0.000,0.028,2510,2113,1777,0,0,0,0,0,0
$GC,14159,0.58,267.1,297.3,13.0,949,14163,0.00,2.10,0.00,0.000,4,0.000,0.037,2520,719,1777,0,0,0,0,0,0
$GC,14214,0.58,267.1,290.1,12.7,953,14221,0.00,2.10,0.00,0.000,6,0.000,0.033,2520,2098,1777,0,0,0,0,0,0
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$STATE,16752,end climb,SURFACE_DEPTH_REACHED
$STATE,16752,begin surface coast
$FINISH,-0.1,1.021067
$STATE,16778,end surface coast,CONTROL_FINISHED_OK
$STATE,16778,begin surface
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$IRIDIUM_FIX,1918.37,11959.43,100711,121215
$TT8_MAMPS,0.027713,0.027713
$HUMID,41.14
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,23.7,25.240
$10V_AH,10.0,25.378
$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
$DEVICE_SECS,16.450,165.550,626.300,0.000,0.000,28.701,43.789,198.777,0.250,0.000,15.927,3195.842,9654.948,686.229,3377.424,345.477,0.000,2104.492,0.000,2332.560,0.000,0.542,0.000
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$SENSOR_SECS,934.592,1358.364,1436.019,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322676
$DATA_FILE_SIZE,90550,1339
$CAP_FILE_SIZE,178339,0
$CFSIZE,260165632,236195840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100711,223636,1924.664,12001.903,32,1.0,32,-2.1