version: 66.09
glider: 181
mission: 6
dive: 191
start: 7 16 111 22 8 3
data:
$ID,181
$MISSION,6
$DIVE,191
$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,-40759.602
$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,83
$R_STBD_OVSHOOT,40
$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
$GPS1,160711,220106,1918.979,12033.906,30,1.0,30,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-61.7
$GPS2,160711,220738,1919.129,12033.963,14,1.4,14,-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,184.8,82744,-15.3,-11.000
$D_GRID,2693
$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,-219.0,0.0,0.0,0,82,0.00,0.00,-64.05,0.000,2,0.000,0.000,175,2557,2267,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.0,-3.4,9,131,8.00,0.00,-31.33,0.000,6,0.230,0.000,2141,2549,3763,0,0,0,0,0,0
$GC,257,-0.52,-219.0,69.2,-40.2,39,265,0.00,1.95,0.00,0.000,4,0.000,0.044,2134,3777,3764,0,0,0,0,0,0
$GC,340,-0.52,-219.0,96.4,-27.2,54,348,0.00,1.73,0.00,0.000,6,0.000,0.024,2134,2614,3768,0,0,0,0,0,0
$GC,475,-0.52,-219.0,129.6,-23.9,79,483,0.00,2.08,0.00,0.000,4,0.000,0.025,2134,1203,3766,0,0,0,0,0,0
$GC,527,-0.52,-219.0,141.3,-18.3,88,535,0.00,2.12,0.00,0.000,6,0.000,0.035,2124,2569,3770,0,0,0,0,0,0
$GC,663,-0.52,-219.0,174.9,-29.5,113,671,0.00,1.90,0.00,0.000,4,0.000,0.044,2115,3787,3767,0,0,0,0,0,0
$GC,705,-0.52,-219.0,186.0,-23.9,120,714,0.10,1.75,0.00,0.000,6,0.138,0.024,2147,2597,3767,0,0,0,0,0,0
$GC,845,-0.52,-219.0,211.6,-17.0,140,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2594,3768,0,0,0,0,0,0
$GC,1166,-0.52,-219.0,261.1,-13.4,170,1170,0.00,1.85,0.00,0.000,4,0.000,0.041,2140,3779,3768,0,0,0,0,0,0
$GC,1214,-0.52,-219.0,268.3,-13.3,174,1223,0.00,1.73,0.00,0.000,6,0.000,0.024,2140,2606,3768,0,0,0,0,0,0
$GC,1540,-0.52,-219.0,316.6,-14.4,205,1543,0.00,2.03,0.00,0.000,4,0.000,0.028,2140,1211,3766,0,0,0,0,0,0
$GC,1597,-0.52,-219.0,324.3,-12.3,210,1601,0.00,2.10,0.00,0.000,6,0.000,0.033,2140,2598,3766,0,0,0,0,0,0
$GC,1927,-0.52,-219.0,373.6,-14.0,241,1931,0.00,1.77,0.00,0.000,4,0.000,0.044,2138,3774,3763,0,0,0,0,0,0
$GC,1999,-0.52,-219.0,381.8,-9.5,247,2006,0.00,1.73,0.00,0.000,6,0.000,0.024,2138,2606,3762,0,0,0,0,0,0
$GC,2325,-0.52,-219.0,415.6,-10.8,278,2329,0.00,2.05,0.00,0.000,4,0.000,0.029,2138,1206,3759,0,0,0,0,0,0
$GC,2352,-0.52,-219.0,418.7,-11.2,280,2359,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2599,3759,0,0,0,0,0,0
$GC,2678,-0.52,-219.0,456.7,-12.8,311,2682,0.00,1.83,0.00,0.000,4,0.000,0.047,2138,3784,3756,0,0,0,0,0,0
$GC,2724,-0.52,-219.0,462.5,-12.0,315,2728,0.00,1.70,0.00,0.000,6,0.000,0.025,2138,2608,3755,0,0,0,0,0,0
$GC,3054,-0.52,-219.0,503.1,-12.8,345,3058,0.00,2.05,0.00,0.000,4,0.000,0.030,2138,1212,3752,0,0,0,0,0,0
$GC,3082,-0.52,-219.0,506.4,-12.5,346,3086,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2631,3752,0,0,0,0,0,0
$GC,3403,-0.52,-219.0,538.2,-9.8,362,3407,0.00,1.75,0.00,0.000,4,0.000,0.047,2138,3780,3749,0,0,0,0,0,0
$GC,3473,-0.52,-219.0,543.8,-7.5,365,3477,0.00,1.67,0.00,0.000,6,0.000,0.026,2138,2629,3747,0,0,0,0,0,0
$GC,3806,-0.52,-219.0,574.2,-9.5,381,3810,0.00,2.10,0.00,0.000,4,0.000,0.030,2138,1196,3744,0,0,0,0,0,0
$GC,3868,-0.52,-219.0,579.7,-8.0,384,3872,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2621,3744,0,0,0,0,0,0
$GC,4196,-0.52,-219.0,611.4,-10.1,400,4200,0.00,1.77,0.00,0.000,4,0.000,0.048,2138,3781,3741,0,0,0,0,0,0
$GC,4242,-0.52,-219.0,615.6,-8.9,402,4246,0.00,1.70,0.00,0.000,6,0.000,0.027,2135,2617,3741,0,0,0,0,0,0
$GC,4576,-0.52,-219.0,648.9,-10.3,418,4580,0.00,2.10,0.00,0.000,4,0.000,0.031,2138,1196,3738,0,0,0,0,0,0
$GC,4648,-0.52,-219.0,655.3,-7.8,421,4652,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2617,3738,0,0,0,0,0,0
$GC,4976,-0.52,-219.0,684.7,-9.4,437,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2618,3735,0,0,0,0,0,0
$GC,5285,-0.52,-219.0,713.5,-9.6,452,5288,0.00,1.77,0.00,0.000,4,0.000,0.049,2138,3775,3731,0,0,0,0,0,0
$GC,5318,-0.52,-219.0,716.9,-9.5,453,5321,0.00,1.75,0.00,0.000,6,0.000,0.027,2138,2612,3733,0,0,0,0,0,0
$GC,5640,-0.52,-219.0,747.6,-9.8,469,5644,0.00,2.08,0.00,0.000,4,0.000,0.031,2138,1203,3731,0,0,0,0,0,0
$GC,5672,-0.52,-219.0,750.7,-9.1,470,5679,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2617,3730,0,0,0,0,0,0
$GC,5989,-0.52,-219.0,774.6,-6.8,486,5993,0.00,2.12,0.00,0.000,4,0.000,0.032,2138,1203,3729,0,0,0,0,0,0
$GC,6021,-0.52,-219.0,777.0,-6.7,487,6026,0.00,2.15,0.00,0.000,6,0.000,0.037,2138,2605,3728,0,0,0,0,0,0
$GC,6338,-0.52,-219.0,795.4,-6.0,502,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2605,3727,0,0,0,0,0,0
$GC,6647,-0.52,-219.0,815.4,-6.7,517,6651,0.00,2.10,0.00,0.000,4,0.000,0.033,2138,1208,3725,0,0,0,0,0,0
$GC,6674,-0.52,-219.0,817.3,-6.9,518,6678,0.00,2.15,0.00,0.000,6,0.000,0.038,2138,2603,3725,0,0,0,0,0,0
$GC,6996,-0.52,-219.0,838.0,-6.5,534,6997,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2603,3723,0,0,0,0,0,0
$GC,7306,-0.52,-219.0,858.8,-6.5,549,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2604,3722,0,0,0,0,0,0
$GC,7615,-0.52,-219.0,880.4,-7.1,564,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2604,3721,0,0,0,0,0,0
$GC,7924,-0.52,-219.0,904.1,-7.6,579,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2603,3719,0,0,0,0,0,0
$GC,8234,-0.52,-219.0,926.5,-6.9,594,8238,0.00,2.12,0.00,0.000,4,0.000,0.034,2138,1196,3718,0,0,0,0,0,0
$GC,8255,-0.52,-219.0,928.1,-6.8,595,8259,0.00,2.17,0.00,0.000,6,0.000,0.039,2134,2603,3718,0,0,0,0,0,0
$GC,8577,-0.52,-219.0,947.0,-5.7,611,8581,0.00,1.83,0.00,0.000,4,0.000,0.051,2138,3780,3718,0,0,0,0,0,0
$GC,8601,-0.52,-219.0,948.2,-5.7,612,8605,0.00,1.75,0.00,0.000,6,0.000,0.029,2138,2593,3717,0,0,0,0,0,0
$GC,8934,-0.52,-219.0,965.5,-5.4,628,8938,0.00,2.08,0.00,0.000,4,0.000,0.034,2138,1201,3716,0,0,0,0,0,0
$GC,8990,-0.52,-219.0,969.1,-6.2,630,8997,0.00,2.15,0.00,0.000,6,0.000,0.039,2138,2589,3715,0,0,0,0,0,0
$GC,9307,-0.52,-219.0,986.7,-5.8,646,9311,0.00,1.85,0.00,0.000,4,0.000,0.052,2138,3778,3714,0,0,0,0,0,0
$GC,9334,-0.52,-219.0,988.6,-5.8,647,9338,0.00,1.77,0.00,0.000,6,0.000,0.028,2138,2579,3714,0,0,0,0,0,0
$STATE,9371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9371,begin apogee
$GC,9377,-0.13,0.0,990.7,6.2,649,9547,0.40,0.00,163.82,1.101,4,0.106,0.000,2276,2112,2869,0,0,0,0,0,0
$STATE,9548,end apogee,CONTROL_FINISHED_OK
$STATE,9548,begin climb
$GC,9550,0.52,219.0,996.9,0.0,657,9734,0.60,2.40,175.25,1.072,4,0.054,0.044,2502,3539,1977,0,0,0,0,0,0
$GC,9874,0.52,219.0,964.0,14.2,671,9878,0.00,2.25,0.00,0.000,6,0.000,0.028,2511,2114,1979,0,0,0,0,0,0
$GC,10195,0.52,219.0,918.5,13.9,687,10199,0.00,2.25,0.00,0.000,4,0.000,0.041,2513,3539,1982,0,0,0,0,0,0
$GC,10379,0.52,219.0,891.9,13.6,695,10383,0.12,2.17,0.00,0.000,6,0.191,0.028,2493,2113,1982,0,0,0,0,0,0
$GC,10701,0.55,243.8,857.9,10.2,711,10725,0.00,0.00,21.88,0.982,6,0.000,0.000,2493,2113,1875,0,0,0,0,0,0
$GC,11030,0.55,243.8,821.5,12.5,727,11032,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2113,1874,0,0,0,0,0,0
$GC,11339,0.55,243.8,776.6,14.8,742,11340,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2113,1873,0,0,0,0,0,0
$GC,11649,0.55,243.8,734.5,13.1,757,11653,0.00,2.25,0.00,0.000,4,0.000,0.042,2493,3545,1872,0,0,0,0,0,0
$GC,11699,0.55,243.8,727.2,13.9,759,11703,0.00,2.15,0.00,0.000,6,0.000,0.028,2502,2126,1872,0,0,0,0,0,0
$GC,12020,0.55,243.8,686.2,12.5,775,12021,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2126,1872,0,0,0,0,0,0
$GC,12329,0.55,243.8,642.1,14.8,790,12333,0.00,2.12,0.00,0.000,4,0.000,0.038,2513,719,1872,0,0,0,0,0,0
$GC,12418,0.55,243.8,628.7,14.7,794,12422,0.00,2.17,0.00,0.000,6,0.000,0.033,2513,2143,1872,0,0,0,0,0,0
$GC,12739,0.55,243.8,577.1,16.6,810,12743,0.00,2.15,0.00,0.000,4,0.000,0.044,2513,3541,1872,0,0,0,0,0,0
$GC,12802,0.55,243.8,566.4,17.1,813,12806,0.00,2.12,0.00,0.000,6,0.000,0.028,2522,2127,1872,0,0,0,0,0,0
$GC,13129,0.55,243.8,517.5,14.3,829,13133,0.00,2.12,0.00,0.000,4,0.000,0.036,2533,710,1872,0,0,0,0,0,0
$GC,13178,0.55,243.8,510.5,13.2,831,13183,0.12,2.17,0.00,0.000,6,0.169,0.034,2500,2138,1875,0,0,0,0,0,0
$GC,13506,0.55,243.8,472.1,12.6,858,13510,0.00,2.15,0.00,0.000,4,0.000,0.044,2500,3539,1871,0,0,0,0,0,0
$GC,13603,0.55,243.8,458.3,14.8,866,13607,0.00,2.12,0.00,0.000,6,0.000,0.028,2509,2134,1872,0,0,0,0,0,0
$GC,13934,0.55,243.8,408.9,15.7,897,13938,0.00,2.15,0.00,0.000,4,0.000,0.037,2526,717,1872,0,0,0,0,0,0
$GC,13977,0.55,243.8,401.9,14.9,900,13985,0.00,2.20,0.00,0.000,6,0.000,0.033,2520,2137,1872,0,0,0,0,0,0
$GC,14303,0.55,243.8,348.7,14.6,931,14307,0.00,2.15,0.00,0.000,4,0.000,0.044,2520,3539,1872,0,0,0,0,0,0
$GC,14347,0.55,243.8,342.8,12.8,934,14355,0.08,2.15,0.00,0.000,6,0.158,0.028,2505,2138,1873,0,0,0,0,0,0
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$STATE,17102,end climb,SURFACE_DEPTH_REACHED
$STATE,17102,begin surface coast
$FINISH,0.3,1.010410
$STATE,17126,end surface coast,CONTROL_FINISHED_OK
$STATE,17126,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,40.35
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.80
$XPDR_PINGS,0
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$10V_AH,10.0,29.949
$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
$DEVICE_SECS,16.125,162.550,631.075,0.000,0.000,22.804,43.965,174.771,0.000,0.000,16.632,3216.005,10023.640,666.979,3315.391,360.484,0.000,2070.915,0.000,2334.045,0.000,0.542,0.000
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$SENSOR_SECS,930.387,1345.329,1372.373,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321560
$DATA_FILE_SIZE,90775,1333
$CAP_FILE_SIZE,180053,0
$CFSIZE,260165632,233218048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170711,025601,1917.460,12033.663,38,1.0,38,-2.1