version: 66.09
glider: 181
mission: 6
dive: 200
start: 7 18 111 18 7 9
data:
$ID,181
$MISSION,6
$DIVE,200
$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,-40770.922
$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,42
$R_STBD_OVSHOOT,33
$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
$GPS1,180711,175936,1905.166,12035.083,29,1.0,29,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-59.7
$GPS2,180711,180644,1905.316,12035.056,15,1.0,15,-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,187.9,57365,-15.3,-11.000
$D_GRID,2702
$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,-219.0,0.0,0.0,0,89,0.00,0.00,-71.12,0.000,2,0.000,0.000,140,2621,2466,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.7,-4.2,10,131,8.23,1.88,-24.65,0.000,4,0.231,0.057,2134,3782,3765,0,0,0,0,0,0
$GC,154,-0.52,-219.0,31.3,-52.2,19,162,0.00,1.83,0.00,0.000,6,0.000,0.025,2139,2567,3770,0,0,0,0,0,0
$GC,288,-0.52,-219.0,93.1,-38.9,44,296,0.00,1.90,0.00,0.000,4,0.000,0.040,2125,3781,3767,0,0,0,0,0,0
$GC,309,-0.52,-219.0,101.4,-39.1,47,317,0.00,1.75,0.00,0.000,6,0.000,0.025,2125,2608,3767,0,0,0,0,0,0
$GC,443,-0.52,-219.0,138.8,-25.3,72,451,0.00,2.10,0.00,0.000,4,0.000,0.028,2125,1203,3767,0,0,0,0,0,0
$GC,510,-0.52,-219.0,153.7,-15.7,84,518,0.00,2.20,0.00,0.000,6,0.000,0.038,2125,2609,3768,0,0,0,0,0,0
$GC,646,-0.52,-219.0,180.1,-20.4,109,654,0.00,1.83,0.00,0.000,4,0.000,0.046,2123,3775,3769,0,0,0,0,0,0
$GC,728,-0.52,-219.0,196.0,-16.4,124,737,0.00,1.70,0.00,0.000,6,0.000,0.024,2124,2628,3769,0,0,0,0,0,0
$GC,874,-0.52,-219.0,220.4,-17.6,139,878,0.00,2.10,0.00,0.000,4,0.000,0.028,2124,1199,3772,0,0,0,0,0,0
$GC,918,-0.52,-219.0,228.5,-14.8,142,928,0.10,2.22,0.00,0.000,6,0.125,0.035,2148,2639,3770,0,0,0,0,0,0
$GC,1244,-0.52,-219.0,270.7,-12.8,173,1248,0.00,1.73,0.00,0.000,4,0.000,0.044,2141,3783,3769,0,0,0,0,0,0
$GC,1283,-0.52,-219.0,276.0,-12.8,176,1291,0.00,1.67,0.00,0.000,6,0.000,0.024,2142,2650,3768,0,0,0,0,0,0
$GC,1608,-0.52,-219.0,317.2,-13.2,207,1612,0.00,2.12,0.00,0.000,4,0.000,0.030,2142,1199,3766,0,0,0,0,0,0
$GC,1675,-0.52,-219.0,324.6,-9.6,212,1682,0.00,2.22,0.00,0.000,6,0.000,0.036,2139,2656,3766,0,0,0,0,0,0
$GC,2000,-0.52,-219.0,361.5,-11.0,243,2004,0.00,2.17,0.00,0.000,4,0.000,0.030,2139,1199,3762,0,0,0,0,0,0
$GC,2028,-0.52,-219.0,364.4,-10.7,245,2035,0.00,2.20,0.00,0.000,6,0.000,0.037,2139,2640,3762,0,0,0,0,0,0
$GC,2353,-0.52,-219.0,398.4,-11.3,276,2357,0.00,1.75,0.00,0.000,4,0.000,0.047,2138,3784,3758,0,0,0,0,0,0
$GC,2389,-0.52,-219.0,402.1,-10.5,279,2392,0.00,1.70,0.00,0.000,6,0.000,0.026,2138,2615,3758,0,0,0,0,0,0
$GC,2719,-0.52,-219.0,440.6,-12.7,310,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2610,3754,0,0,0,0,0,0
$GC,3039,-0.52,-219.0,481.1,-13.1,340,3043,0.00,1.85,0.00,0.000,4,0.000,0.047,2138,3776,3752,0,0,0,0,0,0
$GC,3055,-0.52,-219.0,483.4,-12.5,341,3062,0.00,1.67,0.00,0.000,6,0.000,0.026,2143,2656,3751,0,0,0,0,0,0
$GC,3386,-0.52,-219.0,522.1,-11.6,364,3390,0.00,2.15,0.00,0.000,4,0.000,0.031,2138,1201,3748,0,0,0,0,0,0
$GC,3436,-0.52,-219.0,527.5,-10.0,366,3440,0.00,2.20,0.00,0.000,6,0.000,0.037,2138,2644,3748,0,0,0,0,0,0
$GC,3757,-0.52,-219.0,562.8,-11.3,382,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2644,3745,0,0,0,0,0,0
$GC,4067,-0.52,-219.0,597.9,-11.4,397,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2644,3743,0,0,0,0,0,0
$GC,4376,-0.52,-219.0,631.4,-10.8,412,4380,0.00,2.15,0.00,0.000,4,0.000,0.033,2138,1208,3740,0,0,0,0,0,0
$GC,4431,-0.52,-219.0,636.8,-9.1,414,4438,0.00,2.17,0.00,0.000,6,0.000,0.039,2138,2624,3739,0,0,0,0,0,0
$GC,4748,-0.52,-219.0,670.8,-11.8,430,4751,0.00,1.77,0.00,0.000,4,0.000,0.050,2138,3776,3737,0,0,0,0,0,0
$GC,4803,-0.52,-219.0,676.7,-9.7,432,4807,0.00,1.70,0.00,0.000,6,0.000,0.028,2138,2652,3737,0,0,0,0,0,0
$GC,5125,-0.52,-219.0,709.6,-10.5,448,5129,0.00,2.15,0.00,0.000,4,0.000,0.033,2138,1210,3734,0,0,0,0,0,0
$GC,5194,-0.52,-219.0,715.5,-8.0,451,5198,0.00,2.20,0.00,0.000,6,0.000,0.039,2138,2643,3734,0,0,0,0,0,0
$GC,5521,-0.52,-219.0,744.2,-8.9,467,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2643,3732,0,0,0,0,0,0
$GC,5831,-0.52,-219.0,770.6,-8.4,482,5835,0.00,2.17,0.00,0.000,4,0.000,0.033,2138,1207,3730,0,0,0,0,0,0
$GC,5858,-0.52,-219.0,773.0,-8.4,483,5862,0.00,2.20,0.00,0.000,6,0.000,0.039,2138,2635,3730,0,0,0,0,0,0
$GC,6186,-0.52,-219.0,797.5,-7.3,499,6190,0.00,2.15,0.00,0.000,4,0.000,0.033,2138,1203,3728,0,0,0,0,0,0
$GC,6226,-0.52,-219.0,800.2,-7.1,501,6230,0.00,2.20,0.00,0.000,6,0.000,0.039,2138,2630,3730,0,0,0,0,0,0
$GC,6554,-0.52,-219.0,824.3,-7.5,517,6558,0.00,1.77,0.00,0.000,4,0.000,0.051,2138,3776,3727,0,0,0,0,0,0
$GC,6600,-0.52,-219.0,827.3,-7.6,519,6604,0.00,1.67,0.00,0.000,6,0.000,0.028,2138,2641,3726,0,0,0,0,0,0
$GC,6934,-0.52,-219.0,851.0,-7.7,535,6938,0.00,2.15,0.00,0.000,4,0.000,0.034,2138,1196,3724,0,0,0,0,0,0
$GC,6990,-0.52,-219.0,855.6,-7.9,537,6997,0.00,2.20,0.00,0.000,6,0.000,0.039,2138,2625,3724,0,0,0,0,0,0
$GC,7307,-0.52,-219.0,883.0,-9.1,553,7308,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2626,3723,0,0,0,0,0,0
$GC,7615,-0.52,-219.0,910.2,-8.6,568,7619,0.00,2.17,0.00,0.000,4,0.000,0.034,2138,1195,3723,0,0,0,0,0,0
$GC,7648,-0.52,-219.0,913.1,-8.3,569,7652,0.00,2.20,0.00,0.000,6,0.000,0.039,2138,2617,3722,0,0,0,0,0,0
$GC,7965,-0.52,-219.0,938.4,-8.4,584,7969,0.00,2.15,0.00,0.000,4,0.000,0.034,2138,1203,3720,0,0,0,0,0,0
$GC,7989,-0.52,-219.0,940.2,-8.4,585,7993,0.00,2.17,0.00,0.000,6,0.000,0.040,2141,2603,3720,0,0,0,0,0,0
$GC,8317,-0.52,-219.0,964.3,-7.1,601,8318,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2604,3719,0,0,0,0,0,0
$GC,8625,-0.52,-219.0,986.1,-6.9,616,8626,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2603,3718,0,0,0,0,0,0
$STATE,8685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8685,begin apogee
$GC,8691,-0.13,0.0,990.5,7.0,619,8861,0.40,0.00,163.18,1.098,4,0.106,0.000,2276,2107,2870,0,0,0,0,0,0
$STATE,8861,end apogee,CONTROL_FINISHED_OK
$STATE,8861,begin climb
$GC,8864,0.52,219.0,997.8,0.0,627,9047,0.60,2.22,175.18,1.068,4,0.050,0.039,2510,741,1976,0,0,0,0,0,0
$GC,9164,0.52,219.0,970.4,14.0,640,9168,0.00,2.22,0.00,0.000,6,0.000,0.034,2509,2125,1977,0,0,0,0,0,0
$GC,9492,0.52,219.0,923.4,14.0,656,9496,0.00,2.15,0.00,0.000,4,0.000,0.037,2519,738,1979,0,0,0,0,0,0
$GC,9676,0.52,219.0,896.4,14.9,664,9681,0.00,2.22,0.00,0.000,6,0.000,0.035,2519,2175,1978,0,0,0,0,0,0
$GC,9998,0.52,219.0,844.6,16.3,680,9999,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2177,1977,0,0,0,0,0,0
$GC,10308,0.52,219.0,795.0,15.3,695,10311,0.00,2.12,0.00,0.000,4,0.000,0.046,2519,3542,1977,0,0,0,0,0,0
$GC,10371,0.52,219.0,784.5,17.2,698,10376,0.15,2.08,0.00,0.000,6,0.179,0.028,2491,2169,1973,0,0,0,0,0,0
$GC,10699,0.52,219.0,742.9,11.9,714,10703,0.00,2.20,0.00,0.000,4,0.000,0.040,2501,723,1975,0,0,0,0,0,0
$GC,10845,0.52,219.0,726.0,11.7,720,10852,0.00,2.20,0.00,0.000,6,0.000,0.034,2501,2153,1975,0,0,0,0,0,0
$GC,11161,0.52,219.0,684.5,13.3,736,11162,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2153,1975,0,0,0,0,0,0
$GC,11470,0.52,219.0,644.7,13.0,751,11474,0.00,2.15,0.00,0.000,4,0.000,0.046,2500,3541,1974,0,0,0,0,0,0
$GC,11556,0.52,219.0,632.2,15.2,755,11560,0.00,2.10,0.00,0.000,6,0.000,0.028,2510,2147,1975,0,0,0,0,0,0
$GC,11883,0.52,219.0,587.6,13.7,771,11887,0.00,2.15,0.00,0.000,4,0.000,0.037,2521,720,1975,0,0,0,0,0,0
$GC,11945,0.52,219.0,579.3,13.5,774,11950,0.12,2.20,0.00,0.000,6,0.164,0.034,2488,2161,1974,0,0,0,0,0,0
$GC,12274,0.52,219.0,541.2,12.0,790,12278,0.00,2.22,0.00,0.000,4,0.000,0.038,2501,719,1974,0,0,0,0,0,0
$GC,12323,0.52,219.0,534.9,12.0,792,12327,0.00,2.17,0.00,0.000,6,0.000,0.035,2497,2142,1974,0,0,0,0,0,0
$GC,12646,0.52,219.0,495.5,11.9,809,12648,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2143,1975,0,0,0,0,0,0
$GC,12967,0.52,219.0,458.5,11.5,839,12971,0.00,2.15,0.00,0.000,4,0.000,0.045,2497,3536,1975,0,0,0,0,0,0
$GC,13034,0.52,219.0,449.6,12.8,844,13041,0.00,2.12,0.00,0.000,6,0.000,0.029,2506,2134,1975,0,0,0,0,0,0
$GC,13360,0.52,219.0,410.8,11.3,875,13361,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2134,1974,0,0,0,0,0,0
$GC,13681,0.54,228.0,375.7,10.7,905,13693,0.00,2.25,8.32,0.685,4,0.000,0.043,2507,3535,1941,0,0,0,0,0,0
$GC,13755,0.54,233.5,367.2,10.8,911,13766,0.00,2.10,6.22,0.558,6,0.000,0.028,2517,2140,1916,0,0,0,0,0,0
$GC,14086,0.54,233.5,330.3,11.7,942,14090,0.00,2.15,0.00,0.000,4,0.000,0.037,2527,717,1915,0,0,0,0,0,0
$GC,14152,0.55,236.9,322.9,10.9,947,14163,0.12,2.17,4.10,0.516,6,0.163,0.034,2494,2144,1903,0,0,0,0,0,0
$GC,14490,0.59,276.6,290.2,9.7,979,14526,0.00,2.28,29.92,0.654,4,0.000,0.037,2502,722,1740,0,0,0,0,0,0
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$STATE,17055,end climb,SURFACE_DEPTH_REACHED
$STATE,17055,begin surface coast
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$STATE,17080,end surface coast,CONTROL_FINISHED_OK
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$IRIDIUM_FIX,1900.10,12032.79,180711,131349
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.37
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.20
$XPDR_PINGS,1
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$10V_AH,10.0,31.300
$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
$DEVICE_SECS,16.900,160.250,630.275,0.000,0.000,30.010,39.712,206.669,0.250,0.000,18.564,3292.546,9788.881,676.338,3450.810,359.921,0.000,2115.514,0.000,2384.168,0.000,0.541,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321512
$DATA_FILE_SIZE,93824,1373
$CAP_FILE_SIZE,182298,0
$CFSIZE,260165632,232333312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180711,225424,1903.246,12034.574,41,1.2,41,-2.1