version: 66.09
glider: 181
mission: 6
dive: 317
start: 8 8 111 22 18 54
data:
$ID,181
$MISSION,6
$DIVE,317
$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,-40927.328
$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,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,3
$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,37.0
$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,19.0
$GPS1,080811,220707,2031.434,11959.795,33,0.9,34,-2.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-65.7
$GPS2,080811,221820,2031.621,11959.783,14,1.0,14,-2.3
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,WN
$TGT_LATLONG,2036.000,12000.000
$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,5.0,8119,-15.4,-11.786
$D_GRID,3368
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.56,-243.3,0.0,0.0,0,94,0.00,0.00,-68.22,0.000,2,0.000,0.000,192,2605,2399,0,0,0,0,0,0
$GC,97,-0.56,-243.3,3.3,-3.2,11,142,7.95,2.10,-29.08,0.000,4,0.226,0.037,2134,1180,3864,0,0,0,0,0,0
$GC,227,-0.56,-243.3,44.1,-21.5,33,233,0.00,2.20,0.00,0.000,6,0.000,0.038,2125,2601,3864,0,0,0,0,0,0
$GC,364,-0.56,-243.3,79.4,-14.6,58,372,0.00,1.85,0.00,0.000,4,0.000,0.042,2117,3786,3864,0,0,0,0,0,0
$GC,452,-0.56,-243.3,98.0,-21.7,73,458,0.00,1.65,0.00,0.000,6,0.000,0.022,2115,2644,3864,0,0,0,0,0,0
$GC,592,-0.56,-243.3,135.6,-32.0,98,600,0.00,2.12,0.00,0.000,4,0.000,0.025,2116,1200,3864,0,0,0,0,0,0
$GC,637,-0.56,-243.3,148.8,-28.0,105,644,0.00,2.25,0.00,0.000,6,0.000,0.035,2112,2661,3865,0,0,0,0,0,0
$GC,778,-0.56,-243.3,179.3,-18.3,130,786,0.00,1.75,0.00,0.000,4,0.000,0.044,2103,3785,3865,0,0,0,0,0,0
$GC,848,-0.56,-243.3,189.7,-11.5,142,856,0.10,1.60,0.00,0.000,6,0.132,0.022,2137,2691,3865,0,0,0,0,0,0
$GC,1005,-0.56,-243.3,201.5,-8.3,167,1009,0.00,2.17,0.00,0.000,4,0.000,0.028,2137,1196,3865,0,0,0,0,0,0
$GC,1081,-0.56,-243.3,208.1,-7.4,173,1088,0.00,2.20,0.00,0.000,6,0.000,0.033,2137,2654,3865,0,0,0,0,0,0
$GC,1406,-0.56,-243.3,248.8,-12.3,204,1410,0.00,2.17,0.00,0.000,4,0.000,0.029,2137,1198,3864,0,0,0,0,0,0
$GC,1455,-0.56,-243.3,255.1,-11.0,208,1463,0.00,2.17,0.00,0.000,6,0.000,0.033,2137,2612,3864,0,0,0,0,0,0
$GC,1782,-0.56,-243.3,293.9,-9.3,239,1785,0.00,1.75,0.00,0.000,4,0.000,0.044,2130,3778,3861,0,0,0,0,0,0
$GC,1864,-0.56,-243.3,301.9,-8.8,246,1871,0.00,1.70,0.00,0.000,6,0.000,0.023,2129,2595,3860,0,0,0,0,0,0
$GC,2189,-0.56,-243.3,346.0,-13.5,277,2193,0.00,1.83,0.00,0.000,4,0.000,0.042,2123,3786,3857,0,0,0,0,0,0
$GC,2247,-0.56,-243.3,352.0,-9.6,282,2250,0.00,1.65,0.00,0.000,6,0.000,0.024,2123,2642,3857,0,0,0,0,0,0
$GC,2577,-0.56,-243.3,390.3,-14.2,313,2581,0.00,2.10,0.00,0.000,4,0.000,0.028,2123,1200,3855,0,0,0,0,0,0
$GC,2610,-0.56,-243.3,395.2,-13.9,315,2617,0.00,2.22,0.00,0.000,6,0.000,0.034,2115,2661,3854,0,0,0,0,0,0
$GC,2936,-0.56,-243.3,445.4,-13.5,346,2940,0.00,1.73,0.00,0.000,4,0.000,0.045,2112,3770,3852,0,0,0,0,0,0
$GC,2985,-0.56,-243.3,450.9,-10.5,350,2992,0.00,1.65,0.00,0.000,6,0.000,0.024,2112,2628,3851,0,0,0,0,0,0
$GC,3312,-0.56,-243.3,483.6,-11.0,381,3316,0.00,2.10,0.00,0.000,4,0.000,0.028,2111,1196,3848,0,0,0,0,0,0
$GC,3345,-0.56,-243.3,487.3,-10.4,383,3353,0.00,2.25,0.00,0.000,6,0.000,0.034,2111,2667,3848,0,0,0,0,0,0
$GC,3674,-0.56,-243.3,528.3,-13.7,405,3678,0.00,2.17,0.00,0.000,4,0.000,0.029,2111,1204,3845,0,0,0,0,0,0
$GC,3697,-0.56,-243.3,531.4,-14.2,406,3701,0.00,2.25,0.00,0.000,6,0.000,0.037,2111,2662,3844,0,0,0,0,0,0
$GC,4024,-0.56,-243.3,577.9,-13.6,422,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2662,3842,0,0,0,0,0,0
$GC,4333,-0.56,-243.3,613.3,-10.8,437,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2662,3838,0,0,0,0,0,0
$GC,4643,-0.56,-243.3,647.7,-11.6,452,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2663,3836,0,0,0,0,0,0
$GC,4952,-0.56,-243.3,684.1,-11.0,467,4956,0.00,1.73,0.00,0.000,4,0.000,0.049,2111,3777,3832,0,0,0,0,0,0
$GC,4985,-0.56,-243.3,687.7,-10.3,468,4989,0.00,1.70,0.00,0.000,6,0.000,0.025,2111,2655,3833,0,0,0,0,0,0
$GC,5308,-0.56,-243.3,720.3,-10.7,484,5312,0.00,2.15,0.00,0.000,4,0.000,0.031,2111,1203,3830,0,0,0,0,0,0
$GC,5371,-0.56,-243.3,726.4,-9.0,487,5375,0.00,2.22,0.00,0.000,6,0.000,0.037,2111,2647,3830,0,0,0,0,0,0
$GC,5698,-0.56,-243.3,759.3,-9.9,503,5702,0.00,1.75,0.00,0.000,4,0.000,0.049,2111,3777,3828,0,0,0,0,0,0
$GC,5714,-0.56,-243.3,761.0,-9.9,503,5721,0.00,1.73,0.00,0.000,6,0.000,0.026,2111,2635,3828,0,0,0,0,0,0
$GC,6031,-0.56,-243.3,790.2,-9.4,519,6035,0.00,2.12,0.00,0.000,4,0.000,0.031,2111,1202,3825,0,0,0,0,0,0
$GC,6072,-0.56,-243.3,793.3,-9.0,521,6076,0.00,2.20,0.00,0.000,6,0.000,0.037,2111,2630,3825,0,0,0,0,0,0
$GC,6399,-0.56,-243.3,822.3,-10.0,537,6403,0.00,1.77,0.00,0.000,4,0.000,0.048,2108,3774,3822,0,0,0,0,0,0
$GC,6427,-0.56,-243.3,825.3,-10.3,538,6431,0.00,1.70,0.00,0.000,6,0.000,0.026,2111,2619,3823,0,0,0,0,0,0
$GC,6755,-0.56,-243.3,859.9,-10.9,554,6759,0.00,2.10,0.00,0.000,4,0.000,0.031,2111,1203,3822,0,0,0,0,0,0
$GC,6804,-0.56,-243.3,865.0,-9.5,556,6809,0.00,2.20,0.00,0.000,6,0.000,0.037,2111,2627,3821,0,0,0,0,0,0
$GC,7121,-0.56,-243.3,897.1,-10.4,571,7123,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2628,3819,0,0,0,0,0,0
$GC,7430,-0.56,-243.3,928.8,-10.1,586,7434,0.00,2.15,0.00,0.000,4,0.000,0.032,2111,1203,3818,0,0,0,0,0,0
$GC,7457,-0.56,-243.3,931.9,-10.0,587,7461,0.00,2.20,0.00,0.000,6,0.000,0.039,2111,2618,3817,0,0,0,0,0,0
$GC,7774,-0.56,-243.3,959.8,-8.6,602,7778,0.00,1.83,0.00,0.000,4,0.000,0.050,2111,3787,3816,0,0,0,0,0,0
$GC,7807,-0.56,-243.3,962.7,-8.6,603,7811,0.00,1.73,0.00,0.000,6,0.000,0.026,2111,2615,3816,0,0,0,0,0,0
$GC,8130,-0.56,-243.3,987.4,-7.9,619,8134,0.00,2.10,0.00,0.000,4,0.000,0.031,2111,1205,3814,0,0,0,0,0,0
$STATE,8162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8162,begin apogee
$GC,8169,-0.13,0.0,990.3,8.1,620,8358,0.47,0.00,183.93,1.081,4,0.103,0.000,2272,2143,2870,0,0,0,0,0,0
$STATE,8359,end apogee,CONTROL_FINISHED_OK
$STATE,8359,begin climb
$GC,8361,0.56,243.3,997.6,0.0,629,8571,0.65,2.30,197.65,1.054,4,0.054,0.042,2511,3535,1876,0,0,0,0,0,0
$GC,8753,0.56,243.3,953.1,15.5,647,8757,0.00,2.17,0.00,0.000,6,0.000,0.027,2521,2134,1875,0,0,0,0,0,0
$GC,9080,0.56,243.3,903.0,15.3,663,9084,0.00,2.20,0.00,0.000,4,0.000,0.040,2521,3541,1874,0,0,0,0,0,0
$GC,9165,0.56,243.3,888.7,16.6,667,9170,0.12,2.20,0.00,0.000,6,0.187,0.028,2502,2095,1874,0,0,0,0,0,0
$GC,9493,0.56,243.3,844.2,13.2,683,9497,0.00,2.10,0.00,0.000,4,0.000,0.037,2511,713,1873,0,0,0,0,0,0
$GC,9587,0.56,243.3,831.5,13.1,687,9591,0.00,2.12,0.00,0.000,6,0.000,0.032,2511,2097,1872,0,0,0,0,0,0
$GC,9909,0.56,243.3,787.4,13.6,703,9914,0.00,2.22,0.00,0.000,4,0.000,0.044,2511,3535,1871,0,0,0,0,0,0
$GC,9989,0.56,243.3,775.7,14.7,706,9995,0.00,2.17,0.00,0.000,6,0.000,0.027,2521,2096,1871,0,0,0,0,0,0
$GC,10305,0.56,243.3,731.1,14.5,722,10309,0.00,2.10,0.00,0.000,4,0.000,0.037,2531,712,1870,0,0,0,0,0,0
$GC,10388,0.56,243.3,719.3,13.8,725,10395,0.12,2.12,0.00,0.000,6,0.168,0.032,2500,2105,1870,0,0,0,0,0,0
$GC,10704,0.56,243.3,678.3,13.2,741,10708,0.00,2.20,0.00,0.000,4,0.000,0.044,2500,3533,1870,0,0,0,0,0,0
$GC,10725,0.56,243.3,675.0,13.8,742,10729,0.00,2.17,0.00,0.000,6,0.000,0.028,2508,2086,1870,0,0,0,0,0,0
$GC,11047,0.56,243.3,632.3,12.7,758,11051,0.00,2.08,0.00,0.000,4,0.000,0.038,2518,725,1870,0,0,0,0,0,0
$GC,11115,0.59,274.1,624.4,10.8,761,11145,0.00,2.08,23.98,0.841,6,0.000,0.032,2518,2090,1750,0,0,0,0,0,0
$GC,11468,0.64,314.4,587.2,10.5,778,11504,0.00,2.33,31.42,0.816,4,0.000,0.045,2517,3535,1585,0,0,0,0,0,0
$GC,11580,0.64,314.4,574.2,11.9,783,11584,0.00,2.22,0.00,0.000,6,0.000,0.028,2528,2089,1587,0,0,0,0,0,0
$GC,11907,0.64,314.4,530.6,13.7,799,11911,0.00,2.10,0.00,0.000,4,0.000,0.037,2538,714,1589,0,0,0,0,0,0
$GC,11974,0.64,314.4,521.2,13.4,802,11978,0.00,2.12,0.00,0.000,6,0.000,0.033,2538,2070,1591,0,0,0,0,0,0
$GC,12299,0.64,314.4,479.7,12.4,825,12303,0.00,2.28,0.00,0.000,4,0.000,0.044,2538,3541,1591,0,0,0,0,0,0
$GC,12333,0.64,314.4,474.8,13.5,827,12339,0.00,2.20,0.00,0.000,6,0.000,0.028,2546,2085,1591,0,0,0,0,0,0
$GC,12658,0.64,314.4,433.7,12.3,858,12662,0.00,2.08,0.00,0.000,4,0.000,0.037,2558,711,1591,0,0,0,0,0,0
$GC,12754,0.64,314.4,421.2,13.3,866,12759,0.12,2.10,0.00,0.000,6,0.162,0.032,2526,2082,1591,0,0,0,0,0,0
$GC,13079,0.64,314.4,380.3,13.1,896,13083,0.00,2.25,0.00,0.000,4,0.000,0.044,2526,3536,1591,0,0,0,0,0,0
$GC,13157,0.64,314.4,368.6,14.6,902,13164,0.00,2.17,0.00,0.000,6,0.000,0.027,2534,2090,1591,0,0,0,0,0,0
$GC,13483,0.64,314.4,324.0,12.4,933,13484,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2090,1591,0,0,0,0,0,0
$GC,13804,0.69,353.0,289.2,10.5,963,13839,0.00,2.35,30.20,0.644,4,0.000,0.039,2535,3539,1431,0,0,0,0,0,0
$GC,13867,0.72,377.1,282.0,11.0,968,13897,0.00,2.25,19.88,0.591,6,0.000,0.027,2545,2092,1331,0,0,0,0,0,0
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$GC,15935,1.18,754.0,9.6,13.1,1268,15942,0.00,2.17,0.00,0.000,4,0.000,0.037,2727,3530,438,0,0,0,0,0,0
$GC,15961,1.18,754.0,5.8,13.9,1272,15969,0.10,2.15,0.00,0.000,6,0.134,0.027,2703,2128,438,0,0,0,0,0,0
$STATE,15985,end climb,SURFACE_DEPTH_REACHED
$STATE,15985,begin surface coast
$FINISH,0.6,1.020719
$STATE,16009,end surface coast,CONTROL_FINISHED_OK
$STATE,16009,begin surface
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$TT8_MAMPS,0.02996,0.02996
$HUMID,45.90
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.60
$XPDR_PINGS,2
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$10V_AH,9.9,47.822
$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
$DEVICE_SECS,16.825,170.575,658.325,0.000,0.000,63.339,60.730,290.595,0.500,0.000,16.777,3062.836,9545.319,736.449,3024.259,393.196,0.000,2084.652,0.000,2526.068,0.000,0.541,0.000
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$SENSOR_SECS,888.914,0.000,601.003,0.000,0.000,0.000,1037.627,15381.642,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,100.000,10.000,0.000,0.000
$MEM,322968
$DATA_FILE_SIZE,76936,1280
$CAP_FILE_SIZE,180249,0
$CFSIZE,260165632,221696000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090811,024806,2035.000,12000.432,27,1.0,28,-2.4