version: 66.09
glider: 181
mission: 6
dive: 341
start: 8 13 111 16 29 38
data:
$ID,181
$MISSION,6
$DIVE,341
$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,-7
$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,-40964.992
$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,44
$R_STBD_OVSHOOT,36
$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,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$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,23.0
$GPS1,130811,162230,2108.350,12008.475,37,1.4,37,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-68.0
$GPS2,130811,162914,2108.434,12008.511,11,1.4,11,-2.5
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$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,350.3,69285,-15.4,-11.786
$D_GRID,3091
$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,-0.56,-243.3,0.0,0.0,0,83,0.00,0.00,-64.62,0.000,2,0.000,0.000,201,2610,2284,0,0,0,0,0,0
$GC,86,-0.56,-243.3,3.3,-3.5,10,135,8.00,1.85,-32.95,0.000,4,0.227,0.059,2122,3780,3863,0,0,0,0,0,0
$GC,160,-0.56,-243.3,29.9,-48.2,21,167,0.00,1.77,0.00,0.000,6,0.000,0.030,2125,2589,3863,0,0,0,0,0,0
$GC,299,-0.56,-243.3,80.6,-32.3,46,307,0.00,2.08,0.00,0.000,4,0.000,0.028,2125,1199,3863,0,0,0,0,0,0
$GC,398,-0.56,-243.3,96.8,-11.5,63,405,0.00,2.12,0.00,0.000,6,0.000,0.035,2125,2585,3863,0,0,0,0,0,0
$GC,536,-0.56,-243.3,124.0,-19.6,88,544,0.00,2.10,0.00,0.000,4,0.000,0.028,2125,1196,3862,0,0,0,0,0,0
$GC,573,-0.56,-243.3,131.1,-19.0,94,581,0.00,2.08,0.00,0.000,6,0.000,0.035,2124,2529,3863,0,0,0,0,0,0
$GC,715,-0.56,-243.3,157.4,-18.8,119,722,0.00,1.95,0.00,0.000,4,0.000,0.043,2116,3784,3864,0,0,0,0,0,0
$GC,799,-0.56,-243.3,171.3,-13.8,134,807,0.00,1.83,0.00,0.000,6,0.000,0.024,2116,2543,3864,0,0,0,0,0,0
$GC,941,-0.56,-243.3,190.6,-13.6,159,948,0.00,1.92,0.00,0.000,4,0.000,0.042,2112,3785,3864,0,0,0,0,0,0
$GC,960,-0.56,-243.3,193.5,-13.6,162,969,0.00,1.80,0.00,0.000,6,0.000,0.024,2112,2567,3864,0,0,0,0,0,0
$GC,1104,-0.56,-243.3,214.4,-15.2,179,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2566,3864,0,0,0,0,0,0
$GC,1424,-0.56,-243.3,265.6,-14.1,209,1428,0.00,1.85,0.00,0.000,4,0.000,0.042,2104,3779,3863,0,0,0,0,0,0
$GC,1493,-0.56,-243.3,275.3,-12.8,215,1498,0.12,1.70,0.00,0.000,6,0.139,0.024,2139,2603,3863,0,0,0,0,0,0
$GC,1824,-0.56,-243.3,314.2,-11.6,246,1827,0.00,2.05,0.00,0.000,4,0.000,0.028,2139,1201,3860,0,0,0,0,0,0
$GC,1851,-0.56,-243.3,317.6,-11.2,248,1858,0.00,2.15,0.00,0.000,6,0.000,0.034,2139,2605,3860,0,0,0,0,0,0
$GC,2177,-0.56,-243.3,347.3,-8.7,279,2181,0.00,1.77,0.00,0.000,4,0.000,0.044,2131,3777,3858,0,0,0,0,0,0
$GC,2227,-0.56,-243.3,351.8,-8.8,283,2234,0.00,1.75,0.00,0.000,6,0.000,0.024,2132,2601,3858,0,0,0,0,0,0
$GC,2553,-0.56,-243.3,384.1,-10.4,314,2557,0.00,2.05,0.00,0.000,4,0.000,0.029,2131,1206,3855,0,0,0,0,0,0
$GC,2600,-0.56,-243.3,388.9,-9.9,318,2604,0.00,2.15,0.00,0.000,6,0.000,0.034,2129,2621,3853,0,0,0,0,0,0
$GC,2925,-0.56,-243.3,425.4,-11.3,348,2929,0.00,1.80,0.00,0.000,4,0.000,0.046,2123,3776,3852,0,0,0,0,0,0
$GC,2997,-0.56,-243.3,432.5,-8.8,354,3004,0.00,1.73,0.00,0.000,6,0.000,0.025,2123,2619,3852,0,0,0,0,0,0
$GC,3323,-0.56,-243.3,467.0,-11.2,385,3327,0.00,2.08,0.00,0.000,4,0.000,0.030,2123,1210,3850,0,0,0,0,0,0
$GC,3356,-0.56,-243.3,470.7,-11.1,387,3363,0.00,2.17,0.00,0.000,6,0.000,0.035,2116,2631,3850,0,0,0,0,0,0
$GC,3692,-0.56,-243.3,506.5,-9.4,416,3696,0.00,1.75,0.00,0.000,4,0.000,0.047,2112,3776,3847,0,0,0,0,0,0
$GC,3754,-0.56,-243.3,511.5,-7.3,418,3761,0.00,1.73,0.00,0.000,6,0.000,0.025,2112,2628,3846,0,0,0,0,0,0
$GC,4070,-0.56,-243.3,532.7,-6.1,434,4074,0.00,2.10,0.00,0.000,4,0.000,0.031,2113,1205,3843,0,0,0,0,0,0
$GC,4127,-0.56,-243.3,535.8,-5.9,436,4134,0.00,2.17,0.00,0.000,6,0.000,0.037,2112,2622,3842,0,0,0,0,0,0
$GC,4443,-0.56,-243.3,562.4,-11.6,452,4446,0.00,1.77,0.00,0.000,4,0.000,0.048,2112,3776,3841,0,0,0,0,0,0
$GC,4482,-0.56,-243.3,567.2,-11.4,453,4489,0.00,1.75,0.00,0.000,6,0.000,0.026,2112,2612,3840,0,0,0,0,0,0
$GC,4798,-0.56,-243.3,608.0,-13.5,469,4802,0.00,2.08,0.00,0.000,4,0.000,0.031,2112,1212,3837,0,0,0,0,0,0
$GC,4848,-0.56,-243.3,614.8,-13.0,471,4852,0.00,2.17,0.00,0.000,6,0.000,0.036,2112,2627,3837,0,0,0,0,0,0
$GC,5171,-0.56,-243.3,657.2,-13.0,487,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2627,3835,0,0,0,0,0,0
$GC,5481,-0.56,-243.3,692.0,-10.9,502,5485,0.00,1.77,0.00,0.000,4,0.000,0.048,2112,3779,3829,0,0,0,0,0,0
$GC,5514,-0.56,-243.3,695.7,-10.2,503,5518,0.00,1.75,0.00,0.000,6,0.000,0.026,2112,2618,3832,0,0,0,0,0,0
$GC,5836,-0.56,-243.3,725.9,-9.4,519,5840,0.00,2.10,0.00,0.000,4,0.000,0.031,2112,1205,3830,0,0,0,0,0,0
$GC,5881,-0.56,-243.3,729.5,-7.8,521,5885,0.00,2.17,0.00,0.000,6,0.000,0.037,2112,2615,3830,0,0,0,0,0,0
$GC,6209,-0.56,-243.3,756.5,-8.2,537,6213,0.00,1.80,0.00,0.000,4,0.000,0.050,2113,3776,3827,0,0,0,0,0,0
$GC,6233,-0.56,-243.3,758.3,-8.0,538,6237,0.00,1.75,0.00,0.000,6,0.000,0.027,2112,2621,3828,0,0,0,0,0,0
$GC,6565,-0.56,-243.3,785.1,-8.6,554,6569,0.00,2.12,0.00,0.000,4,0.000,0.032,2108,1196,3825,0,0,0,0,0,0
$GC,6635,-0.56,-243.3,790.5,-7.6,557,6639,0.00,2.20,0.00,0.000,6,0.000,0.038,2112,2617,3825,0,0,0,0,0,0
$GC,6962,-0.56,-243.3,821.0,-9.9,573,6966,0.00,1.80,0.00,0.000,4,0.000,0.050,2112,3776,3823,0,0,0,0,0,0
$GC,6995,-0.56,-243.3,824.5,-9.7,574,6999,0.00,1.75,0.00,0.000,6,0.000,0.027,2112,2589,3823,0,0,0,0,0,0
$GC,7318,-0.56,-243.3,856.9,-10.8,590,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2586,3822,0,0,0,0,0,0
$GC,7626,-0.56,-243.3,892.1,-11.9,605,7630,0.00,1.88,0.00,0.000,4,0.000,0.049,2111,3776,3819,0,0,0,0,0,0
$GC,7653,-0.56,-243.3,895.5,-12.5,606,7657,0.00,1.75,0.00,0.000,6,0.000,0.027,2112,2627,3818,0,0,0,0,0,0
$GC,7983,-0.56,-243.3,932.0,-11.2,622,7987,0.00,2.12,0.00,0.000,4,0.000,0.031,2112,1202,3817,0,0,0,0,0,0
$GC,8039,-0.56,-243.3,938.4,-10.3,624,8046,0.00,2.17,0.00,0.000,6,0.000,0.037,2112,2602,3817,0,0,0,0,0,0
$GC,8358,-0.56,-243.3,969.8,-9.7,640,8359,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2602,3816,0,0,0,0,0,0
$STATE,8600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8600,begin apogee
$GC,8607,-0.13,0.0,990.8,8.0,652,8798,0.47,0.00,184.88,1.086,4,0.114,0.000,2270,2107,2869,0,0,0,0,0,0
$STATE,8798,end apogee,CONTROL_FINISHED_OK
$STATE,8798,begin climb
$GC,8801,0.56,243.3,998.5,0.0,661,9012,0.68,2.40,198.05,1.056,4,0.066,0.043,2506,3538,1877,0,0,0,0,0,0
$GC,9090,0.56,243.3,967.2,17.2,674,9094,0.00,2.22,0.00,0.000,6,0.000,0.026,2515,2130,1876,0,0,0,0,0,0
$GC,9413,0.56,243.3,915.0,15.9,690,9417,0.00,2.22,0.00,0.000,4,0.000,0.040,2516,3542,1874,0,0,0,0,0,0
$GC,9576,0.56,243.3,887.1,17.0,697,9580,0.00,2.20,0.00,0.000,6,0.000,0.028,2525,2107,1874,0,0,0,0,0,0
$GC,9898,0.56,243.3,837.8,13.5,713,9902,0.00,2.25,0.00,0.000,4,0.000,0.042,2526,3547,1873,0,0,0,0,0,0
$GC,9930,0.56,243.3,832.7,15.1,714,9938,0.08,2.20,0.00,0.000,6,0.155,0.028,2503,2127,1873,0,0,0,0,0,0
$GC,10247,0.56,250.5,796.1,11.6,730,10260,0.00,2.22,6.90,0.815,4,0.000,0.037,2513,717,1847,0,0,0,0,0,0
$GC,10336,0.58,266.7,786.4,11.3,734,10359,0.00,2.15,13.95,0.871,6,0.000,0.033,2513,2122,1781,0,0,0,0,0,0
$GC,10671,0.69,352.5,751.8,9.0,750,10743,0.00,2.30,66.68,0.929,4,0.000,0.043,2513,3539,1432,0,0,0,0,0,0
$GC,10760,0.73,386.7,742.3,10.7,754,10794,0.10,2.22,28.08,0.881,6,0.107,0.028,2564,2117,1291,0,0,0,0,0,0
$GC,11103,0.73,386.7,691.9,15.5,771,11107,0.00,2.22,0.00,0.000,4,0.000,0.044,2564,3531,1297,0,0,0,0,0,0
$GC,11136,0.73,386.7,686.2,16.1,772,11143,0.00,2.15,0.00,0.000,6,0.000,0.028,2574,2129,1297,0,0,0,0,0,0
$GC,11452,0.73,386.7,631.9,17.7,788,11456,0.00,2.12,0.00,0.000,4,0.000,0.036,2585,721,1297,0,0,0,0,0,0
$GC,11502,0.73,386.7,623.1,16.4,790,11506,0.00,2.15,0.00,0.000,6,0.000,0.034,2585,2114,1296,0,0,0,0,0,0
$GC,11823,0.73,386.7,562.9,19.1,806,11827,0.00,2.20,0.00,0.000,4,0.000,0.044,2585,3535,1296,0,0,0,0,0,0
$GC,11895,0.73,386.7,548.2,19.4,809,11900,0.15,2.15,0.00,0.000,6,0.174,0.028,2557,2111,1296,0,0,0,0,0,0
$GC,12212,0.73,386.7,494.0,17.1,825,12216,0.00,2.10,0.00,0.000,4,0.000,0.037,2565,720,1296,0,0,0,0,0,0
$GC,12241,0.73,386.7,488.9,17.1,827,12245,0.00,2.15,0.00,0.000,6,0.000,0.033,2565,2125,1296,0,0,0,0,0,0
$GC,12566,0.73,386.7,436.2,14.9,857,12571,0.00,2.20,0.00,0.000,4,0.000,0.044,2565,3535,1296,0,0,0,0,0,0
$GC,12644,0.73,386.7,423.9,14.7,863,12651,0.00,2.15,0.00,0.000,6,0.000,0.029,2575,2143,1296,0,0,0,0,0,0
$GC,12970,0.73,386.7,377.2,13.8,894,12974,0.00,2.15,0.00,0.000,4,0.000,0.036,2586,714,1296,0,0,0,0,0,0
$GC,13010,0.73,386.7,371.7,13.2,897,13014,0.00,2.15,0.00,0.000,6,0.000,0.031,2586,2137,1296,0,0,0,0,0,0
$GC,13335,0.73,386.7,320.9,16.6,927,13339,0.00,2.17,0.00,0.000,4,0.000,0.044,2586,3532,1297,0,0,0,0,0,0
$GC,13378,0.73,386.7,312.8,18.2,930,13386,0.10,2.17,0.00,0.000,6,0.139,0.027,2554,2117,1300,0,0,0,0,0,0
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$STATE,15886,end climb,SURFACE_DEPTH_REACHED
$STATE,15886,begin surface coast
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$STATE,15908,end surface coast,CONTROL_FINISHED_OK
$STATE,15908,begin surface
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$IRIDIUM_FIX,2054.83,12006.74,130811,111117
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.44
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,23.1,55.029
$10V_AH,9.8,51.154
$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
$DEVICE_SECS,16.625,176.950,662.350,0.000,0.000,31.303,40.611,178.930,0.000,0.000,14.438,3122.473,9127.003,744.027,2999.110,380.836,0.000,2113.406,0.000,2277.016,0.000,0.540,0.000
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$MEM,323556
$DATA_FILE_SIZE,87021,1302
$CAP_FILE_SIZE,178603,0
$CFSIZE,260165632,219410432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130811,205706,2110.081,12008.108,23,1.3,23,-2.5