version: 66.09
glider: 181
mission: 6
dive: 345
start: 8 14 111 11 58 56
data:
$ID,181
$MISSION,6
$DIVE,345
$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,-40970.023
$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,48
$R_STBD_OVSHOOT,32
$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
$GPS1,140811,115107,2118.037,12007.312,34,1.0,34,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-67.4
$GPS2,140811,115832,2118.187,12007.471,13,1.2,13,-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,348.0,51293,-15.4,-11.786
$D_GRID,2776
$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,-64.65,0.000,2,0.000,0.000,205,2589,2306,0,0,0,0,0,0
$GC,86,-0.56,-243.3,3.4,-3.6,10,135,7.93,1.88,-32.08,0.000,4,0.225,0.056,2124,3784,3865,0,0,0,0,0,0
$GC,153,-0.56,-243.3,25.8,-40.5,20,161,0.00,1.80,0.00,0.000,6,0.000,0.025,2124,2577,3866,0,0,0,0,0,0
$GC,294,-0.56,-243.3,75.1,-23.5,45,301,0.00,2.00,0.00,0.000,4,0.000,0.026,2125,1213,3865,0,0,0,0,0,0
$GC,396,-0.56,-243.3,92.6,-15.8,63,403,0.00,2.22,0.00,0.000,6,0.000,0.035,2115,2665,3865,0,0,0,0,0,0
$GC,534,-0.56,-243.3,124.7,-25.3,88,542,0.00,1.75,0.00,0.000,4,0.000,0.048,2112,3776,3865,0,0,0,0,0,0
$GC,588,-0.56,-243.3,135.6,-18.6,97,595,0.00,1.62,0.00,0.000,6,0.000,0.024,2112,2675,3865,0,0,0,0,0,0
$GC,726,-0.56,-243.3,159.9,-19.1,122,735,0.00,2.17,0.00,0.000,4,0.000,0.028,2112,1217,3866,0,0,0,0,0,0
$GC,774,-0.56,-243.3,167.6,-15.3,130,782,0.00,2.22,0.00,0.000,6,0.000,0.035,2112,2647,3866,0,0,0,0,0,0
$GC,916,-0.56,-243.3,191.2,-18.6,155,923,0.00,1.75,0.00,0.000,4,0.000,0.044,2105,3796,3866,0,0,0,0,0,0
$GC,957,-0.56,-243.3,198.8,-17.7,162,965,0.10,1.67,0.00,0.000,6,0.127,0.024,2140,2664,3866,0,0,0,0,0,0
$GC,1100,-0.56,-243.3,217.2,-12.3,176,1104,0.00,2.12,0.00,0.000,4,0.000,0.028,2140,1211,3865,0,0,0,0,0,0
$GC,1133,-0.56,-243.3,221.0,-11.2,178,1140,0.00,2.20,0.00,0.000,6,0.000,0.033,2139,2654,3866,0,0,0,0,0,0
$GC,1460,-0.56,-243.3,259.7,-12.0,209,1464,0.00,1.70,0.00,0.000,4,0.000,0.044,2138,3778,3865,0,0,0,0,0,0
$GC,1499,-0.56,-243.3,264.2,-10.9,212,1506,0.00,1.67,0.00,0.000,6,0.000,0.023,2138,2650,3865,0,0,0,0,0,0
$GC,1825,-0.56,-243.3,301.8,-12.0,243,1829,0.00,2.12,0.00,0.000,4,0.000,0.028,2137,1196,3862,0,0,0,0,0,0
$GC,1892,-0.56,-243.3,309.3,-10.0,248,1899,0.00,2.17,0.00,0.000,6,0.000,0.033,2138,2628,3861,0,0,0,0,0,0
$GC,2219,-0.56,-243.3,337.6,-7.0,279,2223,0.00,1.75,0.00,0.000,4,0.000,0.044,2132,3781,3859,0,0,0,0,0,0
$GC,2266,-0.56,-243.3,340.9,-6.6,283,2270,0.00,1.67,0.00,0.000,6,0.000,0.024,2132,2632,3858,0,0,0,0,0,0
$GC,2599,-0.56,-243.3,372.1,-10.6,314,2603,0.00,2.10,0.00,0.000,4,0.000,0.029,2132,1200,3855,0,0,0,0,0,0
$GC,2678,-0.56,-243.3,380.0,-8.9,320,2685,0.00,2.20,0.00,0.000,6,0.000,0.034,2127,2638,3855,0,0,0,0,0,0
$GC,3004,-0.56,-243.3,416.3,-10.8,351,3008,0.00,2.15,0.00,0.000,4,0.000,0.029,2127,1200,3853,0,0,0,0,0,0
$GC,3039,-0.56,-243.3,419.9,-10.3,354,3043,0.00,2.17,0.00,0.000,6,0.000,0.036,2125,2618,3852,0,0,0,0,0,0
$GC,3370,-0.56,-243.3,453.7,-10.6,385,3374,0.00,1.77,0.00,0.000,4,0.000,0.047,2125,3780,3850,0,0,0,0,0,0
$GC,3394,-0.56,-243.3,456.3,-10.7,387,3397,0.00,1.70,0.00,0.000,6,0.000,0.024,2125,2613,3850,0,0,0,0,0,0
$GC,3725,-0.56,-243.3,493.4,-11.8,418,3729,0.00,2.08,0.00,0.000,4,0.000,0.029,2125,1206,3847,0,0,0,0,0,0
$GC,3757,-0.56,-243.3,497.5,-12.0,420,3765,0.00,2.17,0.00,0.000,6,0.000,0.034,2124,2628,3847,0,0,0,0,0,0
$GC,4075,-0.56,-243.3,535.0,-11.9,437,4079,0.00,2.12,0.00,0.000,4,0.000,0.031,2124,1208,3844,0,0,0,0,0,0
$GC,4096,-0.56,-243.3,537.8,-11.8,438,4100,0.00,2.20,0.00,0.000,6,0.000,0.037,2125,2602,3843,0,0,0,0,0,0
$GC,4424,-0.56,-243.3,575.1,-11.6,454,4428,0.00,1.85,0.00,0.000,4,0.000,0.049,2125,3773,3841,0,0,0,0,0,0
$GC,4452,-0.56,-243.3,578.4,-11.2,455,4455,0.00,1.73,0.00,0.000,6,0.000,0.027,2125,2602,3840,0,0,0,0,0,0
$GC,4779,-0.56,-243.3,612.2,-10.3,471,4783,0.00,2.10,0.00,0.000,4,0.000,0.031,2125,1202,3837,0,0,0,0,0,0
$GC,4865,-0.56,-243.3,620.3,-9.0,475,4869,0.00,2.12,0.00,0.000,6,0.000,0.036,2125,2585,3837,0,0,0,0,0,0
$GC,5195,-0.56,-243.3,650.3,-9.3,491,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2586,3835,0,0,0,0,0,0
$GC,5502,-0.56,-243.3,679.0,-9.5,506,5506,0.00,1.85,0.00,0.000,4,0.000,0.049,2125,3778,3832,0,0,0,0,0,0
$GC,5530,-0.56,-243.3,681.8,-9.8,507,5533,0.00,1.80,0.00,0.000,6,0.000,0.027,2125,2561,3831,0,0,0,0,0,0
$GC,5859,-0.56,-243.3,716.9,-11.7,523,5860,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2557,3830,0,0,0,0,0,0
$GC,6167,-0.56,-243.3,749.8,-10.1,538,6171,0.00,2.03,0.00,0.000,4,0.000,0.031,2125,1199,3828,0,0,0,0,0,0
$GC,6206,-0.56,-243.3,753.9,-9.9,539,6213,0.00,2.12,0.00,0.000,6,0.000,0.036,2125,2564,3826,0,0,0,0,0,0
$GC,6523,-0.56,-243.3,783.0,-9.0,555,6526,0.00,1.90,0.00,0.000,4,0.000,0.049,2125,3786,3825,0,0,0,0,0,0
$GC,6592,-0.56,-243.3,788.3,-7.5,558,6596,0.00,1.85,0.00,0.000,6,0.000,0.028,2125,2568,3825,0,0,0,0,0,0
$GC,6925,-0.56,-243.3,814.5,-7.4,574,6929,0.00,1.90,0.00,0.000,4,0.000,0.046,2125,3779,3824,0,0,0,0,0,0
$GC,7183,-0.56,-243.3,838.2,-10.5,585,7186,0.00,1.92,0.00,0.000,6,0.000,0.026,2125,2482,3822,0,0,0,0,0,0
$GC,7505,-0.56,-243.3,871.0,-11.4,601,7509,0.00,1.95,0.00,0.000,4,0.000,0.034,2126,1200,3821,0,0,0,0,0,0
$GC,7652,-0.56,-243.3,888.5,-13.0,607,7656,0.00,1.95,0.00,0.000,6,0.000,0.034,2126,2478,3820,0,0,0,0,0,0
$GC,7974,-0.56,-243.3,926.7,-12.0,623,7977,0.00,1.92,0.00,0.000,4,0.000,0.032,2126,1199,3818,0,0,0,0,0,0
$GC,8135,-0.56,-243.3,945.3,-11.0,630,8139,0.00,1.92,0.00,0.000,6,0.000,0.035,2126,2453,3818,0,0,0,0,0,0
$GC,8470,-0.56,-243.3,979.4,-10.1,646,8473,0.00,1.90,0.00,0.000,4,0.000,0.034,2134,1200,3816,0,0,0,0,0,0
$GC,8570,-0.56,-243.3,989.9,-10.2,650,8574,0.00,1.90,0.00,0.000,6,0.000,0.034,2133,2442,3816,0,0,0,0,0,0
$STATE,8580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8580,begin apogee
$GC,8586,-0.13,0.0,990.8,9.4,651,8777,0.38,0.00,185.27,1.090,4,0.062,0.000,2292,2115,2867,0,0,0,0,0,0
$STATE,8778,end apogee,CONTROL_FINISHED_OK
$STATE,8778,begin climb
$GC,8780,0.56,243.3,1004.4,0.0,660,8992,0.57,2.40,198.60,1.064,4,0.048,0.042,2512,3546,1877,0,0,0,0,0,0
$GC,9150,0.56,243.3,968.7,15.0,677,9155,0.00,2.17,0.00,0.000,6,0.000,0.028,2522,2148,1876,0,0,0,0,0,0
$GC,9480,0.56,243.3,924.3,13.2,693,9484,0.00,2.20,0.00,0.000,4,0.000,0.042,2523,3548,1875,0,0,0,0,0,0
$GC,9613,0.56,243.3,904.5,14.5,699,9618,0.12,2.20,0.00,0.000,6,0.187,0.028,2504,2106,1875,0,0,0,0,0,0
$GC,9942,0.57,256.7,867.0,11.3,715,9964,0.00,2.22,11.55,0.924,4,0.000,0.039,2514,710,1823,0,0,0,0,0,0
$GC,9988,0.60,276.0,861.6,11.2,717,10011,0.00,2.20,16.75,0.921,6,0.000,0.034,2514,2133,1743,0,0,0,0,0,0
$GC,10323,0.60,276.0,821.5,12.1,733,10327,0.00,2.20,0.00,0.000,4,0.000,0.045,2514,3541,1741,0,0,0,0,0,0
$GC,10366,0.60,276.0,815.3,12.9,735,10370,0.00,2.15,0.00,0.000,6,0.000,0.029,2523,2132,1739,0,0,0,0,0,0
$GC,10695,0.60,282.7,776.3,11.6,751,10708,0.00,2.25,6.55,0.796,4,0.000,0.037,2533,709,1717,0,0,0,0,0,0
$GC,10753,0.62,297.9,769.5,11.3,753,10774,0.00,2.20,13.88,0.861,6,0.000,0.033,2534,2131,1653,0,0,0,0,0,0
$GC,11092,0.67,335.2,733.6,10.6,770,11128,0.00,2.30,29.40,0.901,4,0.000,0.045,2533,3535,1502,0,0,0,0,0,0
$GC,11192,0.67,335.2,721.9,12.5,774,11196,0.00,2.15,0.00,0.000,6,0.000,0.028,2543,2139,1502,0,0,0,0,0,0
$GC,11507,0.67,335.2,678.9,14.7,789,11511,0.00,2.17,0.00,0.000,4,0.000,0.039,2554,717,1506,0,0,0,0,0,0
$GC,11565,0.67,335.2,670.3,14.8,791,11572,0.00,2.22,0.00,0.000,6,0.000,0.034,2550,2151,1507,0,0,0,0,0,0
$GC,11881,0.67,335.2,617.0,16.5,807,11885,0.00,2.17,0.00,0.000,4,0.000,0.045,2554,3541,1507,0,0,0,0,0,0
$GC,11952,0.67,335.2,603.9,17.7,810,11956,0.00,2.10,0.00,0.000,6,0.000,0.028,2563,2151,1507,0,0,0,0,0,0
$GC,12281,0.67,335.2,552.0,14.8,826,12285,0.00,2.17,0.00,0.000,4,0.000,0.038,2574,717,1507,0,0,0,0,0,0
$GC,12375,0.67,335.2,538.8,12.7,830,12380,0.15,2.20,0.00,0.000,6,0.158,0.034,2535,2154,1507,0,0,0,0,0,0
$GC,12698,0.68,347.0,502.5,11.4,846,12720,0.00,2.22,12.07,0.745,4,0.000,0.044,2530,3536,1453,0,0,0,0,0,0
$GC,12800,0.68,347.0,489.8,12.4,854,12804,0.00,2.10,0.00,0.000,6,0.000,0.028,2542,2159,1453,0,0,0,0,0,0
$GC,13130,0.68,347.0,449.3,12.0,885,13134,0.00,2.17,0.00,0.000,4,0.000,0.037,2553,723,1453,0,0,0,0,0,0
$GC,13228,0.68,347.0,437.2,12.7,893,13232,0.00,2.17,0.00,0.000,6,0.000,0.033,2553,2147,1452,0,0,0,0,0,0
$GC,13553,0.68,347.0,391.8,14.3,923,13557,0.00,2.15,0.00,0.000,4,0.000,0.044,2553,3539,1453,0,0,0,0,0,0
$GC,13594,0.68,347.0,385.6,16.1,926,13598,0.00,2.10,0.00,0.000,6,0.000,0.028,2562,2146,1453,0,0,0,0,0,0
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$STATE,16820,end climb,SURFACE_DEPTH_REACHED
$STATE,16820,begin surface coast
$FINISH,0.2,1.006217
$STATE,16847,end surface coast,CONTROL_FINISHED_OK
$STATE,16847,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,44.48
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,23.0,55.757
$10V_AH,9.8,51.690
$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,16.300,190.225,671.300,0.000,0.000,30.389,40.795,215.018,0.250,0.000,16.250,3327.917,9586.886,738.737,3306.562,389.798,0.000,2227.931,0.000,2526.320,0.000,0.541,0.000
$DEVICE_MAMPS,224.910,55.845,1090.125,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,949.938,2080.717,650.263,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323588
$DATA_FILE_SIZE,90452,1366
$CAP_FILE_SIZE,191638,0
$CFSIZE,260165632,219000832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140811,164206,2120.621,12006.690,27,1.4,27,-2.5