version: 66.09
glider: 181
mission: 6
dive: 350
start: 8 15 111 12 27 20
data:
$ID,181
$MISSION,6
$DIVE,350
$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,-40976.312
$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,46
$R_STBD_OVSHOOT,34
$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
$GPS1,150811,122031,2131.281,12005.010,40,0.8,40,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.6
$GPS2,150811,122656,2131.379,12005.146,11,1.3,11,-2.6
$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,343.3,26733,-15.4,-11.786
$D_GRID,2660
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.56,-243.3,0.0,0.0,0,84,0.00,0.00,-64.88,0.000,2,0.000,0.000,200,2607,2280,0,0,0,0,0,0
$GC,87,-0.56,-243.3,3.3,-3.4,10,136,8.05,1.85,-32.47,0.000,4,0.229,0.058,2126,3781,3862,0,0,0,0,0,0
$GC,150,-0.56,-243.3,22.8,-36.9,19,157,0.00,1.77,0.00,0.000,6,0.000,0.029,2130,2587,3863,0,0,0,0,0,0
$GC,289,-0.56,-243.3,68.3,-25.4,44,297,0.00,2.08,0.00,0.000,4,0.000,0.026,2131,1198,3862,0,0,0,0,0,0
$GC,380,-0.56,-243.3,83.8,-14.9,60,388,0.00,2.17,0.00,0.000,6,0.000,0.035,2125,2588,3863,0,0,0,0,0,0
$GC,521,-0.56,-243.3,111.0,-17.3,85,528,0.00,1.85,0.00,0.000,4,0.000,0.043,2116,3778,3863,0,0,0,0,0,0
$GC,540,-0.56,-243.3,114.9,-18.8,88,548,0.00,1.80,0.00,0.000,6,0.000,0.024,2116,2566,3863,0,0,0,0,0,0
$GC,683,-0.56,-243.3,140.2,-16.3,113,690,0.00,1.90,0.00,0.000,4,0.000,0.042,2112,3789,3863,0,0,0,0,0,0
$GC,734,-0.56,-243.3,149.0,-16.0,122,743,0.00,1.67,0.00,0.000,6,0.000,0.023,2112,2657,3863,0,0,0,0,0,0
$GC,876,-0.56,-243.3,173.5,-18.0,147,883,0.00,2.12,0.00,0.000,4,0.000,0.026,2113,1202,3863,0,0,0,0,0,0
$GC,924,-0.56,-243.3,181.2,-14.1,155,931,0.00,2.22,0.00,0.000,6,0.000,0.034,2112,2666,3864,0,0,0,0,0,0
$GC,1068,-0.56,-243.3,201.7,-14.5,180,1071,0.00,1.67,0.00,0.000,4,0.000,0.043,2104,3782,3863,0,0,0,0,0,0
$GC,1140,-0.56,-243.3,212.1,-12.6,186,1148,0.10,1.62,0.00,0.000,6,0.121,0.023,2140,2679,3863,0,0,0,0,0,0
$GC,1466,-0.56,-243.3,252.6,-13.3,217,1470,0.00,2.15,0.00,0.000,4,0.000,0.028,2139,1203,3862,0,0,0,0,0,0
$GC,1518,-0.56,-243.3,259.0,-11.5,221,1523,0.00,2.25,0.00,0.000,6,0.000,0.033,2139,2685,3861,0,0,0,0,0,0
$GC,1844,-0.56,-243.3,296.1,-11.1,251,1848,0.00,2.17,0.00,0.000,4,0.000,0.028,2139,1212,3860,0,0,0,0,0,0
$GC,1900,-0.56,-243.3,301.4,-8.8,255,1907,0.00,2.22,0.00,0.000,6,0.000,0.032,2138,2671,3858,0,0,0,0,0,0
$GC,2226,-0.56,-243.3,331.8,-10.5,286,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2672,3859,0,0,0,0,0,0
$GC,2546,-0.56,-243.3,369.4,-12.1,316,2550,0.00,2.17,0.00,0.000,4,0.000,0.029,2138,1210,3855,0,0,0,0,0,0
$GC,2608,-0.56,-243.3,376.6,-10.7,321,2613,0.00,2.20,0.00,0.000,6,0.000,0.033,2138,2657,3854,0,0,0,0,0,0
$GC,2934,-0.56,-243.3,409.3,-9.6,351,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2658,3852,0,0,0,0,0,0
$GC,3256,-0.56,-243.3,438.7,-9.2,381,3260,0.00,2.15,0.00,0.000,4,0.000,0.030,2138,1212,3849,0,0,0,0,0,0
$GC,3308,-0.56,-243.3,443.5,-8.6,385,3312,0.00,2.20,0.00,0.000,6,0.000,0.034,2138,2653,3849,0,0,0,0,0,0
$GC,3635,-0.56,-243.3,468.8,-7.5,415,3639,0.00,1.73,0.00,0.000,4,0.000,0.044,2138,3789,3845,0,0,0,0,0,0
$GC,3788,-0.56,-243.3,482.6,-10.2,428,3795,0.00,1.83,0.00,0.000,6,0.000,0.024,2144,2546,3844,0,0,0,0,0,0
$GC,4112,-0.56,-243.3,511.7,-8.9,453,4115,0.00,1.98,0.00,0.000,4,0.000,0.031,2144,1202,3842,0,0,0,0,0,0
$GC,4370,-0.56,-243.3,535.5,-8.9,464,4374,0.00,2.03,0.00,0.000,6,0.000,0.033,2144,2530,3840,0,0,0,0,0,0
$GC,4693,-0.56,-243.3,561.2,-7.9,480,4696,0.00,1.98,0.00,0.000,4,0.000,0.031,2143,1206,3837,0,0,0,0,0,0
$GC,4950,-0.56,-243.3,583.8,-8.9,491,4954,0.00,1.98,0.00,0.000,6,0.000,0.032,2145,2511,3833,0,0,0,0,0,0
$GC,5275,-0.56,-243.3,613.4,-10.2,507,5278,0.00,1.95,0.00,0.000,4,0.000,0.031,2146,1202,3833,0,0,0,0,0,0
$GC,5533,-0.56,-243.3,641.2,-10.8,518,5537,0.00,2.00,0.00,0.000,6,0.000,0.033,2147,2510,3831,0,0,0,0,0,0
$GC,5855,-0.56,-243.3,674.1,-10.0,534,5859,0.00,1.95,0.00,0.000,4,0.000,0.031,2147,1211,3829,0,0,0,0,0,0
$GC,6028,-0.56,-243.3,692.1,-10.2,541,6035,0.00,2.00,0.00,0.000,6,0.000,0.034,2147,2508,3828,0,0,0,0,0,0
$GC,6344,-0.56,-243.3,720.3,-8.8,557,6348,0.00,1.95,0.00,0.000,4,0.000,0.031,2147,1206,3826,0,0,0,0,0,0
$GC,6602,-0.56,-243.3,744.8,-9.4,568,6606,0.00,1.95,0.00,0.000,6,0.000,0.034,2146,2483,3824,0,0,0,0,0,0
$GC,6926,-0.56,-243.3,774.5,-9.7,584,6929,0.00,1.90,0.00,0.000,4,0.000,0.033,2147,1215,3823,0,0,0,0,0,0
$GC,7183,-0.56,-243.3,801.7,-10.7,595,7187,0.00,1.92,0.00,0.000,6,0.000,0.034,2147,2476,3819,0,0,0,0,0,0
$GC,7505,-0.56,-243.3,836.4,-11.1,611,7509,0.00,1.90,0.00,0.000,4,0.000,0.033,2147,1213,3820,0,0,0,0,0,0
$GC,7763,-0.56,-243.3,864.6,-11.2,622,7767,0.00,1.92,0.00,0.000,6,0.000,0.034,2147,2468,3820,0,0,0,0,0,0
$GC,8086,-0.56,-243.3,896.4,-9.6,638,8090,0.00,1.90,0.00,0.000,4,0.000,0.031,2147,1202,3817,0,0,0,0,0,0
$GC,8343,-0.56,-243.3,920.4,-9.6,649,8347,0.00,1.90,0.00,0.000,6,0.000,0.034,2147,2442,3816,0,0,0,0,0,0
$GC,8666,-0.56,-243.3,946.0,-8.0,665,8670,0.00,1.85,0.00,0.000,4,0.000,0.034,2147,1213,3814,0,0,0,0,0,0
$GC,8783,-0.56,-243.3,956.9,-8.9,670,8787,0.00,1.88,0.00,0.000,6,0.000,0.035,2147,2435,3814,0,0,0,0,0,0
$GC,9112,-0.56,-243.3,985.9,-9.8,686,9116,0.00,1.85,0.00,0.000,4,0.000,0.034,2147,1207,3813,0,0,0,0,0,0
$STATE,9156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9156,begin apogee
$GC,9163,-0.13,0.0,990.3,10.0,688,9354,0.32,0.00,184.52,1.089,4,0.060,0.000,2294,2132,2871,0,0,0,0,0,0
$STATE,9355,end apogee,CONTROL_FINISHED_OK
$STATE,9355,begin climb
$GC,9358,0.56,243.3,1002.4,0.0,697,9569,0.57,2.33,198.90,1.066,4,0.045,0.043,2514,3531,1877,0,0,0,0,0,0
$GC,9670,0.56,243.3,975.7,14.8,711,9674,0.00,2.17,0.00,0.000,6,0.000,0.028,2523,2151,1876,0,0,0,0,0,0
$GC,9992,0.56,243.3,931.2,13.7,727,9996,0.00,2.17,0.00,0.000,4,0.000,0.043,2525,3533,1875,0,0,0,0,0,0
$GC,10154,0.56,243.3,906.1,15.4,734,10159,0.15,2.17,0.00,0.000,6,0.183,0.028,2498,2106,1874,0,0,0,0,0,0
$GC,10477,0.58,261.7,869.0,11.2,750,10500,0.00,2.15,15.50,0.949,4,0.000,0.037,2507,720,1803,0,0,0,0,0,0
$GC,10561,0.60,280.6,859.3,11.2,753,10583,0.00,2.17,16.38,0.921,6,0.000,0.034,2507,2110,1726,0,0,0,0,0,0
$GC,10897,0.60,280.6,819.4,12.7,769,10901,0.00,2.22,0.00,0.000,4,0.000,0.046,2507,3534,1721,0,0,0,0,0,0
$GC,10986,0.60,280.6,806.8,13.4,773,10990,0.00,2.15,0.00,0.000,6,0.000,0.028,2517,2123,1723,0,0,0,0,0,0
$GC,11315,0.60,280.6,766.7,12.3,789,11318,0.00,2.15,0.00,0.000,4,0.000,0.038,2527,713,1722,0,0,0,0,0,0
$GC,11342,0.60,280.6,763.1,12.5,790,11346,0.00,2.17,0.00,0.000,6,0.000,0.033,2527,2130,1722,0,0,0,0,0,0
$GC,11669,0.60,280.6,717.7,14.2,806,11673,0.00,2.17,0.00,0.000,4,0.000,0.045,2527,3535,1722,0,0,0,0,0,0
$GC,11697,0.60,280.6,713.1,15.5,807,11701,0.00,2.12,0.00,0.000,6,0.000,0.028,2537,2131,1722,0,0,0,0,0,0
$GC,12013,0.60,280.6,664.8,14.8,822,12017,0.00,2.15,0.00,0.000,4,0.000,0.039,2552,714,1721,0,0,0,0,0,0
$GC,12121,0.60,280.6,649.5,14.3,827,12126,0.12,2.15,0.00,0.000,6,0.166,0.034,2515,2115,1719,0,0,0,0,0,0
$GC,12450,0.65,317.9,612.0,10.6,843,12485,0.00,2.30,29.60,0.844,4,0.000,0.045,2515,3529,1571,0,0,0,0,0,0
$GC,12540,0.68,341.1,602.6,11.0,847,12565,0.00,2.17,19.10,0.793,6,0.000,0.029,2525,2113,1478,0,0,0,0,0,0
$GC,12894,0.75,399.7,567.0,9.9,864,12946,0.12,2.30,46.17,0.812,4,0.096,0.044,2578,3533,1239,0,0,0,0,0,0
$GC,12964,0.75,399.7,557.2,14.7,867,12969,0.00,2.17,0.00,0.000,6,0.000,0.028,2587,2128,1238,0,0,0,0,0,0
$GC,13280,0.75,399.7,503.1,18.1,882,13284,0.00,2.17,0.00,0.000,4,0.000,0.037,2598,707,1240,0,0,0,0,0,0
$GC,13327,0.75,399.7,495.0,17.6,885,13332,0.15,2.20,0.00,0.000,6,0.155,0.034,2558,2130,1240,0,0,0,0,0,0
$GC,13652,0.75,399.7,447.4,13.8,915,13656,0.00,2.20,0.00,0.000,4,0.000,0.045,2558,3542,1240,0,0,0,0,0,0
$GC,13719,0.75,399.7,436.7,15.7,920,13726,0.00,2.15,0.00,0.000,6,0.000,0.028,2566,2133,1239,0,0,0,0,0,0
$GC,14045,0.75,399.7,389.8,14.7,951,14049,0.00,2.15,0.00,0.000,4,0.000,0.037,2577,714,1240,0,0,0,0,0,0
$GC,14097,0.75,399.7,382.7,13.2,955,14101,0.00,2.20,0.00,0.000,6,0.000,0.034,2577,2149,1240,0,0,0,0,0,0
$GC,14422,0.75,399.7,339.2,12.6,985,14426,0.00,2.15,0.00,0.000,4,0.000,0.044,2576,3538,1240,0,0,0,0,0,0
$GC,14486,0.75,399.7,330.2,14.9,990,14490,0.00,2.10,0.00,0.000,6,0.000,0.028,2586,2144,1240,0,0,0,0,0,0
$GC,14811,0.75,399.7,281.4,14.2,1020,14815,0.00,2.15,0.00,0.000,4,0.000,0.037,2597,720,1241,0,0,0,0,0,0
$GC,14840,0.75,399.7,277.6,13.4,1022,14845,0.15,2.20,0.00,0.000,6,0.153,0.033,2557,2158,1240,0,0,0,0,0,0
$GC,15165,0.83,466.2,245.4,9.6,1052,15222,0.00,2.25,50.20,0.612,4,0.000,0.044,2560,3536,967,0,0,0,0,0,0
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$GC,17093,1.30,851.8,14.4,7.4,1351,17101,0.15,2.10,0.22,0.116,4,0.073,0.039,2759,3546,441,0,0,0,0,0,0
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$STATE,17167,end climb,SURFACE_DEPTH_REACHED
$STATE,17167,begin surface coast
$FINISH,0.3,1.020789
$STATE,17184,end surface coast,CONTROL_FINISHED_OK
$STATE,17184,begin surface
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$IRIDIUM_FIX,2120.26,11948.71,150811,070730
$TT8_MAMPS,0.027713,0.027713
$HUMID,44.84
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.0,56.644
$10V_AH,9.8,52.363
$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
$DEVICE_SECS,17.275,183.350,667.350,0.000,0.000,27.873,20.900,180.420,0.000,0.000,14.393,3379.646,9623.169,736.514,3462.001,425.143,0.000,2312.099,0.000,2754.751,0.000,0.541,0.000
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$SENSOR_SECS,950.900,2082.754,639.118,0.000,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,323560
$DATA_FILE_SIZE,93708,1366
$CAP_FILE_SIZE,196104,0
$CFSIZE,260165632,218501120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150811,171606,2133.387,12004.179,27,1.4,27,-2.6