version: 66.09
glider: 181
mission: 6
dive: 354
start: 8 16 111 8 17 45
data:
$ID,181
$MISSION,6
$DIVE,354
$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,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,-40981.336
$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,45
$R_STBD_OVSHOOT,57
$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
$GPS1,160811,081036,2141.380,12000.839,32,0.9,32,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.2
$GPS2,160811,081720,2141.536,12000.852,11,1.2,11,-2.6
$SPEED_LIMITS,0.204,0.329
$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,349.7,6580,-16.3,-11.786
$D_GRID,2568
$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,-0.54,-219.0,0.0,0.0,0,83,0.00,0.00,-64.80,0.000,2,0.000,0.000,205,2637,2290,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.4,-3.5,10,135,8.07,2.20,-31.52,0.000,4,0.230,0.037,2137,1178,3761,0,0,0,0,0,0
$GC,263,-0.54,-219.0,49.7,-20.8,40,271,0.00,2.17,0.00,0.000,6,0.000,0.034,2126,2574,3760,0,0,0,0,0,0
$GC,404,-0.54,-219.0,89.6,-23.0,65,411,0.00,1.88,0.00,0.000,4,0.000,0.041,2117,3782,3759,0,0,0,0,0,0
$GC,473,-0.54,-219.0,104.1,-18.6,77,480,0.00,1.67,0.00,0.000,6,0.000,0.022,2117,2654,3759,0,0,0,0,0,0
$GC,612,-0.54,-219.0,132.9,-17.1,102,620,0.00,2.17,0.00,0.000,4,0.000,0.026,2117,1186,3759,0,0,0,0,0,0
$GC,682,-0.54,-219.0,143.6,-13.4,114,690,0.08,2.20,0.00,0.000,6,0.130,0.033,2138,2608,3759,0,0,0,0,0,0
$GC,825,-0.54,-219.0,165.9,-17.0,139,833,0.00,1.77,0.00,0.000,4,0.000,0.042,2137,3779,3760,0,0,0,0,0,0
$GC,866,-0.54,-219.0,173.3,-16.3,146,874,0.00,1.75,0.00,0.000,6,0.000,0.023,2138,2588,3760,0,0,0,0,0,0
$GC,1007,-0.54,-219.0,194.1,-14.4,171,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2587,3760,0,0,0,0,0,0
$GC,1149,-0.54,-219.0,213.4,-14.0,188,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2587,3761,0,0,0,0,0,0
$GC,1469,-0.54,-219.0,251.9,-11.7,218,1473,0.00,1.83,0.00,0.000,4,0.000,0.041,2129,3791,3760,0,0,0,0,0,0
$GC,1504,-0.54,-219.0,256.0,-10.9,221,1508,0.00,1.70,0.00,0.000,6,0.000,0.024,2129,2611,3760,0,0,0,0,0,0
$GC,1836,-0.54,-219.0,294.3,-10.7,252,1839,0.00,2.05,0.00,0.000,4,0.000,0.028,2129,1203,3758,0,0,0,0,0,0
$GC,1860,-0.54,-219.0,297.0,-10.8,254,1864,0.00,2.15,0.00,0.000,6,0.000,0.033,2125,2620,3758,0,0,0,0,0,0
$GC,2185,-0.54,-219.0,333.7,-11.9,284,2189,0.00,1.75,0.00,0.000,4,0.000,0.043,2125,3782,3755,0,0,0,0,0,0
$GC,2220,-0.54,-219.0,337.3,-11.0,287,2224,0.00,1.70,0.00,0.000,6,0.000,0.024,2124,2612,3755,0,0,0,0,0,0
$GC,2553,-0.54,-219.0,374.7,-12.8,318,2556,0.00,2.05,0.00,0.000,4,0.000,0.028,2125,1204,3752,0,0,0,0,0,0
$GC,2614,-0.54,-219.0,382.8,-11.5,323,2621,0.00,2.12,0.00,0.000,6,0.000,0.034,2124,2592,3751,0,0,0,0,0,0
$GC,2940,-0.54,-219.0,421.6,-11.1,354,2944,0.00,1.80,0.00,0.000,4,0.000,0.044,2124,3777,3749,0,0,0,0,0,0
$GC,3013,-0.54,-219.0,429.2,-9.4,360,3020,0.00,1.75,0.00,0.000,6,0.000,0.025,2124,2600,3748,0,0,0,0,0,0
$GC,3339,-0.54,-219.0,464.6,-11.4,391,3343,0.00,2.05,0.00,0.000,4,0.000,0.028,2124,1212,3744,0,0,0,0,0,0
$GC,3423,-0.54,-219.0,473.3,-9.6,398,3430,0.00,2.15,0.00,0.000,6,0.000,0.034,2124,2611,3744,0,0,0,0,0,0
$GC,3758,-0.54,-219.0,508.8,-10.6,426,3762,0.00,1.77,0.00,0.000,4,0.000,0.044,2124,3773,3740,0,0,0,0,0,0
$GC,3798,-0.54,-219.0,513.0,-10.2,427,3805,0.00,1.75,0.00,0.000,6,0.000,0.025,2124,2606,3740,0,0,0,0,0,0
$GC,4114,-0.54,-219.0,543.8,-9.2,443,4118,0.00,2.08,0.00,0.000,4,0.000,0.030,2124,1206,3738,0,0,0,0,0,0
$GC,4192,-0.54,-219.0,550.3,-7.6,446,4196,0.00,2.10,0.00,0.000,6,0.000,0.033,2116,2582,3737,0,0,0,0,0,0
$GC,4510,-0.54,-219.0,579.3,-9.6,461,4514,0.00,1.83,0.00,0.000,4,0.000,0.046,2112,3774,3734,0,0,0,0,0,0
$GC,4549,-0.54,-219.0,583.7,-10.4,462,4557,0.12,1.77,0.00,0.000,6,0.132,0.025,2149,2570,3734,0,0,0,0,0,0
$GC,4866,-0.54,-219.0,608.4,-8.1,478,4870,0.00,2.00,0.00,0.000,4,0.000,0.030,2149,1210,3731,0,0,0,0,0,0
$GC,4927,-0.54,-219.0,613.6,-8.0,480,4934,0.00,2.10,0.00,0.000,6,0.000,0.032,2149,2579,3731,0,0,0,0,0,0
$GC,5244,-0.54,-219.0,637.6,-7.2,496,5248,0.00,1.83,0.00,0.000,4,0.000,0.044,2149,3777,3729,0,0,0,0,0,0
$GC,5367,-0.54,-219.0,647.3,-8.3,501,5371,0.00,1.73,0.00,0.000,6,0.000,0.024,2149,2596,3728,0,0,0,0,0,0
$GC,5692,-0.54,-219.0,667.5,-5.8,517,5695,0.00,2.05,0.00,0.000,4,0.000,0.031,2149,1213,3725,0,0,0,0,0,0
$GC,5898,-0.54,-219.0,679.9,-5.9,526,5902,0.00,2.10,0.00,0.000,6,0.000,0.032,2149,2583,3724,0,0,0,0,0,0
$GC,6226,-0.54,-219.0,700.8,-6.9,542,6230,0.00,2.08,0.00,0.000,4,0.000,0.031,2149,1199,3722,0,0,0,0,0,0
$GC,6484,-0.54,-219.0,721.4,-8.3,553,6491,0.00,2.08,0.00,0.000,6,0.000,0.034,2150,2550,3721,0,0,0,0,0,0
$GC,6801,-0.54,-219.0,748.8,-9.1,569,6805,0.00,2.03,0.00,0.000,4,0.000,0.032,2150,1202,3719,0,0,0,0,0,0
$GC,7062,-0.54,-219.0,773.5,-9.7,580,7065,0.00,2.03,0.00,0.000,6,0.000,0.034,2150,2524,3718,0,0,0,0,0,0
$GC,7384,-0.54,-219.0,804.4,-10.1,596,7387,0.00,1.92,0.00,0.000,4,0.000,0.046,2150,3774,3715,0,0,0,0,0,0
$GC,7394,-0.54,-219.0,805.5,-10.1,596,7398,0.00,1.85,0.00,0.000,6,0.000,0.024,2150,2514,3715,0,0,0,0,0,0
$GC,7717,-0.54,-219.0,837.5,-10.0,612,7721,0.00,1.98,0.00,0.000,4,0.000,0.044,2150,3778,3714,0,0,0,0,0,0
$GC,7975,-0.54,-219.0,865.1,-10.6,623,7979,0.00,1.90,0.00,0.000,6,0.000,0.024,2151,2496,3713,0,0,0,0,0,0
$GC,8298,-0.54,-219.0,893.3,-8.3,639,8302,0.00,1.95,0.00,0.000,4,0.000,0.032,2160,1210,3711,0,0,0,0,0,0
$GC,8505,-0.54,-219.0,910.1,-7.9,648,8508,0.00,1.95,0.00,0.000,6,0.000,0.032,2160,2486,3710,0,0,0,0,0,0
$GC,8834,-0.54,-219.0,932.4,-6.8,664,8837,0.00,1.92,0.00,0.000,4,0.000,0.031,2160,1202,3709,0,0,0,0,0,0
$GC,8903,-0.54,-219.0,936.9,-6.5,667,8906,0.00,1.95,0.00,0.000,6,0.000,0.034,2159,2477,3710,0,0,0,0,0,0
$GC,9236,-0.54,-219.0,960.7,-7.7,683,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2478,3709,0,0,0,0,0,0
$GC,9545,-0.54,-219.0,987.8,-9.3,698,9549,0.00,1.92,0.00,0.000,4,0.000,0.032,2161,1198,3707,0,0,0,0,0,0
$STATE,9566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9566,begin apogee
$GC,9574,-0.13,0.0,990.1,9.6,699,9744,0.30,0.00,164.55,1.094,4,0.075,0.000,2280,2130,2868,0,0,0,0,0,0
$STATE,9745,end apogee,CONTROL_FINISHED_OK
$STATE,9745,begin climb
$GC,9747,0.54,219.0,1003.2,0.0,707,9938,0.60,2.30,178.43,1.068,4,0.051,0.042,2506,3527,1977,0,0,0,0,0,0
$GC,9943,0.56,238.0,995.3,11.1,716,9968,0.00,2.28,17.83,0.967,6,0.000,0.027,2516,2143,1898,0,0,0,0,0,0
$GC,10293,0.56,238.0,952.1,12.4,733,10297,0.00,2.20,0.00,0.000,4,0.000,0.037,2529,706,1897,0,0,0,0,0,0
$GC,10401,0.56,238.0,938.5,12.4,738,10405,0.00,2.15,0.00,0.000,6,0.000,0.033,2527,2101,1900,0,0,0,0,0,0
$GC,10733,0.56,238.0,892.8,13.9,754,10737,0.00,2.22,0.00,0.000,4,0.000,0.044,2527,3535,1896,0,0,0,0,0,0
$GC,10805,0.56,238.0,881.3,16.1,757,10810,0.12,2.15,0.00,0.000,6,0.188,0.027,2508,2116,1897,0,0,0,0,0,0
$GC,11133,0.56,238.0,840.9,12.2,773,11137,0.00,2.12,0.00,0.000,4,0.000,0.037,2516,712,1895,0,0,0,0,0,0
$GC,11200,0.56,238.0,832.4,12.0,776,11204,0.00,2.15,0.00,0.000,6,0.000,0.033,2517,2125,1895,0,0,0,0,0,0
$GC,11528,0.56,238.0,788.2,14.1,792,11532,0.00,2.20,0.00,0.000,4,0.000,0.044,2517,3536,1894,0,0,0,0,0,0
$GC,11612,0.56,238.0,774.6,17.0,796,11616,0.00,2.12,0.00,0.000,6,0.000,0.028,2526,2124,1894,0,0,0,0,0,0
$GC,11941,0.56,238.0,726.0,14.6,812,11945,0.00,2.12,0.00,0.000,4,0.000,0.038,2537,717,1894,0,0,0,0,0,0
$GC,12012,0.56,238.0,715.3,14.0,815,12017,0.12,2.12,0.00,0.000,6,0.171,0.032,2505,2120,1894,0,0,0,0,0,0
$GC,12336,0.57,244.6,677.0,11.5,831,12347,0.00,2.22,6.45,0.757,4,0.000,0.041,2506,3538,1871,0,0,0,0,0,0
$GC,12414,0.57,244.6,666.8,13.0,834,12421,0.00,2.15,0.00,0.000,6,0.000,0.028,2514,2125,1870,0,0,0,0,0,0
$GC,12732,0.57,244.6,626.8,12.8,850,12736,0.00,2.15,0.00,0.000,4,0.000,0.038,2524,721,1870,0,0,0,0,0,0
$GC,12799,0.57,244.6,617.8,13.1,853,12803,0.00,2.15,0.00,0.000,6,0.000,0.033,2525,2129,1870,0,0,0,0,0,0
$GC,13120,0.57,244.6,576.3,12.6,869,13121,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2129,1870,0,0,0,0,0,0
$GC,13429,0.57,244.6,537.4,12.4,884,13433,0.00,2.17,0.00,0.000,4,0.000,0.044,2524,3537,1870,0,0,0,0,0,0
$GC,13498,0.57,244.6,528.5,12.9,887,13502,0.00,2.12,0.00,0.000,6,0.000,0.028,2533,2128,1870,0,0,0,0,0,0
$GC,13821,0.66,314.2,494.5,9.3,905,13879,0.00,2.22,53.28,0.780,4,0.000,0.038,2544,711,1587,0,0,0,0,0,0
$GC,13958,0.72,367.6,480.8,9.8,917,14010,0.00,2.22,41.25,0.746,6,0.000,0.033,2545,2131,1369,0,0,0,0,0,0
$GC,14328,0.72,367.6,434.0,13.6,952,14332,0.00,2.22,0.00,0.000,4,0.000,0.045,2545,3542,1372,0,0,0,0,0,0
$GC,14423,0.72,367.6,418.6,15.8,960,14430,0.00,2.17,0.00,0.000,6,0.000,0.027,2554,2140,1372,0,0,0,0,0,0
$GC,14749,0.72,367.6,367.8,15.0,991,14753,0.00,2.15,0.00,0.000,4,0.000,0.037,2565,721,1374,0,0,0,0,0,0
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$STATE,17735,end climb,SURFACE_DEPTH_REACHED
$STATE,17735,begin surface coast
$FINISH,0.2,1.020694
$STATE,17758,end surface coast,CONTROL_FINISHED_OK
$STATE,17758,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,44.17
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.1,57.317
$10V_AH,9.8,52.904
$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
$DEVICE_SECS,16.600,181.075,641.800,0.000,0.000,25.839,38.746,185.560,0.000,0.000,13.722,3442.424,10235.464,714.273,3428.564,399.913,0.000,2253.781,0.000,2666.217,0.000,0.541,0.000
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$SENSOR_SECS,983.928,2150.019,683.882,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93695,1412
$CAP_FILE_SIZE,194684,0
$CFSIZE,260165632,218099712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160811,131606,2144.129,12000.749,28,0.9,28,-2.6