version: 66.09
glider: 181
mission: 6
dive: 358
start: 8 17 111 3 33 58
data:
$ID,181
$MISSION,6
$DIVE,358
$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,-40986.461
$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,48
$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
$GPS1,170811,032300,2143.499,11958.929,35,0.9,40,-2.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.8
$GPS2,170811,033332,2143.592,11958.818,11,1.5,11,-2.6
$SPEED_LIMITS,0.204,0.329
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,182.2,302980,-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,14,begin dive
$GC,16,-0.54,-219.0,0.0,0.0,0,83,0.00,0.00,-64.47,0.000,2,0.000,0.000,201,2611,2276,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.2,-3.2,10,135,8.05,2.15,-33.20,0.000,4,0.227,0.037,2134,1183,3763,0,0,0,0,0,0
$GC,170,-0.54,-219.0,27.0,-33.1,23,177,0.00,2.20,0.00,0.000,6,0.000,0.041,2125,2588,3763,0,0,0,0,0,0
$GC,309,-0.54,-219.0,77.1,-38.0,48,317,0.00,1.88,0.00,0.000,4,0.000,0.045,2116,3784,3762,0,0,0,0,0,0
$GC,385,-0.54,-219.0,96.8,-24.2,61,392,0.00,1.73,0.00,0.000,6,0.000,0.023,2116,2617,3762,0,0,0,0,0,0
$GC,524,-0.54,-219.0,124.8,-18.8,86,532,0.00,2.10,0.00,0.000,4,0.000,0.027,2116,1202,3762,0,0,0,0,0,0
$GC,580,-0.54,-219.0,135.0,-17.0,95,588,0.12,2.25,0.00,0.000,6,0.161,0.034,2144,2674,3763,0,0,0,0,0,0
$GC,721,-0.54,-219.0,158.4,-16.6,120,729,0.00,2.20,0.00,0.000,4,0.000,0.027,2145,1210,3762,0,0,0,0,0,0
$GC,758,-0.54,-219.0,164.3,-15.9,126,766,0.00,2.20,0.00,0.000,6,0.000,0.033,2140,2633,3763,0,0,0,0,0,0
$GC,900,-0.54,-219.0,187.0,-17.2,151,906,0.00,1.75,0.00,0.000,4,0.000,0.041,2130,3790,3763,0,0,0,0,0,0
$GC,962,-0.54,-219.0,196.8,-14.4,162,970,0.00,1.73,0.00,0.000,6,0.000,0.023,2131,2620,3763,0,0,0,0,0,0
$GC,1106,-0.54,-219.0,216.2,-12.9,177,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2618,3762,0,0,0,0,0,0
$GC,1425,-0.54,-219.0,256.5,-13.4,207,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2619,3762,0,0,0,0,0,0
$GC,1744,-0.54,-219.0,297.4,-13.5,237,1748,0.00,2.08,0.00,0.000,4,0.000,0.028,2130,1203,3759,0,0,0,0,0,0
$GC,1776,-0.54,-219.0,302.0,-12.7,239,1784,0.00,2.20,0.00,0.000,6,0.000,0.034,2126,2631,3759,0,0,0,0,0,0
$GC,2103,-0.54,-219.0,342.3,-11.7,270,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2631,3755,0,0,0,0,0,0
$GC,2422,-0.54,-219.0,374.6,-10.7,300,2426,0.00,1.75,0.00,0.000,4,0.000,0.045,2125,3783,3752,0,0,0,0,0,0
$GC,2448,-0.54,-219.0,377.4,-10.7,302,2452,0.00,1.67,0.00,0.000,6,0.000,0.024,2125,2628,3752,0,0,0,0,0,0
$GC,2779,-0.54,-219.0,418.4,-12.8,333,2783,0.00,2.10,0.00,0.000,4,0.000,0.030,2125,1197,3749,0,0,0,0,0,0
$GC,2847,-0.54,-219.0,426.7,-11.4,338,2854,0.00,2.17,0.00,0.000,6,0.000,0.035,2125,2615,3749,0,0,0,0,0,0
$GC,3172,-0.54,-219.0,466.2,-11.8,369,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2615,3745,0,0,0,0,0,0
$GC,3490,-0.54,-219.0,505.8,-13.1,397,3493,0.00,2.10,0.00,0.000,4,0.000,0.029,2125,1204,3742,0,0,0,0,0,0
$GC,3522,-0.54,-219.0,510.4,-13.1,398,3530,0.00,2.20,0.00,0.000,6,0.000,0.036,2125,2612,3742,0,0,0,0,0,0
$GC,3841,-0.54,-219.0,547.6,-11.4,414,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2613,3739,0,0,0,0,0,0
$GC,4149,-0.54,-219.0,583.4,-11.6,429,4153,0.00,2.12,0.00,0.000,4,0.000,0.031,2125,1204,3736,0,0,0,0,0,0
$GC,4189,-0.54,-219.0,588.1,-12.1,431,4193,0.00,2.15,0.00,0.000,6,0.000,0.036,2125,2604,3736,0,0,0,0,0,0
$GC,4517,-0.54,-219.0,624.9,-11.0,447,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2605,3732,0,0,0,0,0,0
$GC,4825,-0.54,-219.0,656.2,-9.8,462,4829,0.00,1.80,0.00,0.000,4,0.000,0.047,2124,3776,3730,0,0,0,0,0,0
$GC,4842,-0.54,-219.0,658.1,-9.5,462,4849,0.00,1.77,0.00,0.000,6,0.000,0.028,2124,2603,3730,0,0,0,0,0,0
$GC,5159,-0.54,-219.0,685.0,-8.1,478,5163,0.00,2.08,0.00,0.000,4,0.000,0.032,2124,1206,3729,0,0,0,0,0,0
$GC,5203,-0.54,-219.0,688.8,-8.2,480,5207,0.00,2.12,0.00,0.000,6,0.000,0.037,2124,2584,3727,0,0,0,0,0,0
$GC,5530,-0.54,-219.0,716.9,-9.1,496,5534,0.00,1.85,0.00,0.000,4,0.000,0.049,2122,3783,3725,0,0,0,0,0,0
$GC,5564,-0.54,-219.0,720.1,-8.9,497,5567,0.00,1.77,0.00,0.000,6,0.000,0.027,2122,2580,3725,0,0,0,0,0,0
$GC,5886,-0.54,-219.0,752.7,-10.7,513,5889,0.00,2.03,0.00,0.000,4,0.000,0.032,2122,1209,3720,0,0,0,0,0,0
$GC,5932,-0.54,-219.0,757.6,-10.5,515,5936,0.00,2.12,0.00,0.000,6,0.000,0.037,2115,2586,3722,0,0,0,0,0,0
$GC,6260,-0.54,-219.0,795.1,-11.4,531,6264,0.10,1.88,0.00,0.000,4,0.166,0.050,2137,3783,3720,0,0,0,0,0,0
$GC,6284,-0.54,-219.0,797.7,-11.4,532,6288,0.00,1.77,0.00,0.000,6,0.000,0.027,2137,2576,3720,0,0,0,0,0,0
$GC,6620,-0.54,-219.0,821.9,-5.9,548,6623,0.00,2.03,0.00,0.000,4,0.000,0.032,2136,1212,3718,0,0,0,0,0,0
$GC,6675,-0.54,-219.0,825.3,-5.4,550,6678,0.00,2.12,0.00,0.000,6,0.000,0.036,2138,2584,3718,0,0,0,0,0,0
$GC,6999,-0.54,-219.0,839.9,-4.6,566,7003,0.00,1.85,0.00,0.000,4,0.000,0.047,2137,3787,3716,0,0,0,0,0,0
$GC,7105,-0.54,-219.0,846.3,-6.6,570,7112,0.00,1.92,0.00,0.000,6,0.000,0.026,2137,2493,3715,0,0,0,0,0,0
$GC,7424,-0.54,-219.0,869.4,-8.1,586,7427,0.00,1.90,0.00,0.000,4,0.000,0.032,2137,1208,3714,0,0,0,0,0,0
$GC,7485,-0.54,-219.0,875.4,-9.4,588,7492,0.00,2.00,0.00,0.000,6,0.000,0.035,2137,2502,3713,0,0,0,0,0,0
$GC,7802,-0.54,-219.0,906.1,-10.0,604,7806,0.00,1.98,0.00,0.000,4,0.000,0.047,2137,3778,3711,0,0,0,0,0,0
$GC,7875,-0.54,-219.0,914.2,-11.5,607,7879,0.00,1.95,0.00,0.000,6,0.000,0.024,2137,2491,3711,0,0,0,0,0,0
$GC,8203,-0.54,-219.0,948.0,-10.0,623,8207,0.00,1.90,0.00,0.000,4,0.000,0.031,2143,1204,3711,0,0,0,0,0,0
$GC,8438,-0.54,-219.0,970.2,-9.3,633,8442,0.00,1.95,0.00,0.000,6,0.000,0.035,2143,2479,3710,0,0,0,0,0,0
$STATE,8716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8716,begin apogee
$GC,8722,-0.13,0.0,991.1,7.1,647,8893,0.35,0.00,164.50,1.085,4,0.062,0.000,2297,2107,2869,0,0,0,0,0,0
$STATE,8894,end apogee,CONTROL_FINISHED_OK
$STATE,8894,begin climb
$GC,8896,0.54,219.0,999.1,0.0,655,9086,0.55,2.22,177.27,1.063,4,0.047,0.037,2514,732,1976,0,0,0,0,0,0
$GC,9097,0.54,219.0,985.9,13.7,664,9101,0.00,2.30,0.00,0.000,6,0.000,0.032,2514,2127,1976,0,0,0,0,0,0
$GC,9419,0.54,219.0,940.7,13.8,680,9423,0.00,2.22,0.00,0.000,4,0.000,0.044,2514,3542,1973,0,0,0,0,0,0
$GC,9442,0.54,219.0,937.3,14.4,681,9447,0.00,2.15,0.00,0.000,6,0.000,0.027,2524,2128,1975,0,0,0,0,0,0
$GC,9770,0.54,219.0,891.3,13.6,697,9773,0.00,2.12,0.00,0.000,4,0.000,0.036,2534,722,1974,0,0,0,0,0,0
$GC,9825,0.54,219.0,883.7,13.3,699,9833,0.15,2.17,0.00,0.000,6,0.162,0.033,2495,2128,1974,0,0,0,0,0,0
$GC,10142,0.55,227.6,847.2,11.5,715,10156,0.00,2.25,8.27,0.871,4,0.000,0.044,2495,3538,1940,0,0,0,0,0,0
$GC,10208,0.55,227.6,838.3,14.1,718,10212,0.00,2.15,0.00,0.000,6,0.000,0.027,2504,2116,1944,0,0,0,0,0,0
$GC,10537,0.57,246.0,799.5,11.1,734,10556,0.00,0.00,16.08,0.905,6,0.000,0.000,2504,2116,1866,0,0,0,0,0,0
$GC,10867,0.62,286.5,764.3,10.3,750,10907,0.00,2.20,32.08,0.920,4,0.000,0.036,2514,717,1701,0,0,0,0,0,0
$GC,10932,0.69,343.2,757.5,9.7,753,10984,0.00,2.22,45.22,0.911,6,0.000,0.032,2514,2140,1469,0,0,0,0,0,0
$GC,11306,0.71,356.8,716.7,11.3,771,11329,0.10,2.25,12.73,0.835,4,0.109,0.043,2559,3535,1414,0,0,0,0,0,0
$GC,11410,0.71,356.8,699.9,17.2,775,11414,0.00,2.12,0.00,0.000,6,0.000,0.026,2569,2139,1415,0,0,0,0,0,0
$GC,11727,0.71,356.8,642.0,18.6,790,11729,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2138,1415,0,0,0,0,0,0
$GC,12036,0.71,356.8,586.2,17.1,805,12040,0.00,2.17,0.00,0.000,4,0.000,0.042,2569,3536,1414,0,0,0,0,0,0
$GC,12135,0.71,356.8,568.2,17.2,809,12142,0.00,2.12,0.00,0.000,6,0.000,0.027,2579,2154,1415,0,0,0,0,0,0
$GC,12452,0.71,356.8,516.3,16.1,825,12456,0.00,2.15,0.00,0.000,4,0.000,0.035,2590,723,1414,0,0,0,0,0,0
$GC,12538,0.71,356.8,503.6,14.9,829,12543,0.15,2.17,0.00,0.000,6,0.158,0.032,2550,2146,1414,0,0,0,0,0,0
$GC,12863,0.71,357.5,462.5,11.8,858,12867,0.00,2.15,0.00,0.000,4,0.000,0.044,2550,3539,1414,0,0,0,0,0,0
$GC,12940,0.71,357.5,452.6,12.8,864,12947,0.00,2.12,0.00,0.000,6,0.000,0.028,2558,2152,1414,0,0,0,0,0,0
$GC,13266,0.71,357.5,413.3,12.7,895,13270,0.00,2.15,0.00,0.000,4,0.000,0.036,2569,730,1414,0,0,0,0,0,0
$GC,13332,0.71,357.5,404.6,12.9,900,13339,0.00,2.20,0.00,0.000,6,0.000,0.032,2569,2160,1415,0,0,0,0,0,0
$GC,13658,0.71,357.5,353.1,16.7,931,13662,0.00,2.12,0.00,0.000,4,0.000,0.044,2569,3541,1415,0,0,0,0,0,0
$GC,13709,0.71,357.5,344.1,18.0,935,13713,0.00,2.10,0.00,0.000,6,0.000,0.027,2578,2141,1416,0,0,0,0,0,0
$GC,14040,0.71,357.5,290.0,15.1,966,14044,0.00,2.12,0.00,0.000,4,0.000,0.036,2589,723,1415,0,0,0,0,0,0
$GC,14114,0.71,357.5,279.6,13.9,972,14119,0.15,2.17,0.00,0.000,6,0.150,0.032,2548,2153,1416,0,0,0,0,0,0
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$GC,16286,1.19,742.9,23.5,13.1,1292,16295,0.10,2.15,0.00,0.000,6,0.112,0.030,2701,2111,438,0,0,0,0,0,0
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$STATE,16480,end climb,SURFACE_DEPTH_REACHED
$STATE,16481,begin surface coast
$FINISH,1.3,1.020505
$STATE,16492,end surface coast,CONTROL_FINISHED_OK
$STATE,16492,begin surface
$SM_CCo,16571,0.00,0.000,0,0,439,596.08
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$IRIDIUM_FIX,2136.49,11957.35,160811,222224
$TT8_MAMPS,0.027713,0.027713
$HUMID,43.10
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,23.2,57.971
$10V_AH,9.8,53.424
$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,16.750,170.625,646.975,0.000,0.000,85.036,71.548,184.213,0.250,0.000,14.651,3189.145,9726.231,729.414,3161.705,380.614,0.000,2118.122,0.000,2332.685,0.000,0.541,0.000
$DEVICE_MAMPS,227.205,49.725,1084.770,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,922.994,2020.936,642.076,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323556
$DATA_FILE_SIZE,90565,1328
$CAP_FILE_SIZE,181429,0
$CFSIZE,260165632,217718784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170811,081124,2142.443,11958.753,37,1.3,38,-2.6