version: 66.09
glider: 181
mission: 6
dive: 378
start: 8 21 111 9 0 20
data:
$ID,181
$MISSION,6
$DIVE,378
$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,-41011.633
$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,38
$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
$GPS1,210811,085254,2131.101,11952.828,35,1.6,35,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.5
$GPS2,210811,085955,2131.073,11952.765,15,1.7,15,-2.5
$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,179.9,280075,-16.3,-11.786
$D_GRID,3054
$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,-64.32,0.000,2,0.000,0.000,206,2626,2271,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.2,-3.5,10,135,8.20,2.17,-33.03,0.000,4,0.234,0.037,2134,1175,3759,0,0,0,0,0,0
$GC,198,-0.54,-219.0,33.6,-23.0,28,206,0.00,2.22,0.00,0.000,6,0.000,0.036,2126,2588,3756,0,0,0,0,0,0
$GC,339,-0.54,-219.0,73.2,-30.4,53,346,0.00,1.88,0.00,0.000,4,0.000,0.044,2116,3780,3756,0,0,0,0,0,0
$GC,430,-0.54,-219.0,99.8,-27.1,69,437,0.00,1.70,0.00,0.000,6,0.000,0.024,2116,2638,3755,0,0,0,0,0,0
$GC,572,-0.54,-219.0,133.3,-25.3,94,581,0.00,2.12,0.00,0.000,4,0.000,0.026,2116,1202,3755,0,0,0,0,0,0
$GC,605,-0.54,-219.0,141.1,-23.5,99,613,0.12,2.17,0.00,0.000,6,0.160,0.034,2144,2622,3753,0,0,0,0,0,0
$GC,746,-0.54,-219.0,160.5,-13.3,124,755,0.00,1.83,-0.10,0.000,4,0.000,0.059,2138,3775,3771,0,0,0,0,0,0
$GC,805,-0.54,-219.0,167.1,-9.7,134,814,0.00,1.65,0.00,0.000,6,0.000,0.022,2138,2656,3770,0,0,0,0,0,0
$GC,949,-0.54,-219.0,182.1,-11.0,159,955,0.00,2.12,0.00,0.000,4,0.000,0.027,2138,1201,3771,0,0,0,0,0,0
$GC,1011,-0.54,-219.0,189.0,-9.7,170,1019,0.00,2.22,0.00,0.000,6,0.000,0.033,2138,2646,3771,0,0,0,0,0,0
$GC,1159,-0.54,-219.0,205.0,-11.7,192,1163,0.00,1.75,0.00,0.000,4,0.000,0.041,2130,3779,3771,0,0,0,0,0,0
$GC,1205,-0.54,-219.0,210.2,-10.8,196,1209,0.00,1.65,0.00,0.000,6,0.000,0.023,2130,2633,3772,0,0,0,0,0,0
$GC,1536,-0.54,-219.0,252.8,-14.4,227,1540,0.00,2.08,0.00,0.000,4,0.000,0.027,2130,1204,3770,0,0,0,0,0,0
$GC,1610,-0.54,-219.0,262.2,-11.6,233,1614,0.00,2.17,0.00,0.000,6,0.000,0.032,2127,2641,3770,0,0,0,0,0,0
$GC,1935,-0.54,-219.0,304.1,-11.8,263,1939,0.00,1.75,0.00,0.000,4,0.000,0.043,2125,3770,3768,0,0,0,0,0,0
$GC,1970,-0.54,-219.0,308.3,-12.1,266,1974,0.00,1.65,0.00,0.000,6,0.000,0.023,2125,2628,3767,0,0,0,0,0,0
$GC,2301,-0.54,-219.0,354.2,-14.3,297,2305,0.00,2.10,0.00,0.000,4,0.000,0.028,2125,1189,3765,0,0,0,0,0,0
$GC,2342,-0.54,-219.0,359.6,-13.0,300,2346,0.00,2.22,0.00,0.000,6,0.000,0.034,2125,2652,3762,0,0,0,0,0,0
$GC,2668,-0.54,-219.0,400.6,-12.1,330,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2652,3762,0,0,0,0,0,0
$GC,2987,-0.54,-219.0,433.5,-9.8,360,2991,0.00,2.17,0.00,0.000,4,0.000,0.028,2125,1193,3757,0,0,0,0,0,0
$GC,3031,-0.54,-219.0,438.2,-10.0,363,3038,0.00,2.22,0.00,0.000,6,0.000,0.034,2125,2652,3759,0,0,0,0,0,0
$GC,3359,-0.54,-219.0,472.9,-10.4,394,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2652,3756,0,0,0,0,0,0
$GC,3686,-0.54,-219.0,506.1,-9.8,422,3690,0.00,2.20,0.00,0.000,4,0.000,0.030,2125,1195,3753,0,0,0,0,0,0
$GC,3713,-0.54,-219.0,509.1,-9.8,423,3717,0.00,2.22,0.00,0.000,6,0.000,0.035,2125,2646,3752,0,0,0,0,0,0
$GC,4035,-0.54,-219.0,541.5,-10.5,439,4039,0.00,2.17,0.00,0.000,4,0.000,0.031,2125,1197,3750,0,0,0,0,0,0
$GC,4063,-0.54,-219.0,544.9,-10.9,440,4067,0.00,2.22,0.00,0.000,6,0.000,0.036,2125,2638,3751,0,0,0,0,0,0
$GC,4385,-0.54,-219.0,579.6,-11.0,456,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2638,3747,0,0,0,0,0,0
$GC,4694,-0.54,-219.0,610.4,-9.9,471,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2638,3745,0,0,0,0,0,0
$GC,5004,-0.54,-219.0,640.1,-9.8,486,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2638,3743,0,0,0,0,0,0
$GC,5312,-0.54,-219.0,667.8,-8.3,501,5316,0.00,2.15,0.00,0.000,4,0.000,0.031,2125,1206,3740,0,0,0,0,0,0
$GC,5380,-0.54,-219.0,673.4,-7.8,504,5384,0.00,2.22,0.00,0.000,6,0.000,0.035,2125,2635,3738,0,0,0,0,0,0
$GC,5707,-0.54,-219.0,701.3,-8.9,520,5711,0.00,2.15,0.00,0.000,4,0.000,0.031,2125,1207,3738,0,0,0,0,0,0
$GC,5747,-0.54,-219.0,704.9,-9.0,522,5751,0.00,2.17,0.00,0.000,6,0.000,0.036,2125,2617,3737,0,0,0,0,0,0
$GC,6075,-0.54,-219.0,731.5,-7.7,538,6079,0.00,1.85,0.00,0.000,4,0.000,0.049,2125,3781,3735,0,0,0,0,0,0
$GC,6114,-0.54,-219.0,734.5,-7.5,539,6121,0.00,1.70,0.00,0.000,6,0.000,0.025,2125,2616,3735,0,0,0,0,0,0
$GC,6431,-0.54,-219.0,758.0,-7.7,555,6435,0.00,2.10,0.00,0.000,4,0.000,0.031,2125,1201,3732,0,0,0,0,0,0
$GC,6487,-0.54,-219.0,762.1,-7.0,557,6494,0.00,2.17,0.00,0.000,6,0.000,0.036,2125,2616,3732,0,0,0,0,0,0
$GC,6803,-0.54,-219.0,786.8,-8.2,573,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2617,3731,0,0,0,0,0,0
$GC,7113,-0.54,-219.0,813.8,-9.0,588,7117,0.00,2.12,0.00,0.000,4,0.000,0.031,2125,1209,3730,0,0,0,0,0,0
$GC,7140,-0.54,-219.0,816.5,-9.1,589,7144,0.00,2.17,0.00,0.000,6,0.000,0.037,2125,2613,3730,0,0,0,0,0,0
$GC,7461,-0.54,-219.0,846.4,-9.9,605,7465,0.00,1.80,0.00,0.000,4,0.000,0.049,2125,3776,3728,0,0,0,0,0,0
$GC,7495,-0.54,-219.0,849.8,-9.9,606,7499,0.00,1.73,0.00,0.000,6,0.000,0.026,2125,2608,3727,0,0,0,0,0,0
$GC,7817,-0.54,-219.0,880.0,-9.8,622,7821,0.00,2.10,0.00,0.000,4,0.000,0.031,2125,1196,3726,0,0,0,0,0,0
$GC,7858,-0.54,-219.0,883.8,-9.4,624,7862,0.00,2.20,0.00,0.000,6,0.000,0.036,2125,2614,3726,0,0,0,0,0,0
$GC,8186,-0.54,-219.0,914.0,-9.0,640,8190,0.00,1.80,0.00,0.000,4,0.000,0.048,2124,3776,3724,0,0,0,0,0,0
$GC,8219,-0.54,-219.0,917.0,-8.9,641,8223,0.00,1.73,0.00,0.000,6,0.000,0.026,2124,2610,3724,0,0,0,0,0,0
$GC,8542,-0.54,-219.0,942.7,-7.8,657,8546,0.00,2.10,0.00,0.000,4,0.000,0.031,2124,1199,3722,0,0,0,0,0,0
$GC,8597,-0.54,-219.0,946.9,-7.2,659,8604,0.00,2.20,0.00,0.000,6,0.000,0.037,2124,2615,3722,0,0,0,0,0,0
$GC,8913,-0.54,-219.0,968.5,-6.7,675,8917,0.00,2.12,0.00,0.000,4,0.000,0.031,2124,1206,3721,0,0,0,0,0,0
$GC,8942,-0.54,-219.0,970.6,-6.7,676,8946,0.00,2.17,0.00,0.000,6,0.000,0.037,2124,2605,3721,0,0,0,0,0,0
$STATE,9235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9235,begin apogee
$GC,9241,-0.13,0.0,990.0,6.7,690,9414,0.45,0.00,167.57,1.087,4,0.109,0.000,2275,2103,2868,0,0,0,0,0,0
$STATE,9415,end apogee,CONTROL_FINISHED_OK
$STATE,9415,begin climb
$GC,9418,0.54,219.0,997.7,0.0,698,9606,0.62,2.20,178.27,1.063,4,0.060,0.037,2502,746,1976,0,0,0,0,0,0
$GC,9678,0.59,255.6,981.7,10.5,710,9715,0.00,2.22,31.15,1.008,6,0.000,0.033,2502,2127,1826,0,0,0,0,0,0
$GC,10037,0.63,289.3,941.8,10.6,728,10067,0.00,0.00,27.95,1.009,6,0.000,0.000,2502,2127,1689,0,0,0,0,0,0
$GC,10366,0.67,325.6,907.5,10.5,744,10402,0.10,2.28,29.77,0.996,4,0.106,0.044,2544,3540,1541,0,0,0,0,0,0
$GC,10458,0.67,325.6,894.7,15.7,748,10462,0.00,2.15,0.00,0.000,6,0.000,0.026,2555,2142,1538,0,0,0,0,0,0
$GC,10784,0.67,325.6,841.2,16.8,764,10788,0.00,2.15,0.00,0.000,4,0.000,0.035,2565,722,1539,0,0,0,0,0,0
$GC,10835,0.67,325.6,833.0,15.7,766,10839,0.00,2.17,0.00,0.000,6,0.000,0.034,2565,2125,1540,0,0,0,0,0,0
$GC,11151,0.67,325.6,777.0,17.7,781,11155,0.00,2.22,0.00,0.000,4,0.000,0.044,2565,3535,1542,0,0,0,0,0,0
$GC,11212,0.67,325.6,764.8,19.6,783,11220,0.15,2.12,0.00,0.000,6,0.181,0.027,2538,2130,1542,0,0,0,0,0,0
$GC,11528,0.67,325.6,716.8,14.6,799,11532,0.00,2.12,0.00,0.000,4,0.000,0.036,2547,725,1542,0,0,0,0,0,0
$GC,11571,0.67,325.6,710.4,13.9,801,11576,0.00,2.17,0.00,0.000,6,0.000,0.034,2547,2132,1542,0,0,0,0,0,0
$GC,11900,0.67,325.6,661.4,15.0,817,11904,0.00,2.17,0.00,0.000,4,0.000,0.044,2547,3537,1542,0,0,0,0,0,0
$GC,11971,0.67,325.6,649.2,16.3,820,11976,0.00,2.15,0.00,0.000,6,0.000,0.027,2556,2138,1542,0,0,0,0,0,0
$GC,12294,0.67,325.6,598.2,15.8,836,12298,0.00,2.15,0.00,0.000,4,0.000,0.035,2568,711,1542,0,0,0,0,0,0
$GC,12406,0.67,325.6,581.6,13.6,841,12411,0.08,2.25,0.00,0.000,6,0.142,0.035,2543,2141,1541,0,0,0,0,0,0
$GC,12734,0.67,325.6,540.7,12.0,857,12738,0.00,2.17,0.00,0.000,4,0.000,0.044,2543,3544,1542,0,0,0,0,0,0
$GC,12806,0.67,325.6,530.9,13.2,860,12810,0.00,2.10,0.00,0.000,6,0.000,0.027,2551,2142,1541,0,0,0,0,0,0
$GC,13130,0.67,325.6,488.3,14.2,880,13134,0.00,2.15,0.00,0.000,4,0.000,0.034,2561,714,1541,0,0,0,0,0,0
$GC,13186,0.67,325.6,480.6,13.4,884,13193,0.00,2.22,0.00,0.000,6,0.000,0.033,2561,2161,1542,0,0,0,0,0,0
$GC,13511,0.67,325.6,431.8,15.2,915,13515,0.00,2.12,0.00,0.000,4,0.000,0.044,2561,3534,1541,0,0,0,0,0,0
$GC,13546,0.67,325.6,426.2,16.9,918,13551,0.12,2.10,0.00,0.000,6,0.173,0.026,2539,2144,1542,0,0,0,0,0,0
$GC,13876,0.67,325.6,383.0,13.0,949,13880,0.00,2.15,0.00,0.000,4,0.000,0.036,2549,720,1542,0,0,0,0,0,0
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$STATE,16946,end climb,SURFACE_DEPTH_REACHED
$STATE,16946,begin surface coast
$FINISH,0.3,1.020763
$STATE,16965,end surface coast,CONTROL_FINISHED_OK
$STATE,16965,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,45.66
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,23.1,61.410
$10V_AH,9.7,56.102
$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
$DEVICE_SECS,17.275,182.300,647.925,0.000,0.000,22.383,41.271,197.158,0.250,0.000,18.100,3270.366,9995.916,723.474,3066.954,390.787,0.000,2127.273,0.000,2365.874,0.000,0.541,0.000
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$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,90289,1359
$CAP_FILE_SIZE,186552,0
$CFSIZE,260165632,215666688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210811,134537,2129.206,11952.027,34,1.1,34,-2.5