version: 66.09
glider: 181
mission: 6
dive: 399
start: 8 25 111 19 24 3
data:
$ID,181
$MISSION,6
$DIVE,399
$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,-41046.805
$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,70
$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
$GPS1,250811,191807,2058.969,11952.790,24,1.2,24,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.7
$GPS2,250811,192338,2058.941,11952.674,8,1.6,8,-2.4
$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,179.1,220653,-16.3,-11.786
$D_GRID,3334
$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,-219.0,0.0,0.0,0,86,0.00,0.00,-68.15,0.000,2,0.000,0.000,198,2638,2361,0,0,0,0,0,0
$GC,89,-0.54,-219.0,3.6,-3.8,12,137,7.97,2.20,-29.52,0.000,4,0.224,0.037,2139,1183,3764,0,0,0,0,0,0
$GC,206,-0.54,-219.0,32.0,-16.6,32,213,0.00,2.12,0.00,0.000,6,0.000,0.035,2136,2566,3764,0,0,0,0,0,0
$GC,349,-0.54,-219.0,70.5,-26.5,57,356,0.00,1.88,0.00,0.000,4,0.000,0.043,2126,3781,3763,0,0,0,0,0,0
$GC,442,-0.54,-219.0,87.0,-14.9,73,448,0.00,1.67,0.00,0.000,6,0.000,0.023,2127,2634,3763,0,0,0,0,0,0
$GC,585,-0.54,-219.0,113.2,-19.9,98,591,0.00,1.77,0.00,0.000,4,0.000,0.041,2118,3790,3763,0,0,0,0,0,0
$GC,598,-0.54,-219.0,115.7,-18.7,100,605,0.00,1.67,0.00,0.000,6,0.000,0.023,2118,2637,3763,0,0,0,0,0,0
$GC,743,-0.54,-219.0,143.3,-18.1,125,750,0.00,2.10,0.00,0.000,4,0.000,0.026,2118,1185,3764,0,0,0,0,0,0
$GC,785,-0.54,-219.0,150.0,-14.4,132,792,0.12,2.20,0.00,0.000,6,0.154,0.032,2146,2638,3764,0,0,0,0,0,0
$GC,932,-0.54,-219.0,168.2,-12.3,157,939,0.00,1.73,0.00,0.000,4,0.000,0.041,2139,3786,3764,0,0,0,0,0,0
$GC,964,-0.54,-219.0,172.3,-12.1,162,971,0.00,1.67,0.00,0.000,6,0.000,0.022,2139,2625,3764,0,0,0,0,0,0
$GC,1109,-0.54,-219.0,191.4,-13.1,187,1116,0.00,2.08,0.00,0.000,4,0.000,0.027,2139,1196,3764,0,0,0,0,0,0
$GC,1168,-0.54,-219.0,197.9,-9.9,197,1174,0.00,2.12,0.00,0.000,6,0.000,0.032,2138,2605,3764,0,0,0,0,0,0
$GC,1311,-0.54,-219.0,214.2,-12.8,212,1315,0.00,1.77,0.00,0.000,4,0.000,0.041,2131,3786,3764,0,0,0,0,0,0
$GC,1327,-0.54,-219.0,216.8,-12.8,213,1334,0.00,1.77,0.00,0.000,6,0.000,0.023,2131,2575,3764,0,0,0,0,0,0
$GC,1653,-0.54,-219.0,255.9,-10.7,244,1657,0.00,1.98,0.00,0.000,4,0.000,0.027,2131,1213,3763,0,0,0,0,0,0
$GC,1737,-0.54,-219.0,264.0,-8.8,251,1744,0.00,2.05,0.00,0.000,6,0.000,0.032,2125,2567,3763,0,0,0,0,0,0
$GC,2063,-0.54,-219.0,300.5,-11.2,282,2067,0.00,1.88,0.00,0.000,4,0.000,0.044,2125,3778,3761,0,0,0,0,0,0
$GC,2109,-0.54,-219.0,305.4,-10.7,286,2113,0.00,1.75,0.00,0.000,6,0.000,0.024,2124,2577,3760,0,0,0,0,0,0
$GC,2440,-0.54,-219.0,341.4,-10.1,317,2444,0.00,2.00,0.00,0.000,4,0.000,0.028,2125,1204,3757,0,0,0,0,0,0
$GC,2475,-0.54,-219.0,345.1,-10.2,320,2479,0.00,2.08,0.00,0.000,6,0.000,0.033,2124,2570,3758,0,0,0,0,0,0
$GC,2801,-0.54,-219.0,378.1,-10.0,350,2804,0.00,1.85,0.00,0.000,4,0.000,0.044,2122,3776,3754,0,0,0,0,0,0
$GC,2839,-0.54,-219.0,382.0,-9.4,353,2846,0.00,1.75,0.00,0.000,6,0.000,0.024,2122,2566,3754,0,0,0,0,0,0
$GC,3165,-0.54,-219.0,416.9,-11.1,384,3169,0.00,2.03,0.00,0.000,4,0.000,0.028,2122,1213,3752,0,0,0,0,0,0
$GC,3188,-0.54,-219.0,419.6,-11.4,386,3193,0.12,2.08,0.00,0.000,6,0.141,0.034,2150,2576,3752,0,0,0,0,0,0
$GC,3514,-0.54,-219.0,446.2,-8.0,416,3517,0.00,1.85,0.00,0.000,4,0.000,0.044,2148,3785,3748,0,0,0,0,0,0
$GC,3552,-0.54,-219.0,449.4,-8.0,419,3559,0.00,1.75,0.00,0.000,6,0.000,0.025,2148,2589,3749,0,0,0,0,0,0
$GC,3878,-0.54,-219.0,474.3,-7.6,450,3882,0.00,1.85,0.00,0.000,4,0.000,0.043,2146,3786,3746,0,0,0,0,0,0
$GC,3950,-0.54,-219.0,480.5,-8.6,456,3957,0.00,1.90,0.00,0.000,6,0.000,0.024,2147,2486,3745,0,0,0,0,0,0
$GC,4285,-0.54,-219.0,509.0,-8.2,483,4289,0.00,2.00,0.00,0.000,4,0.000,0.042,2147,3776,3742,0,0,0,0,0,0
$GC,4544,-0.54,-219.0,533.8,-10.1,494,4548,0.00,1.85,0.00,0.000,6,0.000,0.025,2146,2519,3740,0,0,0,0,0,0
$GC,4866,-0.54,-219.0,560.9,-8.5,510,4869,0.00,1.95,0.00,0.000,4,0.000,0.043,2146,3776,3738,0,0,0,0,0,0
$GC,5092,-0.54,-219.0,581.2,-8.7,520,5095,0.00,1.83,0.00,0.000,6,0.000,0.025,2147,2532,3736,0,0,0,0,0,0
$GC,5425,-0.54,-219.0,608.3,-8.0,536,5428,0.00,1.92,0.00,0.000,4,0.000,0.043,2147,3776,3734,0,0,0,0,0,0
$GC,5606,-0.54,-219.0,624.6,-9.4,544,5609,0.00,1.80,0.00,0.000,6,0.000,0.024,2147,2551,3733,0,0,0,0,0,0
$GC,5939,-0.54,-219.0,654.5,-9.5,560,5943,0.00,1.92,0.00,0.000,4,0.000,0.044,2147,3783,3731,0,0,0,0,0,0
$GC,6197,-0.54,-219.0,680.6,-10.2,571,6200,0.00,1.80,0.00,0.000,6,0.000,0.026,2146,2563,3730,0,0,0,0,0,0
$GC,6519,-0.54,-219.0,709.4,-9.0,587,6522,0.00,1.90,0.00,0.000,4,0.000,0.044,2147,3778,3728,0,0,0,0,0,0
$GC,6722,-0.54,-219.0,728.2,-9.3,596,6726,0.00,1.77,0.00,0.000,6,0.000,0.024,2149,2573,3727,0,0,0,0,0,0
$GC,7056,-0.54,-219.0,755.9,-8.1,612,7060,0.00,1.88,0.00,0.000,4,0.000,0.044,2148,3776,3725,0,0,0,0,0,0
$GC,7314,-0.54,-219.0,779.3,-9.2,623,7318,0.00,1.73,0.00,0.000,6,0.000,0.025,2149,2603,3723,0,0,0,0,0,0
$GC,7636,-0.54,-219.0,807.3,-9.0,639,7640,0.00,1.85,0.00,0.000,4,0.000,0.044,2149,3786,3722,0,0,0,0,0,0
$GC,7895,-0.54,-219.0,833.7,-10.6,650,7899,0.00,1.73,0.00,0.000,6,0.000,0.025,2148,2614,3721,0,0,0,0,0,0
$GC,8217,-0.54,-219.0,866.0,-10.3,666,8221,0.00,1.83,0.00,0.000,4,0.000,0.045,2148,3778,3720,0,0,0,0,0,0
$GC,8330,-0.54,-219.0,878.6,-11.2,671,8334,0.00,1.70,0.00,0.000,6,0.000,0.025,2149,2623,3720,0,0,0,0,0,0
$GC,8664,-0.54,-219.0,912.4,-9.6,687,8669,0.00,1.85,0.00,0.000,4,0.000,0.046,2149,3773,3718,0,0,0,0,0,0
$GC,8782,-0.54,-219.0,924.4,-9.8,692,8785,0.00,1.70,0.00,0.000,6,0.000,0.025,2148,2621,3718,0,0,0,0,0,0
$GC,9110,-0.54,-219.0,953.1,-8.7,708,9114,0.00,2.12,0.00,0.000,4,0.000,0.032,2157,1202,3716,0,0,0,0,0,0
$GC,9190,-0.54,-219.0,960.5,-9.2,711,9197,0.00,2.20,0.00,0.000,6,0.000,0.034,2157,2634,3716,0,0,0,0,0,0
$GC,9507,-0.54,-219.0,989.1,-9.2,727,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2635,3715,0,0,0,0,0,0
$STATE,9524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9524,begin apogee
$GC,9531,-0.13,0.0,991.0,9.3,728,9703,0.30,0.00,167.38,1.082,4,0.060,0.000,2295,2132,2869,0,0,0,0,0,0
$STATE,9704,end apogee,CONTROL_FINISHED_OK
$STATE,9704,begin climb
$GC,9707,0.54,219.0,1002.2,0.0,736,9893,0.52,2.30,178.05,1.062,4,0.047,0.036,2507,717,1976,0,0,0,0,0,0
$GC,10078,0.57,242.9,975.1,10.9,753,10107,0.00,2.20,20.65,0.988,6,0.000,0.033,2507,2128,1878,0,0,0,0,0,0
$GC,10418,0.60,264.1,936.8,11.0,770,10441,0.00,2.28,17.92,0.976,4,0.000,0.036,2516,723,1792,0,0,0,0,0,0
$GC,10600,0.62,286.8,916.6,11.0,778,10625,0.00,2.20,19.92,0.965,6,0.000,0.034,2516,2130,1699,0,0,0,0,0,0
$GC,10953,0.62,286.8,874.6,12.1,795,10957,0.00,2.20,0.00,0.000,4,0.000,0.044,2516,3536,1698,0,0,0,0,0,0
$GC,11008,0.62,286.8,866.9,14.5,797,11012,0.00,2.12,0.00,0.000,6,0.000,0.028,2526,2138,1696,0,0,0,0,0,0
$GC,11330,0.62,286.8,822.2,14.1,813,11334,0.00,2.15,0.00,0.000,4,0.000,0.036,2537,724,1696,0,0,0,0,0,0
$GC,11397,0.62,286.8,812.8,13.3,816,11401,0.00,2.17,0.00,0.000,6,0.000,0.033,2537,2135,1696,0,0,0,0,0,0
$GC,11725,0.62,286.8,764.8,14.8,832,11729,0.00,2.17,0.00,0.000,4,0.000,0.044,2537,3534,1696,0,0,0,0,0,0
$GC,11764,0.62,286.8,758.3,16.7,834,11768,0.00,2.12,0.00,0.000,6,0.000,0.028,2547,2128,1695,0,0,0,0,0,0
$GC,12092,0.62,286.8,709.8,14.5,850,12096,0.00,2.12,0.00,0.000,4,0.000,0.036,2557,723,1695,0,0,0,0,0,0
$GC,12142,0.62,286.8,702.6,13.7,852,12147,0.12,2.15,0.00,0.000,6,0.166,0.033,2526,2124,1696,0,0,0,0,0,0
$GC,12458,0.64,300.5,664.7,11.3,867,12480,0.00,2.30,11.95,0.822,4,0.000,0.044,2526,3541,1643,0,0,0,0,0,0
$GC,12538,0.64,300.5,655.2,12.5,870,12542,0.00,2.15,0.00,0.000,6,0.000,0.028,2533,2129,1642,0,0,0,0,0,0
$GC,12854,0.64,302.7,618.5,11.7,885,12858,0.00,2.15,0.00,0.000,4,0.000,0.036,2544,721,1642,0,0,0,0,0,0
$GC,12880,0.64,302.7,615.3,12.0,886,12884,0.00,2.17,0.00,0.000,6,0.000,0.033,2544,2137,1642,0,0,0,0,0,0
$GC,13209,0.64,302.7,574.9,12.6,902,13213,0.00,2.17,0.00,0.000,4,0.000,0.044,2544,3539,1642,0,0,0,0,0,0
$GC,13294,0.64,302.7,562.6,14.7,906,13298,0.00,2.10,0.00,0.000,6,0.000,0.028,2554,2151,1642,0,0,0,0,0,0
$GC,13622,0.64,302.7,517.6,13.9,922,13626,0.00,2.17,0.00,0.000,4,0.000,0.037,2565,712,1642,0,0,0,0,0,0
$GC,13694,0.64,302.7,507.1,14.0,925,13698,0.15,2.20,0.00,0.000,6,0.155,0.033,2525,2151,1642,0,0,0,0,0,0
$GC,14017,0.64,302.7,467.2,12.2,952,14021,0.00,2.15,0.00,0.000,4,0.000,0.044,2525,3538,1642,0,0,0,0,0,0
$GC,14090,0.64,302.7,457.2,13.5,958,14094,0.00,2.08,0.00,0.000,6,0.000,0.028,2533,2161,1642,0,0,0,0,0,0
$GC,14415,0.64,302.7,414.9,12.8,988,14419,0.00,2.17,0.00,0.000,4,0.000,0.037,2544,727,1642,0,0,0,0,0,0
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$STATE,18016,end climb,SURFACE_DEPTH_REACHED
$STATE,18017,begin surface coast
$FINISH,0.4,1.008165
$STATE,18046,end surface coast,CONTROL_FINISHED_OK
$STATE,18046,begin surface
$SM_CCo,18124,0.00,0.000,0,0,439,596.08
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$IRIDIUM_FIX,2052.52,11958.44,250811,141440
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.88
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,23.2,64.982
$10V_AH,9.9,58.412
$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
$DEVICE_SECS,16.600,192.175,654.900,0.000,0.000,27.596,17.873,144.704,0.250,0.000,12.893,3567.361,10610.320,767.881,3097.381,400.013,0.000,2356.884,0.000,2871.080,0.000,0.541,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1013.382,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323524
$DATA_FILE_SIZE,83606,1462
$CAP_FILE_SIZE,207470,0
$CFSIZE,260165632,213647360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260811,002725,2057.176,11951.682,40,1.2,40,-2.4