version: 66.09
glider: 181
mission: 6
dive: 494
start: 9 14 111 6 31 16
data:
$ID,181
$MISSION,6
$DIVE,494
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,170
$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,-41207.633
$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,2300
$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,20
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,140911,062431,1849.665,12024.083,37,1.2,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.7
$GPS2,140911,063020,1849.695,12024.044,11,1.7,11,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,HEADING
$TGT_LATLONG,1839.059,12026.023
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.132,-0.283
$KALMAN_X,14943.2,-725.6,-416.9,31228.8,2551.4
$KALMAN_Y,63561.5,-50.4,254.4,-109836.8,2873.9
$MHEAD_RNG_PITCHd_Wd,172.0,20000,-17.4,-11.786
$D_GRID,3273
$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,16,-0.53,-194.6,0.0,0.0,0,75,0.00,0.00,-56.10,0.000,2,0.000,0.000,180,2505,2075,0,0,0,0,0,0
$GC,78,-0.53,-194.6,3.3,-3.7,10,126,8.38,1.08,-34.35,0.000,4,0.233,0.051,2123,1760,3664,0,0,0,0,0,0
$GC,186,-0.53,-194.6,31.5,-26.8,28,192,0.00,1.12,0.00,0.000,6,0.000,0.037,2119,2490,3663,0,0,0,0,0,0
$GC,328,-0.53,-194.6,72.7,-25.2,53,335,0.00,1.08,0.00,0.000,4,0.000,0.040,2114,3200,3662,0,0,0,0,0,0
$GC,371,-0.53,-194.6,83.2,-26.8,60,377,0.00,1.05,0.00,0.000,6,0.000,0.024,2114,2463,3662,0,0,0,0,0,0
$GC,513,-0.53,-194.6,115.4,-18.4,85,520,0.00,0.90,0.00,0.000,4,0.000,0.023,2114,1811,3662,0,0,0,0,0,0
$GC,605,-0.53,-194.6,130.0,-15.5,101,612,0.00,1.05,0.00,0.000,6,0.000,0.034,2112,2505,3662,0,0,0,0,0,0
$GC,748,-0.53,-194.6,157.9,-19.5,126,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2506,3662,0,0,0,0,0,0
$GC,890,-0.53,-194.6,181.8,-14.8,151,897,0.00,1.05,0.00,0.000,4,0.000,0.039,2107,3206,3663,0,0,0,0,0,0
$GC,1017,-0.53,-194.6,198.5,-13.2,173,1025,0.00,1.00,0.00,0.000,6,0.000,0.024,2107,2500,3663,0,0,0,0,0,0
$GC,1159,-0.53,-194.6,215.5,-12.3,187,1163,0.00,1.08,0.00,0.000,4,0.000,0.037,2101,3206,3663,0,0,0,0,0,0
$GC,1221,-0.53,-194.6,223.6,-13.1,192,1228,0.00,1.00,0.00,0.000,6,0.000,0.024,2101,2501,3663,0,0,0,0,0,0
$GC,1546,-0.53,-194.6,270.5,-14.7,223,1550,0.00,1.10,0.00,0.000,4,0.000,0.040,2097,3202,3663,0,0,0,0,0,0
$GC,1642,-0.53,-194.6,284.8,-15.2,231,1650,0.08,1.00,0.00,0.000,6,0.139,0.024,2122,2498,3662,0,0,0,0,0,0
$GC,1967,-0.53,-194.6,327.7,-13.4,262,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2498,3660,0,0,0,0,0,0
$GC,2287,-0.53,-194.6,367.8,-12.0,292,2290,0.00,1.10,0.00,0.000,4,0.000,0.039,2119,3212,3657,0,0,0,0,0,0
$GC,2391,-0.53,-194.6,378.6,-9.8,301,2395,0.00,1.02,0.00,0.000,6,0.000,0.026,2119,2503,3657,0,0,0,0,0,0
$GC,2722,-0.53,-194.6,407.7,-8.6,332,2726,0.00,1.08,0.00,0.000,4,0.000,0.040,2114,3199,3653,0,0,0,0,0,0
$GC,2772,-0.53,-194.6,412.6,-9.8,336,2778,0.00,1.02,0.00,0.000,6,0.000,0.027,2113,2495,3653,0,0,0,0,0,0
$GC,3097,-0.53,-194.6,445.0,-10.1,367,3101,0.00,1.10,0.00,0.000,4,0.000,0.042,2112,3202,3649,0,0,0,0,0,0
$GC,3181,-0.53,-194.6,454.0,-10.4,374,3187,0.00,1.02,0.00,0.000,6,0.000,0.027,2112,2494,3648,0,0,0,0,0,0
$GC,3506,-0.53,-194.6,488.1,-10.7,405,3510,0.00,1.10,0.00,0.000,4,0.000,0.042,2112,3199,3646,0,0,0,0,0,0
$GC,3574,-0.53,-194.6,495.6,-10.9,411,3578,0.00,1.02,0.00,0.000,6,0.000,0.027,2112,2496,3645,0,0,0,0,0,0
$GC,3908,-0.53,-194.6,531.7,-10.7,429,3909,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2493,3642,0,0,0,0,0,0
$GC,4217,-0.53,-194.6,564.6,-10.8,444,4221,0.00,1.10,0.00,0.000,4,0.000,0.043,2112,3199,3639,0,0,0,0,0,0
$GC,4289,-0.53,-194.6,572.6,-11.2,447,4293,0.00,1.02,0.00,0.000,6,0.000,0.028,2112,2500,3639,0,0,0,0,0,0
$GC,4617,-0.53,-194.6,607.3,-10.5,463,4621,0.00,1.10,0.00,0.000,4,0.000,0.043,2112,3200,3637,0,0,0,0,0,0
$GC,4664,-0.53,-194.6,612.2,-10.5,465,4667,0.00,1.02,0.00,0.000,6,0.000,0.028,2112,2502,3637,0,0,0,0,0,0
$GC,4998,-0.53,-194.6,645.1,-9.8,481,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2499,3634,0,0,0,0,0,0
$GC,5306,-0.53,-194.6,673.8,-8.7,496,5309,0.00,1.10,0.00,0.000,4,0.000,0.044,2112,3196,3632,0,0,0,0,0,0
$GC,5429,-0.53,-194.6,684.1,-7.9,501,5433,0.00,1.02,0.00,0.000,6,0.000,0.028,2111,2497,3631,0,0,0,0,0,0
$GC,5752,-0.53,-194.6,707.3,-6.9,517,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2495,3629,0,0,0,0,0,0
$GC,6060,-0.53,-194.6,727.8,-6.8,532,6064,0.00,1.10,0.00,0.000,4,0.000,0.044,2112,3196,3628,0,0,0,0,0,0
$GC,6175,-0.53,-194.6,735.7,-7.0,537,6178,0.00,1.02,0.00,0.000,6,0.000,0.028,2112,2502,3626,0,0,0,0,0,0
$GC,6508,-0.53,-194.6,761.6,-8.1,553,6511,0.00,1.10,0.00,0.000,4,0.000,0.044,2112,3197,3624,0,0,0,0,0,0
$GC,6609,-0.53,-194.6,770.6,-8.7,557,6613,0.00,1.05,0.00,0.000,6,0.000,0.028,2112,2492,3624,0,0,0,0,0,0
$GC,6931,-0.53,-194.6,801.7,-10.1,573,6934,0.00,1.12,0.00,0.000,4,0.000,0.044,2112,3203,3623,0,0,0,0,0,0
$GC,6994,-0.53,-194.6,808.1,-10.4,575,7000,0.00,1.05,0.00,0.000,6,0.000,0.027,2112,2492,3622,0,0,0,0,0,0
$GC,7311,-0.53,-194.6,841.2,-10.5,591,7315,0.00,1.12,0.00,0.000,4,0.000,0.045,2112,3200,3622,0,0,0,0,0,0
$GC,7379,-0.53,-194.6,848.8,-10.9,594,7383,0.00,1.02,0.00,0.000,6,0.000,0.028,2112,2506,3621,0,0,0,0,0,0
$GC,7713,-0.53,-194.6,883.2,-9.9,610,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2504,3620,0,0,0,0,0,0
$GC,8021,-0.53,-194.6,910.3,-8.2,625,8025,0.00,1.10,0.00,0.000,4,0.000,0.044,2112,3199,3619,0,0,0,0,0,0
$GC,8114,-0.53,-194.6,917.3,-7.4,629,8118,0.00,1.05,0.00,0.000,6,0.000,0.028,2112,2492,3618,0,0,0,0,0,0
$GC,8448,-0.53,-194.6,940.6,-6.8,645,8452,0.00,1.12,0.00,0.000,4,0.000,0.046,2111,3200,3617,0,0,0,0,0,0
$GC,8504,-0.53,-194.6,944.3,-6.2,647,8507,0.00,1.05,0.00,0.000,6,0.000,0.028,2112,2499,3617,0,0,0,0,0,0
$GC,8827,-0.53,-194.6,966.4,-7.4,663,8830,0.00,1.00,0.00,0.000,4,0.000,0.028,2112,1792,3616,0,0,0,0,0,0
$GC,8876,-0.53,-194.6,970.5,-8.1,665,8880,0.00,1.10,0.00,0.000,6,0.000,0.037,2112,2500,3616,0,0,0,0,0,0
$STATE,9139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9139,begin apogee
$GC,9146,-0.13,0.0,991.5,8.0,678,9301,0.43,0.00,150.00,1.075,6,0.112,0.000,2254,2101,2869,0,0,0,0,0,0
$STATE,9302,end apogee,CONTROL_FINISHED_OK
$STATE,9302,begin climb
$GC,9304,0.53,194.6,998.7,0.0,685,9470,0.57,1.08,158.77,1.054,4,0.054,0.031,2484,1439,2074,0,0,0,0,0,0
$GC,9565,0.56,222.3,982.2,10.7,697,9594,0.00,1.10,23.75,0.985,6,0.000,0.031,2484,2138,1962,0,0,0,0,0,0
$GC,9904,0.56,222.3,943.3,11.8,714,9908,0.00,1.05,0.00,0.000,4,0.000,0.040,2483,2822,1959,0,0,0,0,0,0
$GC,9982,0.56,222.3,933.3,12.2,717,9986,0.00,1.02,0.00,0.000,6,0.000,0.028,2488,2137,1959,0,0,0,0,0,0
$GC,10305,0.57,228.7,895.9,11.5,733,10315,0.00,1.02,6.43,0.819,4,0.000,0.031,2494,1426,1935,0,0,0,0,0,0
$GC,10389,0.57,228.7,885.8,12.1,737,10393,0.00,1.08,0.00,0.000,6,0.000,0.033,2493,2123,1935,0,0,0,0,0,0
$GC,10723,0.57,230.5,847.0,11.7,753,10726,0.00,1.08,0.00,0.000,4,0.000,0.041,2493,2826,1935,0,0,0,0,0,0
$GC,10846,0.57,230.5,832.2,12.4,758,10850,0.00,1.05,0.00,0.000,6,0.000,0.029,2498,2127,1934,0,0,0,0,0,0
$GC,11169,0.58,239.7,795.4,11.4,774,11183,0.00,1.02,10.45,0.856,4,0.000,0.031,2503,1420,1890,0,0,0,0,0,0
$GC,11239,0.58,239.7,786.9,11.8,777,11243,0.00,1.08,0.00,0.000,6,0.000,0.033,2503,2120,1890,0,0,0,0,0,0
$GC,11567,0.58,239.7,748.2,12.2,793,11570,0.00,1.08,0.00,0.000,4,0.000,0.041,2503,2824,1889,0,0,0,0,0,0
$GC,11703,0.58,239.7,730.4,13.5,799,11707,0.00,1.05,0.00,0.000,6,0.000,0.028,2508,2120,1889,0,0,0,0,0,0
$GC,12036,0.58,239.7,687.5,12.5,815,12037,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2120,1888,0,0,0,0,0,0
$GC,12346,0.60,256.3,650.8,11.1,830,12369,0.00,1.12,14.20,0.817,4,0.000,0.039,2508,2826,1823,0,0,0,0,0,0
$GC,12415,0.61,258.2,642.8,11.7,833,12419,0.00,1.05,0.00,0.000,6,0.000,0.028,2513,2126,1823,0,0,0,0,0,0
$GC,12749,0.62,271.0,605.9,11.3,849,12770,0.00,1.08,12.77,0.770,4,0.000,0.034,2518,1427,1764,0,0,0,0,0,0
$GC,12817,0.63,275.2,598.2,11.6,852,12827,0.00,1.08,5.22,0.588,6,0.000,0.033,2518,2124,1747,0,0,0,0,0,0
$GC,13150,0.64,287.9,560.3,11.3,868,13165,0.00,1.08,11.45,0.738,4,0.000,0.036,2518,2831,1695,0,0,0,0,0,0
$GC,13288,0.64,287.9,543.4,11.9,873,13292,0.00,1.05,0.00,0.000,6,0.000,0.028,2522,2132,1695,0,0,0,0,0,0
$GC,13611,0.68,317.4,508.4,10.6,889,13641,0.00,1.08,25.15,0.752,4,0.000,0.034,2527,1430,1575,0,0,0,0,0,0
$GC,13681,0.71,340.8,500.5,10.8,892,13710,0.00,1.10,19.42,0.719,6,0.000,0.031,2527,2139,1479,0,0,0,0,0,0
$GC,14027,0.71,340.8,460.2,12.2,924,14031,0.00,1.05,0.00,0.000,4,0.000,0.038,2527,2828,1479,0,0,0,0,0,0
$GC,14156,0.71,340.8,443.5,13.2,935,14163,0.00,1.05,0.00,0.000,6,0.000,0.028,2532,2124,1480,0,0,0,0,0,0
$GC,14481,0.71,340.8,403.1,12.6,966,14485,0.00,1.08,0.00,0.000,4,0.000,0.037,2531,2823,1480,0,0,0,0,0,0
$GC,14519,0.71,340.8,398.0,12.9,969,14527,0.00,1.05,0.00,0.000,6,0.000,0.028,2536,2120,1480,0,0,0,0,0,0
$GC,14845,0.73,355.2,359.4,11.2,1000,14862,0.00,1.12,13.18,0.655,4,0.000,0.037,2536,2823,1420,0,0,0,0,0,0
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$STATE,18071,end climb,SURFACE_DEPTH_REACHED
$STATE,18071,begin surface coast
$FINISH,0.4,1.019382
$STATE,18100,end surface coast,CONTROL_FINISHED_OK
$STATE,18100,begin surface
$SM_CCo,18177,0.00,0.000,0,0,440,595.83
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$IRIDIUM_FIX,1844.15,12022.27,140911,010150
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.44
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.4,81.015
$10V_AH,9.8,67.175
$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
$DEVICE_SECS,16.425,84.875,648.150,0.000,0.000,23.244,23.172,152.604,0.000,0.000,14.775,3473.531,11067.169,724.648,2861.631,386.255,33.362,2199.298,0.000,2627.314,0.000,0.539,0.000
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$SENSOR_SECS,1005.379,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322536
$DATA_FILE_SIZE,83566,1446
$CAP_FILE_SIZE,192447,0
$CFSIZE,260165632,205156352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140911,113531,1848.519,12025.409,40,1.2,40,-2.0