version: 66.09
glider: 181
mission: 6
dive: 70
start: 6 23 111 9 56 59
data:
$ID,181
$MISSION,6
$DIVE,70
$N_DIVES,75
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,300
$T_MISSION,350
$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,2
$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,-39605.473
$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,2302
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$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,42
$R_STBD_OVSHOOT,44
$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,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,230611,094737,2026.458,11956.073,36,1.5,37,-2.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-66.0
$GPS2,230611,095632,2026.522,11956.064,12,2.0,12,-2.3
$SPEED_LIMITS,0.191,0.305
$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,164.9,160388,-16.3,-11.000
$D_GRID,3274
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.57,-194.6,0.0,0.0,0,98,0.00,0.00,-78.50,0.000,2,0.000,0.000,157,2618,2756,0,0,0,0,0,0
$GC,101,-0.57,-194.6,4.0,-6.7,10,134,8.07,2.15,-16.17,0.000,4,0.242,0.039,2109,1175,3664,0,0,0,0,0,0
$GC,227,-0.57,-194.6,49.6,-26.3,31,236,0.00,2.25,0.00,0.000,6,0.000,0.045,2109,2577,3666,0,0,0,0,0,0
$GC,365,-0.57,-194.6,92.9,-32.2,56,374,0.00,1.90,0.00,0.000,4,0.000,0.046,2102,3788,3666,0,0,0,0,0,0
$GC,419,-0.57,-194.6,108.9,-29.4,65,427,0.00,1.83,0.00,0.000,6,0.000,0.026,2102,2581,3667,0,0,0,0,0,0
$GC,557,-0.57,-194.6,148.6,-29.3,90,565,0.00,2.05,0.00,0.000,4,0.000,0.028,2102,1201,3668,0,0,0,0,0,0
$GC,713,-0.57,-194.6,184.7,-20.1,118,721,0.00,2.20,0.00,0.000,6,0.000,0.041,2098,2608,3669,0,0,0,0,0,0
$GC,852,-0.57,-194.6,214.4,-22.3,143,860,0.00,1.83,0.00,0.000,4,0.000,0.046,2088,3780,3669,0,0,0,0,0,0
$GC,890,-0.57,-194.6,224.0,-24.9,149,898,0.00,1.77,0.00,0.000,6,0.000,0.026,2088,2607,3668,0,0,0,0,0,0
$GC,1027,-0.57,-194.6,258.6,-24.4,171,1032,0.12,2.10,0.00,0.000,4,0.181,0.032,2120,1189,3669,0,0,0,0,0,0
$GC,1103,-0.57,-194.6,270.8,-13.0,177,1107,0.00,2.17,0.00,0.000,6,0.000,0.038,2113,2614,3669,0,0,0,0,0,0
$GC,1307,-0.57,-194.6,306.6,-19.4,196,1310,0.00,1.77,0.00,0.000,4,0.000,0.049,2112,3777,3669,0,0,0,0,0,0
$GC,1377,-0.57,-194.6,319.3,-16.5,202,1380,0.00,1.73,0.00,0.000,6,0.000,0.027,2112,2587,3669,0,0,0,0,0,0
$GC,1581,-0.57,-194.6,354.0,-17.2,221,1585,0.00,1.85,0.00,0.000,4,0.000,0.047,2103,3788,3667,0,0,0,0,0,0
$GC,1638,-0.57,-194.6,364.0,-16.6,226,1642,0.00,1.73,0.00,0.000,6,0.000,0.028,2103,2609,3666,0,0,0,0,0,0
$GC,1842,-0.57,-194.6,397.7,-17.0,245,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2605,3665,0,0,0,0,0,0
$GC,2033,-0.57,-194.6,429.5,-16.9,263,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2605,3663,0,0,0,0,0,0
$GC,2224,-0.57,-194.6,461.3,-16.3,281,2228,0.00,1.80,0.00,0.000,4,0.000,0.049,2094,3777,3661,0,0,0,0,0,0
$GC,2251,-0.57,-194.6,466.2,-16.3,283,2258,0.00,1.77,0.00,0.000,6,0.000,0.030,2094,2605,3660,0,0,0,0,0,0
$GC,2449,-0.57,-194.6,500.6,-17.8,302,2453,0.00,2.08,0.00,0.000,4,0.000,0.034,2094,1191,3659,0,0,0,0,0,0
$GC,2467,-0.57,-194.6,503.8,-17.7,303,2472,0.12,2.17,0.00,0.000,6,0.168,0.043,2117,2606,3658,0,0,0,0,0,0
$GC,2670,-0.57,-194.6,532.9,-13.7,322,2675,0.00,1.85,0.00,0.000,4,0.000,0.050,2112,3783,3656,0,0,0,0,0,0
$GC,2753,-0.57,-194.6,544.3,-12.5,329,2760,0.00,1.80,0.00,0.000,6,0.000,0.030,2112,2593,3655,0,0,0,0,0,0
$GC,2952,-0.57,-194.6,572.1,-14.7,348,2955,0.00,2.05,0.00,0.000,4,0.000,0.034,2112,1205,3653,0,0,0,0,0,0
$GC,2997,-0.57,-194.6,578.6,-13.5,352,3002,0.00,2.15,0.00,0.000,6,0.000,0.043,2112,2598,3653,0,0,0,0,0,0
$GC,3205,-0.57,-194.6,606.8,-13.5,369,3209,0.00,1.83,0.00,0.000,4,0.000,0.052,2111,3785,3651,0,0,0,0,0,0
$GC,3289,-0.57,-194.6,617.1,-11.4,372,3297,0.00,1.80,0.00,0.000,6,0.000,0.030,2112,2594,3649,0,0,0,0,0,0
$GC,3605,-0.57,-194.6,658.8,-13.1,388,3608,0.00,1.88,0.00,0.000,4,0.000,0.052,2111,3797,3645,0,0,0,0,0,0
$GC,3633,-0.57,-194.6,662.6,-13.3,389,3637,0.00,1.77,0.00,0.000,6,0.000,0.031,2116,2603,3646,0,0,0,0,0,0
$GC,3961,-0.57,-194.6,704.4,-12.9,405,3965,0.00,1.90,0.00,0.000,4,0.000,0.052,2111,3789,3643,0,0,0,0,0,0
$GC,3988,-0.57,-194.6,708.2,-12.8,406,3992,0.00,1.80,0.00,0.000,6,0.000,0.031,2111,2604,3642,0,0,0,0,0,0
$GC,4316,-0.57,-194.6,749.5,-12.6,422,4320,0.00,2.10,0.00,0.000,4,0.000,0.036,2111,1202,3640,0,0,0,0,0,0
$GC,4373,-0.57,-194.6,756.3,-11.4,424,4377,0.00,2.17,0.00,0.000,6,0.000,0.043,2111,2608,3640,0,0,0,0,0,0
$GC,4689,-0.57,-194.6,794.4,-12.0,439,4693,0.00,1.80,0.00,0.000,4,0.000,0.053,2111,3780,3637,0,0,0,0,0,0
$GC,4727,-0.57,-194.6,799.4,-12.2,440,4736,0.00,1.80,0.00,0.000,6,0.000,0.031,2111,2599,3636,0,0,0,0,0,0
$GC,5044,-0.57,-194.6,837.8,-12.4,456,5048,0.00,2.10,0.00,0.000,4,0.000,0.037,2111,1188,3634,0,0,0,0,0,0
$GC,5087,-0.57,-194.6,843.4,-12.3,458,5092,0.00,2.17,0.00,0.000,6,0.000,0.044,2111,2599,3634,0,0,0,0,0,0
$GC,5416,-0.57,-194.6,880.9,-10.9,474,5419,0.00,1.85,0.00,0.000,4,0.000,0.054,2111,3781,3632,0,0,0,0,0,0
$GC,5485,-0.57,-194.6,887.6,-9.0,477,5489,0.00,1.75,0.00,0.000,6,0.000,0.031,2111,2595,3631,0,0,0,0,0,0
$GC,5818,-0.57,-194.6,921.7,-10.2,493,5819,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2593,3630,0,0,0,0,0,0
$GC,6127,-0.57,-194.6,952.2,-9.8,508,6128,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2593,3627,0,0,0,0,0,0
$GC,6437,-0.57,-194.6,981.6,-9.6,523,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2593,3625,0,0,0,0,0,0
$STATE,6537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6537,begin apogee
$GC,6544,-0.16,0.0,991.9,10.0,528,6698,0.40,0.00,148.55,1.113,6,0.130,0.000,2243,2118,2871,0,0,0,0,0,0
$STATE,6699,end apogee,CONTROL_FINISHED_OK
$STATE,6699,begin climb
$GC,6701,0.57,194.6,997.3,0.0,535,6867,0.68,0.00,160.48,1.083,6,0.063,0.000,2488,2118,2076,0,0,0,0,0,0
$GC,7171,0.57,194.6,945.1,13.2,558,7175,0.00,2.28,0.00,0.000,4,0.000,0.046,2487,3541,2066,0,0,0,0,0,0
$GC,7211,0.57,194.6,939.3,15.0,560,7216,0.00,2.17,0.00,0.000,6,0.000,0.031,2497,2131,2065,0,0,0,0,0,0
$GC,7539,0.57,194.6,893.9,14.0,576,7543,0.00,2.17,0.00,0.000,4,0.000,0.040,2507,715,2063,0,0,0,0,0,0
$GC,7588,0.57,194.6,886.8,13.9,578,7592,0.00,2.20,0.00,0.000,6,0.000,0.037,2508,2136,2062,0,0,0,0,0,0
$GC,7910,0.57,194.6,839.2,15.0,594,7914,0.00,2.17,0.00,0.000,4,0.000,0.047,2508,3538,2061,0,0,0,0,0,0
$GC,7931,0.57,194.6,835.5,15.5,595,7936,0.12,2.15,0.00,0.000,6,0.198,0.031,2489,2125,2060,0,0,0,0,0,0
$GC,8258,0.57,194.6,789.6,13.9,611,8262,0.00,2.15,0.00,0.000,4,0.000,0.042,2499,712,2060,0,0,0,0,0,0
$GC,8423,0.57,194.6,768.3,13.3,618,8427,0.00,2.17,0.00,0.000,6,0.000,0.037,2499,2129,2059,0,0,0,0,0,0
$GC,8739,0.57,194.6,726.2,12.8,633,8741,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2130,2059,0,0,0,0,0,0
$GC,9049,0.57,194.6,686.8,12.7,648,9053,0.00,2.15,0.00,0.000,4,0.000,0.040,2508,718,2058,0,0,0,0,0,0
$GC,9070,0.57,194.6,683.6,12.8,649,9074,0.00,2.17,0.00,0.000,6,0.000,0.037,2508,2137,2058,0,0,0,0,0,0
$GC,9398,0.57,194.6,640.8,13.5,665,9402,0.00,2.15,0.00,0.000,4,0.000,0.047,2508,3538,2057,0,0,0,0,0,0
$GC,9484,0.57,194.6,628.0,15.2,669,9489,0.12,2.12,0.00,0.000,6,0.189,0.032,2488,2126,2058,0,0,0,0,0,0
$GC,9805,0.57,194.6,587.4,13.1,689,9809,0.00,2.12,0.00,0.000,4,0.000,0.042,2497,717,2057,0,0,0,0,0,0
$GC,9867,0.57,194.6,579.2,13.0,694,9871,0.00,2.15,0.00,0.000,6,0.000,0.037,2497,2128,2057,0,0,0,0,0,0
$GC,10065,0.57,194.6,551.4,14.0,712,10069,0.00,2.15,0.00,0.000,4,0.000,0.041,2507,720,2057,0,0,0,0,0,0
$GC,10116,0.57,194.6,544.0,14.4,716,10120,0.00,2.15,0.00,0.000,6,0.000,0.037,2507,2129,2057,0,0,0,0,0,0
$GC,10314,0.57,194.6,515.7,14.0,734,10318,0.00,2.17,0.00,0.000,4,0.000,0.047,2506,3542,2057,0,0,0,0,0,0
$GC,10356,0.57,194.6,509.1,15.2,737,10365,0.08,2.17,0.00,0.000,6,0.171,0.031,2493,2128,2057,0,0,0,0,0,0
$GC,10557,0.58,205.2,485.7,10.6,756,10571,0.00,2.22,6.75,0.737,4,0.000,0.042,2503,715,2032,0,0,0,0,0,0
$GC,10628,0.58,205.2,477.7,11.0,762,10632,0.00,2.15,0.00,0.000,6,0.000,0.037,2503,2123,2033,0,0,0,0,0,0
$GC,10826,0.60,220.1,455.9,10.4,780,10850,0.00,2.28,13.25,0.744,4,0.000,0.047,2503,3536,1972,0,0,0,0,0,0
$GC,10874,0.60,220.1,450.0,12.2,784,10878,0.00,2.15,0.00,0.000,6,0.000,0.031,2512,2120,1972,0,0,0,0,0,0
$GC,11072,0.60,220.1,426.1,12.3,802,11073,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2120,1970,0,0,0,0,0,0
$GC,11263,0.60,220.1,403.2,12.2,820,11267,0.00,2.12,0.00,0.000,4,0.000,0.040,2527,713,1969,0,0,0,0,0,0
$GC,11303,0.60,220.1,398.2,12.9,823,11307,0.00,2.15,0.00,0.000,6,0.000,0.035,2522,2127,1969,0,0,0,0,0,0
$GC,11501,0.60,220.1,370.9,14.1,841,11505,0.00,2.17,0.00,0.000,4,0.000,0.045,2523,3546,1968,0,0,0,0,0,0
$GC,11555,0.60,220.1,362.0,16.2,845,11563,0.08,2.17,0.00,0.000,6,0.171,0.031,2500,2133,1968,0,0,0,0,0,0
$GC,11753,0.60,220.1,335.2,13.8,864,11757,0.00,2.15,0.00,0.000,4,0.000,0.041,2510,713,1968,0,0,0,0,0,0
$GC,11814,0.60,220.1,326.8,13.0,869,11821,0.00,2.17,0.00,0.000,6,0.000,0.036,2510,2135,1968,0,0,0,0,0,0
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$GC,12392,0.61,227.1,253.3,10.7,921,12406,0.12,2.17,6.62,0.625,6,0.171,0.035,2498,2135,1943,0,0,0,0,0,0
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$STATE,14663,end climb,SURFACE_DEPTH_REACHED
$STATE,14663,begin surface coast
$FINISH,0.1,1.021164
$STATE,14689,end surface coast,CONTROL_FINISHED_OK
$STATE,14689,begin surface
$SM_CCo,14765,0.00,0.000,0,0,435,596.81
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$IRIDIUM_FIX,2020.26,11953.54,230611,090951
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.35
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.1,11.428
$10V_AH,10.2,11.761
$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,16.900,176.150,617.400,0.000,0.000,57.808,95.741,176.162,0.000,0.000,15.335,3327.492,7445.012,703.272,3472.718,339.734,0.000,2084.042,0.000,2237.556,0.000,0.541,0.000
$DEVICE_MAMPS,241.740,54.315,1113.075,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,912.050,1995.101,1629.148,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322644
$DATA_FILE_SIZE,86920,1310
$CAP_FILE_SIZE,176612,0
$CFSIZE,260165632,244645888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.147, 24.7,1
$GPS,230611,140424,2025.530,11957.146,25,1.0,42,-2.3