version: 66.09
glider: 181
mission: 6
dive: 703
start: 10 23 111 12 48 33
data:
$ID,181
$MISSION,6
$DIVE,703
$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,320
$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,-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,0
$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,-41490.336
$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,2365
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,42
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,15
$C_ROLL_DIVE,2590
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,66
$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
$GPS1,231011,124137,2140.621,12004.562,36,1.0,36,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-67.1
$GPS2,231011,124808,2140.728,12004.394,12,1.0,12,-2.6
$SPEED_LIMITS,0.179,0.314
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.206,0.235
$KALMAN_X,28223.1,-227.3,-456.5,-48601.6,-2485.5
$KALMAN_Y,68902.1,-606.5,-201.3,102840.5,390.9
$MHEAD_RNG_PITCHd_Wd,318.9,10941,-14.3,-10.312
$D_GRID,2744
$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,-0.61,-219.0,0.0,0.0,0,86,0.00,0.00,-67.57,0.000,2,0.000,0.000,128,2625,2348,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.4,-3.2,12,137,8.50,0.73,-31.30,0.000,4,0.221,0.072,2158,3097,3762,0,0,0,0,0,0
$GC,253,-0.39,-219.0,48.2,-30.8,40,260,0.25,0.73,0.00,0.000,6,0.164,0.024,2229,2579,3762,0,0,0,0,0,0
$GC,600,-0.33,-219.0,112.7,-16.4,101,607,0.00,0.68,0.00,0.000,4,0.000,0.024,2229,2043,3761,0,0,0,0,0,0
$GC,720,-0.28,-219.0,128.9,-11.1,122,728,0.12,0.77,0.00,0.000,6,0.111,0.033,2271,2566,3761,0,0,0,0,0,0
$GC,1068,-0.45,-219.0,161.7,-11.0,183,1075,0.15,0.70,0.00,0.000,4,0.076,0.024,2206,2042,3761,0,0,0,0,0,0
$GC,1211,-0.58,-219.0,174.5,-7.9,207,1218,0.00,0.80,0.00,0.000,6,0.000,0.032,2206,2589,3761,0,0,0,0,0,0
$GC,1556,-0.66,-219.0,202.4,-7.4,265,1563,0.15,0.00,0.00,0.000,6,0.067,0.000,2116,2589,3762,0,0,0,0,0,0
$GC,1883,-0.56,-219.0,249.5,-15.3,296,1888,0.22,0.73,0.00,0.000,4,0.137,0.019,2180,2061,3762,0,0,0,0,0,0
$GC,1986,-0.56,-219.0,260.8,-10.0,305,1990,0.00,0.77,0.00,0.000,6,0.000,0.035,2180,2580,3762,0,0,0,0,0,0
$GC,2318,-0.61,-219.0,291.4,-8.9,336,2321,0.00,0.70,0.00,0.000,4,0.000,0.024,2179,2066,3761,0,0,0,0,0,0
$GC,2391,-0.66,-219.0,297.9,-8.6,342,2397,0.00,0.80,0.00,0.000,6,0.000,0.036,2179,2595,3761,0,0,0,0,0,0
$GC,2717,-0.75,-219.0,326.2,-8.9,373,2722,0.15,0.77,0.00,0.000,4,0.069,0.039,2092,3111,3758,0,0,0,0,0,0
$GC,2868,-0.63,-219.0,348.6,-16.5,386,2875,0.20,0.73,0.00,0.000,6,0.125,0.025,2156,2585,3757,0,0,0,0,0,0
$GC,3195,-0.61,-219.0,383.3,-10.4,417,3199,0.00,0.68,0.00,0.000,4,0.000,0.025,2156,2070,3755,0,0,0,0,0,0
$GC,3276,-0.59,-219.0,391.6,-9.8,424,3280,0.00,0.77,0.00,0.000,6,0.000,0.036,2154,2584,3755,0,0,0,0,0,0
$GC,3607,-0.56,-219.0,427.1,-10.5,455,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2584,3751,0,0,0,0,0,0
$GC,3929,-0.53,-219.0,457.7,-9.2,485,3933,0.12,0.73,0.00,0.000,4,0.143,0.027,2190,2070,3748,0,0,0,0,0,0
$GC,4059,-0.64,-219.0,467.6,-7.1,496,4066,0.00,0.80,0.00,0.000,6,0.000,0.037,2190,2594,3747,0,0,0,0,0,0
$GC,4385,-0.76,-219.0,493.3,-8.2,527,4389,0.20,0.80,0.00,0.000,4,0.066,0.037,2100,3119,3744,0,0,0,0,0,0
$GC,4479,-0.67,-219.0,504.8,-14.5,534,4484,0.12,0.75,0.00,0.000,6,0.126,0.028,2141,2590,3743,0,0,0,0,0,0
$GC,4810,-0.63,-219.0,541.0,-10.8,550,4814,0.00,0.73,0.00,0.000,4,0.000,0.028,2141,2064,3740,0,0,0,0,0,0
$GC,4894,-0.60,-219.0,550.4,-10.6,553,4902,0.08,0.80,0.00,0.000,6,0.129,0.039,2165,2585,3739,0,0,0,0,0,0
$GC,5214,-0.67,-219.0,575.6,-7.5,569,5218,0.00,0.80,0.00,0.000,4,0.000,0.042,2164,3115,3737,0,0,0,0,0,0
$GC,5292,-0.71,-219.0,581.9,-7.7,572,5296,0.00,0.75,0.00,0.000,6,0.000,0.028,2164,2590,3736,0,0,0,0,0,0
$GC,5616,-0.77,-219.0,605.9,-7.7,588,5620,0.15,0.73,0.00,0.000,4,0.076,0.028,2085,2062,3734,0,0,0,0,0,0
$GC,5735,-0.68,-219.0,620.0,-14.7,593,5739,0.20,0.82,0.00,0.000,6,0.125,0.041,2145,2588,3732,0,0,0,0,0,0
$GC,6065,-0.65,-219.0,654.4,-10.6,609,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2589,3731,0,0,0,0,0,0
$GC,6371,-0.62,-219.0,687.8,-10.8,624,6375,0.00,0.73,0.00,0.000,4,0.000,0.026,2145,2070,3729,0,0,0,0,0,0
$GC,6463,-0.60,-219.0,697.7,-10.9,628,6466,0.00,0.80,0.00,0.000,6,0.000,0.040,2142,2588,3728,0,0,0,0,0,0
$GC,6796,-0.58,-219.0,734.9,-11.1,644,6800,0.12,0.82,0.00,0.000,4,0.151,0.046,2178,3110,3726,0,0,0,0,0,0
$GC,6852,-0.61,-219.0,740.0,-8.3,646,6856,0.00,0.75,0.00,0.000,6,0.000,0.028,2178,2587,3725,0,0,0,0,0,0
$GC,7176,-0.71,-219.0,765.9,-7.9,662,7180,0.12,0.85,0.00,0.000,4,0.089,0.042,2111,3120,3723,0,0,0,0,0,0
$GC,7209,-0.73,-219.0,769.3,-8.2,663,7213,0.00,0.75,0.00,0.000,6,0.000,0.027,2111,2590,3723,0,0,0,0,0,0
$GC,7533,-0.67,-219.0,808.5,-12.1,679,7537,0.12,0.73,0.00,0.000,4,0.153,0.028,2145,2067,3721,0,0,0,0,0,0
$GC,7594,-0.66,-219.0,815.0,-9.7,681,7601,0.00,0.80,0.00,0.000,6,0.000,0.039,2143,2583,3721,0,0,0,0,0,0
$GC,7912,-0.64,-219.0,844.0,-9.2,697,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2583,3720,0,0,0,0,0,0
$GC,8220,-0.61,-219.0,873.4,-9.4,712,8224,0.00,0.73,0.00,0.000,4,0.000,0.028,2142,2066,3718,0,0,0,0,0,0
$GC,8282,-0.60,-219.0,879.1,-8.8,714,8289,0.08,0.82,0.00,0.000,6,0.130,0.041,2164,2591,3717,0,0,0,0,0,0
$GC,8602,-0.68,-219.0,900.7,-6.7,730,8606,0.00,0.82,0.00,0.000,4,0.000,0.045,2164,3113,3717,0,0,0,0,0,0
$GC,8709,-0.75,-219.0,908.2,-6.7,734,8716,0.10,0.75,0.00,0.000,6,0.054,0.027,2103,2589,3715,0,0,0,0,0,0
$GC,9027,-0.76,-219.0,936.2,-9.0,750,9031,0.00,0.82,0.00,0.000,4,0.000,0.042,2099,3119,3714,0,0,0,0,0,0
$GC,9174,-0.70,-219.0,953.0,-12.4,756,9178,0.10,0.75,0.00,0.000,6,0.128,0.028,2133,2597,3712,0,0,0,0,0,0
$GC,9499,-0.68,-219.0,985.3,-9.8,772,9503,0.00,0.73,0.00,0.000,4,0.000,0.027,2133,2071,3711,0,0,0,0,0,0
$STATE,9542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9542,begin apogee
$GC,9549,-0.19,0.0,990.3,9.8,774,9721,0.52,0.00,166.35,1.061,6,0.117,0.000,2304,2192,2868,0,0,0,0,0,0
$STATE,9721,end apogee,CONTROL_FINISHED_OK
$STATE,9721,begin climb
$GC,9724,0.61,219.0,1001.8,0.0,782,9907,0.70,0.00,175.60,1.049,6,0.048,0.000,2581,2192,1976,0,0,0,0,0,0
$GC,10213,0.50,219.0,956.5,12.4,806,10217,0.20,0.80,0.00,0.000,4,0.163,0.031,2530,1658,1974,0,0,0,0,0,0
$GC,10323,0.50,258.1,946.1,9.1,810,10360,0.00,0.75,32.45,0.990,6,0.000,0.032,2530,2159,1815,0,0,0,0,0,0
$GC,10683,0.50,287.2,911.8,9.4,828,10712,0.00,0.85,23.80,0.961,4,0.000,0.037,2529,2691,1698,0,0,0,0,0,0
$GC,10848,0.47,291.0,895.1,10.2,835,10860,0.00,0.75,4.95,0.675,6,0.000,0.028,2533,2174,1682,0,0,0,0,0,0
$GC,11172,0.47,314.0,863.4,9.6,851,11197,0.00,0.80,20.50,0.930,4,0.000,0.034,2537,1645,1589,0,0,0,0,0,0
$GC,11259,0.46,317.9,854.9,10.2,854,11268,0.00,0.80,5.07,0.663,6,0.000,0.032,2536,2169,1572,0,0,0,0,0,0
$GC,11600,0.44,317.9,819.6,10.4,871,11604,0.00,0.77,0.00,0.000,4,0.000,0.038,2537,2690,1573,0,0,0,0,0,0
$GC,11742,0.41,317.9,803.4,11.1,877,11747,0.12,0.77,0.00,0.000,6,0.132,0.028,2500,2158,1573,0,0,0,0,0,0
$GC,12073,0.52,361.9,773.8,8.9,893,12117,0.10,0.82,35.72,0.913,4,0.103,0.031,2546,2686,1393,0,0,0,0,0,0
$GC,12143,0.53,372.4,766.4,10.0,896,12158,0.00,0.77,10.07,0.785,6,0.000,0.028,2550,2161,1350,0,0,0,0,0,0
$GC,12478,0.54,374.7,731.4,10.2,912,12487,0.00,0.80,3.72,0.545,4,0.000,0.033,2554,1639,1341,0,0,0,0,0,0
$GC,12571,0.52,374.7,720.9,10.9,916,12575,0.00,0.80,0.00,0.000,6,0.000,0.031,2553,2167,1341,0,0,0,0,0,0
$GC,12900,0.51,374.7,686.4,10.6,932,12904,0.00,0.75,0.00,0.000,4,0.000,0.038,2553,2681,1340,0,0,0,0,0,0
$GC,12969,0.48,374.7,678.9,11.2,935,12974,0.10,0.75,0.00,0.000,6,0.130,0.028,2523,2163,1340,0,0,0,0,0,0
$GC,13305,0.55,387.0,646.3,9.9,951,13321,0.00,0.00,11.07,0.772,6,0.000,0.000,2523,2163,1292,0,0,0,0,0,0
$GC,13631,0.66,415.2,614.7,9.4,967,13661,0.15,0.80,23.58,0.797,4,0.080,0.035,2596,1645,1176,0,0,0,0,0,0
$GC,13751,0.61,415.2,600.3,12.7,972,13755,0.10,0.77,0.00,0.000,6,0.125,0.031,2563,2163,1177,0,0,0,0,0,0
$GC,14072,0.61,421.0,567.7,10.1,988,14083,0.00,0.82,7.22,0.662,4,0.000,0.037,2563,2691,1152,0,0,0,0,0,0
$GC,14146,0.59,421.0,559.4,11.3,991,14150,0.00,0.77,0.00,0.000,6,0.000,0.028,2565,2160,1152,0,0,0,0,0,0
$GC,14468,0.62,421.0,526.0,10.4,1007,14471,0.00,0.77,0.00,0.000,4,0.000,0.034,2565,2681,1151,0,0,0,0,0,0
$GC,14523,0.62,421.0,520.0,10.5,1009,14527,0.00,0.75,0.00,0.000,6,0.000,0.028,2568,2163,1151,0,0,0,0,0,0
$GC,14855,0.66,421.0,485.7,11.1,1031,14859,0.00,0.73,0.00,0.000,4,0.000,0.035,2571,1658,1151,0,0,0,0,0,0
$GC,14947,0.69,421.0,474.9,11.3,1039,14950,0.00,0.75,0.00,0.000,6,0.000,0.031,2571,2167,1152,0,0,0,0,0,0
$GC,15278,0.72,421.0,439.6,10.4,1070,15282,0.00,0.75,0.00,0.000,4,0.000,0.037,2571,2682,1152,0,0,0,0,0,0
$GC,15328,0.75,421.0,434.2,10.5,1074,15335,0.00,0.75,0.00,0.000,6,0.000,0.028,2574,2167,1152,0,0,0,0,0,0
$GC,15654,0.78,427.9,400.5,10.1,1105,15668,0.12,0.80,7.10,0.613,4,0.087,0.033,2640,1640,1123,0,0,0,0,0,0
$GC,15822,0.71,427.9,376.9,14.1,1119,15829,0.12,0.77,0.00,0.000,6,0.136,0.031,2599,2158,1124,0,0,0,0,0,0
$GC,16149,0.69,427.9,338.7,11.8,1150,16153,0.00,0.77,0.00,0.000,4,0.000,0.037,2600,2688,1127,0,0,0,0,0,0
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$STATE,19474,end climb,SURFACE_DEPTH_REACHED
$STATE,19474,begin surface coast
$FINISH,0.7,1.019512
$STATE,19498,end surface coast,CONTROL_FINISHED_OK
$STATE,19498,begin surface
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$IRIDIUM_FIX,2129.53,12004.54,231011,070747
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.88
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.60
$XPDR_PINGS,1
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$10V_AH,9.7,85.033
$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
$DEVICE_SECS,21.050,62.875,665.875,0.000,0.000,23.292,55.467,148.447,0.250,0.000,17.239,3953.258,11540.979,742.111,3215.689,496.800,0.000,2337.770,0.000,2949.338,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322768
$DATA_FILE_SIZE,93560,1627
$CAP_FILE_SIZE,215298,0
$CFSIZE,260165632,188100608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231011,181607,2141.702,12003.482,39,0.9,39,-2.6