version: 66.09
glider: 181
mission: 6
dive: 708
start: 10 24 111 15 58 17
data:
$ID,181
$MISSION,6
$DIVE,708
$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,-41496.91
$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,2375
$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,2500
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,47
$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
$GPS1,241011,155136,2143.815,12002.339,38,0.9,38,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-68.0
$GPS2,241011,155750,2144.013,12002.199,10,1.7,10,-2.6
$SPEED_LIMITS,0.179,0.314
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,183.3,303777,-14.3,-10.312
$D_GRID,2568
$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,17,-0.61,-219.0,0.0,0.0,0,87,0.00,0.00,-67.43,0.000,2,0.000,0.000,188,2500,2341,0,0,0,0,0,0
$GC,91,-0.61,-219.0,3.4,-3.2,12,138,8.48,0.73,-31.62,0.000,4,0.229,0.060,2168,1943,3762,0,0,0,0,0,0
$GC,248,-0.47,-219.0,38.1,-22.5,39,255,0.17,0.85,0.00,0.000,6,0.137,0.036,2220,2499,3763,0,0,0,0,0,0
$GC,595,-0.38,-219.0,100.2,-17.3,100,602,0.10,0.75,0.00,0.000,4,0.171,0.024,2247,1952,3761,0,0,0,0,0,0
$GC,716,-0.38,-219.0,116.6,-11.9,121,723,0.00,0.82,0.00,0.000,6,0.000,0.033,2247,2506,3761,0,0,0,0,0,0
$GC,1064,-0.51,-219.0,148.0,-10.0,182,1072,0.10,0.75,0.00,0.000,4,0.092,0.024,2174,1965,3761,0,0,0,0,0,0
$GC,1130,-0.51,-219.0,155.7,-11.6,193,1138,0.10,0.80,0.00,0.000,6,0.105,0.034,2207,2501,3762,0,0,0,0,0,0
$GC,1480,-0.60,-219.0,187.2,-8.5,254,1487,0.00,0.77,0.00,0.000,4,0.000,0.036,2207,3036,3762,0,0,0,0,0,0
$GC,1562,-0.67,-219.0,194.6,-9.0,268,1569,0.10,0.77,0.00,0.000,6,0.039,0.025,2126,2475,3762,0,0,0,0,0,0
$GC,1892,-0.58,-219.0,241.4,-15.4,303,1897,0.20,0.85,0.00,0.000,4,0.134,0.033,2182,3026,3762,0,0,0,0,0,0
$GC,1984,-0.56,-219.0,252.2,-11.0,311,1988,0.00,0.73,0.00,0.000,6,0.000,0.026,2182,2499,3761,0,0,0,0,0,0
$GC,2316,-0.62,-219.0,282.7,-8.4,342,2319,0.00,0.80,0.00,0.000,4,0.000,0.037,2180,3026,3761,0,0,0,0,0,0
$GC,2432,-0.66,-219.0,292.5,-8.7,352,2435,0.00,0.73,0.00,0.000,6,0.000,0.026,2180,2500,3761,0,0,0,0,0,0
$GC,2763,-0.74,-219.0,320.5,-8.2,383,2768,0.12,0.82,0.00,0.000,4,0.081,0.038,2098,3026,3758,0,0,0,0,0,0
$GC,2938,-0.63,-219.0,345.0,-15.0,398,2945,0.20,0.75,0.00,0.000,6,0.121,0.026,2163,2491,3756,0,0,0,0,0,0
$GC,3265,-0.69,-219.0,376.8,-9.7,429,3269,0.00,0.68,0.00,0.000,4,0.000,0.026,2163,1985,3754,0,0,0,0,0,0
$GC,3372,-0.74,-219.0,387.0,-9.3,438,3379,0.00,0.77,0.00,0.000,6,0.000,0.037,2164,2498,3754,0,0,0,0,0,0
$GC,3698,-0.81,-219.0,415.2,-8.9,469,3702,0.15,0.73,0.00,0.000,4,0.070,0.028,2082,1976,3750,0,0,0,0,0,0
$GC,3801,-0.70,-219.0,428.2,-14.4,478,3806,0.20,0.80,0.00,0.000,6,0.123,0.037,2142,2500,3749,0,0,0,0,0,0
$GC,4134,-0.67,-219.0,465.5,-10.9,509,4138,0.00,0.80,0.00,0.000,4,0.000,0.043,2140,3014,3747,0,0,0,0,0,0
$GC,4241,-0.63,-219.0,477.6,-11.3,518,4248,0.08,0.73,0.00,0.000,6,0.126,0.027,2167,2507,3746,0,0,0,0,0,0
$GC,4575,-0.70,-219.0,507.1,-8.7,546,4579,0.00,0.73,0.00,0.000,4,0.000,0.028,2167,1968,3743,0,0,0,0,0,0
$GC,4609,-0.78,-219.0,510.3,-8.7,547,4614,0.10,0.80,0.00,0.000,6,0.046,0.036,2096,2500,3742,0,0,0,0,0,0
$GC,4932,-0.78,-219.0,542.8,-10.1,563,4936,0.00,0.75,0.00,0.000,4,0.000,0.030,2096,1975,3740,0,0,0,0,0,0
$GC,4956,-0.77,-219.0,545.6,-10.0,564,4960,0.08,0.80,0.00,0.000,6,0.125,0.039,2121,2497,3740,0,0,0,0,0,0
$GC,5292,-0.79,-219.0,578.0,-9.9,580,5296,0.00,0.73,0.00,0.000,4,0.000,0.028,2121,1974,3736,0,0,0,0,0,0
$GC,5383,-0.77,-219.0,587.7,-10.4,584,5387,0.00,0.80,0.00,0.000,6,0.000,0.038,2119,2500,3736,0,0,0,0,0,0
$GC,5718,-0.72,-219.0,626.2,-11.5,600,5722,0.00,0.80,0.00,0.000,4,0.000,0.043,2114,3027,3733,0,0,0,0,0,0
$GC,5801,-0.66,-219.0,636.3,-12.0,603,5809,0.12,0.77,0.00,0.000,6,0.127,0.028,2157,2490,3732,0,0,0,0,0,0
$GC,6118,-0.73,-219.0,662.0,-7.5,619,6122,0.00,0.82,0.00,0.000,4,0.000,0.042,2155,3021,3731,0,0,0,0,0,0
$GC,6247,-0.78,-219.0,671.8,-7.9,624,6250,0.00,0.75,0.00,0.000,6,0.000,0.028,2155,2500,3729,0,0,0,0,0,0
$GC,6569,-0.85,-219.0,696.6,-7.5,640,6573,0.15,0.82,0.00,0.000,4,0.076,0.041,2075,3018,3728,0,0,0,0,0,0
$GC,6598,-0.86,-219.0,699.1,-7.7,641,6602,0.00,0.75,0.00,0.000,6,0.000,0.028,2074,2495,3727,0,0,0,0,0,0
$GC,6925,-0.75,-219.0,747.3,-15.3,657,6929,0.20,0.85,0.00,0.000,4,0.148,0.039,2129,3025,3725,0,0,0,0,0,0
$GC,7064,-0.71,-219.0,763.0,-10.8,663,7067,0.00,0.75,0.00,0.000,6,0.000,0.028,2129,2502,3724,0,0,0,0,0,0
$GC,7397,-0.67,-219.0,796.5,-9.6,679,7401,0.00,0.82,0.00,0.000,4,0.000,0.044,2126,3026,3722,0,0,0,0,0,0
$GC,7513,-0.64,-219.0,807.8,-10.0,684,7518,0.12,0.75,0.00,0.000,6,0.122,0.028,2167,2505,3721,0,0,0,0,0,0
$GC,7848,-0.73,-219.0,830.2,-6.4,700,7852,0.00,0.80,0.00,0.000,4,0.000,0.043,2166,3021,3720,0,0,0,0,0,0
$GC,7963,-0.80,-219.0,837.6,-6.5,705,7967,0.10,0.75,0.00,0.000,6,0.050,0.028,2102,2501,3720,0,0,0,0,0,0
$GC,8298,-0.81,-219.0,865.5,-8.5,721,8302,0.00,0.82,0.00,0.000,4,0.000,0.042,2098,3026,3718,0,0,0,0,0,0
$GC,8383,-0.75,-219.0,874.5,-11.4,724,8390,0.10,0.77,0.00,0.000,6,0.129,0.028,2132,2486,3717,0,0,0,0,0,0
$GC,8702,-0.73,-219.0,904.6,-9.4,740,8706,0.00,0.85,0.00,0.000,4,0.000,0.044,2128,3024,3716,0,0,0,0,0,0
$GC,8811,-0.70,-219.0,915.4,-9.8,744,8818,0.00,0.75,0.00,0.000,6,0.000,0.028,2129,2502,3715,0,0,0,0,0,0
$GC,9128,-0.67,-219.0,946.9,-10.0,760,9132,0.00,0.82,0.00,0.000,4,0.000,0.044,2124,3024,3714,0,0,0,0,0,0
$GC,9247,-0.64,-219.0,959.2,-10.4,765,9251,0.12,0.75,0.00,0.000,6,0.123,0.028,2166,2501,3713,0,0,0,0,0,0
$GC,9576,-0.75,-219.0,985.2,-8.2,781,9580,0.00,0.85,0.00,0.000,4,0.000,0.044,2167,3026,3712,0,0,0,0,0,0
$STATE,9635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9635,begin apogee
$GC,9644,-0.19,0.0,990.5,7.9,783,9818,0.40,0.00,166.27,1.066,6,0.086,0.000,2312,2114,2869,0,0,0,0,0,0
$STATE,9819,end apogee,CONTROL_FINISHED_OK
$STATE,9819,begin climb
$GC,9822,0.61,219.0,1001.6,0.0,792,10004,0.70,0.82,174.77,1.053,4,0.050,0.033,2583,2632,1976,0,0,0,0,0,0
$GC,10124,0.50,219.0,979.2,13.4,806,10128,0.15,0.80,0.00,0.000,6,0.155,0.028,2542,2092,1975,0,0,0,0,0,0
$GC,10459,0.43,219.0,942.0,11.2,822,10462,0.00,0.75,0.00,0.000,4,0.000,0.034,2545,1570,1973,0,0,0,0,0,0
$GC,10577,0.36,219.0,928.6,11.3,827,10582,0.15,0.82,0.00,0.000,6,0.142,0.030,2498,2118,1973,0,0,0,0,0,0
$GC,10907,0.42,282.9,900.0,8.3,843,10963,0.00,0.77,51.08,0.992,4,0.000,0.037,2498,2615,1714,0,0,0,0,0,0
$GC,11150,0.48,332.0,879.2,8.8,854,11194,0.00,0.77,39.97,0.965,6,0.000,0.028,2500,2089,1515,0,0,0,0,0,0
$GC,11502,0.63,397.6,850.4,8.2,871,11561,0.22,0.73,53.62,0.959,4,0.067,0.028,2600,1579,1249,0,0,0,0,0,0
$GC,11631,0.58,397.6,834.4,13.4,876,11636,0.10,0.80,0.00,0.000,6,0.133,0.032,2568,2098,1248,0,0,0,0,0,0
$GC,11966,0.57,397.6,796.2,11.3,892,11970,0.00,0.77,0.00,0.000,4,0.000,0.031,2569,1572,1247,0,0,0,0,0,0
$GC,12085,0.54,397.6,782.1,11.6,897,12089,0.00,0.80,0.00,0.000,6,0.000,0.033,2569,2098,1247,0,0,0,0,0,0
$GC,12413,0.52,397.6,745.1,11.1,913,12417,0.00,0.77,0.00,0.000,4,0.000,0.032,2572,1572,1246,0,0,0,0,0,0
$GC,12545,0.50,397.6,730.5,11.4,918,12552,0.10,0.80,0.00,0.000,6,0.124,0.031,2539,2099,1246,0,0,0,0,0,0
$GC,12862,0.58,424.7,700.5,9.4,934,12889,0.00,0.80,22.50,0.853,4,0.000,0.037,2539,2619,1136,0,0,0,0,0,0
$GC,12936,0.67,447.4,693.2,9.6,937,12961,0.10,0.77,19.38,0.823,6,0.054,0.030,2597,2098,1045,0,0,0,0,0,0
$GC,13278,0.69,447.4,652.4,12.4,954,13282,0.00,0.75,0.00,0.000,4,0.000,0.035,2600,1585,1049,0,0,0,0,0,0
$GC,13311,0.69,447.4,648.1,12.4,955,13315,0.00,0.77,0.00,0.000,6,0.000,0.031,2600,2099,1049,0,0,0,0,0,0
$GC,13634,0.69,447.4,608.4,11.8,971,13638,0.00,0.77,0.00,0.000,4,0.000,0.034,2603,1575,1049,0,0,0,0,0,0
$GC,13652,0.69,447.4,606.3,11.6,971,13659,0.00,0.80,0.00,0.000,6,0.000,0.029,2603,2115,1049,0,0,0,0,0,0
$GC,13969,0.69,447.4,569.4,11.4,987,13970,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2115,1049,0,0,0,0,0,0
$GC,14277,0.69,447.4,532.5,12.1,1002,14281,0.00,0.73,0.00,0.000,4,0.000,0.037,2603,2612,1049,0,0,0,0,0,0
$GC,14346,0.65,447.4,523.9,12.9,1005,14350,0.00,0.75,0.00,0.000,6,0.000,0.030,2606,2098,1049,0,0,0,0,0,0
$GC,14675,0.63,447.4,482.2,12.6,1027,14679,0.00,0.75,0.00,0.000,4,0.000,0.034,2610,1581,1049,0,0,0,0,0,0
$GC,14711,0.60,447.4,477.3,12.7,1030,14715,0.12,0.77,0.00,0.000,6,0.123,0.031,2569,2095,1049,0,0,0,0,0,0
$GC,15042,0.64,447.4,441.4,10.6,1061,15045,0.00,0.77,0.00,0.000,4,0.000,0.036,2569,2620,1049,0,0,0,0,0,0
$GC,15133,0.68,447.4,431.8,10.4,1069,15137,0.00,0.75,0.00,0.000,6,0.000,0.030,2569,2109,1049,0,0,0,0,0,0
$GC,15465,0.75,451.3,398.3,10.2,1100,15476,0.15,0.82,5.88,0.592,4,0.080,0.034,2646,1572,1028,0,0,0,0,0,0
$GC,15515,0.71,451.3,391.7,13.1,1104,15523,0.12,0.80,0.00,0.000,6,0.136,0.030,2606,2106,1028,0,0,0,0,0,0
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$STATE,19251,end climb,SURFACE_DEPTH_REACHED
$STATE,19251,begin surface coast
$FINISH,0.7,1.015286
$STATE,19280,end surface coast,CONTROL_FINISHED_OK
$STATE,19280,begin surface
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$IRIDIUM_FIX,2134.17,12007.71,241011,101054
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.14
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.40
$XPDR_PINGS,4
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$10V_AH,9.7,85.539
$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
$DEVICE_SECS,21.025,69.950,651.350,0.000,0.000,30.675,23.513,151.643,1.000,0.000,15.362,3948.860,11296.857,709.880,3261.886,501.923,0.000,2348.894,0.000,3011.642,0.000,0.541,0.000
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$SENSOR_SECS,1115.598,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322760
$DATA_FILE_SIZE,93752,1613
$CAP_FILE_SIZE,217492,0
$CFSIZE,260165632,187613184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241011,212207,2144.388,12002.557,32,0.9,32,-2.6