version: 66.09
glider: 181
mission: 6
dive: 724
start: 10 28 111 8 43 45
data:
$ID,181
$MISSION,6
$DIVE,724
$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,1
$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,-41754.801
$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,55
$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
$GPS1,281011,083701,2147.800,12011.246,39,1.3,39,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-68.7
$GPS2,281011,084320,2147.987,12011.291,12,1.3,12,-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,186.2,311738,-14.3,-10.312
$D_GRID,1470
$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,-67.68,0.000,2,0.000,0.000,185,2510,2330,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.5,-3.3,12,138,8.30,0.75,-32.05,0.000,4,0.222,0.075,2170,3020,3762,0,0,0,0,0,0
$GC,315,-0.45,-219.0,61.9,-25.2,51,322,0.17,0.77,0.00,0.000,6,0.145,0.026,2223,2470,3762,0,0,0,0,0,0
$GC,663,-0.41,-219.0,111.2,-8.7,112,669,0.00,0.82,0.00,0.000,4,0.000,0.038,2220,3014,3761,0,0,0,0,0,0
$GC,683,-0.38,-219.0,112.8,-8.0,115,690,0.08,0.73,0.00,0.000,6,0.118,0.026,2248,2495,3761,0,0,0,0,0,0
$GC,1031,-0.51,-219.0,141.0,-9.5,176,1038,0.12,0.80,0.00,0.000,4,0.081,0.037,2188,3020,3761,0,0,0,0,0,0
$GC,1149,-0.54,-219.0,152.0,-9.2,196,1156,0.00,0.73,0.00,0.000,6,0.000,0.025,2188,2489,3761,0,0,0,0,0,0
$GC,1498,-0.61,-219.0,186.3,-10.2,257,1505,0.00,0.65,0.00,0.000,4,0.000,0.025,2188,1981,3761,0,0,0,0,0,0
$GC,1603,-0.66,-219.0,196.3,-9.0,275,1609,0.00,0.77,0.00,0.000,6,0.000,0.034,2187,2502,3761,0,0,0,0,0,0
$GC,1937,-0.73,-219.0,230.0,-10.3,310,1942,0.12,0.73,0.00,0.000,4,0.076,0.026,2108,1974,3761,0,0,0,0,0,0
$GC,1964,-0.73,-219.0,233.2,-11.2,312,1972,0.10,0.77,0.00,0.000,6,0.120,0.034,2138,2493,3761,0,0,0,0,0,0
$GC,2291,-0.65,-219.0,269.6,-9.7,343,2294,0.00,0.68,0.00,0.000,4,0.000,0.026,2138,1989,3759,0,0,0,0,0,0
$GC,2354,-0.60,-219.0,275.4,-9.1,348,2361,0.12,0.77,0.00,0.000,6,0.124,0.038,2179,2502,3760,0,0,0,0,0,0
$GC,2680,-0.67,-219.0,304.2,-10.2,379,2683,0.00,0.77,0.00,0.000,4,0.000,0.041,2178,3021,3758,0,0,0,0,0,0
$GC,2799,-0.74,-219.0,316.9,-10.8,389,2806,0.10,0.73,0.00,0.000,6,0.043,0.027,2108,2501,3757,0,0,0,0,0,0
$GC,3126,-0.74,-219.0,353.3,-10.4,420,3129,0.00,0.70,0.00,0.000,4,0.000,0.028,2108,1970,3755,0,0,0,0,0,0
$GC,3154,-0.74,-219.0,356.4,-10.4,422,3161,0.08,0.80,0.00,0.000,6,0.119,0.036,2132,2500,3755,0,0,0,0,0,0
$GC,3480,-0.69,-219.0,394.2,-11.4,453,3484,0.00,0.80,0.00,0.000,4,0.000,0.043,2129,3019,3752,0,0,0,0,0,0
$GC,3599,-0.63,-219.0,408.7,-11.8,463,3606,0.12,0.73,0.00,0.000,6,0.120,0.028,2171,2508,3751,0,0,0,0,0,0
$GC,3925,-0.72,-219.0,434.8,-8.1,494,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2508,3749,0,0,0,0,0,0
$GC,4247,-0.81,-219.0,462.3,-9.6,524,4251,0.17,0.75,0.00,0.000,4,0.068,0.028,2083,1975,3746,0,0,0,0,0,0
$GC,4349,-0.70,-219.0,476.9,-15.1,533,4354,0.20,0.80,0.00,0.000,6,0.124,0.040,2143,2494,3745,0,0,0,0,0,0
$GC,4676,-0.67,-219.0,517.5,-11.7,557,4680,0.00,0.80,0.00,0.000,4,0.000,0.043,2141,3021,3742,0,0,0,0,0,0
$GC,4831,-0.64,-219.0,534.3,-11.0,563,4838,0.00,0.75,0.00,0.000,6,0.000,0.028,2141,2499,3741,0,0,0,0,0,0
$GC,5148,-0.61,-219.0,563.6,-8.8,579,5152,0.12,0.85,0.00,0.000,4,0.148,0.044,2175,3027,3738,0,0,0,0,0,0
$GC,5203,-0.61,-219.0,567.9,-7.1,581,5207,0.00,0.75,0.00,0.000,6,0.000,0.029,2174,2510,3738,0,0,0,0,0,0
$GC,5527,-0.70,-219.0,587.5,-6.1,597,5531,0.00,0.80,0.00,0.000,4,0.000,0.044,2171,3022,3735,0,0,0,0,0,0
$GC,5645,-0.77,-219.0,594.9,-6.1,602,5650,0.10,0.77,0.00,0.000,6,0.049,0.028,2108,2489,3734,0,0,0,0,0,0
$GC,5976,-0.79,-219.0,625.9,-10.3,618,5980,0.00,0.70,0.00,0.000,4,0.000,0.030,2108,1971,3732,0,0,0,0,0,0
$GC,6015,-0.77,-219.0,631.2,-12.6,619,6022,0.00,0.82,0.00,0.000,6,0.000,0.038,2103,2506,3732,0,0,0,0,0,0
$GC,6333,-0.69,-219.0,678.6,-14.8,635,6337,0.17,0.82,0.00,0.000,4,0.145,0.045,2151,3025,3730,0,0,0,0,0,0
$GC,6427,-0.68,-219.0,690.6,-11.4,639,6431,0.00,0.77,0.00,0.000,6,0.000,0.029,2151,2498,3729,0,0,0,0,0,0
$GC,6757,-0.67,-219.0,722.3,-9.2,655,6760,0.00,0.82,0.00,0.000,4,0.000,0.044,2147,3021,3727,0,0,0,0,0,0
$GC,6826,-0.64,-219.0,728.5,-8.9,658,6830,0.00,0.75,0.00,0.000,6,0.000,0.029,2147,2501,3726,0,0,0,0,0,0
$GC,7160,-0.63,-219.0,754.5,-7.2,674,7164,0.00,0.82,0.00,0.000,4,0.000,0.045,2143,3024,3724,0,0,0,0,0,0
$GC,7200,-0.61,-219.0,757.7,-7.3,675,7207,0.10,0.75,0.00,0.000,6,0.118,0.030,2177,2508,3724,0,0,0,0,0,0
$GC,7519,-0.72,-219.0,773.8,-5.1,691,7523,0.12,0.82,0.00,0.000,4,0.090,0.045,2121,3024,3723,0,0,0,0,0,0
$GC,7603,-0.72,-219.0,779.4,-6.8,694,7610,0.00,0.77,0.00,0.000,6,0.000,0.029,2121,2494,3722,0,0,0,0,0,0
$GC,7920,-0.68,-219.0,806.8,-9.2,710,7924,0.12,0.85,0.00,0.000,4,0.147,0.044,2154,3020,3720,0,0,0,0,0,0
$GC,8016,-0.68,-219.0,814.5,-7.7,714,8020,0.00,0.75,0.00,0.000,6,0.000,0.031,2153,2505,3720,0,0,0,0,0,0
$GC,8344,-0.68,-219.0,842.6,-8.4,730,8348,0.00,0.82,0.00,0.000,4,0.000,0.046,2152,3026,3718,0,0,0,0,0,0
$GC,8417,-0.68,-219.0,849.0,-8.7,733,8421,0.00,0.77,0.00,0.000,6,0.000,0.031,2152,2502,3718,0,0,0,0,0,0
$GC,8745,-0.68,-219.0,876.4,-8.8,749,8749,0.00,0.85,0.00,0.000,4,0.000,0.047,2152,3020,3717,0,0,0,0,0,0
$GC,8784,-0.68,-219.0,880.2,-9.2,750,8791,0.00,0.77,0.00,0.000,6,0.000,0.030,2151,2496,3717,0,0,0,0,0,0
$GC,9102,-0.68,-219.0,909.8,-9.4,766,9105,0.00,0.82,0.00,0.000,4,0.000,0.046,2152,3018,3715,0,0,0,0,0,0
$GC,9186,-0.68,-219.0,917.8,-8.8,769,9192,0.00,0.77,0.00,0.000,6,0.000,0.030,2152,2495,3714,0,0,0,0,0,0
$GC,9503,-0.68,-219.0,942.5,-7.1,785,9507,0.00,0.85,0.00,0.000,4,0.000,0.047,2152,3029,3713,0,0,0,0,0,0
$GC,9576,-0.68,-219.0,947.4,-6.7,788,9580,0.00,0.77,0.00,0.000,6,0.000,0.031,2151,2504,3713,0,0,0,0,0,0
$GC,9904,-0.68,-219.0,968.1,-6.7,804,9907,0.00,0.82,0.00,0.000,4,0.000,0.047,2152,3020,3711,0,0,0,0,0,0
$GC,9974,-0.68,-219.0,972.8,-6.8,807,9978,0.00,0.77,0.00,0.000,6,0.000,0.030,2152,2498,3711,0,0,0,0,0,0
$STATE,10223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10223,begin apogee
$GC,10230,-0.19,0.0,990.4,6.9,819,10401,0.47,0.00,165.55,1.069,6,0.109,0.000,2309,2084,2870,0,0,0,0,0,0
$STATE,10402,end apogee,CONTROL_FINISHED_OK
$STATE,10402,begin climb
$GC,10405,0.61,219.0,999.2,0.0,827,10590,0.70,0.75,175.27,1.053,4,0.047,0.030,2586,1571,1975,0,0,0,0,0,0
$GC,10699,0.50,219.0,976.4,13.1,840,10706,0.15,0.82,0.00,0.000,6,0.148,0.033,2542,2110,1973,0,0,0,0,0,0
$GC,11016,0.44,219.0,942.7,10.5,856,11020,0.00,0.75,0.00,0.000,4,0.000,0.039,2543,2618,1973,0,0,0,0,0,0
$GC,11108,0.37,219.9,933.3,10.3,860,11113,0.15,0.77,0.00,0.000,6,0.153,0.031,2499,2095,1972,0,0,0,0,0,0
$GC,11443,0.49,347.5,909.1,6.2,876,11552,0.10,0.88,101.18,1.008,4,0.107,0.037,2542,2621,1452,0,0,0,0,0,0
$GC,11632,0.51,382.7,893.6,9.2,884,11666,0.00,0.80,29.80,0.951,6,0.000,0.031,2545,2093,1307,0,0,0,0,0,0
$GC,11976,0.56,418.2,862.9,9.2,901,12011,0.00,0.85,30.08,0.948,4,0.000,0.037,2546,2626,1164,0,0,0,0,0,0
$GC,12113,0.56,418.2,847.9,11.0,907,12117,0.00,0.80,0.00,0.000,6,0.000,0.031,2548,2093,1165,0,0,0,0,0,0
$GC,12441,0.56,418.2,813.9,10.3,923,12444,0.00,0.80,0.00,0.000,4,0.000,0.038,2549,2619,1167,0,0,0,0,0,0
$GC,12567,0.55,421.7,801.2,10.2,928,12581,0.00,0.77,5.53,0.709,6,0.000,0.031,2552,2095,1148,0,0,0,0,0,0
$GC,12890,0.61,473.0,771.7,8.7,944,12936,0.00,0.82,41.42,0.915,4,0.000,0.033,2552,2617,940,0,0,0,0,0,0
$GC,13024,0.66,513.4,759.6,9.0,950,13067,0.08,0.77,34.00,0.890,6,0.063,0.031,2598,2102,775,0,0,0,0,0,0
$GC,13375,0.66,513.4,721.9,11.5,967,13379,0.00,0.77,0.00,0.000,4,0.000,0.037,2598,2616,782,0,0,0,0,0,0
$GC,13489,0.65,513.4,708.2,12.1,972,13493,0.00,0.77,0.00,0.000,6,0.000,0.031,2601,2095,782,0,0,0,0,0,0
$GC,13823,0.65,515.9,672.8,10.2,988,13832,0.00,0.80,5.43,0.650,4,0.000,0.034,2601,2610,764,0,0,0,0,0,0
$GC,13913,0.64,515.9,662.8,11.6,992,13917,0.00,0.75,0.00,0.000,6,0.000,0.032,2604,2109,764,0,0,0,0,0,0
$GC,14248,0.64,515.9,625.4,11.5,1008,14249,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2109,763,0,0,0,0,0,0
$GC,14556,0.64,515.9,589.8,11.9,1023,14557,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2109,763,0,0,0,0,0,0
$GC,14865,0.64,515.9,551.7,12.6,1038,14869,0.00,0.77,0.00,0.000,4,0.000,0.036,2604,2625,764,0,0,0,0,0,0
$GC,14892,0.62,515.9,548.0,12.9,1039,14897,0.10,0.80,0.00,0.000,6,0.132,0.032,2575,2093,763,0,0,0,0,0,0
$GC,15222,0.72,515.9,511.3,11.0,1055,15226,0.00,0.80,0.00,0.000,4,0.000,0.035,2575,2629,763,0,0,0,0,0,0
$GC,15352,0.83,538.9,498.6,9.6,1061,15376,0.15,0.80,19.05,0.731,6,0.047,0.034,2649,2098,671,0,0,0,0,0,0
$GC,15695,0.83,538.9,458.6,11.5,1093,15698,0.00,0.77,0.00,0.000,4,0.000,0.039,2652,1574,671,0,0,0,0,0,0
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$STATE,19490,end climb,SURFACE_DEPTH_REACHED
$STATE,19493,begin surface coast
$FINISH,0.6,1.021638
$STATE,19515,end surface coast,CONTROL_FINISHED_OK
$STATE,19516,begin surface
$SM_CCo,19593,0.00,0.000,0,0,442,595.34
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$IRIDIUM_FIX,2138.81,12008.87,281011,030338
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.44
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.8,120.671
$10V_AH,9.7,87.233
$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
$DEVICE_SECS,20.275,70.025,658.575,0.000,0.000,32.831,17.155,165.713,0.000,0.000,14.734,3889.461,11642.702,726.602,3197.249,499.796,0.000,2345.747,0.000,2944.921,0.000,0.541,0.000
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$SENSOR_SECS,1104.030,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322780
$DATA_FILE_SIZE,90201,1594
$CAP_FILE_SIZE,215718,0
$CFSIZE,260165632,186040320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281011,141137,2147.199,12011.353,40,0.9,40,-2.6