version: 66.09
glider: 181
mission: 6
dive: 766
start: 11 4 111 18 19 15
data:
$ID,181
$MISSION,6
$DIVE,766
$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,-41815.367
$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,53
$R_STBD_OVSHOOT,67
$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
$GPS1,041111,181207,2136.725,12023.160,37,0.8,37,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-63.9
$GPS2,041111,181850,2136.653,12023.112,13,1.0,13,-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,190.5,292930,-14.3,-10.312
$D_GRID,1369
$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,-219.0,0.0,0.0,0,87,0.00,0.00,-67.78,0.000,2,0.000,0.000,184,2508,2394,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.4,-3.3,12,138,8.30,0.80,-31.42,0.000,4,0.223,0.056,2171,1937,3762,0,0,0,0,0,0
$GC,242,-0.48,-219.0,32.7,-19.9,38,249,0.15,0.82,0.00,0.000,6,0.131,0.037,2215,2475,3763,0,0,0,0,0,0
$GC,590,-0.44,-219.0,82.9,-12.1,99,596,0.00,0.82,0.00,0.000,4,0.000,0.037,2213,3030,3762,0,0,0,0,0,0
$GC,683,-0.38,-219.0,92.8,-9.8,115,690,0.10,0.77,0.00,0.000,6,0.116,0.024,2248,2472,3761,0,0,0,0,0,0
$GC,1030,-0.50,-219.0,124.5,-12.9,176,1037,0.00,0.65,0.00,0.000,4,0.000,0.024,2248,1963,3762,0,0,0,0,0,0
$GC,1248,-0.64,-219.0,151.4,-10.6,214,1255,0.20,0.82,0.00,0.000,6,0.045,0.034,2159,2513,3762,0,0,0,0,0,0
$GC,1596,-0.68,-219.0,180.0,-8.5,275,1603,0.00,0.75,0.00,0.000,4,0.000,0.037,2157,3024,3762,0,0,0,0,0,0
$GC,1644,-0.66,-219.0,185.0,-10.8,283,1651,0.00,0.73,0.00,0.000,6,0.000,0.024,2157,2496,3761,0,0,0,0,0,0
$GC,1980,-0.66,-219.0,217.2,-8.1,326,1984,0.00,0.80,0.00,0.000,4,0.000,0.036,2153,3026,3762,0,0,0,0,0,0
$GC,2085,-0.65,-219.0,226.3,-9.0,335,2088,0.00,0.73,0.00,0.000,6,0.000,0.024,2153,2504,3762,0,0,0,0,0,0
$GC,2416,-0.67,-219.0,263.3,-12.2,366,2420,0.00,0.73,0.00,0.000,4,0.000,0.026,2153,1961,3761,0,0,0,0,0,0
$GC,2452,-0.67,-219.0,267.3,-11.2,369,2456,0.00,0.80,0.00,0.000,6,0.000,0.034,2152,2497,3761,0,0,0,0,0,0
$GC,2784,-0.69,-219.0,302.3,-9.5,400,2788,0.00,0.77,0.00,0.000,4,0.000,0.038,2152,3022,3759,0,0,0,0,0,0
$GC,2903,-0.69,-219.0,313.7,-9.7,410,2910,0.00,0.73,0.00,0.000,6,0.000,0.024,2152,2497,3759,0,0,0,0,0,0
$GC,3229,-0.74,-219.0,341.3,-8.8,441,3233,0.00,0.80,0.00,0.000,4,0.000,0.037,2152,3025,3757,0,0,0,0,0,0
$GC,3337,-0.74,-219.0,351.4,-9.8,450,3344,0.00,0.73,0.00,0.000,6,0.000,0.024,2152,2501,3756,0,0,0,0,0,0
$GC,3663,-0.79,-219.0,386.3,-11.3,481,3667,0.00,0.73,0.00,0.000,4,0.000,0.028,2152,1969,3754,0,0,0,0,0,0
$GC,3760,-0.80,-219.0,397.3,-11.2,489,3767,0.08,0.80,0.00,0.000,6,0.059,0.035,2097,2501,3753,0,0,0,0,0,0
$GC,4086,-0.70,-219.0,441.0,-14.4,520,4090,0.17,0.75,0.00,0.000,4,0.140,0.025,2146,1967,3751,0,0,0,0,0,0
$GC,4182,-0.68,-219.0,451.3,-9.6,528,4190,0.00,0.80,0.00,0.000,6,0.000,0.034,2144,2500,3750,0,0,0,0,0,0
$GC,4508,-0.73,-219.0,478.2,-8.7,559,4512,0.00,0.75,0.00,0.000,4,0.000,0.027,2144,1971,3748,0,0,0,0,0,0
$GC,4592,-0.74,-219.0,486.5,-10.0,566,4599,0.00,0.80,0.00,0.000,6,0.000,0.035,2142,2498,3747,0,0,0,0,0,0
$GC,4926,-0.78,-219.0,518.4,-9.8,589,4930,0.00,0.73,0.00,0.000,4,0.000,0.024,2142,1975,3745,0,0,0,0,0,0
$GC,4955,-0.82,-219.0,521.7,-9.9,590,4959,0.00,0.80,0.00,0.000,6,0.000,0.037,2139,2498,3744,0,0,0,0,0,0
$GC,5283,-0.84,-219.0,551.4,-8.7,606,5285,0.10,0.00,0.00,0.000,6,0.093,0.000,2083,2499,3742,0,0,0,0,0,0
$GC,5593,-0.73,-219.0,587.4,-13.8,621,5598,0.20,0.73,0.00,0.000,4,0.142,0.021,2140,1987,3740,0,0,0,0,0,0
$GC,5744,-0.71,-219.0,604.5,-10.6,627,5751,0.00,0.77,0.00,0.000,6,0.000,0.037,2138,2494,3739,0,0,0,0,0,0
$GC,6062,-0.74,-219.0,637.9,-10.5,643,6066,0.00,0.80,0.00,0.000,4,0.000,0.043,2138,3021,3736,0,0,0,0,0,0
$GC,6157,-0.77,-219.0,648.1,-10.6,647,6161,0.00,0.73,0.00,0.000,6,0.000,0.025,2138,2507,3735,0,0,0,0,0,0
$GC,6486,-0.81,-219.0,677.1,-8.5,663,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2504,3734,0,0,0,0,0,0
$GC,6794,-0.85,-219.0,703.1,-8.6,678,6798,0.12,0.73,0.00,0.000,4,0.082,0.028,2075,1976,3732,0,0,0,0,0,0
$GC,6856,-0.75,-219.0,710.3,-12.7,680,6864,0.17,0.80,0.00,0.000,6,0.129,0.037,2127,2490,3731,0,0,0,0,0,0
$GC,7173,-0.71,-219.0,744.7,-10.5,696,7177,0.00,0.82,0.00,0.000,4,0.000,0.042,2125,3026,3729,0,0,0,0,0,0
$GC,7347,-0.66,-219.0,765.0,-11.8,703,7354,0.10,0.75,0.00,0.000,6,0.135,0.027,2158,2505,3729,0,0,0,0,0,0
$GC,7663,-0.72,-219.0,797.4,-10.4,719,7667,0.00,0.82,0.00,0.000,4,0.000,0.041,2156,3032,3727,0,0,0,0,0,0
$GC,7779,-0.77,-219.0,809.6,-10.6,724,7782,0.00,0.77,0.00,0.000,6,0.000,0.027,2156,2499,3726,0,0,0,0,0,0
$GC,8112,-0.84,-219.0,841.5,-9.1,740,8117,0.15,0.85,0.00,0.000,4,0.076,0.041,2083,3026,3724,0,0,0,0,0,0
$GC,8182,-0.77,-219.0,849.6,-12.7,743,8187,0.12,0.75,0.00,0.000,6,0.134,0.027,2123,2502,3723,0,0,0,0,0,0
$GC,8519,-0.73,-219.0,889.2,-11.8,759,8522,0.00,0.82,0.00,0.000,4,0.000,0.042,2121,3030,3722,0,0,0,0,0,0
$GC,8649,-0.69,-219.0,905.8,-13.0,764,8656,0.08,0.77,0.00,0.000,6,0.141,0.027,2145,2491,3721,0,0,0,0,0,0
$GC,8965,-0.69,-219.0,939.0,-10.2,780,8969,0.00,0.85,0.00,0.000,4,0.000,0.041,2143,3029,3720,0,0,0,0,0,0
$GC,9062,-0.67,-219.0,948.7,-9.9,784,9066,0.00,0.77,0.00,0.000,6,0.000,0.027,2143,2491,3720,0,0,0,0,0,0
$GC,9390,-0.67,-219.0,980.1,-9.1,800,9394,0.00,0.82,0.00,0.000,4,0.000,0.041,2139,3020,3718,0,0,0,0,0,0
$GC,9492,-0.65,-219.0,989.3,-9.3,804,9495,0.00,0.75,0.00,0.000,6,0.000,0.027,2139,2500,3718,0,0,0,0,0,0
$STATE,9501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9501,begin apogee
$GC,9510,-0.19,0.0,990.3,9.0,805,9683,0.52,0.00,167.80,1.060,6,0.112,0.000,2309,2091,2869,0,0,0,0,0,0
$STATE,9683,end apogee,CONTROL_FINISHED_OK
$STATE,9683,begin climb
$GC,9687,0.61,219.0,1000.9,0.0,813,9875,0.73,0.82,180.82,1.043,4,0.050,0.029,2584,1592,1976,0,0,0,0,0,0
$GC,10038,0.51,219.0,977.0,10.9,829,10046,0.12,0.80,0.00,0.000,6,0.145,0.031,2548,2120,1974,0,0,0,0,0,0
$GC,10358,0.51,280.4,949.6,8.4,845,10411,0.00,0.80,48.78,1.007,4,0.000,0.037,2548,2622,1726,0,0,0,0,0,0
$GC,10578,0.48,302.2,929.3,9.6,855,10601,0.00,0.75,18.92,0.940,6,0.000,0.028,2549,2108,1637,0,0,0,0,0,0
$GC,10912,0.51,357.9,901.4,8.5,871,10962,0.00,0.82,44.95,0.978,4,0.000,0.034,2550,2618,1409,0,0,0,0,0,0
$GC,11037,0.49,360.6,888.8,10.2,876,11045,0.00,0.77,3.97,0.575,6,0.000,0.028,2553,2093,1398,0,0,0,0,0,0
$GC,11354,0.47,360.6,855.9,10.8,892,11355,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2093,1399,0,0,0,0,0,0
$GC,11663,0.46,360.6,821.4,10.8,907,11667,0.00,0.80,0.00,0.000,4,0.000,0.033,2552,2624,1400,0,0,0,0,0,0
$GC,11771,0.42,360.6,809.6,10.4,911,11778,0.12,0.77,0.00,0.000,6,0.128,0.028,2515,2102,1401,0,0,0,0,0,0
$GC,12090,0.59,445.8,784.0,7.6,927,12162,0.15,0.75,67.72,0.926,4,0.081,0.031,2582,1581,1051,0,0,0,0,0,0
$GC,12244,0.59,445.8,767.9,10.7,934,12248,0.00,0.77,0.00,0.000,6,0.000,0.029,2583,2097,1054,0,0,0,0,0,0
$GC,12573,0.61,445.8,733.7,10.8,950,12577,0.00,0.77,0.00,0.000,4,0.000,0.035,2582,2625,1054,0,0,0,0,0,0
$GC,12674,0.61,445.8,722.5,11.2,954,12677,0.00,0.77,0.00,0.000,6,0.000,0.030,2584,2102,1054,0,0,0,0,0,0
$GC,12997,0.64,445.8,687.4,11.3,970,13001,0.00,0.77,0.00,0.000,4,0.000,0.036,2588,1572,1053,0,0,0,0,0,0
$GC,13044,0.66,445.8,681.9,12.1,972,13047,0.00,0.80,0.00,0.000,6,0.000,0.029,2588,2109,1053,0,0,0,0,0,0
$GC,13377,0.69,445.8,644.4,10.8,988,13381,0.00,0.75,0.00,0.000,4,0.000,0.035,2588,2623,1054,0,0,0,0,0,0
$GC,13474,0.69,449.1,634.4,10.2,992,13483,0.00,0.77,4.62,0.597,6,0.000,0.030,2591,2096,1040,0,0,0,0,0,0
$GC,13802,0.82,522.0,606.3,8.0,1008,13865,0.15,0.77,57.65,0.812,4,0.080,0.032,2661,1588,739,0,0,0,0,0,0
$GC,13898,0.84,535.3,596.0,9.9,1012,13914,0.00,0.77,12.70,0.717,6,0.000,0.028,2662,2100,686,0,0,0,0,0,0
$GC,14234,0.79,535.3,549.9,14.9,1029,14239,0.12,0.80,0.00,0.000,4,0.153,0.034,2629,1575,690,0,0,0,0,0,0
$GC,14359,0.77,535.3,532.7,13.4,1034,14363,0.00,0.77,0.00,0.000,6,0.000,0.029,2629,2097,691,0,0,0,0,0,0
$GC,14683,0.82,535.3,495.9,10.7,1051,14687,0.00,0.77,0.00,0.000,4,0.000,0.033,2632,1574,690,0,0,0,0,0,0
$GC,14730,0.85,535.3,490.4,11.2,1055,14734,0.00,0.80,0.00,0.000,6,0.000,0.029,2632,2109,690,0,0,0,0,0,0
$GC,15063,0.89,535.3,455.5,10.6,1086,15066,0.00,0.75,0.00,0.000,4,0.000,0.036,2632,2619,691,0,0,0,0,0,0
$GC,15136,0.89,535.3,447.8,10.7,1092,15143,0.00,0.77,0.00,0.000,6,0.000,0.031,2635,2095,690,0,0,0,0,0,0
$GC,15463,0.93,535.3,412.7,10.8,1123,15468,0.10,0.77,0.00,0.000,4,0.103,0.036,2688,1579,690,0,0,0,0,0,0
$GC,15555,0.85,535.3,400.5,14.8,1131,15559,0.12,0.77,0.00,0.000,6,0.126,0.031,2648,2097,690,0,0,0,0,0,0
$GC,15886,0.89,535.3,359.3,12.1,1162,15890,0.00,0.77,0.00,0.000,4,0.000,0.033,2650,1574,690,0,0,0,0,0,0
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$GC,17933,1.00,568.6,106.7,9.6,1420,17954,0.00,0.82,17.10,0.492,4,0.000,0.034,2680,1573,550,0,0,0,0,0,0
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$GC,18582,1.20,669.6,38.1,13.2,1533,18589,0.00,0.73,0.00,0.000,4,0.000,0.034,2777,2628,439,0,0,0,0,0,0
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$STATE,18869,end climb,SURFACE_DEPTH_REACHED
$STATE,18869,begin surface coast
$FINISH,0.6,1.022012
$STATE,18898,end surface coast,CONTROL_FINISHED_OK
$STATE,18898,begin surface
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$IRIDIUM_FIX,2129.53,12020.06,041111,121207
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.35
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,22.7,127.388
$10V_AH,9.6,90.859
$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
$DEVICE_SECS,19.475,64.850,660.000,0.000,0.000,29.675,20.029,182.574,0.500,0.000,16.497,3866.017,11066.393,706.753,3215.762,507.592,0.000,2313.879,0.000,2953.058,0.000,0.540,0.000
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$SENSOR_SECS,1097.091,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322720
$DATA_FILE_SIZE,90263,1588
$CAP_FILE_SIZE,209022,0
$CFSIZE,260165632,182530048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041111,233636,2136.112,12023.757,25,1.6,25,-2.6