version: 66.09
glider: 181
mission: 6
dive: 774
start: 11 6 111 13 50 25
data:
$ID,181
$MISSION,6
$DIVE,774
$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,-41825.426
$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,51
$R_STBD_OVSHOOT,36
$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
$GPS1,061111,134307,2129.884,12029.514,42,1.1,42,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-61.9
$GPS2,061111,135001,2129.862,12029.370,7,1.0,12,-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,301.6,57778,-14.3,-10.312
$D_GRID,1427
$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,-67.80,0.000,2,0.000,0.000,146,2488,2339,0,0,0,0,0,0
$GC,91,-0.61,-219.0,3.2,-2.9,12,139,8.43,0.90,-32.58,0.000,4,0.223,0.070,2165,3047,3766,0,0,0,0,0,0
$GC,367,-0.46,-219.0,58.7,-18.4,60,374,0.17,0.82,0.00,0.000,6,0.145,0.024,2217,2456,3764,0,0,0,0,0,0
$GC,714,-0.43,-219.0,103.8,-9.4,121,721,0.00,0.88,0.00,0.000,4,0.000,0.035,2215,3036,3764,0,0,0,0,0,0
$GC,825,-0.39,-219.0,117.0,-12.7,140,833,0.08,0.73,0.00,0.000,6,0.120,0.024,2243,2502,3764,0,0,0,0,0,0
$GC,1175,-0.51,-219.0,147.7,-6.1,201,1182,0.00,0.68,0.00,0.000,4,0.000,0.026,2243,1973,3764,0,0,0,0,0,0
$GC,1298,-0.64,-219.0,158.0,-8.9,222,1306,0.17,0.80,0.00,0.000,6,0.044,0.031,2161,2514,3764,0,0,0,0,0,0
$GC,1648,-0.67,-219.0,198.7,-11.0,283,1655,0.00,0.73,0.00,0.000,4,0.000,0.024,2161,1968,3764,0,0,0,0,0,0
$GC,1731,-0.67,-219.0,208.0,-11.3,291,1734,0.00,0.80,0.00,0.000,6,0.000,0.032,2157,2507,3764,0,0,0,0,0,0
$GC,2063,-0.71,-219.0,239.1,-9.3,322,2066,0.00,0.70,0.00,0.000,4,0.000,0.024,2157,1975,3764,0,0,0,0,0,0
$GC,2099,-0.74,-219.0,242.1,-8.9,325,2103,0.00,0.77,0.00,0.000,6,0.000,0.032,2153,2500,3764,0,0,0,0,0,0
$GC,2431,-0.79,-219.0,277.2,-11.6,356,2435,0.00,0.80,0.00,0.000,4,0.000,0.037,2152,3026,3764,0,0,0,0,0,0
$GC,2448,-0.83,-219.0,279.4,-11.5,357,2455,0.10,0.73,0.00,0.000,6,0.043,0.024,2080,2500,3763,0,0,0,0,0,0
$GC,2774,-0.69,-219.0,327.6,-15.1,388,2778,0.25,0.82,0.00,0.000,4,0.141,0.031,2155,3026,3762,0,0,0,0,0,0
$GC,2821,-0.64,-219.0,332.8,-10.8,392,2825,0.00,0.73,0.00,0.000,6,0.000,0.024,2155,2497,3762,0,0,0,0,0,0
$GC,3153,-0.68,-219.0,359.4,-7.7,423,3157,0.00,0.68,0.00,0.000,4,0.000,0.024,2155,1971,3760,0,0,0,0,0,0
$GC,3272,-0.69,-219.0,369.1,-8.3,433,3279,0.00,0.80,0.00,0.000,6,0.000,0.034,2152,2505,3759,0,0,0,0,0,0
$GC,3599,-0.75,-219.0,400.1,-10.2,464,3602,0.00,0.77,0.00,0.000,4,0.000,0.037,2152,3024,3756,0,0,0,0,0,0
$GC,3673,-0.77,-219.0,407.4,-9.9,470,3680,0.00,0.73,0.00,0.000,6,0.000,0.024,2152,2503,3756,0,0,0,0,0,0
$GC,3999,-0.82,-219.0,432.6,-6.4,501,4004,0.12,0.82,0.00,0.000,4,0.080,0.038,2079,3029,3753,0,0,0,0,0,0
$GC,4028,-0.82,-219.0,435.1,-7.2,503,4036,0.08,0.75,0.00,0.000,6,0.135,0.025,2105,2499,3752,0,0,0,0,0,0
$GC,4354,-0.73,-219.0,467.3,-10.9,534,4358,0.12,0.82,0.00,0.000,4,0.161,0.040,2137,3019,3750,0,0,0,0,0,0
$GC,4451,-0.69,-219.0,476.6,-9.5,542,4458,0.00,0.73,0.00,0.000,6,0.000,0.025,2137,2501,3749,0,0,0,0,0,0
$GC,4789,-0.73,-219.0,509.5,-10.6,570,4792,0.00,0.73,0.00,0.000,4,0.000,0.028,2137,1972,3747,0,0,0,0,0,0
$GC,4904,-0.75,-219.0,522.6,-11.0,575,4908,0.00,0.80,0.00,0.000,6,0.000,0.034,2137,2503,3746,0,0,0,0,0,0
$GC,5238,-0.80,-219.0,556.4,-9.0,591,5242,0.00,0.73,0.00,0.000,4,0.000,0.024,2137,1971,3743,0,0,0,0,0,0
$GC,5324,-0.82,-219.0,563.5,-8.0,594,5330,0.00,0.80,0.00,0.000,6,0.000,0.035,2134,2500,3742,0,0,0,0,0,0
$GC,5641,-0.85,-219.0,586.9,-7.2,610,5645,0.10,0.75,0.00,0.000,4,0.093,0.027,2079,1972,3739,0,0,0,0,0,0
$GC,5714,-0.77,-219.0,594.1,-10.7,613,5719,0.15,0.80,0.00,0.000,6,0.128,0.037,2123,2493,3739,0,0,0,0,0,0
$GC,6044,-0.75,-219.0,624.1,-9.2,629,6048,0.00,0.80,0.00,0.000,4,0.000,0.041,2123,3022,3736,0,0,0,0,0,0
$GC,6107,-0.75,-219.0,629.8,-8.9,631,6113,0.00,0.75,0.00,0.000,6,0.000,0.025,2123,2498,3736,0,0,0,0,0,0
$GC,6424,-0.78,-219.0,655.8,-8.2,647,6427,0.00,0.80,0.00,0.000,4,0.000,0.041,2123,3013,3734,0,0,0,0,0,0
$GC,6508,-0.76,-219.0,663.0,-8.5,650,6515,0.00,0.73,0.00,0.000,6,0.000,0.026,2124,2507,3733,0,0,0,0,0,0
$GC,6826,-0.78,-219.0,689.3,-8.7,666,6830,0.00,0.73,0.00,0.000,4,0.000,0.027,2123,1971,3731,0,0,0,0,0,0
$GC,6922,-0.78,-219.0,698.2,-9.0,670,6925,0.00,0.82,0.00,0.000,6,0.000,0.037,2123,2504,3731,0,0,0,0,0,0
$GC,7251,-0.81,-219.0,727.1,-8.5,686,7255,0.00,0.75,0.00,0.000,4,0.000,0.026,2123,1966,3728,0,0,0,0,0,0
$GC,7298,-0.82,-219.0,731.3,-8.7,688,7302,0.00,0.82,0.00,0.000,6,0.000,0.037,2123,2500,3728,0,0,0,0,0,0
$GC,7633,-0.85,-219.0,760.3,-9.0,704,7637,0.00,0.77,0.00,0.000,4,0.000,0.028,2123,1967,3726,0,0,0,0,0,0
$GC,7679,-0.86,-219.0,764.8,-9.8,706,7684,0.00,0.82,0.00,0.000,6,0.000,0.038,2123,2499,3726,0,0,0,0,0,0
$GC,8015,-0.90,-219.0,795.3,-9.0,722,8019,0.12,0.75,0.00,0.000,4,0.084,0.028,2063,1979,3725,0,0,0,0,0,0
$GC,8115,-0.79,-219.0,808.9,-15.0,726,8119,0.17,0.82,0.00,0.000,6,0.139,0.041,2113,2503,3723,0,0,0,0,0,0
$GC,8439,-0.73,-219.0,846.4,-11.6,742,8443,0.00,0.80,0.00,0.000,4,0.000,0.043,2112,3021,3722,0,0,0,0,0,0
$GC,8557,-0.67,-219.0,861.2,-12.1,747,8561,0.15,0.75,0.00,0.000,6,0.128,0.027,2160,2501,3721,0,0,0,0,0,0
$GC,8887,-0.76,-219.0,887.6,-8.0,763,8891,0.00,0.82,0.00,0.000,4,0.000,0.042,2158,3026,3720,0,0,0,0,0,0
$GC,9006,-0.82,-219.0,897.8,-8.1,768,9010,0.10,0.75,0.00,0.000,6,0.051,0.028,2098,2507,3720,0,0,0,0,0,0
$GC,9334,-0.82,-219.0,929.2,-9.6,784,9338,0.00,0.82,0.00,0.000,4,0.000,0.042,2094,3028,3718,0,0,0,0,0,0
$GC,9403,-0.74,-219.0,936.8,-11.5,787,9407,0.12,0.77,0.00,0.000,6,0.133,0.027,2134,2492,3718,0,0,0,0,0,0
$GC,9738,-0.71,-219.0,970.3,-9.7,803,9741,0.00,0.85,0.00,0.000,4,0.000,0.041,2131,3033,3717,0,0,0,0,0,0
$GC,9779,-0.68,-219.0,974.4,-9.4,804,9785,0.00,0.77,0.00,0.000,6,0.000,0.027,2131,2500,3717,0,0,0,0,0,0
$STATE,9948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9948,begin apogee
$GC,9955,-0.19,0.0,990.1,9.2,813,10128,0.55,0.00,167.65,1.061,6,0.117,0.000,2306,2097,2869,0,0,0,0,0,0
$STATE,10129,end apogee,CONTROL_FINISHED_OK
$STATE,10129,begin climb
$GC,10132,0.61,219.0,998.6,0.0,821,10325,0.73,0.88,183.55,1.038,4,0.045,0.029,2587,1585,1976,0,0,0,0,0,0
$GC,10477,0.51,219.0,968.5,12.9,837,10481,0.15,0.82,0.00,0.000,6,0.146,0.030,2545,2124,1973,0,0,0,0,0,0
$GC,10807,0.46,236.7,936.3,9.7,853,10830,0.00,0.75,15.57,0.941,4,0.000,0.032,2545,2620,1903,0,0,0,0,0,0
$GC,10998,0.39,236.7,915.9,11.0,861,11002,0.12,0.75,0.00,0.000,6,0.147,0.028,2508,2111,1902,0,0,0,0,0,0
$GC,11319,0.47,306.7,888.8,8.1,877,11383,0.00,0.85,54.65,0.990,4,0.000,0.034,2510,1569,1618,0,0,0,0,0,0
$GC,11462,0.56,357.2,876.6,8.7,883,11508,0.10,0.80,40.75,0.962,6,0.054,0.029,2567,2098,1411,0,0,0,0,0,0
$GC,11826,0.53,357.2,836.4,10.9,901,11830,0.00,0.77,0.00,0.000,4,0.000,0.031,2569,1573,1413,0,0,0,0,0,0
$GC,11933,0.49,357.2,824.2,11.2,905,11940,0.10,0.77,0.00,0.000,6,0.127,0.030,2537,2096,1413,0,0,0,0,0,0
$GC,12251,0.52,357.2,791.7,10.5,921,12255,0.00,0.77,0.00,0.000,4,0.000,0.036,2537,2621,1415,0,0,0,0,0,0
$GC,12307,0.55,357.2,785.5,10.9,923,12310,0.00,0.77,0.00,0.000,6,0.000,0.029,2538,2096,1415,0,0,0,0,0,0
$GC,12629,0.59,357.2,751.2,10.5,939,12632,0.00,0.77,0.00,0.000,4,0.000,0.033,2538,2615,1414,0,0,0,0,0,0
$GC,12654,0.61,357.2,748.4,10.7,940,12658,0.00,0.75,0.00,0.000,6,0.000,0.030,2541,2110,1414,0,0,0,0,0,0
$GC,12988,0.68,384.3,715.1,9.4,956,13014,0.15,0.00,22.95,0.861,6,0.083,0.000,2611,2110,1302,0,0,0,0,0,0
$GC,13323,0.62,384.3,673.5,12.9,972,13325,0.15,0.00,0.00,0.000,6,0.151,0.000,2570,2110,1303,0,0,0,0,0,0
$GC,13629,0.69,419.5,643.1,9.2,987,13664,0.00,0.82,28.75,0.825,4,0.000,0.035,2572,1574,1158,0,0,0,0,0,0
$GC,13762,0.72,432.7,630.1,9.9,993,13777,0.00,0.77,11.90,0.742,6,0.000,0.028,2572,2094,1105,0,0,0,0,0,0
$GC,14091,0.76,441.0,598.1,10.0,1008,14106,0.15,0.82,8.35,0.691,4,0.079,0.035,2643,2629,1071,0,0,0,0,0,0
$GC,14177,0.68,441.0,587.0,13.9,1011,14184,0.15,0.80,0.00,0.000,6,0.143,0.029,2600,2093,1071,0,0,0,0,0,0
$GC,14494,0.70,443.8,554.2,10.2,1027,14503,0.00,0.82,3.97,0.507,4,0.000,0.032,2600,2620,1059,0,0,0,0,0,0
$GC,14578,0.66,443.8,545.0,11.3,1030,14585,0.00,0.77,0.00,0.000,6,0.000,0.031,2601,2102,1059,0,0,0,0,0,0
$GC,14894,0.66,443.8,507.2,12.2,1046,14898,0.00,0.77,0.00,0.000,4,0.000,0.032,2601,2624,1059,0,0,0,0,0,0
$GC,14991,0.66,443.8,495.8,11.3,1051,14998,0.00,0.77,0.00,0.000,6,0.000,0.030,2604,2102,1059,0,0,0,0,0,0
$GC,15317,0.71,461.0,461.1,9.8,1082,15340,0.00,0.80,14.95,0.690,4,0.000,0.035,2608,1574,988,0,0,0,0,0,0
$GC,15378,0.75,473.6,455.1,9.9,1087,15393,0.00,0.77,11.45,0.643,6,0.000,0.028,2607,2096,938,0,0,0,0,0,0
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$STATE,19585,end climb,SURFACE_DEPTH_REACHED
$STATE,19585,begin surface coast
$FINISH,0.7,1.021713
$STATE,19616,end surface coast,CONTROL_FINISHED_OK
$STATE,19616,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,50.03
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.00
$XPDR_PINGS,1
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$10V_AH,9.5,91.680
$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
$DEVICE_SECS,20.400,70.075,668.550,0.000,0.000,22.906,18.031,197.661,0.250,0.000,15.437,3963.778,11597.004,728.183,3271.772,527.028,0.000,2371.260,0.000,2992.853,0.000,0.541,0.000
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$SENSOR_SECS,1126.974,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93539,1630
$CAP_FILE_SIZE,219827,0
$CFSIZE,260165632,181739520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061111,192001,2130.335,12030.261,43,1.5,43,-2.6