version: 66.09
glider: 181
mission: 6
dive: 776
start: 11 7 111 0 54 15
data:
$ID,181
$MISSION,6
$DIVE,776
$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,-8
$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,-41827.941
$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,61
$R_STBD_OVSHOOT,39
$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
$GPS1,071111,004700,2130.726,12030.678,40,1.5,45,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-56.7
$GPS2,071111,005332,2130.781,12030.567,11,1.8,11,-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,299.2,58806,-14.3,-10.312
$D_GRID,1462
$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,19,-0.61,-219.0,0.0,0.0,0,94,0.00,0.00,-72.53,0.000,2,0.000,0.000,157,2470,2447,0,0,0,0,0,0
$GC,98,-0.61,-219.0,3.0,-2.4,13,145,8.25,0.93,-30.62,0.000,4,0.218,0.070,2168,3039,3764,0,0,0,0,0,0
$GC,396,-0.43,-219.0,70.1,-24.0,65,403,0.20,0.80,0.00,0.000,6,0.140,0.024,2229,2468,3763,0,0,0,0,0,0
$GC,744,-0.46,-219.0,118.8,-11.7,126,750,0.00,0.62,0.00,0.000,4,0.000,0.024,2229,1972,3762,0,0,0,0,0,0
$GC,821,-0.50,-219.0,126.2,-9.0,139,828,0.00,0.80,0.00,0.000,6,0.000,0.032,2227,2508,3761,0,0,0,0,0,0
$GC,1169,-0.61,-219.0,157.0,-9.5,200,1176,0.15,0.77,0.00,0.000,4,0.070,0.037,2138,3026,3762,0,0,0,0,0,0
$GC,1245,-0.56,-219.0,165.9,-12.2,213,1253,0.15,0.73,0.00,0.000,6,0.117,0.024,2188,2492,3762,0,0,0,0,0,0
$GC,1595,-0.63,-219.0,200.3,-9.0,274,1599,0.00,0.80,0.00,0.000,4,0.000,0.036,2187,3028,3762,0,0,0,0,0,0
$GC,1655,-0.68,-219.0,205.6,-8.9,279,1659,0.00,0.73,0.00,0.000,6,0.000,0.024,2187,2504,3762,0,0,0,0,0,0
$GC,1987,-0.73,-219.0,234.8,-7.9,310,1989,0.15,0.00,0.00,0.000,6,0.067,0.000,2100,2501,3762,0,0,0,0,0,0
$GC,2305,-0.61,-219.0,276.2,-14.6,340,2309,0.25,0.80,0.00,0.000,4,0.139,0.033,2176,3015,3761,0,0,0,0,0,0
$GC,2454,-0.65,-219.0,291.9,-9.8,353,2458,0.00,0.73,0.00,0.000,6,0.000,0.024,2176,2495,3760,0,0,0,0,0,0
$GC,2786,-0.72,-219.0,323.3,-8.5,384,2790,0.10,0.82,0.00,0.000,4,0.090,0.037,2108,3023,3758,0,0,0,0,0,0
$GC,2825,-0.70,-219.0,327.5,-11.0,387,2832,0.10,0.73,0.00,0.000,6,0.123,0.024,2142,2499,3758,0,0,0,0,0,0
$GC,3151,-0.73,-219.0,359.6,-10.1,418,3155,0.00,0.68,0.00,0.000,4,0.000,0.024,2143,1974,3756,0,0,0,0,0,0
$GC,3179,-0.76,-219.0,362.7,-10.6,420,3185,0.00,0.77,0.00,0.000,6,0.000,0.032,2141,2495,3756,0,0,0,0,0,0
$GC,3505,-0.78,-219.0,392.9,-9.1,451,3509,0.00,0.77,0.00,0.000,4,0.000,0.038,2139,3015,3753,0,0,0,0,0,0
$GC,3575,-0.80,-219.0,399.1,-9.3,457,3579,0.00,0.73,0.00,0.000,6,0.000,0.025,2138,2497,3752,0,0,0,0,0,0
$GC,3907,-0.83,-219.0,430.9,-9.2,488,3911,0.00,0.68,0.00,0.000,4,0.000,0.026,2138,1979,3750,0,0,0,0,0,0
$GC,4026,-0.83,-219.0,442.5,-9.3,498,4033,0.00,0.77,0.00,0.000,6,0.000,0.035,2139,2492,3749,0,0,0,0,0,0
$GC,4353,-0.85,-219.0,470.9,-8.9,529,4357,0.12,0.73,0.00,0.000,4,0.080,0.025,2071,1975,3746,0,0,0,0,0,0
$GC,4391,-0.76,-219.0,475.6,-12.2,532,4398,0.17,0.80,0.00,0.000,6,0.137,0.036,2122,2498,3746,0,0,0,0,0,0
$GC,4715,-0.70,-219.0,511.2,-10.7,558,4719,0.00,0.70,0.00,0.000,4,0.000,0.024,2122,1985,3743,0,0,0,0,0,0
$GC,4846,-0.65,-219.0,525.5,-10.9,563,4853,0.12,0.77,0.00,0.000,6,0.124,0.035,2161,2493,3742,0,0,0,0,0,0
$GC,5163,-0.72,-219.0,554.3,-9.0,579,5166,0.00,0.80,0.00,0.000,4,0.000,0.039,2159,3022,3739,0,0,0,0,0,0
$GC,5307,-0.77,-219.0,567.3,-8.9,585,5310,0.00,0.73,0.00,0.000,6,0.000,0.025,2159,2507,3738,0,0,0,0,0,0
$GC,5635,-0.84,-219.0,595.9,-7.9,601,5639,0.15,0.82,0.00,0.000,4,0.074,0.040,2084,3024,3735,0,0,0,0,0,0
$GC,5709,-0.74,-219.0,605.5,-15.3,604,5713,0.15,0.75,0.00,0.000,6,0.130,0.025,2132,2498,3734,0,0,0,0,0,0
$GC,6038,-0.76,-219.0,637.4,-9.4,620,6042,0.00,0.82,0.00,0.000,4,0.000,0.041,2129,3029,3733,0,0,0,0,0,0
$GC,6140,-0.76,-219.0,647.6,-9.6,624,6144,0.00,0.75,0.00,0.000,6,0.000,0.026,2129,2504,3732,0,0,0,0,0,0
$GC,6463,-0.79,-219.0,678.0,-9.3,640,6467,0.00,0.82,0.00,0.000,4,0.000,0.040,2126,3033,3729,0,0,0,0,0,0
$GC,6550,-0.79,-219.0,686.1,-9.5,643,6557,0.00,0.77,0.00,0.000,6,0.000,0.026,2126,2499,3729,0,0,0,0,0,0
$GC,6867,-0.82,-219.0,715.5,-9.4,659,6871,0.00,0.82,0.00,0.000,4,0.000,0.041,2125,3026,3727,0,0,0,0,0,0
$GC,6963,-0.82,-219.0,724.7,-9.5,663,6966,0.00,0.75,0.00,0.000,6,0.000,0.026,2125,2503,3727,0,0,0,0,0,0
$GC,7292,-0.85,-219.0,753.3,-8.7,679,7296,0.00,0.85,0.00,0.000,4,0.000,0.041,2125,3028,3724,0,0,0,0,0,0
$GC,7388,-0.85,-219.0,762.1,-8.7,683,7391,0.00,0.77,0.00,0.000,6,0.000,0.026,2125,2494,3724,0,0,0,0,0,0
$GC,7717,-0.87,-219.0,790.2,-8.9,699,7721,0.00,0.82,0.00,0.000,4,0.000,0.040,2125,3021,3722,0,0,0,0,0,0
$GC,7786,-0.87,-219.0,797.1,-9.9,702,7790,0.00,0.75,0.00,0.000,6,0.000,0.025,2125,2502,3722,0,0,0,0,0,0
$GC,8121,-0.83,-219.0,834.4,-11.9,718,8125,0.00,0.85,0.00,0.000,4,0.000,0.043,2122,3024,3720,0,0,0,0,0,0
$GC,8144,-0.79,-219.0,837.5,-12.7,719,8148,0.00,0.77,0.00,0.000,6,0.000,0.026,2123,2487,3720,0,0,0,0,0,0
$GC,8478,-0.75,-219.0,876.2,-10.5,735,8482,0.00,0.85,0.00,0.000,4,0.000,0.041,2119,3026,3718,0,0,0,0,0,0
$GC,8608,-0.70,-219.0,890.1,-10.7,740,8615,0.00,0.75,0.00,0.000,6,0.000,0.026,2119,2506,3718,0,0,0,0,0,0
$GC,8925,-0.65,-219.0,922.4,-10.0,756,8929,0.15,0.85,0.00,0.000,4,0.150,0.042,2158,3024,3716,0,0,0,0,0,0
$GC,8965,-0.64,-219.0,926.0,-8.9,757,8972,0.00,0.77,0.00,0.000,6,0.000,0.026,2158,2491,3716,0,0,0,0,0,0
$GC,9282,-0.72,-219.0,947.8,-7.4,773,9286,0.00,0.70,0.00,0.000,4,0.000,0.028,2158,1974,3715,0,0,0,0,0,0
$GC,9334,-0.78,-219.0,952.0,-8.2,775,9339,0.00,0.80,0.00,0.000,6,0.000,0.036,2156,2490,3714,0,0,0,0,0,0
$GC,9663,-0.85,-219.0,976.1,-7.8,791,9667,0.17,0.75,0.00,0.000,4,0.073,0.028,2075,1972,3713,0,0,0,0,0,0
$GC,9718,-0.77,-219.0,982.5,-12.3,793,9723,0.17,0.82,0.00,0.000,6,0.129,0.039,2126,2497,3712,0,0,0,0,0,0
$STATE,9791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9791,begin apogee
$GC,9800,-0.19,0.0,990.7,11.0,797,9972,0.57,0.00,167.07,1.062,6,0.119,0.000,2309,2087,2869,0,0,0,0,0,0
$STATE,9973,end apogee,CONTROL_FINISHED_OK
$STATE,9973,begin climb
$GC,9977,0.61,219.0,1002.3,0.0,805,10168,0.73,0.85,184.52,1.039,4,0.046,0.029,2586,1590,1976,0,0,0,0,0,0
$GC,10252,0.50,219.0,986.8,11.4,818,10256,0.15,0.82,0.00,0.000,6,0.146,0.028,2545,2110,1974,0,0,0,0,0,0
$GC,10577,0.49,263.9,957.9,8.9,834,10620,0.00,0.75,36.33,1.005,4,0.000,0.032,2545,2622,1792,0,0,0,0,0,0
$GC,10802,0.45,283.3,936.5,9.7,844,10825,0.00,0.77,16.67,0.938,6,0.000,0.028,2547,2092,1714,0,0,0,0,0,0
$GC,11137,0.42,295.0,903.1,9.9,860,11152,0.12,0.80,10.93,0.880,4,0.170,0.030,2514,2633,1666,0,0,0,0,0,0
$GC,11241,0.44,317.5,893.3,9.6,864,11265,0.00,0.77,19.08,0.931,6,0.000,0.030,2516,2113,1574,0,0,0,0,0,0
$GC,11585,0.55,383.3,866.0,8.2,881,11642,0.10,0.85,52.67,0.971,4,0.104,0.034,2567,1573,1306,0,0,0,0,0,0
$GC,11760,0.53,383.3,847.2,10.6,888,11764,0.00,0.80,0.00,0.000,6,0.000,0.029,2567,2098,1306,0,0,0,0,0,0
$GC,12088,0.50,383.3,813.0,10.4,904,12091,0.00,0.77,0.00,0.000,4,0.000,0.031,2569,1574,1308,0,0,0,0,0,0
$GC,12203,0.47,383.3,800.0,11.3,909,12207,0.12,0.80,0.00,0.000,6,0.122,0.029,2529,2111,1307,0,0,0,0,0,0
$GC,12540,0.55,399.3,767.8,9.8,925,12559,0.00,0.77,14.43,0.856,4,0.000,0.037,2529,2620,1240,0,0,0,0,0,0
$GC,12602,0.63,416.1,761.3,9.8,928,12625,0.10,0.77,14.95,0.841,6,0.060,0.031,2583,2101,1171,0,0,0,0,0,0
$GC,12936,0.65,416.1,725.0,11.0,944,12940,0.00,0.77,0.00,0.000,4,0.000,0.035,2587,1572,1169,0,0,0,0,0,0
$GC,13033,0.64,416.1,713.7,11.5,948,13036,0.00,0.77,0.00,0.000,6,0.000,0.029,2587,2092,1169,0,0,0,0,0,0
$GC,13360,0.63,416.1,676.6,11.6,964,13364,0.00,0.77,0.00,0.000,4,0.000,0.034,2587,2618,1169,0,0,0,0,0,0
$GC,13435,0.60,416.1,668.2,11.6,967,13439,0.00,0.77,0.00,0.000,6,0.000,0.028,2590,2092,1169,0,0,0,0,0,0
$GC,13763,0.62,416.1,633.7,10.5,983,13766,0.00,0.75,0.00,0.000,4,0.000,0.034,2594,1578,1169,0,0,0,0,0,0
$GC,13803,0.62,417.6,629.5,10.3,984,13810,0.00,0.77,0.00,0.000,6,0.000,0.028,2593,2097,1169,0,0,0,0,0,0
$GC,14119,0.62,417.6,596.3,10.6,1000,14123,0.00,0.77,0.00,0.000,4,0.000,0.037,2594,2622,1169,0,0,0,0,0,0
$GC,14188,0.58,417.6,588.7,11.7,1003,14193,0.10,0.77,0.00,0.000,6,0.135,0.029,2566,2098,1170,0,0,0,0,0,0
$GC,14525,0.65,429.5,555.7,9.9,1019,14541,0.00,0.80,12.45,0.730,4,0.000,0.034,2567,1580,1117,0,0,0,0,0,0
$GC,14655,0.71,429.5,541.4,11.2,1024,14659,0.08,0.77,0.00,0.000,6,0.061,0.029,2619,2098,1116,0,0,0,0,0,0
$GC,14991,0.69,429.5,498.0,13.3,1040,14995,0.00,0.77,0.00,0.000,4,0.000,0.034,2618,2629,1116,0,0,0,0,0,0
$GC,15064,0.62,429.5,487.2,14.1,1046,15071,0.12,0.77,0.00,0.000,6,0.138,0.030,2582,2108,1115,0,0,0,0,0,0
$GC,15392,0.69,440.0,453.2,10.0,1077,15405,0.00,0.82,9.65,0.649,4,0.000,0.034,2582,2628,1075,0,0,0,0,0,0
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$STATE,19589,end climb,SURFACE_DEPTH_REACHED
$STATE,19589,begin surface coast
$FINISH,1.0,1.021812
$STATE,19606,end surface coast,CONTROL_FINISHED_OK
$STATE,19606,begin surface
$SM_CCo,19684,0.00,0.000,0,0,439,596.08
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$IRIDIUM_FIX,2124.90,11939.52,061111,191935
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.37
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.30
$XPDR_PINGS,2
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$10V_AH,9.5,91.887
$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
$DEVICE_SECS,20.525,70.050,668.175,0.000,0.000,23.839,26.041,176.167,0.500,0.000,14.322,3973.543,11548.616,730.903,3286.863,537.089,0.000,2385.424,0.000,3025.338,0.000,0.541,0.000
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$SENSOR_SECS,1119.716,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321908
$DATA_FILE_SIZE,93714,1619
$CAP_FILE_SIZE,221241,0
$CFSIZE,260165632,181538816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071111,062337,2130.901,12031.296,38,1.6,38,-2.6