version: 66.09
glider: 181
mission: 6
dive: 778
start: 11 7 111 11 56 33
data:
$ID,181
$MISSION,6
$DIVE,778
$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,-41832.285
$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,52
$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
$GPS1,071111,114901,2131.486,12030.497,37,1.5,37,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-62.7
$GPS2,071111,115608,2131.433,12030.390,11,1.3,11,-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,298.3,58000,-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,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,-67.80,0.000,2,0.000,0.000,133,2505,2354,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.3,-3.2,12,138,8.48,0.77,-32.40,0.000,4,0.222,0.072,2170,3021,3763,0,0,0,0,0,0
$GC,360,-0.44,-219.0,64.1,-22.3,59,368,0.17,0.77,0.00,0.000,6,0.145,0.024,2223,2471,3762,0,0,0,0,0,0
$GC,708,-0.40,-219.0,115.3,-12.4,120,714,0.00,0.65,0.00,0.000,4,0.000,0.025,2223,1967,3762,0,0,0,0,0,0
$GC,733,-0.40,-219.0,118.2,-11.6,124,739,0.00,0.77,0.00,0.000,6,0.000,0.034,2220,2489,3761,0,0,0,0,0,0
$GC,1080,-0.49,-219.0,150.6,-9.6,185,1087,0.00,0.70,0.00,0.000,4,0.000,0.024,2220,1960,3761,0,0,0,0,0,0
$GC,1174,-0.56,-219.0,159.8,-9.3,201,1181,0.00,0.80,0.00,0.000,6,0.000,0.033,2220,2498,3762,0,0,0,0,0,0
$GC,1522,-0.64,-219.0,191.1,-8.1,262,1529,0.15,0.80,0.00,0.000,4,0.070,0.037,2127,3026,3762,0,0,0,0,0,0
$GC,1571,-0.58,-219.0,196.3,-11.2,270,1578,0.17,0.73,0.00,0.000,6,0.133,0.024,2181,2497,3762,0,0,0,0,0,0
$GC,1906,-0.63,-219.0,228.4,-10.0,304,1910,0.00,0.80,0.00,0.000,4,0.000,0.036,2180,3026,3762,0,0,0,0,0,0
$GC,1964,-0.65,-219.0,234.2,-10.1,309,1968,0.00,0.73,0.00,0.000,6,0.000,0.025,2179,2503,3761,0,0,0,0,0,0
$GC,2296,-0.71,-219.0,270.4,-11.6,340,2299,0.00,0.82,0.00,0.000,4,0.000,0.037,2179,3029,3761,0,0,0,0,0,0
$GC,2415,-0.76,-219.0,283.1,-10.1,350,2423,0.12,0.75,0.00,0.000,6,0.039,0.025,2097,2491,3760,0,0,0,0,0,0
$GC,2743,-0.73,-219.0,315.7,-9.1,381,2748,0.15,0.70,0.00,0.000,4,0.125,0.026,2143,1972,3759,0,0,0,0,0,0
$GC,2830,-0.73,-219.0,323.5,-9.2,388,2837,0.00,0.80,0.00,0.000,6,0.000,0.033,2140,2505,3758,0,0,0,0,0,0
$GC,3156,-0.76,-219.0,356.3,-10.6,419,3160,0.00,0.73,0.00,0.000,4,0.000,0.024,2140,1968,3756,0,0,0,0,0,0
$GC,3195,-0.78,-219.0,360.0,-10.4,422,3198,0.00,0.80,0.00,0.000,6,0.000,0.034,2139,2500,3756,0,0,0,0,0,0
$GC,3526,-0.80,-219.0,393.1,-9.9,453,3530,0.00,0.80,0.00,0.000,4,0.000,0.040,2138,3020,3753,0,0,0,0,0,0
$GC,3566,-0.80,-219.0,397.4,-10.3,456,3573,0.00,0.73,0.00,0.000,6,0.000,0.024,2138,2502,3753,0,0,0,0,0,0
$GC,3893,-0.83,-219.0,427.5,-8.1,487,3896,0.00,0.80,0.00,0.000,4,0.000,0.038,2138,3026,3750,0,0,0,0,0,0
$GC,3955,-0.83,-219.0,433.1,-8.6,492,3962,0.00,0.75,0.00,0.000,6,0.000,0.025,2138,2497,3750,0,0,0,0,0,0
$GC,4282,-0.85,-219.0,461.9,-9.2,523,4286,0.12,0.82,0.00,0.000,4,0.079,0.038,2067,3024,3747,0,0,0,0,0,0
$GC,4445,-0.71,-219.0,485.9,-15.7,537,4452,0.22,0.75,0.00,0.000,6,0.143,0.025,2137,2497,3746,0,0,0,0,0,0
$GC,4767,-0.73,-219.0,519.8,-10.5,559,4771,0.00,0.70,0.00,0.000,4,0.000,0.026,2136,1968,3744,0,0,0,0,0,0
$GC,4837,-0.74,-219.0,527.5,-10.8,562,4841,0.00,0.80,0.00,0.000,6,0.000,0.034,2137,2498,3743,0,0,0,0,0,0
$GC,5171,-0.77,-219.0,557.3,-7.8,578,5175,0.00,0.73,0.00,0.000,4,0.000,0.026,2137,1967,3740,0,0,0,0,0,0
$GC,5287,-0.79,-219.0,565.9,-7.1,583,5291,0.00,0.82,0.00,0.000,6,0.000,0.036,2137,2504,3740,0,0,0,0,0,0
$GC,5621,-0.83,-219.0,589.6,-7.4,599,5624,0.00,0.73,0.00,0.000,4,0.000,0.025,2137,1975,3737,0,0,0,0,0,0
$GC,5678,-0.85,-219.0,594.1,-7.7,601,5683,0.08,0.80,0.00,0.000,6,0.053,0.035,2085,2499,3736,0,0,0,0,0,0
$GC,6000,-0.83,-219.0,628.4,-10.9,617,6004,0.00,0.75,0.00,0.000,4,0.000,0.027,2085,1973,3734,0,0,0,0,0,0
$GC,6024,-0.80,-219.0,631.2,-11.3,618,6029,0.10,0.80,0.00,0.000,6,0.119,0.037,2118,2493,3734,0,0,0,0,0,0
$GC,6361,-0.82,-219.0,665.0,-10.0,634,6365,0.00,0.73,0.00,0.000,4,0.000,0.028,2118,1972,3732,0,0,0,0,0,0
$GC,6468,-0.82,-219.0,676.1,-9.9,638,6475,0.00,0.82,0.00,0.000,6,0.000,0.037,2116,2507,3730,0,0,0,0,0,0
$GC,6786,-0.84,-219.0,704.8,-9.2,654,6790,0.00,0.75,0.00,0.000,4,0.000,0.026,2116,1966,3728,0,0,0,0,0,0
$GC,6848,-0.84,-219.0,710.9,-9.5,656,6854,0.00,0.82,0.00,0.000,6,0.000,0.037,2113,2502,3728,0,0,0,0,0,0
$GC,7166,-0.86,-219.0,739.8,-8.9,672,7169,0.00,0.80,0.00,0.000,4,0.000,0.042,2112,3026,3727,0,0,0,0,0,0
$GC,7190,-0.86,-219.0,741.8,-8.7,673,7194,0.00,0.75,0.00,0.000,6,0.000,0.027,2112,2506,3726,0,0,0,0,0,0
$GC,7523,-0.86,-219.0,768.6,-7.7,689,7527,0.00,0.80,0.00,0.000,4,0.000,0.041,2112,3018,3724,0,0,0,0,0,0
$GC,7643,-0.79,-219.0,778.3,-10.0,694,7646,0.00,0.75,0.00,0.000,6,0.000,0.027,2112,2500,3723,0,0,0,0,0,0
$GC,7971,-0.73,-219.0,810.0,-10.5,710,7974,0.00,0.82,0.00,0.000,4,0.000,0.041,2109,3026,3722,0,0,0,0,0,0
$GC,8050,-0.67,-219.0,819.4,-11.9,713,8054,0.15,0.77,0.00,0.000,6,0.132,0.026,2156,2486,3721,0,0,0,0,0,0
$GC,8374,-0.74,-219.0,846.1,-8.3,729,8378,0.00,0.82,0.00,0.000,4,0.000,0.041,2154,3014,3720,0,0,0,0,0,0
$GC,8482,-0.78,-219.0,855.2,-7.9,733,8489,0.00,0.73,0.00,0.000,6,0.000,0.027,2154,2509,3720,0,0,0,0,0,0
$GC,8799,-0.86,-219.0,878.7,-7.2,749,8804,0.15,0.82,0.00,0.000,4,0.078,0.041,2080,3023,3718,0,0,0,0,0,0
$GC,8870,-0.76,-219.0,885.6,-11.4,752,8875,0.15,0.77,0.00,0.000,6,0.138,0.026,2127,2482,3717,0,0,0,0,0,0
$GC,9205,-0.73,-219.0,916.8,-9.4,768,9209,0.00,0.85,0.00,0.000,4,0.000,0.041,2125,3022,3716,0,0,0,0,0,0
$GC,9307,-0.69,-219.0,927.2,-10.1,772,9311,0.00,0.75,0.00,0.000,6,0.000,0.026,2125,2504,3715,0,0,0,0,0,0
$GC,9630,-0.65,-219.0,959.5,-10.4,788,9634,0.15,0.85,0.00,0.000,4,0.145,0.042,2166,3024,3713,0,0,0,0,0,0
$GC,9693,-0.67,-219.0,964.9,-7.9,790,9699,0.00,0.77,0.00,0.000,6,0.000,0.026,2165,2486,3713,0,0,0,0,0,0
$STATE,10006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10006,begin apogee
$GC,10015,-0.19,0.0,991.1,8.5,806,10188,0.40,0.00,167.57,1.066,6,0.071,0.000,2318,2092,2868,0,0,0,0,0,0
$STATE,10189,end apogee,CONTROL_FINISHED_OK
$STATE,10189,begin climb
$GC,10192,0.61,219.0,1004.5,0.0,814,10384,0.70,0.82,185.43,1.043,4,0.050,0.025,2582,1595,1976,0,0,0,0,0,0
$GC,10587,0.52,225.8,980.2,10.1,832,10600,0.12,0.80,7.03,0.812,6,0.145,0.030,2546,2122,1948,0,0,0,0,0,0
$GC,10912,0.54,294.3,953.6,8.1,848,10976,0.00,0.80,54.92,1.015,4,0.000,0.035,2546,2621,1668,0,0,0,0,0,0
$GC,11136,0.49,294.3,931.7,10.3,858,11140,0.00,0.75,0.00,0.000,6,0.000,0.027,2548,2106,1667,0,0,0,0,0,0
$GC,11470,0.45,296.4,898.0,10.2,874,11474,0.00,0.75,0.00,0.000,4,0.000,0.033,2548,2611,1666,0,0,0,0,0,0
$GC,11500,0.42,299.5,894.8,10.2,875,11510,0.12,0.75,5.53,0.739,6,0.138,0.028,2512,2102,1648,0,0,0,0,0,0
$GC,11829,0.49,331.6,863.9,9.3,891,11859,0.00,0.77,26.00,0.952,4,0.000,0.031,2514,1582,1518,0,0,0,0,0,0
$GC,11930,0.55,351.5,853.9,9.7,895,11952,0.08,0.77,17.50,0.903,6,0.060,0.029,2561,2098,1436,0,0,0,0,0,0
$GC,12269,0.54,351.5,816.7,10.4,912,12273,0.00,0.77,0.00,0.000,4,0.000,0.034,2562,2622,1438,0,0,0,0,0,0
$GC,12384,0.50,351.5,804.1,11.4,917,12388,0.00,0.77,0.00,0.000,6,0.000,0.028,2565,2093,1440,0,0,0,0,0,0
$GC,12718,0.47,351.5,768.4,10.8,933,12723,0.15,0.77,0.00,0.000,4,0.146,0.033,2525,1579,1440,0,0,0,0,0,0
$GC,12742,0.47,351.5,766.0,10.6,934,12746,0.00,0.77,0.00,0.000,6,0.000,0.029,2525,2097,1440,0,0,0,0,0,0
$GC,13076,0.58,390.1,734.6,9.1,950,13117,0.12,0.80,32.53,0.889,4,0.093,0.035,2581,2621,1277,0,0,0,0,0,0
$GC,13167,0.54,390.1,724.9,11.6,954,13172,0.10,0.77,0.00,0.000,6,0.135,0.030,2553,2100,1277,0,0,0,0,0,0
$GC,13503,0.63,444.0,693.8,8.6,970,13549,0.00,0.82,42.58,0.868,4,0.000,0.034,2554,1572,1058,0,0,0,0,0,0
$GC,13588,0.76,500.7,686.3,8.5,974,13640,0.15,0.80,45.60,0.849,6,0.053,0.029,2632,2099,828,0,0,0,0,0,0
$GC,13964,0.73,500.7,637.5,13.3,992,13973,0.00,0.82,4.07,0.537,4,0.000,0.031,2635,1567,827,0,0,0,0,0,0
$GC,14082,0.70,500.7,621.0,13.8,997,14087,0.10,0.80,0.00,0.000,6,0.128,0.031,2602,2098,828,0,0,0,0,0,0
$GC,14413,0.75,500.7,582.3,10.9,1013,14414,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2098,828,0,0,0,0,0,0
$GC,14719,0.83,522.0,551.7,9.6,1028,14743,0.12,0.82,18.17,0.750,4,0.090,0.034,2657,2632,740,0,0,0,0,0,0
$GC,14795,0.75,522.0,541.9,14.7,1031,14800,0.12,0.80,0.00,0.000,6,0.136,0.028,2621,2095,738,0,0,0,0,0,0
$GC,15124,0.80,522.0,506.5,10.9,1047,15128,0.00,0.80,0.00,0.000,4,0.000,0.033,2621,2628,738,0,0,0,0,0,0
$GC,15193,0.80,522.0,498.2,12.2,1050,15197,0.00,0.77,0.00,0.000,6,0.000,0.030,2623,2106,738,0,0,0,0,0,0
$GC,15524,0.83,522.0,459.7,11.6,1081,15528,0.00,0.77,0.00,0.000,4,0.000,0.034,2626,1576,738,0,0,0,0,0,0
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$STATE,19495,end climb,SURFACE_DEPTH_REACHED
$STATE,19496,begin surface coast
$FINISH,0.9,1.021745
$STATE,19519,end surface coast,CONTROL_FINISHED_OK
$STATE,19519,begin surface
$SM_CCo,19599,0.00,0.000,0,0,471,588.23
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$IRIDIUM_FIX,2120.26,12034.39,071111,060602
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.11
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.80
$XPDR_PINGS,0
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$10V_AH,9.4,92.093
$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
$DEVICE_SECS,19.900,71.125,662.875,0.000,0.000,25.274,51.147,179.904,0.000,0.000,13.687,3905.680,11610.777,719.125,3240.452,529.644,0.000,2345.316,0.000,2951.234,0.000,0.541,0.000
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$SENSOR_SECS,1104.140,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321692
$DATA_FILE_SIZE,93579,1596
$CAP_FILE_SIZE,217787,0
$CFSIZE,260165632,181346304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071111,172431,2131.890,12031.146,40,1.3,40,-2.6