version: 66.09
glider: 181
mission: 6
dive: 782
start: 11 8 111 9 59 57
data:
$ID,181
$MISSION,6
$DIVE,782
$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,-41837.312
$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,62
$R_STBD_OVSHOOT,50
$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
$GPS1,081111,095231,2132.670,12030.995,36,1.4,36,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-59.7
$GPS2,081111,095932,2132.654,12030.980,12,1.2,12,-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,295.8,57989,-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,-219.0,0.0,0.0,0,92,0.00,0.00,-73.03,0.000,2,0.000,0.000,144,2508,2466,0,0,0,0,0,0
$GC,95,-0.61,-219.0,3.4,-3.1,13,138,8.32,0.82,-29.38,0.000,4,0.218,0.072,2171,3022,3764,0,0,0,0,0,0
$GC,265,-0.46,-219.0,39.6,-21.8,42,272,0.17,0.75,0.00,0.000,6,0.140,0.024,2225,2475,3764,0,0,0,0,0,0
$GC,613,-0.38,-219.0,91.3,-14.2,103,619,0.00,0.65,0.00,0.000,4,0.000,0.023,2224,1951,3762,0,0,0,0,0,0
$GC,633,-0.31,-219.0,94.2,-14.0,106,640,0.12,0.80,0.00,0.000,6,0.115,0.032,2265,2489,3762,0,0,0,0,0,0
$GC,981,-0.44,-219.0,131.4,-10.3,167,988,0.00,0.68,0.00,0.000,4,0.000,0.023,2266,1968,3762,0,0,0,0,0,0
$GC,1040,-0.59,-219.0,137.2,-10.0,177,1047,0.20,0.80,0.00,0.000,6,0.044,0.031,2175,2510,3762,0,0,0,0,0,0
$GC,1388,-0.65,-219.0,172.4,-11.3,238,1395,0.00,0.75,0.00,0.000,4,0.000,0.036,2172,3024,3762,0,0,0,0,0,0
$GC,1492,-0.65,-219.0,184.1,-11.3,256,1499,0.00,0.73,0.00,0.000,6,0.000,0.023,2173,2491,3762,0,0,0,0,0,0
$GC,1832,-0.68,-219.0,220.7,-11.2,300,1836,0.00,0.80,0.00,0.000,4,0.000,0.035,2169,3024,3763,0,0,0,0,0,0
$GC,1879,-0.71,-219.0,226.0,-11.6,304,1883,0.00,0.70,0.00,0.000,6,0.000,0.025,2169,2507,3763,0,0,0,0,0,0
$GC,2211,-0.77,-219.0,262.1,-10.1,335,2215,0.12,0.70,0.00,0.000,4,0.076,0.024,2089,1972,3762,0,0,0,0,0,0
$GC,2268,-0.65,-219.0,269.5,-14.4,340,2273,0.25,0.77,0.00,0.000,6,0.125,0.032,2163,2496,3762,0,0,0,0,0,0
$GC,2600,-0.70,-219.0,300.8,-9.2,371,2604,0.00,0.77,0.00,0.000,4,0.000,0.037,2163,3024,3760,0,0,0,0,0,0
$GC,2670,-0.73,-219.0,307.2,-9.1,377,2673,0.00,0.73,0.00,0.000,6,0.000,0.024,2163,2500,3760,0,0,0,0,0,0
$GC,3003,-0.78,-219.0,337.0,-8.6,408,3010,0.12,0.00,0.00,0.000,6,0.077,0.000,2089,2498,3758,0,0,0,0,0,0
$GC,3331,-0.67,-219.0,378.5,-13.7,439,3335,0.22,0.70,0.00,0.000,4,0.135,0.019,2153,1973,3756,0,0,0,0,0,0
$GC,3451,-0.69,-219.0,391.9,-10.4,449,3458,0.00,0.77,0.00,0.000,6,0.000,0.032,2152,2493,3755,0,0,0,0,0,0
$GC,3777,-0.74,-219.0,421.0,-8.3,480,3781,0.00,0.70,0.00,0.000,4,0.000,0.024,2152,1968,3751,0,0,0,0,0,0
$GC,3841,-0.77,-219.0,426.5,-8.4,485,3848,0.00,0.80,0.00,0.000,6,0.000,0.034,2152,2499,3751,0,0,0,0,0,0
$GC,4169,-0.81,-219.0,455.6,-8.6,516,4173,0.12,0.80,0.00,0.000,4,0.081,0.040,2083,3021,3748,0,0,0,0,0,0
$GC,4318,-0.70,-219.0,474.8,-14.1,529,4322,0.20,0.73,0.00,0.000,6,0.134,0.024,2146,2497,3747,0,0,0,0,0,0
$GC,4646,-0.74,-219.0,508.9,-10.3,556,4650,0.00,0.80,0.00,0.000,4,0.000,0.037,2143,3024,3744,0,0,0,0,0,0
$GC,4724,-0.77,-219.0,517.1,-10.5,559,4728,0.00,0.73,0.00,0.000,6,0.000,0.024,2143,2505,3743,0,0,0,0,0,0
$GC,5048,-0.83,-219.0,546.6,-8.1,575,5052,0.10,0.82,0.00,0.000,4,0.094,0.039,2084,3028,3740,0,0,0,0,0,0
$GC,5200,-0.72,-219.0,565.1,-13.8,581,5208,0.17,0.75,0.00,0.000,6,0.131,0.024,2139,2496,3739,0,0,0,0,0,0
$GC,5519,-0.75,-219.0,596.5,-9.7,597,5523,0.00,0.70,0.00,0.000,4,0.000,0.026,2139,1965,3737,0,0,0,0,0,0
$GC,5604,-0.78,-219.0,604.9,-9.5,600,5611,0.00,0.80,0.00,0.000,6,0.000,0.034,2138,2493,3736,0,0,0,0,0,0
$GC,5922,-0.83,-219.0,632.2,-8.5,616,5926,0.00,0.70,0.00,0.000,4,0.000,0.025,2138,1975,3734,0,0,0,0,0,0
$GC,6024,-0.84,-219.0,641.0,-8.2,620,6028,0.08,0.80,0.00,0.000,6,0.054,0.035,2086,2501,3733,0,0,0,0,0,0
$GC,6347,-0.81,-219.0,674.2,-10.8,636,6351,0.00,0.73,0.00,0.000,4,0.000,0.026,2086,1974,3731,0,0,0,0,0,0
$GC,6380,-0.76,-219.0,678.4,-11.3,637,6384,0.12,0.80,0.00,0.000,6,0.133,0.035,2123,2499,3730,0,0,0,0,0,0
$GC,6703,-0.72,-219.0,713.9,-10.8,653,6706,0.00,0.80,0.00,0.000,4,0.000,0.042,2120,3026,3729,0,0,0,0,0,0
$GC,6798,-0.66,-219.0,724.3,-11.0,657,6802,0.12,0.75,0.00,0.000,6,0.131,0.026,2161,2497,3728,0,0,0,0,0,0
$GC,7129,-0.74,-219.0,750.7,-8.0,673,7132,0.00,0.82,0.00,0.000,4,0.000,0.040,2161,3031,3726,0,0,0,0,0,0
$GC,7168,-0.82,-219.0,754.3,-8.2,674,7176,0.12,0.75,0.00,0.000,6,0.046,0.025,2089,2503,3725,0,0,0,0,0,0
$GC,7485,-0.81,-219.0,786.5,-10.6,690,7489,0.00,0.70,0.00,0.000,4,0.000,0.028,2089,1982,3724,0,0,0,0,0,0
$GC,7612,-0.72,-219.0,802.0,-13.8,695,7616,0.17,0.80,0.00,0.000,6,0.125,0.037,2141,2500,3723,0,0,0,0,0,0
$GC,7935,-0.77,-219.0,834.2,-9.7,711,7939,0.00,0.75,0.00,0.000,4,0.000,0.029,2142,1976,3722,0,0,0,0,0,0
$GC,8038,-0.80,-219.0,844.4,-9.6,715,8042,0.00,0.80,0.00,0.000,6,0.000,0.035,2140,2498,3721,0,0,0,0,0,0
$GC,8361,-0.84,-219.0,872.8,-8.4,731,8365,0.12,0.75,0.00,0.000,4,0.083,0.028,2079,1974,3719,0,0,0,0,0,0
$GC,8435,-0.76,-219.0,880.9,-11.6,734,8440,0.17,0.80,0.00,0.000,6,0.125,0.038,2131,2490,3719,0,0,0,0,0,0
$GC,8765,-0.72,-219.0,910.6,-8.9,750,8769,0.00,0.82,0.00,0.000,4,0.000,0.041,2128,3030,3717,0,0,0,0,0,0
$GC,8830,-0.69,-219.0,916.9,-9.8,752,8837,0.00,0.75,0.00,0.000,6,0.000,0.027,2128,2506,3717,0,0,0,0,0,0
$GC,9147,-0.65,-219.0,948.5,-10.1,768,9152,0.12,0.85,0.00,0.000,4,0.151,0.042,2162,3030,3716,0,0,0,0,0,0
$GC,9233,-0.69,-219.0,955.7,-8.2,771,9239,0.00,0.77,0.00,0.000,6,0.000,0.026,2162,2492,3715,0,0,0,0,0,0
$GC,9550,-0.78,-219.0,981.5,-8.2,787,9555,0.12,0.73,0.00,0.000,4,0.088,0.027,2097,1975,3714,0,0,0,0,0,0
$GC,9603,-0.74,-219.0,986.8,-10.5,789,9607,0.12,0.82,0.00,0.000,6,0.123,0.036,2135,2507,3713,0,0,0,0,0,0
$STATE,9638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9638,begin apogee
$GC,9645,-0.19,0.0,990.8,9.7,791,9820,0.52,0.00,167.60,1.062,6,0.112,0.000,2307,2094,2868,0,0,0,0,0,0
$STATE,9821,end apogee,CONTROL_FINISHED_OK
$STATE,9821,begin climb
$GC,9825,0.61,219.0,1003.0,0.0,799,10019,0.75,0.85,186.05,1.037,4,0.045,0.029,2591,1589,1976,0,0,0,0,0,0
$GC,10054,0.50,219.0,992.4,11.6,810,10059,0.20,0.85,0.00,0.000,6,0.145,0.028,2539,2106,1975,0,0,0,0,0,0
$GC,10384,0.47,250.7,961.6,9.3,826,10414,0.00,0.80,26.40,0.986,4,0.000,0.031,2539,2624,1846,0,0,0,0,0,0
$GC,10594,0.43,264.6,940.6,9.9,835,10610,0.00,0.77,12.70,0.910,6,0.000,0.027,2541,2092,1790,0,0,0,0,0,0
$GC,10936,0.41,283.9,907.7,9.7,852,10959,0.12,0.77,16.15,0.931,4,0.169,0.029,2509,2626,1713,0,0,0,0,0,0
$GC,11009,0.49,361.4,901.4,7.8,855,11075,0.00,0.77,61.97,0.988,6,0.000,0.028,2510,2098,1394,0,0,0,0,0,0
$GC,11405,0.59,391.4,865.1,9.4,874,11436,0.15,0.77,24.98,0.940,4,0.082,0.031,2581,1576,1273,0,0,0,0,0,0
$GC,11565,0.55,391.4,845.5,12.3,881,11569,0.08,0.80,0.00,0.000,6,0.133,0.028,2557,2111,1274,0,0,0,0,0,0
$GC,11895,0.60,404.1,811.7,9.9,897,11913,0.00,0.80,12.68,0.861,4,0.000,0.036,2557,2628,1220,0,0,0,0,0,0
$GC,11948,0.63,404.1,806.0,10.7,899,11951,0.00,0.77,0.00,0.000,6,0.000,0.030,2558,2107,1220,0,0,0,0,0,0
$GC,12270,0.69,423.7,774.4,9.7,915,12293,0.12,0.82,16.45,0.868,4,0.088,0.035,2626,1572,1140,0,0,0,0,0,0
$GC,12376,0.63,423.7,761.4,13.0,919,12380,0.15,0.80,0.00,0.000,6,0.132,0.031,2578,2100,1140,0,0,0,0,0,0
$GC,12697,0.64,431.4,726.6,10.1,935,12708,0.00,0.82,7.35,0.740,4,0.000,0.032,2580,1566,1110,0,0,0,0,0,0
$GC,12796,0.64,444.9,717.0,9.9,939,12812,0.00,0.80,12.15,0.800,6,0.000,0.028,2580,2102,1055,0,0,0,0,0,0
$GC,13137,0.68,452.7,682.9,10.1,956,13148,0.00,0.80,7.65,0.724,4,0.000,0.035,2580,2622,1023,0,0,0,0,0,0
$GC,13252,0.68,452.7,670.1,11.1,961,13256,0.00,0.77,0.00,0.000,6,0.000,0.030,2582,2097,1027,0,0,0,0,0,0
$GC,13580,0.72,452.7,633.6,11.3,977,13583,0.00,0.75,0.00,0.000,4,0.000,0.034,2585,1581,1028,0,0,0,0,0,0
$GC,13642,0.75,452.7,626.2,11.8,979,13649,0.00,0.77,0.00,0.000,6,0.000,0.028,2585,2100,1028,0,0,0,0,0,0
$GC,13959,0.81,452.7,590.8,10.9,995,13963,0.15,0.80,0.00,0.000,4,0.079,0.033,2654,1578,1028,0,0,0,0,0,0
$GC,14016,0.75,452.7,583.2,13.9,997,14023,0.10,0.77,3.00,0.427,6,0.136,0.028,2622,2099,1023,0,0,0,0,0,0
$GC,14334,0.75,452.7,542.7,12.0,1012,14338,0.00,0.80,0.00,0.000,4,0.000,0.034,2625,1574,1023,0,0,0,0,0,0
$GC,14427,0.71,452.7,531.0,13.0,1016,14430,0.00,0.77,0.00,0.000,6,0.000,0.028,2625,2097,1022,0,0,0,0,0,0
$GC,14752,0.70,452.7,491.2,12.4,1034,14755,0.00,0.75,0.00,0.000,4,0.000,0.035,2625,2609,1022,0,0,0,0,0,0
$GC,14814,0.68,452.7,483.0,12.8,1039,14822,0.10,0.75,0.00,0.000,6,0.140,0.029,2596,2103,1022,0,0,0,0,0,0
$GC,15140,0.72,452.7,446.7,11.3,1070,15144,0.00,0.77,0.00,0.000,4,0.000,0.032,2596,2622,1023,0,0,0,0,0,0
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$STATE,19193,end climb,SURFACE_DEPTH_REACHED
$STATE,19193,begin surface coast
$FINISH,0.6,1.021884
$STATE,19228,end surface coast,CONTROL_FINISHED_OK
$STATE,19228,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,49.40
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.20
$XPDR_PINGS,0
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$10V_AH,9.1,92.505
$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
$DEVICE_SECS,21.175,67.675,631.925,0.000,0.000,31.289,45.564,171.931,0.000,0.000,15.899,3921.220,11323.727,701.591,3225.440,536.105,0.000,2307.851,0.000,2942.765,0.000,0.540,0.000
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$SENSOR_SECS,1106.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,321684
$DATA_FILE_SIZE,93561,1603
$CAP_FILE_SIZE,217254,0
$CFSIZE,260165632,180953088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081111,152301,2133.024,12031.071,38,1.3,38,-2.6