version: 66.09
glider: 181
mission: 6
dive: 787
start: 11 9 111 13 26 10
data:
$ID,181
$MISSION,6
$DIVE,787
$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,-41857.824
$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,57
$R_STBD_OVSHOOT,66
$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
$GPS1,091111,131900,2135.024,12031.735,41,1.2,41,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-67.1
$GPS2,091111,131900,2135.024,12031.735,41,1.2,41,-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,291.3,57631,-14.3,-10.312
$D_GRID,1588
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.61,-219.0,0.0,0.0,0,88,0.00,0.00,-67.65,0.000,2,0.000,0.000,179,2534,2307,0,0,0,0,0,0
$GC,92,-0.61,-219.0,3.0,-2.5,12,145,8.23,0.75,-36.47,0.000,4,0.221,0.077,2167,3009,3764,0,0,0,0,0,0
$GC,295,-0.44,-219.0,45.5,-23.6,47,302,0.20,0.75,0.00,0.000,6,0.145,0.024,2226,2469,3764,0,0,0,0,0,0
$GC,643,-0.38,-219.0,93.3,-7.5,108,650,0.00,0.62,0.00,0.000,4,0.000,0.023,2226,1972,3762,0,0,0,0,0,0
$GC,749,-0.35,-219.0,101.2,-8.3,126,756,0.08,0.75,0.00,0.000,6,0.118,0.032,2252,2482,3762,0,0,0,0,0,0
$GC,1097,-0.47,-219.0,138.8,-11.0,187,1103,0.00,0.68,0.00,0.000,4,0.000,0.023,2252,1962,3762,0,0,0,0,0,0
$GC,1359,-0.59,-219.0,162.1,-9.6,233,1366,0.17,0.80,0.00,0.000,6,0.038,0.031,2153,2505,3763,0,0,0,0,0,0
$GC,1710,-0.59,-219.0,204.6,-12.7,292,1714,0.10,0.77,0.00,0.000,4,0.138,0.037,2181,3020,3763,0,0,0,0,0,0
$GC,1757,-0.61,-219.0,209.8,-11.5,296,1761,0.00,0.73,0.00,0.000,6,0.000,0.023,2181,2497,3762,0,0,0,0,0,0
$GC,2089,-0.67,-219.0,241.9,-9.2,327,2093,0.00,0.80,0.00,0.000,4,0.000,0.034,2180,3027,3762,0,0,0,0,0,0
$GC,2160,-0.71,-219.0,249.1,-10.5,333,2164,0.08,0.73,0.00,0.000,6,0.047,0.024,2116,2499,3762,0,0,0,0,0,0
$GC,2491,-0.69,-219.0,286.8,-9.7,364,2496,0.12,0.82,0.00,0.000,4,0.131,0.036,2153,3023,3761,0,0,0,0,0,0
$GC,2612,-0.69,-219.0,296.6,-7.8,374,2618,0.00,0.73,0.00,0.000,6,0.000,0.024,2152,2497,3761,0,0,0,0,0,0
$GC,2939,-0.71,-219.0,322.2,-7.2,405,2943,0.00,0.80,0.00,0.000,4,0.000,0.036,2152,3023,3759,0,0,0,0,0,0
$GC,3045,-0.71,-219.0,330.2,-7.3,414,3054,0.00,0.73,0.00,0.000,6,0.000,0.024,2152,2499,3758,0,0,0,0,0,0
$GC,3371,-0.77,-219.0,362.1,-12.2,445,3375,0.00,0.68,0.00,0.000,4,0.000,0.025,2152,1974,3756,0,0,0,0,0,0
$GC,3418,-0.81,-219.0,368.1,-12.6,449,3423,0.08,0.77,0.00,0.000,6,0.054,0.032,2092,2498,3755,0,0,0,0,0,0
$GC,3749,-0.71,-219.0,419.7,-12.4,480,3754,0.17,0.73,0.00,0.000,4,0.142,0.024,2142,1972,3752,0,0,0,0,0,0
$GC,3840,-0.67,-219.0,427.5,-7.5,488,3845,0.00,0.77,0.00,0.000,6,0.000,0.032,2140,2495,3752,0,0,0,0,0,0
$GC,4172,-0.70,-219.0,453.9,-10.9,519,4176,0.00,0.70,0.00,0.000,4,0.000,0.024,2139,1973,3750,0,0,0,0,0,0
$GC,4235,-0.72,-219.0,461.3,-11.7,524,4242,0.00,0.80,0.00,0.000,6,0.000,0.034,2139,2503,3749,0,0,0,0,0,0
$GC,4563,-0.75,-219.0,498.7,-11.2,555,4566,0.00,0.73,0.00,0.000,4,0.000,0.024,2139,1963,3746,0,0,0,0,0,0
$GC,4654,-0.75,-219.0,508.4,-10.5,560,4658,0.00,0.80,0.00,0.000,6,0.000,0.035,2138,2491,3746,0,0,0,0,0,0
$GC,4989,-0.79,-219.0,538.0,-8.3,576,4993,0.00,0.70,0.00,0.000,4,0.000,0.026,2138,1976,3743,0,0,0,0,0,0
$GC,5061,-0.82,-219.0,544.7,-9.0,579,5065,0.00,0.80,0.00,0.000,6,0.000,0.034,2138,2503,3742,0,0,0,0,0,0
$GC,5391,-0.86,-219.0,572.0,-8.1,595,5395,0.12,0.75,0.00,0.000,4,0.081,0.026,2073,1972,3739,0,0,0,0,0,0
$GC,5461,-0.77,-219.0,579.1,-11.0,598,5466,0.17,0.80,0.00,0.000,6,0.129,0.036,2124,2495,3738,0,0,0,0,0,0
$GC,5798,-0.73,-219.0,610.6,-9.0,614,5802,0.00,0.80,0.00,0.000,4,0.000,0.040,2121,3024,3735,0,0,0,0,0,0
$GC,5917,-0.67,-219.0,622.7,-9.1,619,5921,0.10,0.75,0.00,0.000,6,0.134,0.026,2154,2497,3734,0,0,0,0,0,0
$GC,6248,-0.74,-219.0,642.9,-5.6,635,6252,0.00,0.82,0.00,0.000,4,0.000,0.040,2152,3027,3733,0,0,0,0,0,0
$GC,6287,-0.79,-219.0,645.8,-5.8,636,6293,0.00,0.75,0.00,0.000,6,0.000,0.026,2152,2503,3732,0,0,0,0,0,0
$GC,6604,-0.86,-219.0,668.2,-6.9,652,6608,0.15,0.82,0.00,0.000,4,0.074,0.039,2072,3024,3729,0,0,0,0,0,0
$GC,6632,-0.86,-219.0,670.9,-6.8,653,6636,0.00,0.75,0.00,0.000,6,0.000,0.025,2072,2501,3729,0,0,0,0,0,0
$GC,6960,-0.74,-219.0,716.9,-14.5,669,6964,0.22,0.85,0.00,0.000,4,0.148,0.036,2133,3028,3727,0,0,0,0,0,0
$GC,7042,-0.70,-219.0,726.0,-10.4,672,7045,0.00,0.75,0.00,0.000,6,0.000,0.025,2133,2503,3727,0,0,0,0,0,0
$GC,7364,-0.67,-219.0,758.3,-9.9,688,7368,0.00,0.85,0.00,0.000,4,0.000,0.041,2129,3029,3725,0,0,0,0,0,0
$GC,7480,-0.62,-219.0,767.6,-7.3,693,7484,0.12,0.75,0.00,0.000,6,0.125,0.025,2170,2501,3724,0,0,0,0,0,0
$GC,7816,-0.73,-219.0,787.7,-6.2,709,7820,0.00,0.85,0.00,0.000,4,0.000,0.041,2168,3029,3722,0,0,0,0,0,0
$GC,7919,-0.81,-219.0,794.6,-6.6,713,7923,0.12,0.75,0.00,0.000,6,0.048,0.026,2098,2517,3722,0,0,0,0,0,0
$GC,8240,-0.81,-219.0,825.6,-10.7,729,8244,0.00,0.80,0.00,0.000,4,0.000,0.040,2094,3031,3721,0,0,0,0,0,0
$GC,8395,-0.73,-219.0,845.1,-12.8,735,8402,0.12,0.77,0.00,0.000,6,0.131,0.025,2134,2492,3720,0,0,0,0,0,0
$GC,8714,-0.71,-219.0,876.7,-9.3,751,8717,0.00,0.82,0.00,0.000,4,0.000,0.040,2131,3023,3718,0,0,0,0,0,0
$GC,8748,-0.68,-219.0,880.2,-8.9,752,8751,0.00,0.75,0.00,0.000,6,0.000,0.025,2131,2501,3718,0,0,0,0,0,0
$GC,9072,-0.65,-219.0,908.3,-8.4,768,9076,0.12,0.85,0.00,0.000,4,0.151,0.041,2164,3024,3716,0,0,0,0,0,0
$GC,9110,-0.65,-219.0,911.2,-7.9,769,9117,0.00,0.75,0.00,0.000,6,0.000,0.026,2164,2499,3716,0,0,0,0,0,0
$GC,9428,-0.74,-219.0,926.5,-5.0,785,9432,0.00,0.82,0.00,0.000,4,0.000,0.041,2164,3024,3715,0,0,0,0,0,0
$GC,9525,-0.80,-219.0,931.0,-4.4,789,9529,0.10,0.75,0.00,0.000,6,0.053,0.025,2102,2503,3714,0,0,0,0,0,0
$GC,9856,-0.82,-219.0,955.0,-8.7,805,9859,0.00,0.75,0.00,0.000,4,0.000,0.028,2102,1966,3713,0,0,0,0,0,0
$GC,9947,-0.78,-219.0,965.0,-11.0,809,9951,0.00,0.82,0.00,0.000,6,0.000,0.036,2098,2503,3712,0,0,0,0,0,0
$STATE,10135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10135,begin apogee
$GC,10143,-0.19,0.0,990.5,14.0,818,10319,0.68,0.00,168.80,1.061,6,0.122,0.000,2308,2088,2869,0,0,0,0,0,0
$STATE,10320,end apogee,CONTROL_FINISHED_OK
$STATE,10320,begin climb
$GC,10324,0.61,219.0,1005.8,0.0,826,10524,0.75,0.88,188.35,1.042,4,0.048,0.028,2586,1579,1975,0,0,0,0,0,0
$GC,10777,0.51,225.9,978.0,10.1,847,10789,0.15,0.82,7.10,0.821,6,0.147,0.029,2544,2119,1948,0,0,0,0,0,0
$GC,11102,0.44,225.9,947.2,10.7,862,11106,0.00,0.73,0.00,0.000,4,0.000,0.034,2544,2617,1946,0,0,0,0,0,0
$GC,11227,0.37,225.9,932.5,11.6,867,11232,0.15,0.75,0.00,0.000,6,0.148,0.027,2500,2100,1946,0,0,0,0,0,0
$GC,11553,0.38,248.2,900.9,9.6,883,11576,0.00,0.82,19.15,0.948,4,0.000,0.033,2500,2621,1857,0,0,0,0,0,0
$GC,11691,0.38,264.5,888.1,9.8,889,11713,0.00,0.75,14.15,0.900,6,0.000,0.027,2502,2104,1789,0,0,0,0,0,0
$GC,12026,0.45,295.9,856.7,9.3,905,12056,0.00,0.77,25.85,0.942,4,0.000,0.030,2505,1588,1662,0,0,0,0,0,0
$GC,12176,0.54,338.7,842.6,8.9,911,12217,0.08,0.75,34.83,0.941,6,0.057,0.028,2555,2093,1488,0,0,0,0,0,0
$GC,12534,0.59,380.0,807.5,9.0,929,12577,0.00,0.82,34.35,0.923,4,0.000,0.034,2555,2618,1318,0,0,0,0,0,0
$GC,12674,0.64,423.9,794.7,8.9,935,12715,0.00,0.75,35.50,0.912,6,0.000,0.028,2558,2111,1141,0,0,0,0,0,0
$GC,13045,0.74,460.8,762.6,9.1,953,13081,0.15,0.80,30.92,0.892,4,0.079,0.028,2633,1575,989,0,0,0,0,0,0
$GC,13193,0.68,460.8,741.9,15.1,959,13200,0.10,0.77,0.00,0.000,6,0.136,0.029,2600,2094,987,0,0,0,0,0,0
$GC,13511,0.65,460.8,698.6,14.2,975,13514,0.00,0.77,0.00,0.000,4,0.000,0.031,2601,1570,992,0,0,0,0,0,0
$GC,13625,0.63,460.8,681.9,14.2,980,13629,0.00,0.80,0.00,0.000,6,0.000,0.028,2601,2101,992,0,0,0,0,0,0
$GC,13960,0.60,460.8,635.6,13.5,996,13964,0.12,0.80,0.00,0.000,4,0.154,0.031,2569,1574,991,0,0,0,0,0,0
$GC,14043,0.63,460.8,625.6,11.4,999,14050,0.00,0.80,0.00,0.000,6,0.000,0.028,2569,2110,991,0,0,0,0,0,0
$GC,14361,0.69,460.8,591.8,10.7,1015,14365,0.00,0.75,0.00,0.000,4,0.000,0.036,2570,2619,991,0,0,0,0,0,0
$GC,14457,0.73,460.8,581.0,10.8,1019,14461,0.10,0.77,0.00,0.000,6,0.051,0.029,2631,2098,991,0,0,0,0,0,0
$GC,14785,0.73,460.8,537.9,13.3,1035,14789,0.00,0.75,0.00,0.000,4,0.000,0.034,2635,1584,991,0,0,0,0,0,0
$GC,14825,0.71,460.8,532.3,13.5,1036,14832,0.08,0.77,0.00,0.000,6,0.131,0.029,2610,2100,991,0,0,0,0,0,0
$GC,15145,0.74,460.8,491.5,13.1,1055,15149,0.00,0.80,0.00,0.000,4,0.000,0.035,2610,2626,991,0,0,0,0,0,0
$GC,15215,0.74,460.8,482.0,13.9,1061,15219,0.00,0.77,0.00,0.000,6,0.000,0.030,2612,2104,991,0,0,0,0,0,0
$GC,15549,0.75,460.8,438.1,11.4,1092,15552,0.00,0.77,0.00,0.000,4,0.000,0.036,2616,1581,991,0,0,0,0,0,0
$GC,15590,0.72,460.8,432.7,12.6,1095,15596,0.00,0.77,0.00,0.000,6,0.000,0.028,2615,2103,991,0,0,0,0,0,0
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$GC,16938,0.86,541.0,274.7,12.7,1220,16942,0.00,0.75,0.00,0.000,4,0.000,0.034,2680,1574,665,0,0,0,0,0,0
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$GC,19245,1.18,640.4,15.4,9.1,1574,19253,0.00,0.73,1.42,0.076,4,0.000,0.027,2743,1573,441,0,0,0,0,0,0
$GC,19352,1.19,640.4,3.5,11.9,1592,19360,0.00,0.77,0.55,0.075,6,0.000,0.028,2743,2102,442,0,0,0,0,0,0
$STATE,19365,end climb,SURFACE_DEPTH_REACHED
$STATE,19365,begin surface coast
$FINISH,0.6,1.021079
$STATE,19393,end surface coast,CONTROL_FINISHED_OK
$STATE,19393,begin surface
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$IRIDIUM_FIX,2124.90,12035.57,091111,070741
$TT8_MAMPS,0.026964,0.026964
$HUMID,50.78
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.10
$XPDR_PINGS,8
$24V_AH,22.1,131.353
$10V_AH,8.9,93.021
$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
$DEVICE_SECS,20.100,69.150,673.325,0.000,0.000,30.192,38.564,169.358,2.000,0.000,14.761,3924.373,11353.462,727.676,3318.238,537.428,0.000,2391.651,0.000,3046.380,0.000,0.541,0.000
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$SENSOR_SECS,1105.987,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321684
$DATA_FILE_SIZE,93685,1599
$CAP_FILE_SIZE,218845,0
$CFSIZE,260165632,180461568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091111,185200,2135.632,12033.527,37,1.3,37,-2.6