version: 66.09
glider: 181
mission: 6
dive: 788
start: 11 9 111 18 58 57
data:
$ID,181
$MISSION,6
$DIVE,788
$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,-41859.082
$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,56
$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
$GPS1,091111,185200,2135.632,12033.527,37,1.3,37,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-64.6
$GPS2,091111,185832,2135.594,12033.667,14,1.3,14,-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,289.3,60476,-14.3,-10.312
$D_GRID,1276
$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,17,-0.61,-219.0,0.0,0.0,0,92,0.00,0.00,-73.05,0.000,2,0.000,0.000,165,2522,2460,0,0,0,0,0,0
$GC,96,-0.61,-219.0,3.4,-3.1,13,138,8.25,0.80,-29.02,0.000,4,0.220,0.074,2166,3014,3763,0,0,0,0,0,0
$GC,327,-0.44,-219.0,58.6,-25.0,53,335,0.20,0.75,0.00,0.000,6,0.138,0.024,2227,2473,3763,0,0,0,0,0,0
$GC,676,-0.46,-219.0,107.2,-7.5,114,682,0.00,0.62,0.00,0.000,4,0.000,0.023,2227,1974,3762,0,0,0,0,0,0
$GC,736,-0.47,-219.0,111.6,-7.7,124,743,0.00,0.77,0.00,0.000,6,0.000,0.032,2225,2495,3762,0,0,0,0,0,0
$GC,1083,-0.55,-219.0,148.4,-9.7,185,1090,0.00,0.77,0.00,0.000,4,0.000,0.035,2222,3026,3762,0,0,0,0,0,0
$GC,1212,-0.61,-219.0,159.0,-7.8,207,1220,0.10,0.73,0.00,0.000,6,0.041,0.024,2150,2499,3762,0,0,0,0,0,0
$GC,1562,-0.62,-219.0,198.2,-11.1,268,1569,0.00,0.68,0.00,0.000,4,0.000,0.024,2150,1969,3762,0,0,0,0,0,0
$GC,1660,-0.61,-219.0,210.0,-11.6,277,1667,0.08,0.80,0.00,0.000,6,0.113,0.031,2174,2507,3762,0,0,0,0,0,0
$GC,1986,-0.65,-219.0,238.8,-7.6,308,1990,0.00,0.75,0.00,0.000,4,0.000,0.036,2172,3022,3762,0,0,0,0,0,0
$GC,2083,-0.70,-219.0,246.7,-8.2,316,2090,0.00,0.73,0.00,0.000,6,0.000,0.024,2172,2497,3762,0,0,0,0,0,0
$GC,2410,-0.77,-219.0,276.2,-9.1,347,2414,0.15,0.70,0.00,0.000,4,0.070,0.027,2089,1971,3761,0,0,0,0,0,0
$GC,2479,-0.69,-219.0,283.9,-12.0,353,2484,0.20,0.80,0.00,0.000,6,0.124,0.033,2148,2505,3761,0,0,0,0,0,0
$GC,2811,-0.74,-219.0,311.8,-7.5,384,2815,0.00,0.77,0.00,0.000,4,0.000,0.037,2146,3030,3759,0,0,0,0,0,0
$GC,2859,-0.76,-219.0,315.5,-7.9,388,2863,0.00,0.73,0.00,0.000,6,0.000,0.024,2146,2510,3758,0,0,0,0,0,0
$GC,3191,-0.81,-219.0,346.4,-10.0,419,3194,0.00,0.80,0.00,0.000,4,0.000,0.037,2143,3032,3756,0,0,0,0,0,0
$GC,3305,-0.81,-219.0,358.7,-10.6,429,3309,0.00,0.75,0.00,0.000,6,0.000,0.024,2143,2496,3754,0,0,0,0,0,0
$GC,3637,-0.85,-219.0,393.6,-10.7,460,3641,0.12,0.82,0.00,0.000,4,0.078,0.037,2071,3021,3752,0,0,0,0,0,0
$GC,3684,-0.74,-219.0,399.5,-13.8,464,3688,0.17,0.73,0.00,0.000,6,0.142,0.024,2126,2501,3751,0,0,0,0,0,0
$GC,4017,-0.69,-219.0,445.5,-13.4,495,4021,0.00,0.82,0.00,0.000,4,0.000,0.039,2122,3022,3749,0,0,0,0,0,0
$GC,4109,-0.62,-219.0,458.0,-12.9,503,4113,0.15,0.73,0.00,0.000,6,0.127,0.025,2171,2500,3748,0,0,0,0,0,0
$GC,4441,-0.70,-219.0,489.5,-8.5,534,4445,0.00,0.73,0.00,0.000,4,0.000,0.025,2172,1974,3746,0,0,0,0,0,0
$GC,4481,-0.80,-219.0,493.3,-8.8,537,4488,0.12,0.80,0.00,0.000,6,0.047,0.034,2094,2503,3745,0,0,0,0,0,0
$GC,4803,-0.78,-219.0,524.6,-10.4,556,4806,0.00,0.70,0.00,0.000,4,0.000,0.024,2094,1978,3742,0,0,0,0,0,0
$GC,4849,-0.75,-219.0,529.9,-10.9,558,4854,0.10,0.77,0.00,0.000,6,0.116,0.034,2126,2493,3741,0,0,0,0,0,0
$GC,5184,-0.78,-219.0,567.2,-11.6,574,5188,0.00,0.70,0.00,0.000,4,0.000,0.025,2126,1975,3739,0,0,0,0,0,0
$GC,5286,-0.79,-219.0,579.1,-11.4,578,5290,0.00,0.80,0.00,0.000,6,0.000,0.034,2125,2501,3738,0,0,0,0,0,0
$GC,5608,-0.81,-219.0,613.3,-10.1,594,5612,0.00,0.73,0.00,0.000,4,0.000,0.025,2125,1971,3735,0,0,0,0,0,0
$GC,5634,-0.84,-219.0,615.9,-10.2,595,5638,0.00,0.80,0.00,0.000,6,0.000,0.036,2125,2497,3735,0,0,0,0,0,0
$GC,5968,-0.87,-219.0,649.6,-10.0,611,5972,0.00,0.70,0.00,0.000,4,0.000,0.027,2125,1984,3733,0,0,0,0,0,0
$GC,5993,-0.89,-219.0,652.0,-10.0,612,5997,0.08,0.77,0.00,0.000,6,0.057,0.037,2075,2493,3733,0,0,0,0,0,0
$GC,6327,-0.86,-219.0,691.5,-11.7,628,6330,0.00,0.80,0.00,0.000,4,0.000,0.040,2070,3022,3730,0,0,0,0,0,0
$GC,6351,-0.80,-219.0,694.7,-11.5,629,6356,0.12,0.73,0.00,0.000,6,0.135,0.026,2111,2512,3729,0,0,0,0,0,0
$GC,6689,-0.74,-219.0,736.0,-12.4,645,6693,0.00,0.73,0.00,0.000,4,0.000,0.026,2111,1980,3728,0,0,0,0,0,0
$GC,6724,-0.67,-219.0,741.0,-12.2,646,6729,0.12,0.80,0.00,0.000,6,0.129,0.038,2151,2496,3727,0,0,0,0,0,0
$GC,7048,-0.75,-219.0,768.5,-8.0,662,7052,0.00,0.80,0.00,0.000,4,0.000,0.042,2151,3021,3725,0,0,0,0,0,0
$GC,7167,-0.79,-219.0,777.9,-7.6,667,7171,0.00,0.75,0.00,0.000,6,0.000,0.025,2150,2504,3724,0,0,0,0,0,0
$GC,7495,-0.85,-219.0,803.5,-8.0,683,7497,0.15,0.00,0.00,0.000,6,0.076,0.000,2078,2501,3723,0,0,0,0,0,0
$GC,7806,-0.75,-219.0,842.0,-15.2,698,7810,0.17,0.85,0.00,0.000,4,0.151,0.043,2124,3020,3721,0,0,0,0,0,0
$GC,7988,-0.71,-219.0,868.3,-14.3,706,7991,0.00,0.75,0.00,0.000,6,0.000,0.026,2124,2500,3720,0,0,0,0,0,0
$GC,8321,-0.67,-219.0,916.3,-14.4,722,8325,0.12,0.85,0.00,0.000,4,0.153,0.041,2156,3022,3718,0,0,0,0,0,0
$GC,8359,-0.67,-219.0,921.5,-12.9,723,8366,0.00,0.75,0.00,0.000,6,0.000,0.025,2156,2494,3718,0,0,0,0,0,0
$GC,8677,-0.75,-219.0,958.9,-11.4,739,8681,0.00,0.82,0.00,0.000,4,0.000,0.041,2153,3024,3717,0,0,0,0,0,0
$GC,8784,-0.81,-219.0,970.7,-10.6,743,8791,0.08,0.75,0.00,0.000,6,0.059,0.025,2102,2504,3716,0,0,0,0,0,0
$STATE,8953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8953,begin apogee
$GC,8961,-0.19,0.0,992.1,13.2,752,9138,0.68,0.00,169.57,1.064,6,0.126,0.000,2309,2095,2869,0,0,0,0,0,0
$STATE,9139,end apogee,CONTROL_FINISHED_OK
$STATE,9139,begin climb
$GC,9143,0.61,219.0,1005.0,0.0,760,9340,0.75,0.00,189.50,1.040,6,0.044,0.000,2584,2095,1976,0,0,0,0,0,0
$GC,9647,0.54,247.6,971.5,9.4,785,9678,0.15,0.80,24.80,0.976,4,0.168,0.031,2549,1583,1859,0,0,0,0,0,0
$GC,9773,0.59,340.3,961.5,7.4,790,9856,0.00,0.80,76.35,1.010,6,0.000,0.028,2549,2108,1481,0,0,0,0,0,0
$GC,10176,0.60,364.0,925.3,9.6,810,10201,0.00,0.80,20.92,0.950,4,0.000,0.028,2551,1591,1384,0,0,0,0,0,0
$GC,10282,0.58,364.0,914.0,11.0,814,10289,0.00,0.77,0.00,0.000,6,0.000,0.029,2551,2108,1384,0,0,0,0,0,0
$GC,10600,0.59,364.0,881.0,10.5,830,10601,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2108,1386,0,0,0,0,0,0
$GC,10908,0.65,395.0,850.6,9.3,845,10938,0.00,0.77,26.17,0.937,4,0.000,0.031,2552,2617,1258,0,0,0,0,0,0
$GC,11000,0.66,403.4,842.1,10.0,849,11013,0.00,0.75,8.15,0.786,6,0.000,0.029,2555,2115,1224,0,0,0,0,0,0
$GC,11333,0.75,437.7,812.4,9.2,865,11365,0.17,0.77,27.85,0.919,4,0.073,0.031,2640,1574,1085,0,0,0,0,0,0
$GC,11468,0.68,437.7,794.6,13.6,871,11472,0.12,0.80,0.00,0.000,6,0.135,0.031,2600,2101,1087,0,0,0,0,0,0
$GC,11804,0.65,437.7,758.2,10.9,887,11808,0.00,0.77,0.00,0.000,4,0.000,0.031,2601,1575,1087,0,0,0,0,0,0
$GC,11904,0.61,437.7,746.6,10.6,891,11908,0.00,0.80,0.00,0.000,6,0.000,0.031,2601,2099,1086,0,0,0,0,0,0
$GC,12228,0.58,437.7,710.2,11.2,907,12232,0.15,0.82,0.00,0.000,4,0.145,0.033,2560,1565,1087,0,0,0,0,0,0
$GC,12323,0.67,478.9,701.0,9.0,911,12362,0.00,0.82,33.85,0.866,6,0.000,0.030,2560,2107,916,0,0,0,0,0,0
$GC,12671,0.84,539.9,671.7,8.4,928,12727,0.22,0.82,51.28,0.853,4,0.070,0.031,2664,1579,666,0,0,0,0,0,0
$GC,12789,0.78,539.9,657.3,13.8,933,12794,0.10,0.80,0.00,0.000,6,0.122,0.031,2631,2097,668,0,0,0,0,0,0
$GC,13115,0.82,544.4,622.1,10.2,949,13124,0.00,0.80,5.60,0.633,4,0.000,0.031,2633,1573,649,0,0,0,0,0,0
$GC,13142,0.85,544.4,618.5,10.8,950,13145,0.00,0.80,0.00,0.000,6,0.000,0.031,2633,2099,648,0,0,0,0,0,0
$GC,13471,0.88,544.4,579.2,12.5,966,13474,0.00,0.77,0.00,0.000,4,0.000,0.034,2636,1582,647,0,0,0,0,0,0
$GC,13572,0.91,544.4,563.9,15.9,970,13576,0.00,0.80,0.00,0.000,6,0.000,0.031,2636,2106,647,0,0,0,0,0,0
$GC,13895,0.96,544.4,516.2,12.7,986,13900,0.15,0.82,0.00,0.000,4,0.084,0.036,2704,1575,647,0,0,0,0,0,0
$GC,14034,0.90,544.4,492.0,17.5,993,14038,0.12,0.80,0.00,0.000,6,0.129,0.033,2665,2097,647,0,0,0,0,0,0
$GC,14365,0.86,544.4,444.2,13.6,1024,14368,0.00,0.77,0.00,0.000,4,0.000,0.034,2666,1582,647,0,0,0,0,0,0
$GC,14471,0.80,544.4,430.7,12.6,1033,14478,0.10,0.80,0.00,0.000,6,0.127,0.030,2633,2109,647,0,0,0,0,0,0
$GC,14797,0.86,544.4,399.0,10.4,1064,14801,0.00,0.75,0.00,0.000,4,0.000,0.037,2633,2617,647,0,0,0,0,0,0
$GC,14821,0.91,545.1,396.5,10.3,1066,14826,0.08,0.77,0.00,0.000,6,0.063,0.032,2679,2100,647,0,0,0,0,0,0
$GC,15153,0.91,545.1,356.8,12.0,1097,15156,0.00,0.80,0.00,0.000,4,0.000,0.037,2683,1576,648,0,0,0,0,0,0
$GC,15233,0.88,545.1,346.9,12.9,1104,15237,0.00,0.80,0.00,0.000,6,0.000,0.028,2683,2111,648,0,0,0,0,0,0
$GC,15566,0.87,545.1,306.9,11.1,1135,15570,0.00,0.75,0.00,0.000,4,0.000,0.037,2683,2619,649,0,0,0,0,0,0
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$GC,17547,1.17,612.7,90.3,9.6,1402,17560,0.00,0.77,6.03,0.428,4,0.000,0.031,2722,2625,440,0,0,0,0,0,0
$GC,17586,1.21,612.7,86.0,10.6,1408,17594,0.08,0.77,0.08,0.121,6,0.056,0.031,2773,2100,439,0,0,0,0,0,0
$GC,17935,1.19,612.7,45.0,11.0,1469,17942,0.00,0.80,2.35,0.184,4,0.000,0.034,2777,1576,439,0,0,0,0,0,0
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$STATE,18286,end climb,SURFACE_DEPTH_REACHED
$STATE,18286,begin surface coast
$FINISH,0.6,1.021803
$STATE,18315,end surface coast,CONTROL_FINISHED_OK
$STATE,18315,begin surface
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$IRIDIUM_FIX,2129.53,12030.40,091111,131335
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.48
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.30
$XPDR_PINGS,9
$24V_AH,22.0,131.549
$10V_AH,8.9,93.119
$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
$DEVICE_SECS,20.575,64.550,682.775,0.000,0.000,30.576,16.130,172.472,2.250,0.000,17.114,3741.862,10750.973,737.338,3029.082,507.698,0.000,2262.129,0.000,2779.121,0.000,0.541,0.000
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$SENSOR_SECS,1060.961,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,90233,1535
$CAP_FILE_SIZE,205710,0
$CFSIZE,260165632,180375552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101111,000636,2136.027,12033.982,25,1.4,25,-2.6