version: 66.09
glider: 181
mission: 6
dive: 796
start: 11 11 111 14 10 15
data:
$ID,181
$MISSION,6
$DIVE,796
$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,-41869.148
$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,56
$R_STBD_OVSHOOT,54
$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
$GPS1,111111,140306,2138.570,12026.327,35,1.0,35,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-55.5
$GPS2,111111,140950,2138.621,12026.204,15,1.1,15,-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,287.3,46598,-14.3,-10.312
$D_GRID,860
$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,-219.0,0.0,0.0,0,86,0.00,0.00,-67.20,0.000,2,0.000,0.000,136,2520,2322,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.3,-3.1,12,138,8.38,0.82,-34.72,0.000,4,0.219,0.076,2167,3021,3764,0,0,0,0,0,0
$GC,287,-0.45,-219.0,49.2,-24.9,46,295,0.20,0.77,0.00,0.000,6,0.135,0.025,2227,2475,3764,0,0,0,0,0,0
$GC,636,-0.37,-219.0,105.9,-13.7,107,642,0.00,0.82,0.00,0.000,4,0.000,0.036,2224,3013,3762,0,0,0,0,0,0
$GC,800,-0.39,-219.0,119.2,-9.6,135,806,0.00,0.73,0.00,0.000,6,0.000,0.024,2224,2496,3762,0,0,0,0,0,0
$GC,1146,-0.48,-219.0,154.6,-7.2,196,1153,0.00,0.68,0.00,0.000,4,0.000,0.025,2224,1979,3763,0,0,0,0,0,0
$GC,1172,-0.56,-219.0,156.3,-6.6,200,1179,0.00,0.77,0.00,0.000,6,0.000,0.034,2223,2490,3762,0,0,0,0,0,0
$GC,1520,-0.65,-219.0,190.8,-11.2,261,1527,0.17,0.73,0.00,0.000,4,0.060,0.027,2124,1968,3763,0,0,0,0,0,0
$GC,1557,-0.63,-219.0,195.6,-12.3,267,1564,0.15,0.80,0.00,0.000,6,0.124,0.034,2168,2496,3763,0,0,0,0,0,0
$GC,1892,-0.68,-219.0,231.3,-11.2,301,1896,0.00,0.80,0.00,0.000,4,0.000,0.037,2166,3034,3763,0,0,0,0,0,0
$GC,1942,-0.68,-219.0,237.6,-12.1,305,1949,0.00,0.75,0.00,0.000,6,0.000,0.024,2166,2504,3763,0,0,0,0,0,0
$GC,2268,-0.72,-219.0,274.1,-11.6,336,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2503,3763,0,0,0,0,0,0
$GC,2589,-0.77,-219.0,308.0,-8.6,366,2593,0.12,0.82,0.00,0.000,4,0.077,0.037,2087,3027,3762,0,0,0,0,0,0
$GC,2636,-0.68,-219.0,313.2,-11.1,370,2641,0.20,0.75,0.00,0.000,6,0.134,0.026,2148,2494,3761,0,0,0,0,0,0
$GC,2970,-0.73,-219.0,344.9,-9.1,401,2973,0.00,0.82,0.00,0.000,4,0.000,0.037,2146,3030,3759,0,0,0,0,0,0
$GC,3028,-0.73,-219.0,350.2,-9.0,406,3031,0.00,0.75,0.00,0.000,6,0.000,0.026,2146,2505,3759,0,0,0,0,0,0
$GC,3361,-0.79,-219.0,379.9,-8.7,437,3364,0.00,0.70,0.00,0.000,4,0.000,0.028,2146,1976,3757,0,0,0,0,0,0
$GC,3389,-0.83,-219.0,382.6,-8.8,439,3396,0.08,0.80,0.00,0.000,6,0.050,0.034,2086,2499,3756,0,0,0,0,0,0
$GC,3715,-0.71,-219.0,423.0,-13.3,470,3719,0.20,0.82,0.00,0.000,4,0.142,0.036,2140,3021,3754,0,0,0,0,0,0
$GC,3867,-0.66,-219.0,440.6,-11.9,483,3874,0.00,0.75,0.00,0.000,6,0.000,0.027,2140,2496,3753,0,0,0,0,0,0
$GC,4194,-0.69,-219.0,467.8,-6.3,514,4197,0.00,0.82,0.00,0.000,4,0.000,0.040,2138,3021,3750,0,0,0,0,0,0
$GC,4297,-0.70,-219.0,474.5,-6.5,523,4301,0.00,0.75,0.00,0.000,6,0.000,0.027,2138,2504,3749,0,0,0,0,0,0
$GC,4639,-0.75,-219.0,502.4,-9.1,554,4642,0.00,0.82,0.00,0.000,4,0.000,0.041,2138,3026,3746,0,0,0,0,0,0
$GC,4753,-0.77,-219.0,513.0,-9.6,559,4757,0.00,0.77,0.00,0.000,6,0.000,0.027,2138,2489,3746,0,0,0,0,0,0
$GC,5088,-0.79,-219.0,547.2,-10.3,575,5092,0.00,0.70,0.00,0.000,4,0.000,0.030,2138,1972,3743,0,0,0,0,0,0
$GC,5158,-0.83,-219.0,554.7,-10.2,578,5162,0.00,0.80,0.00,0.000,6,0.000,0.037,2138,2490,3742,0,0,0,0,0,0
$GC,5493,-0.88,-219.0,586.1,-8.8,594,5498,0.15,0.75,0.00,0.000,4,0.073,0.029,2064,1976,3740,0,0,0,0,0,0
$GC,5641,-0.76,-219.0,605.4,-13.4,600,5645,0.20,0.82,0.00,0.000,6,0.129,0.039,2123,2497,3738,0,0,0,0,0,0
$GC,5966,-0.79,-219.0,634.8,-7.9,616,5970,0.00,0.82,0.00,0.000,4,0.000,0.043,2123,3032,3736,0,0,0,0,0,0
$GC,6045,-0.79,-219.0,641.6,-8.3,619,6049,0.00,0.77,0.00,0.000,6,0.000,0.028,2123,2505,3735,0,0,0,0,0,0
$GC,6369,-0.80,-219.0,672.1,-9.8,635,6372,0.00,0.82,0.00,0.000,4,0.000,0.043,2123,3022,3733,0,0,0,0,0,0
$GC,6408,-0.80,-219.0,676.6,-10.5,636,6415,0.00,0.77,0.00,0.000,6,0.000,0.028,2123,2494,3732,0,0,0,0,0,0
$GC,6724,-0.80,-219.0,710.0,-10.6,652,6728,0.00,0.73,0.00,0.000,4,0.000,0.028,2123,1967,3731,0,0,0,0,0,0
$GC,6834,-0.77,-219.0,721.5,-11.0,656,6841,0.00,0.82,0.00,0.000,6,0.000,0.040,2122,2498,3730,0,0,0,0,0,0
$GC,7151,-0.72,-219.0,755.5,-9.8,672,7155,0.00,0.82,0.00,0.000,4,0.000,0.044,2118,3028,3728,0,0,0,0,0,0
$GC,7283,-0.67,-219.0,768.5,-10.0,677,7291,0.10,0.77,0.00,0.000,6,0.132,0.028,2150,2500,3728,0,0,0,0,0,0
$GC,7602,-0.74,-219.0,791.9,-7.2,693,7606,0.00,0.85,0.00,0.000,4,0.000,0.044,2151,3020,3725,0,0,0,0,0,0
$GC,7717,-0.78,-219.0,800.9,-7.5,698,7721,0.00,0.77,0.00,0.000,6,0.000,0.028,2150,2498,3724,0,0,0,0,0,0
$GC,8051,-0.85,-219.0,825.1,-6.9,714,8055,0.15,0.75,0.00,0.000,4,0.080,0.031,2077,1973,3723,0,0,0,0,0,0
$GC,8076,-0.88,-219.0,827.1,-6.9,715,8080,0.00,0.82,0.00,0.000,6,0.000,0.039,2073,2502,3722,0,0,0,0,0,0
$STATE,8324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8324,begin apogee
$GC,8331,-0.19,0.0,862.2,14.6,727,8509,0.80,0.00,172.32,0.965,6,0.135,0.000,2308,2081,2869,0,0,0,0,0,0
$STATE,8511,end apogee,CONTROL_FINISHED_OK
$STATE,8511,begin climb
$GC,8514,0.61,219.0,874.8,0.0,735,8710,0.75,0.88,188.65,0.946,4,0.043,0.031,2585,1583,1976,0,0,0,0,0,0
$GC,8942,0.50,219.0,844.7,10.6,755,8946,0.15,0.88,0.00,0.000,6,0.140,0.031,2545,2115,1973,0,0,0,0,0,0
$GC,9271,0.44,219.0,811.8,10.4,771,9275,0.00,0.77,0.00,0.000,4,0.000,0.037,2545,2622,1972,0,0,0,0,0,0
$GC,9462,0.38,233.7,791.7,9.8,779,9479,0.15,0.77,12.85,0.841,6,0.140,0.031,2502,2111,1916,0,0,0,0,0,0
$GC,9802,0.52,338.2,766.1,7.0,796,9894,0.12,0.85,83.72,0.900,4,0.086,0.030,2562,1573,1489,0,0,0,0,0,0
$GC,10001,0.49,340.9,746.9,10.2,805,10010,0.00,0.85,4.03,0.535,6,0.000,0.029,2562,2104,1479,0,0,0,0,0,0
$GC,10330,0.57,406.4,717.2,8.2,821,10387,0.00,0.85,53.58,0.871,4,0.000,0.037,2562,2622,1212,0,0,0,0,0,0
$GC,10461,0.61,452.3,705.4,8.8,826,10506,0.00,0.82,39.12,0.839,6,0.000,0.031,2565,2095,1024,0,0,0,0,0,0
$GC,10830,0.68,459.2,670.2,10.1,844,10839,0.00,0.00,7.95,0.712,6,0.000,0.000,2566,2095,997,0,0,0,0,0,0
$GC,11158,0.84,519.1,641.5,8.4,860,11211,0.22,0.80,48.25,0.825,4,0.067,0.031,2670,1572,751,0,0,0,0,0,0
$GC,11247,0.78,519.1,630.7,13.0,864,11251,0.12,0.85,0.00,0.000,6,0.126,0.031,2632,2101,750,0,0,0,0,0,0
$GC,11577,0.79,519.1,592.7,11.7,880,11578,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2101,753,0,0,0,0,0,0
$GC,11883,0.83,519.1,553.0,13.2,895,11887,0.00,0.80,0.00,0.000,4,0.000,0.034,2633,1572,755,0,0,0,0,0,0
$GC,11934,0.86,519.1,546.5,12.5,897,11938,0.00,0.82,0.00,0.000,6,0.000,0.031,2633,2110,756,0,0,0,0,0,0
$GC,12263,0.89,519.1,509.8,10.9,913,12267,0.00,0.77,0.00,0.000,4,0.000,0.037,2634,2628,756,0,0,0,0,0,0
$GC,12313,0.89,525.8,504.4,10.1,915,12325,0.00,0.80,7.90,0.646,6,0.000,0.031,2637,2095,725,0,0,0,0,0,0
$GC,12643,0.93,525.8,465.7,11.8,943,12647,0.10,0.82,0.00,0.000,4,0.100,0.034,2690,2624,723,0,0,0,0,0,0
$GC,12679,0.90,525.8,461.1,13.4,946,12683,0.00,0.77,0.00,0.000,6,0.000,0.031,2693,2104,723,0,0,0,0,0,0
$GC,13013,0.85,525.8,407.1,16.0,977,13017,0.17,0.80,0.00,0.000,4,0.140,0.035,2646,1585,723,0,0,0,0,0,0
$GC,13036,0.82,525.8,403.2,15.3,979,13040,0.00,0.80,0.00,0.000,6,0.000,0.031,2646,2105,723,0,0,0,0,0,0
$GC,13368,0.85,525.8,362.9,11.3,1010,13371,0.00,0.77,0.00,0.000,4,0.000,0.037,2646,2624,723,0,0,0,0,0,0
$GC,13418,0.85,525.8,356.9,11.2,1014,13424,0.00,0.80,0.00,0.000,6,0.000,0.031,2649,2094,723,0,0,0,0,0,0
$GC,13744,0.87,525.8,319.4,12.0,1045,13747,0.00,0.80,0.00,0.000,4,0.000,0.033,2649,2624,723,0,0,0,0,0,0
$GC,13835,0.86,525.8,307.7,12.6,1053,13839,0.00,0.80,0.00,0.000,6,0.000,0.031,2652,2093,723,0,0,0,0,0,0
$GC,14167,0.92,525.8,265.6,12.3,1084,14168,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2093,725,0,0,0,0,0,0
$GC,14490,0.97,525.8,226.7,13.2,1114,14495,0.10,0.82,0.00,0.000,4,0.098,0.034,2708,2624,726,0,0,0,0,0,0
$GC,14537,0.93,525.8,219.0,15.7,1118,14541,0.10,0.77,0.00,0.000,6,0.135,0.029,2680,2104,726,0,0,0,0,0,0
$GC,14874,1.02,544.3,179.1,9.7,1165,14899,0.00,0.82,16.08,0.548,4,0.000,0.036,2682,1573,648,0,0,0,0,0,0
$GC,14998,1.02,544.3,166.3,10.6,1186,15005,0.00,0.80,0.00,0.000,6,0.000,0.030,2682,2104,647,0,0,0,0,0,0
$GC,15347,1.09,558.7,132.4,9.9,1247,15367,0.12,0.77,12.80,0.510,4,0.081,0.029,2749,1564,589,0,0,0,0,0,0
$GC,15410,1.02,558.7,124.6,12.6,1257,15417,0.12,0.80,0.00,0.000,6,0.129,0.030,2710,2099,591,0,0,0,0,0,0
$GC,15762,1.23,672.2,94.3,6.7,1318,15798,0.17,0.75,29.33,0.474,4,0.065,0.030,2797,2633,438,0,0,0,0,0,0
$GC,15860,1.14,672.2,82.7,14.0,1334,15868,0.17,0.80,0.10,0.105,6,0.139,0.031,2748,2098,442,0,0,0,0,0,0
$GC,16208,1.14,672.2,44.6,10.9,1395,16215,0.00,0.80,3.08,0.265,4,0.000,0.034,2750,1571,440,0,0,0,0,0,0
$GC,16318,1.14,672.2,32.7,10.7,1414,16326,0.00,0.77,0.03,0.205,6,0.000,0.028,2750,2102,440,0,0,0,0,0,0
$STATE,16652,end climb,SURFACE_DEPTH_REACHED
$STATE,16652,begin surface coast
$FINISH,0.7,1.021800
$STATE,16687,end surface coast,CONTROL_FINISHED_OK
$STATE,16688,begin surface
$SM_CCo,16766,0.00,0.000,0,0,443,594.85
$SM_GC,1.31,6.72,0.00,0.00,0.026,0.000,0.000,202,2533,443,-6.70,0.93,594.85,0,0,0,0,0,0
$IRIDIUM_FIX,2129.53,12041.92,111111,080802
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.93
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.50
$XPDR_PINGS,561
$24V_AH,21.8,133.114
$10V_AH,8.6,93.919
$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,20.225,56.700,679.775,0.000,0.000,27.966,28.301,173.530,140.250,0.000,17.725,3568.932,9473.530,694.160,2928.236,487.559,0.000,2158.223,0.000,2667.886,0.000,0.541,0.000
$DEVICE_MAMPS,218.790,75.735,965.430,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1016.849,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321640
$DATA_FILE_SIZE,83641,1479
$CAP_FILE_SIZE,188814,0
$CFSIZE,260165632,179634176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111111,185101,2138.612,12026.687,38,1.3,38,-2.6