version: 66.09
glider: 181
mission: 6
dive: 71
start: 6 23 111 14 11 5
data:
$ID,181
$MISSION,6
$DIVE,71
$N_DIVES,75
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,300
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,2
$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,9
$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,-39606.727
$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,2302
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,35
$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,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,230611,140424,2025.530,11957.146,25,1.0,42,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-63.2
$GPS2,230611,141038,2025.517,11957.097,11,1.7,11,-2.3
$SPEED_LIMITS,0.191,0.305
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,192.9,158459,-16.3,-11.000
$D_GRID,3278
$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,-0.57,-194.6,0.0,0.0,0,103,0.00,0.00,-84.30,0.000,2,0.000,0.000,168,2616,2745,0,0,0,0,0,0
$GC,106,-0.57,-194.6,4.0,-7.1,11,139,8.00,2.15,-16.20,0.000,4,0.241,0.041,2108,1174,3664,0,0,0,0,0,0
$GC,263,-0.57,-194.6,64.8,-27.5,38,272,0.00,2.28,0.00,0.000,6,0.000,0.047,2099,2589,3666,0,0,0,0,0,0
$GC,401,-0.57,-194.6,108.9,-29.4,63,409,0.00,1.88,0.00,0.000,4,0.000,0.045,2090,3789,3667,0,0,0,0,0,0
$GC,433,-0.57,-194.6,119.0,-30.3,68,441,0.00,1.83,0.00,0.000,6,0.000,0.026,2090,2579,3668,0,0,0,0,0,0
$GC,570,-0.57,-194.6,157.5,-29.4,93,578,0.00,2.05,0.00,0.000,4,0.000,0.028,2090,1195,3670,0,0,0,0,0,0
$GC,645,-0.57,-194.6,176.7,-25.1,106,655,0.10,2.22,0.00,0.000,6,0.142,0.044,2113,2601,3669,0,0,0,0,0,0
$GC,786,-0.57,-194.6,205.4,-20.8,131,794,0.00,1.85,0.00,0.000,4,0.000,0.045,2108,3790,3670,0,0,0,0,0,0
$GC,807,-0.57,-194.6,210.6,-20.7,134,816,0.00,1.80,0.00,0.000,6,0.000,0.026,2108,2593,3670,0,0,0,0,0,0
$GC,946,-0.57,-194.6,239.2,-20.3,159,954,0.00,2.08,0.00,0.000,4,0.000,0.031,2108,1200,3670,0,0,0,0,0,0
$GC,1001,-0.57,-194.6,249.4,-16.9,168,1009,0.00,2.20,0.00,0.000,6,0.000,0.040,2102,2608,3670,0,0,0,0,0,0
$GC,1136,-0.57,-194.6,279.3,-23.8,181,1140,0.00,1.80,0.00,0.000,4,0.000,0.047,2089,3791,3670,0,0,0,0,0,0
$GC,1184,-0.57,-194.6,289.7,-21.8,185,1188,0.00,1.75,0.00,0.000,6,0.000,0.027,2089,2597,3670,0,0,0,0,0,0
$GC,1387,-0.57,-194.6,336.2,-22.7,204,1389,0.10,0.00,0.00,0.000,6,0.187,0.000,2112,2589,3669,0,0,0,0,0,0
$GC,1579,-0.57,-194.6,371.7,-17.0,222,1582,0.00,1.85,0.00,0.000,4,0.000,0.047,2112,3787,3668,0,0,0,0,0,0
$GC,1639,-0.57,-194.6,381.1,-13.6,227,1647,0.00,1.77,0.00,0.000,6,0.000,0.028,2111,2598,3667,0,0,0,0,0,0
$GC,1838,-0.57,-194.6,412.5,-16.7,246,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2595,3665,0,0,0,0,0,0
$GC,2029,-0.57,-194.6,442.1,-15.7,264,2033,0.00,1.83,0.00,0.000,4,0.000,0.047,2103,3777,3664,0,0,0,0,0,0
$GC,2052,-0.57,-194.6,445.9,-15.8,266,2056,0.00,1.75,0.00,0.000,6,0.000,0.029,2103,2595,3663,0,0,0,0,0,0
$GC,2256,-0.57,-194.6,480.8,-17.7,285,2259,0.00,2.05,0.00,0.000,4,0.000,0.032,2103,1201,3661,0,0,0,0,0,0
$GC,2280,-0.57,-194.6,485.1,-18.4,287,2284,0.00,2.17,0.00,0.000,6,0.000,0.042,2096,2610,3660,0,0,0,0,0,0
$GC,2478,-0.57,-194.6,522.2,-19.0,305,2481,0.00,1.80,0.00,0.000,4,0.000,0.050,2086,3790,3658,0,0,0,0,0,0
$GC,2536,-0.57,-194.6,533.3,-18.5,310,2541,0.12,1.75,0.00,0.000,6,0.158,0.029,2120,2587,3658,0,0,0,0,0,0
$GC,2740,-0.57,-194.6,565.7,-15.7,329,2743,0.00,2.03,0.00,0.000,4,0.000,0.034,2121,1214,3655,0,0,0,0,0,0
$GC,2774,-0.57,-194.6,571.1,-16.3,332,2778,0.00,2.15,0.00,0.000,6,0.000,0.041,2113,2609,3655,0,0,0,0,0,0
$GC,2973,-0.57,-194.6,603.6,-17.1,349,2977,0.00,1.80,0.00,0.000,4,0.000,0.051,2112,3784,3653,0,0,0,0,0,0
$GC,3034,-0.57,-194.6,613.8,-14.7,351,3041,0.00,1.77,0.00,0.000,6,0.000,0.029,2112,2610,3652,0,0,0,0,0,0
$GC,3350,-0.57,-194.6,660.9,-14.5,367,3354,0.00,2.10,0.00,0.000,4,0.000,0.034,2112,1191,3649,0,0,0,0,0,0
$GC,3413,-0.57,-194.6,669.2,-12.4,370,3417,0.00,2.17,0.00,0.000,6,0.000,0.042,2112,2604,3648,0,0,0,0,0,0
$GC,3740,-0.57,-194.6,711.2,-12.6,386,3744,0.00,1.80,0.00,0.000,4,0.000,0.052,2111,3780,3648,0,0,0,0,0,0
$GC,3824,-0.57,-194.6,720.6,-10.3,389,3831,0.00,1.77,0.00,0.000,6,0.000,0.030,2112,2580,3644,0,0,0,0,0,0
$GC,4140,-0.57,-194.6,756.6,-11.4,405,4144,0.00,2.03,0.00,0.000,4,0.000,0.034,2112,1208,3641,0,0,0,0,0,0
$GC,4168,-0.57,-194.6,759.8,-11.5,406,4171,0.00,2.15,0.00,0.000,6,0.000,0.042,2111,2603,3641,0,0,0,0,0,0
$GC,4496,-0.57,-194.6,795.1,-10.4,422,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2604,3639,0,0,0,0,0,0
$GC,4805,-0.57,-194.6,827.3,-10.5,437,4808,0.00,1.80,0.00,0.000,4,0.000,0.053,2116,3777,3636,0,0,0,0,0,0
$GC,4837,-0.57,-194.6,830.8,-10.7,438,4841,0.00,1.77,0.00,0.000,6,0.000,0.031,2110,2610,3636,0,0,0,0,0,0
$GC,5160,-0.57,-194.6,865.0,-10.8,454,5164,0.00,2.10,0.00,0.000,4,0.000,0.036,2111,1196,3634,0,0,0,0,0,0
$GC,5232,-0.57,-194.6,872.5,-9.4,457,5236,0.00,2.17,0.00,0.000,6,0.000,0.043,2111,2606,3634,0,0,0,0,0,0
$GC,5548,-0.57,-194.6,906.8,-11.4,472,5552,0.00,1.80,0.00,0.000,4,0.000,0.053,2111,3780,3631,0,0,0,0,0,0
$GC,5581,-0.57,-194.6,910.8,-11.2,473,5585,0.00,1.80,0.00,0.000,6,0.000,0.031,2111,2598,3631,0,0,0,0,0,0
$GC,5902,-0.57,-194.6,949.1,-12.4,489,5906,0.00,2.08,0.00,0.000,4,0.000,0.035,2111,1199,3629,0,0,0,0,0,0
$GC,5929,-0.57,-194.6,952.6,-12.4,490,5933,0.00,2.17,0.00,0.000,6,0.000,0.043,2111,2608,3629,0,0,0,0,0,0
$STATE,6243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6243,begin apogee
$GC,6249,-0.16,0.0,990.9,12.1,505,6403,0.40,0.00,148.98,1.108,6,0.132,0.000,2243,2117,2871,0,0,0,0,0,0
$STATE,6404,end apogee,CONTROL_FINISHED_OK
$STATE,6404,begin climb
$GC,6406,0.57,194.6,999.7,0.0,512,6573,0.68,0.00,160.85,1.079,6,0.069,0.000,2484,2116,2075,0,0,0,0,0,0
$GC,6874,0.57,194.6,954.6,12.5,535,6878,0.00,2.15,0.00,0.000,4,0.000,0.040,2494,735,2064,0,0,0,0,0,0
$GC,6895,0.57,194.6,951.5,12.8,536,6899,0.00,2.20,0.00,0.000,6,0.000,0.037,2494,2135,2064,0,0,0,0,0,0
$GC,7223,0.57,194.6,906.8,13.7,552,7227,0.00,2.20,0.00,0.000,4,0.000,0.047,2493,3541,2061,0,0,0,0,0,0
$GC,7250,0.57,194.6,902.3,15.4,553,7254,0.00,2.15,0.00,0.000,6,0.000,0.031,2503,2134,2061,0,0,0,0,0,0
$GC,7577,0.57,194.6,854.6,14.3,569,7581,0.00,2.15,0.00,0.000,4,0.000,0.040,2514,718,2060,0,0,0,0,0,0
$GC,7654,0.57,194.6,843.5,13.7,572,7662,0.00,2.17,0.00,0.000,6,0.000,0.036,2514,2128,2060,0,0,0,0,0,0
$GC,7971,0.57,194.6,793.7,16.2,588,7975,0.00,2.17,0.00,0.000,4,0.000,0.046,2515,3538,2059,0,0,0,0,0,0
$GC,8014,0.57,194.6,785.8,17.7,590,8019,0.15,2.17,0.00,0.000,6,0.192,0.030,2487,2100,2056,0,0,0,0,0,0
$GC,8342,0.57,194.6,739.7,14.1,606,8346,0.00,2.10,0.00,0.000,4,0.000,0.041,2497,712,2058,0,0,0,0,0,0
$GC,8488,0.57,194.6,719.8,13.0,612,8495,0.00,2.17,0.00,0.000,6,0.000,0.036,2497,2126,2057,0,0,0,0,0,0
$GC,8804,0.57,194.6,677.7,12.8,628,8808,0.00,2.17,0.00,0.000,4,0.000,0.046,2497,3545,2057,0,0,0,0,0,0
$GC,8869,0.57,194.6,668.3,13.6,631,8874,0.00,2.17,0.00,0.000,6,0.000,0.031,2506,2105,2060,0,0,0,0,0,0
$GC,9199,0.58,204.7,630.6,10.6,647,9209,0.00,2.12,6.03,0.780,4,0.000,0.040,2517,713,2036,0,0,0,0,0,0
$GC,9293,0.60,220.2,620.7,10.4,651,9313,0.00,2.17,14.27,0.823,6,0.000,0.035,2516,2136,1972,0,0,0,0,0,0
$GC,9629,0.60,220.2,580.4,12.9,674,9633,0.00,2.17,0.00,0.000,4,0.000,0.040,2527,719,1970,0,0,0,0,0,0
$GC,9662,0.60,220.2,575.9,12.9,676,9670,0.08,2.20,0.00,0.000,6,0.151,0.037,2502,2120,1967,0,0,0,0,0,0
$GC,9861,0.60,220.2,553.4,11.6,695,9865,0.00,2.20,0.00,0.000,4,0.000,0.047,2502,3547,1967,0,0,0,0,0,0
$GC,9904,0.60,220.2,547.4,13.4,698,9912,0.00,2.20,0.00,0.000,6,0.000,0.031,2510,2099,1967,0,0,0,0,0,0
$GC,10102,0.60,220.2,521.4,13.4,717,10106,0.00,2.10,0.00,0.000,4,0.000,0.041,2521,714,1966,0,0,0,0,0,0
$GC,10136,0.60,220.2,516.7,13.8,720,10140,0.00,2.17,0.00,0.000,6,0.000,0.037,2521,2126,1966,0,0,0,0,0,0
$GC,10340,0.60,220.2,487.2,14.8,739,10341,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2126,1966,0,0,0,0,0,0
$GC,10530,0.60,220.2,458.1,15.2,757,10534,0.00,2.17,0.00,0.000,4,0.000,0.047,2521,3542,1965,0,0,0,0,0,0
$GC,10569,0.60,220.2,451.8,16.6,760,10574,0.15,2.15,0.00,0.000,6,0.178,0.030,2493,2115,1966,0,0,0,0,0,0
$GC,10767,0.60,220.2,425.8,12.8,778,10768,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2115,1965,0,0,0,0,0,0
$GC,10958,0.60,220.2,400.8,13.4,796,10959,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2115,1964,0,0,0,0,0,0
$GC,11150,0.60,220.2,376.2,12.1,814,11151,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2115,1965,0,0,0,0,0,0
$GC,11341,0.62,238.2,354.6,10.3,832,11364,0.00,2.20,15.12,0.713,4,0.000,0.041,2502,693,1898,0,0,0,0,0,0
$GC,11392,0.66,272.9,349.0,9.7,836,11425,0.00,2.22,27.83,0.680,6,0.000,0.034,2502,2135,1757,0,0,0,0,0,0
$GC,11624,0.69,291.7,325.7,10.3,858,11648,0.00,2.25,15.70,0.666,4,0.000,0.045,2502,3526,1678,0,0,0,0,0,0
$GC,11717,0.69,291.7,314.9,12.0,866,11721,0.00,2.15,0.00,0.000,6,0.000,0.030,2511,2126,1677,0,0,0,0,0,0
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$GC,14071,1.02,560.3,32.0,8.8,1225,14126,0.00,2.20,43.10,0.455,6,0.000,0.028,2625,2125,585,0,0,0,0,0,0
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$STATE,14382,end climb,SURFACE_DEPTH_REACHED
$STATE,14382,begin surface coast
$FINISH,0.9,1.021170
$STATE,14399,end surface coast,CONTROL_FINISHED_OK
$STATE,14399,begin surface
$SM_CCo,14478,0.00,0.000,0,0,435,596.81
$SM_GC,0.59,6.53,0.00,0.00,0.031,0.000,0.000,210,2614,435,-6.47,0.40,596.81,0,0,0,0,0,0
$IRIDIUM_FIX,2017.96,11951.54,230611,090907
$TT8_MAMPS,0.027713,0.027713
$HUMID,39.36
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.0,11.586
$10V_AH,10.2,11.915
$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,16.600,180.875,623.325,0.000,0.000,30.448,23.690,177.387,0.000,0.000,14.134,3245.103,7256.439,716.377,3288.573,332.171,0.000,2073.894,0.000,2186.285,0.000,0.541,0.000
$DEVICE_MAMPS,240.975,52.785,1108.485,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,891.063,1947.855,1567.818,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322636
$DATA_FILE_SIZE,83736,1279
$CAP_FILE_SIZE,174294,0
$CFSIZE,260165632,244559872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.041,339.6,1
$GPS,230611,181337,2023.724,11956.453,36,0.9,36,-2.3