version: 66.09
glider: 181
mission: 6
dive: 690
start: 10 20 111 14 7 35
data:
$ID,181
$MISSION,6
$DIVE,690
$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,-7
$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,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,-41466.02
$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,2355
$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,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,20
$C_ROLL_DIVE,2590
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,39
$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
$GPS1,201011,140100,2135.274,12014.328,35,1.1,41,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-71.5
$GPS2,201011,140708,2135.203,12014.211,13,1.1,13,-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,309.2,30442,-14.3,-10.312
$D_GRID,2641
$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,-219.0,0.0,0.0,0,81,0.00,0.00,-62.05,0.000,2,0.000,0.000,183,2629,2183,0,0,0,0,0,0
$GC,84,-0.61,-219.0,3.0,-2.7,11,137,8.23,1.02,-37.58,0.000,4,0.221,0.063,2146,3308,3763,0,0,0,0,0,0
$GC,224,-0.24,-219.0,41.4,-33.4,35,231,0.45,1.08,0.00,0.000,6,0.173,0.024,2269,2561,3764,0,0,0,0,0,0
$GC,572,-0.19,-219.0,97.4,-13.4,96,578,0.00,1.12,0.00,0.000,4,0.000,0.037,2266,3291,3762,0,0,0,0,0,0
$GC,687,-0.14,-219.0,111.2,-11.8,116,694,0.12,1.00,0.00,0.000,6,0.109,0.024,2311,2582,3762,0,0,0,0,0,0
$GC,1033,-0.39,-219.0,148.2,-10.4,177,1041,0.25,0.95,0.00,0.000,4,0.075,0.021,2211,1900,3762,0,0,0,0,0,0
$GC,1117,-0.60,-219.0,155.5,-8.6,191,1124,0.12,1.02,0.00,0.000,6,0.050,0.030,2147,2594,3762,0,0,0,0,0,0
$GC,1466,-0.46,-219.0,200.3,-15.8,252,1470,0.20,1.00,0.00,0.000,4,0.144,0.024,2203,1884,3763,0,0,0,0,0,0
$GC,1568,-0.46,-219.0,211.7,-9.5,261,1572,0.00,1.05,0.00,0.000,6,0.000,0.032,2204,2583,3763,0,0,0,0,0,0
$GC,1900,-0.61,-219.0,240.8,-8.6,292,1904,0.15,0.98,0.00,0.000,4,0.070,0.025,2112,1900,3763,0,0,0,0,0,0
$GC,2025,-0.47,-219.0,256.0,-14.1,303,2030,0.28,1.05,0.00,0.000,6,0.122,0.035,2195,2590,3763,0,0,0,0,0,0
$GC,2357,-0.62,-219.0,286.0,-8.7,334,2361,0.12,1.00,0.00,0.000,4,0.080,0.025,2116,1895,3762,0,0,0,0,0,0
$GC,2474,-0.49,-219.0,298.8,-13.1,344,2478,0.25,1.05,0.00,0.000,6,0.124,0.035,2192,2582,3761,0,0,0,0,0,0
$GC,2805,-0.62,-219.0,322.7,-6.3,375,2809,0.12,0.98,0.00,0.000,4,0.081,0.025,2115,1908,3759,0,0,0,0,0,0
$GC,2878,-0.56,-219.0,329.5,-10.1,381,2884,0.17,1.05,0.00,0.000,6,0.119,0.035,2169,2594,3758,0,0,0,0,0,0
$GC,3204,-0.56,-219.0,361.2,-9.9,412,3205,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2594,3755,0,0,0,0,0,0
$GC,3525,-0.67,-219.0,388.0,-8.0,442,3528,0.00,1.05,0.00,0.000,4,0.000,0.041,2166,3286,3753,0,0,0,0,0,0
$GC,3583,-0.77,-219.0,392.9,-8.2,447,3587,0.15,0.98,0.00,0.000,6,0.040,0.025,2080,2610,3752,0,0,0,0,0,0
$GC,3914,-0.59,-219.0,444.5,-16.8,478,3918,0.25,1.02,0.00,0.000,4,0.142,0.024,2160,1891,3750,0,0,0,0,0,0
$GC,3941,-0.51,-219.0,448.7,-14.4,480,3948,0.08,1.08,0.00,0.000,6,0.123,0.037,2183,2584,3750,0,0,0,0,0,0
$GC,4267,-0.67,-219.0,479.0,-9.5,511,4271,0.15,1.02,0.00,0.000,4,0.074,0.028,2105,1881,3747,0,0,0,0,0,0
$GC,4284,-0.78,-219.0,480.7,-9.7,512,4291,0.00,1.10,0.00,0.000,6,0.000,0.036,2100,2593,3747,0,0,0,0,0,0
$GC,4607,-0.64,-219.0,525.5,-14.8,535,4611,0.17,1.10,0.00,0.000,4,0.147,0.044,2146,3288,3743,0,0,0,0,0,0
$GC,4746,-0.60,-219.0,541.2,-10.8,541,4749,0.00,1.02,0.00,0.000,6,0.000,0.027,2146,2592,3742,0,0,0,0,0,0
$GC,5079,-0.55,-219.0,576.3,-9.9,557,5083,0.00,0.98,0.00,0.000,4,0.000,0.028,2146,1895,3740,0,0,0,0,0,0
$GC,5228,-0.52,-219.0,590.2,-9.4,563,5233,0.12,1.08,0.00,0.000,6,0.121,0.037,2182,2585,3738,0,0,0,0,0,0
$GC,5552,-0.65,-219.0,613.2,-7.5,579,5557,0.12,1.10,0.00,0.000,4,0.086,0.044,2113,3287,3736,0,0,0,0,0,0
$GC,5658,-0.56,-219.0,625.6,-13.0,583,5665,0.17,1.02,0.00,0.000,6,0.126,0.027,2170,2591,3734,0,0,0,0,0,0
$GC,5976,-0.69,-219.0,655.2,-9.4,599,5981,0.12,1.12,0.00,0.000,4,0.083,0.042,2099,3292,3731,0,0,0,0,0,0
$GC,6072,-0.57,-219.0,668.2,-14.7,603,6077,0.20,1.05,0.00,0.000,6,0.125,0.026,2164,2583,3731,0,0,0,0,0,0
$GC,6402,-0.67,-219.0,699.5,-8.6,619,6406,0.00,0.98,0.00,0.000,4,0.000,0.028,2164,1892,3729,0,0,0,0,0,0
$GC,6517,-0.75,-219.0,708.5,-7.7,624,6521,0.12,1.08,0.00,0.000,6,0.047,0.038,2092,2583,3728,0,0,0,0,0,0
$GC,6851,-0.62,-219.0,750.4,-13.4,640,6856,0.22,1.12,0.00,0.000,4,0.147,0.043,2153,3290,3726,0,0,0,0,0,0
$GC,6908,-0.62,-219.0,755.5,-8.3,642,6912,0.00,1.05,0.00,0.000,6,0.000,0.027,2153,2583,3726,0,0,0,0,0,0
$GC,7230,-0.62,-219.0,783.6,-8.8,658,7232,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2580,3724,0,0,0,0,0,0
$GC,7540,-0.60,-219.0,810.4,-8.8,673,7544,0.00,0.98,0.00,0.000,4,0.000,0.028,2153,1890,3722,0,0,0,0,0,0
$GC,7591,-0.60,-219.0,814.9,-9.0,675,7595,0.00,1.10,0.00,0.000,6,0.000,0.039,2152,2591,3721,0,0,0,0,0,0
$GC,7919,-0.60,-219.0,844.1,-9.0,691,7923,0.00,1.02,0.00,0.000,4,0.000,0.028,2152,1884,3720,0,0,0,0,0,0
$GC,7943,-0.60,-219.0,846.3,-9.0,692,7947,0.00,1.10,0.00,0.000,6,0.000,0.039,2152,2585,3720,0,0,0,0,0,0
$GC,8277,-0.60,-219.0,879.2,-10.2,708,8281,0.00,1.12,0.00,0.000,4,0.000,0.047,2149,3300,3719,0,0,0,0,0,0
$GC,8323,-0.60,-219.0,884.1,-10.4,710,8327,0.00,1.08,0.00,0.000,6,0.000,0.028,2149,2584,3718,0,0,0,0,0,0
$GC,8657,-0.60,-219.0,918.7,-10.5,726,8661,0.00,1.00,0.00,0.000,4,0.000,0.029,2149,1884,3717,0,0,0,0,0,0
$GC,8726,-0.60,-219.0,925.8,-10.4,729,8730,0.00,1.12,0.00,0.000,6,0.000,0.039,2145,2600,3716,0,0,0,0,0,0
$GC,9059,-0.58,-219.0,960.5,-10.4,745,9063,0.00,1.05,0.00,0.000,4,0.000,0.028,2145,1882,3714,0,0,0,0,0,0
$GC,9121,-0.58,-219.0,967.0,-10.3,747,9128,0.00,1.10,0.00,0.000,6,0.000,0.039,2141,2583,3714,0,0,0,0,0,0
$STATE,9352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9352,begin apogee
$GC,9358,-0.19,0.0,990.1,9.8,759,9530,0.45,0.00,166.68,1.064,6,0.121,0.000,2285,2153,2869,0,0,0,0,0,0
$STATE,9531,end apogee,CONTROL_FINISHED_OK
$STATE,9531,begin climb
$GC,9534,0.61,219.0,1000.2,0.0,767,9717,0.73,1.12,175.40,1.049,4,0.050,0.032,2571,1458,1976,0,0,0,0,0,0
$GC,9832,0.48,219.0,978.9,13.0,781,9836,0.20,1.12,0.00,0.000,6,0.147,0.032,2512,2180,1974,0,0,0,0,0,0
$GC,10167,0.51,290.5,950.5,8.0,797,10232,0.00,1.12,57.58,1.012,4,0.000,0.040,2512,2862,1684,0,0,0,0,0,0
$GC,10303,0.53,326.3,939.2,9.2,803,10338,0.00,1.08,29.50,0.971,6,0.000,0.029,2516,2160,1539,0,0,0,0,0,0
$GC,10655,0.62,400.1,910.7,8.0,820,10722,0.12,1.10,61.28,0.994,4,0.092,0.035,2577,1466,1237,0,0,0,0,0,0
$GC,10754,0.59,400.1,900.0,10.3,824,10757,0.00,1.10,0.00,0.000,6,0.000,0.034,2577,2159,1236,0,0,0,0,0,0
$GC,11076,0.56,400.1,865.7,10.4,840,11080,0.15,1.12,0.00,0.000,4,0.146,0.041,2535,2871,1235,0,0,0,0,0,0
$GC,11177,0.58,414.7,855.8,9.8,844,11194,0.00,1.08,12.93,0.886,6,0.000,0.029,2538,2162,1178,0,0,0,0,0,0
$GC,11518,0.65,456.0,826.1,9.0,861,11561,0.00,1.08,34.62,0.933,4,0.000,0.037,2543,1477,1009,0,0,0,0,0,0
$GC,11612,0.70,476.8,817.6,9.7,865,11635,0.08,1.08,18.35,0.881,6,0.063,0.031,2589,2170,925,0,0,0,0,0,0
$GC,11943,0.70,476.8,777.4,11.9,881,11946,0.00,1.08,0.00,0.000,4,0.000,0.041,2589,2868,926,0,0,0,0,0,0
$GC,12075,0.68,476.8,760.9,12.8,886,12081,0.00,1.08,0.00,0.000,6,0.000,0.028,2594,2155,928,0,0,0,0,0,0
$GC,12391,0.68,476.8,724.5,11.2,902,12394,0.00,1.02,0.00,0.000,4,0.000,0.036,2598,1473,930,0,0,0,0,0,0
$GC,12431,0.65,476.8,719.6,12.2,903,12438,0.10,1.08,0.00,0.000,6,0.124,0.034,2565,2168,930,0,0,0,0,0,0
$GC,12748,0.79,503.9,688.9,9.4,919,12777,0.12,1.12,24.12,0.850,4,0.088,0.034,2630,1471,814,0,0,0,0,0,0
$GC,12830,0.72,503.9,678.5,14.4,922,12838,0.12,1.08,0.00,0.000,6,0.122,0.034,2589,2157,817,0,0,0,0,0,0
$GC,13146,0.72,503.9,643.6,11.1,938,13150,0.00,1.10,0.00,0.000,4,0.000,0.040,2589,2871,817,0,0,0,0,0,0
$GC,13231,0.72,503.9,632.9,12.7,941,13238,0.00,1.08,0.00,0.000,6,0.000,0.029,2592,2164,817,0,0,0,0,0,0
$GC,13547,0.72,503.9,594.9,12.0,957,13550,0.00,1.05,0.00,0.000,4,0.000,0.037,2597,1467,817,0,0,0,0,0,0
$GC,13647,0.72,503.9,582.4,12.5,961,13651,0.00,1.08,0.00,0.000,6,0.000,0.032,2597,2170,818,0,0,0,0,0,0
$GC,13970,0.72,503.9,546.8,10.6,977,13974,0.00,1.05,0.00,0.000,4,0.000,0.040,2597,2859,818,0,0,0,0,0,0
$GC,14017,0.69,503.9,541.5,11.6,979,14020,0.00,1.05,0.00,0.000,6,0.000,0.030,2602,2168,818,0,0,0,0,0,0
$GC,14351,0.69,503.9,505.6,10.9,995,14354,0.00,1.05,0.00,0.000,4,0.000,0.037,2607,1471,817,0,0,0,0,0,0
$GC,14465,0.67,503.9,492.4,11.4,1002,14469,0.10,1.08,0.00,0.000,6,0.118,0.032,2572,2170,818,0,0,0,0,0,0
$GC,14795,0.82,503.9,459.3,10.6,1033,14800,0.15,1.10,0.00,0.000,4,0.083,0.035,2647,1466,818,0,0,0,0,0,0
$GC,14830,0.82,503.9,455.2,11.6,1036,14833,0.00,1.08,0.00,0.000,6,0.000,0.031,2647,2168,818,0,0,0,0,0,0
$GC,15161,0.77,503.9,409.0,14.1,1067,15165,0.15,1.10,0.00,0.000,4,0.148,0.041,2604,2866,818,0,0,0,0,0,0
$GC,15218,0.75,503.9,401.8,12.5,1072,15222,0.00,1.08,0.00,0.000,6,0.000,0.029,2607,2156,819,0,0,0,0,0,0
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$GC,18452,1.23,651.8,54.8,10.0,1485,18460,0.00,1.10,2.22,0.167,4,0.000,0.034,2721,2872,440,0,0,0,0,0,0
$GC,18495,1.31,651.8,50.3,10.4,1492,18503,0.10,1.08,0.00,0.000,6,0.051,0.028,2786,2158,440,0,0,0,0,0,0
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$STATE,18865,end climb,SURFACE_DEPTH_REACHED
$STATE,18865,begin surface coast
$FINISH,0.5,1.021192
$STATE,18882,end surface coast,CONTROL_FINISHED_OK
$STATE,18882,begin surface
$SM_CCo,18960,0.00,0.000,0,0,439,596.08
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$IRIDIUM_FIX,2127.21,12011.72,201011,080832
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.03
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.8,114.214
$10V_AH,9.8,83.734
$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
$DEVICE_SECS,22.775,93.725,663.925,0.000,0.000,29.089,18.125,158.654,0.000,0.000,16.287,3805.883,11226.978,707.039,3096.006,477.228,0.000,2277.719,0.000,2852.378,0.000,0.541,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1079.219,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322724
$DATA_FILE_SIZE,90324,1559
$CAP_FILE_SIZE,211703,0
$CFSIZE,260165632,189345792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201011,192454,2135.477,12013.071,22,0.9,40,-2.6