version: 66.09
glider: 181
mission: 6
dive: 692
start: 10 21 111 0 55 23
data:
$ID,181
$MISSION,6
$DIVE,692
$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,-41468.734
$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,0.0099999998
$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,52
$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
$GPS1,211011,004830,2135.167,12013.153,36,1.6,36,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-70.6
$GPS2,211011,005456,2135.186,12013.106,15,1.7,15,-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,311.5,28959,-14.3,-10.312
$D_GRID,2642
$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,-219.0,0.0,0.0,0,86,0.00,0.00,-67.75,0.000,2,0.000,0.000,176,2568,2351,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.6,-3.3,12,137,8.27,1.12,-31.33,0.000,4,0.222,0.059,2147,3282,3765,0,0,0,0,0,0
$GC,230,-0.37,-219.0,43.8,-33.1,36,237,0.28,1.02,0.00,0.000,6,0.170,0.023,2224,2564,3765,0,0,0,0,0,0
$GC,577,-0.31,-219.0,117.8,-14.8,97,585,0.10,1.12,0.00,0.000,4,0.159,0.038,2250,3282,3763,0,0,0,0,0,0
$GC,722,-0.31,-219.0,135.7,-11.3,122,729,0.00,1.00,0.00,0.000,6,0.000,0.023,2249,2572,3763,0,0,0,0,0,0
$GC,1069,-0.44,-219.0,166.4,-8.4,183,1076,0.10,0.93,0.00,0.000,4,0.093,0.025,2194,1899,3763,0,0,0,0,0,0
$GC,1142,-0.46,-219.0,172.9,-9.1,195,1148,0.00,1.02,0.00,0.000,6,0.000,0.031,2192,2585,3763,0,0,0,0,0,0
$GC,1485,-0.55,-219.0,206.1,-10.5,251,1488,0.00,1.05,0.00,0.000,4,0.000,0.037,2193,3289,3763,0,0,0,0,0,0
$GC,1577,-0.59,-219.0,215.4,-9.7,259,1580,0.00,0.98,0.00,0.000,6,0.000,0.022,2193,2596,3763,0,0,0,0,0,0
$GC,1908,-0.66,-219.0,243.8,-8.2,290,1913,0.15,0.98,0.00,0.000,4,0.070,0.025,2099,1893,3763,0,0,0,0,0,0
$GC,1958,-0.59,-219.0,249.6,-11.9,294,1965,0.20,1.05,0.00,0.000,6,0.124,0.033,2158,2584,3762,0,0,0,0,0,0
$GC,2284,-0.55,-219.0,288.8,-12.3,325,2287,0.00,1.08,0.00,0.000,4,0.000,0.040,2155,3296,3762,0,0,0,0,0,0
$GC,2353,-0.51,-219.0,296.9,-11.6,331,2357,0.10,1.00,0.00,0.000,6,0.114,0.024,2189,2589,3761,0,0,0,0,0,0
$GC,2684,-0.61,-219.0,328.6,-9.5,362,2688,0.00,0.95,0.00,0.000,4,0.000,0.024,2190,1887,3759,0,0,0,0,0,0
$GC,2709,-0.70,-219.0,330.9,-9.2,364,2713,0.15,1.08,0.00,0.000,6,0.036,0.033,2097,2598,3759,0,0,0,0,0,0
$GC,3039,-0.59,-219.0,379.1,-14.0,395,3044,0.22,1.08,0.00,0.000,4,0.142,0.036,2159,3295,3756,0,0,0,0,0,0
$GC,3120,-0.57,-219.0,386.9,-8.6,402,3124,0.00,1.00,0.00,0.000,6,0.000,0.024,2159,2598,3755,0,0,0,0,0,0
$GC,3452,-0.54,-219.0,416.3,-9.6,433,3455,0.00,0.98,0.00,0.000,4,0.000,0.024,2159,1886,3752,0,0,0,0,0,0
$GC,3526,-0.53,-219.0,424.1,-10.4,439,3533,0.00,1.08,0.00,0.000,6,0.000,0.034,2154,2590,3752,0,0,0,0,0,0
$GC,3853,-0.51,-219.0,458.4,-10.5,470,3858,0.12,1.02,0.00,0.000,4,0.145,0.027,2190,1883,3749,0,0,0,0,0,0
$GC,3893,-0.52,-219.0,462.1,-9.7,473,3900,0.00,1.08,0.00,0.000,6,0.000,0.034,2190,2586,3749,0,0,0,0,0,0
$GC,4219,-0.63,-219.0,486.9,-7.6,504,4224,0.12,1.10,0.00,0.000,4,0.084,0.041,2125,3294,3746,0,0,0,0,0,0
$GC,4311,-0.58,-219.0,495.9,-11.1,512,4316,0.12,1.02,0.00,0.000,6,0.122,0.026,2167,2592,3745,0,0,0,0,0,0
$GC,4646,-0.67,-219.0,527.7,-9.0,530,4650,0.00,0.98,0.00,0.000,4,0.000,0.028,2167,1898,3741,0,0,0,0,0,0
$GC,4762,-0.72,-219.0,537.9,-8.7,535,4766,0.10,1.05,0.00,0.000,6,0.047,0.035,2098,2582,3741,0,0,0,0,0,0
$GC,5096,-0.72,-219.0,571.1,-9.6,551,5100,0.00,1.00,0.00,0.000,4,0.000,0.027,2098,1892,3738,0,0,0,0,0,0
$GC,5165,-0.66,-219.0,578.5,-11.1,554,5169,0.12,1.08,0.00,0.000,6,0.128,0.039,2134,2580,3737,0,0,0,0,0,0
$GC,5501,-0.62,-219.0,612.7,-10.1,570,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2581,3734,0,0,0,0,0,0
$GC,5807,-0.58,-219.0,643.0,-9.5,585,5812,0.12,1.02,0.00,0.000,4,0.158,0.029,2170,1886,3732,0,0,0,0,0,0
$GC,5878,-0.60,-219.0,648.1,-6.8,588,5882,0.00,1.10,0.00,0.000,6,0.000,0.036,2167,2597,3732,0,0,0,0,0,0
$GC,6212,-0.67,-219.0,669.3,-6.4,604,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2597,3729,0,0,0,0,0,0
$GC,6522,-0.74,-219.0,692.1,-8.0,619,6526,0.15,1.05,0.00,0.000,4,0.079,0.028,2089,1895,3727,0,0,0,0,0,0
$GC,6577,-0.70,-219.0,698.6,-11.7,621,6582,0.12,1.08,0.00,0.000,6,0.123,0.037,2126,2584,3727,0,0,0,0,0,0
$GC,6901,-0.66,-219.0,736.9,-12.3,637,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2584,3724,0,0,0,0,0,0
$GC,7209,-0.62,-219.0,775.8,-12.4,652,7212,0.00,1.00,0.00,0.000,4,0.000,0.029,2127,1897,3723,0,0,0,0,0,0
$GC,7287,-0.59,-219.0,785.8,-12.1,655,7292,0.10,1.10,0.00,0.000,6,0.130,0.040,2157,2592,3722,0,0,0,0,0,0
$GC,7610,-0.59,-219.0,816.6,-9.3,671,7614,0.00,1.02,0.00,0.000,4,0.000,0.029,2157,1891,3720,0,0,0,0,0,0
$GC,7656,-0.59,-219.0,820.9,-9.3,673,7660,0.00,1.10,0.00,0.000,6,0.000,0.040,2155,2590,3721,0,0,0,0,0,0
$GC,7990,-0.59,-219.0,850.4,-8.5,689,7994,0.00,1.02,0.00,0.000,4,0.000,0.029,2155,1893,3719,0,0,0,0,0,0
$GC,8017,-0.59,-219.0,852.8,-8.5,690,8021,0.00,1.10,0.00,0.000,6,0.000,0.039,2152,2588,3719,0,0,0,0,0,0
$GC,8345,-0.59,-219.0,880.1,-8.3,706,8349,0.00,1.02,0.00,0.000,4,0.000,0.030,2152,1889,3717,0,0,0,0,0,0
$GC,8396,-0.59,-219.0,884.4,-8.5,708,8400,0.00,1.12,0.00,0.000,6,0.000,0.041,2152,2598,3717,0,0,0,0,0,0
$GC,8723,-0.59,-219.0,910.9,-8.1,724,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2598,3715,0,0,0,0,0,0
$GC,9034,-0.59,-219.0,937.8,-9.1,739,9038,0.00,1.02,0.00,0.000,4,0.000,0.029,2152,1899,3713,0,0,0,0,0,0
$GC,9125,-0.59,-219.0,946.5,-9.7,743,9129,0.00,1.10,0.00,0.000,6,0.000,0.041,2152,2593,3713,0,0,0,0,0,0
$GC,9459,-0.59,-219.0,979.2,-10.3,759,9462,0.00,1.02,0.00,0.000,4,0.000,0.029,2152,1891,3711,0,0,0,0,0,0
$GC,9498,-0.59,-219.0,983.5,-10.5,760,9505,0.00,1.10,0.00,0.000,6,0.000,0.041,2152,2586,3711,0,0,0,0,0,0
$STATE,9564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9564,begin apogee
$GC,9571,-0.19,0.0,990.5,10.3,764,9742,0.43,0.00,166.38,1.069,6,0.114,0.000,2291,2168,2869,0,0,0,0,0,0
$STATE,9743,end apogee,CONTROL_FINISHED_OK
$STATE,9743,begin climb
$GC,9746,0.61,219.0,1004.6,0.0,772,9929,0.70,1.15,175.32,1.055,4,0.050,0.032,2567,1458,1976,0,0,0,0,0,0
$GC,9992,0.53,227.0,995.7,10.1,783,10005,0.12,1.12,8.25,0.842,6,0.146,0.032,2530,2176,1943,0,0,0,0,0,0
$GC,10327,0.55,279.1,967.2,8.7,800,10374,0.00,1.05,42.38,1.014,4,0.000,0.037,2530,2860,1731,0,0,0,0,0,0
$GC,10464,0.53,296.1,953.6,9.8,806,10484,0.00,1.08,15.55,0.930,6,0.000,0.028,2533,2159,1661,0,0,0,0,0,0
$GC,10810,0.53,317.4,920.1,9.6,823,10833,0.00,1.10,18.88,0.950,4,0.000,0.035,2538,1462,1574,0,0,0,0,0,0
$GC,10885,0.52,320.5,912.1,10.2,826,10894,0.00,1.10,4.35,0.624,6,0.000,0.034,2538,2165,1561,0,0,0,0,0,0
$GC,11214,0.53,339.0,879.5,9.7,842,11236,0.00,1.12,16.50,0.922,4,0.000,0.040,2538,2866,1487,0,0,0,0,0,0
$GC,11307,0.50,339.0,869.7,10.8,846,11310,0.00,1.08,0.00,0.000,6,0.000,0.029,2543,2160,1486,0,0,0,0,0,0
$GC,11640,0.49,339.3,835.0,10.3,862,11644,0.00,1.02,0.00,0.000,4,0.000,0.036,2548,1476,1486,0,0,0,0,0,0
$GC,11702,0.47,339.3,828.4,10.7,864,11709,0.12,1.08,0.00,0.000,6,0.126,0.033,2506,2172,1486,0,0,0,0,0,0
$GC,12021,0.60,392.9,801.2,8.6,880,12072,0.12,1.15,43.70,0.935,4,0.091,0.035,2570,1468,1267,0,0,0,0,0,0
$GC,12087,0.60,393.6,794.6,10.3,883,12090,0.00,1.10,0.00,0.000,6,0.000,0.032,2570,2168,1266,0,0,0,0,0,0
$GC,12421,0.59,393.6,757.2,10.8,899,12425,0.00,1.08,0.00,0.000,4,0.000,0.041,2570,2861,1264,0,0,0,0,0,0
$GC,12563,0.55,393.6,740.4,11.7,905,12567,0.12,1.08,0.00,0.000,6,0.127,0.028,2535,2156,1264,0,0,0,0,0,0
$GC,12893,0.67,454.9,711.9,8.4,921,12947,0.12,1.17,49.00,0.884,4,0.091,0.034,2590,2870,1014,0,0,0,0,0,0
$GC,12972,0.69,465.0,703.6,10.0,924,12988,0.00,1.10,10.55,0.759,6,0.000,0.029,2595,2164,973,0,0,0,0,0,0
$GC,13312,0.67,465.0,665.4,11.2,941,13316,0.00,1.05,0.00,0.000,4,0.000,0.034,2600,1465,975,0,0,0,0,0,0
$GC,13368,0.66,465.0,658.4,12.2,943,13373,0.10,1.08,0.00,0.000,6,0.118,0.031,2566,2163,975,0,0,0,0,0,0
$GC,13693,0.76,486.2,627.3,9.6,959,13716,0.10,1.12,18.45,0.795,4,0.103,0.034,2623,1461,886,0,0,0,0,0,0
$GC,13781,0.72,486.2,615.9,14.3,962,13789,0.10,1.08,0.00,0.000,6,0.125,0.031,2589,2157,885,0,0,0,0,0,0
$GC,14097,0.72,486.2,579.5,11.5,978,14101,0.00,1.08,0.00,0.000,4,0.000,0.038,2590,2861,890,0,0,0,0,0,0
$GC,14176,0.69,486.2,569.7,12.4,981,14179,0.00,1.08,0.00,0.000,6,0.000,0.028,2592,2151,891,0,0,0,0,0,0
$GC,14498,0.69,486.2,534.3,11.0,997,14502,0.00,1.02,0.00,0.000,4,0.000,0.036,2598,1468,895,0,0,0,0,0,0
$GC,14599,0.69,486.2,522.2,12.2,1001,14611,0.00,1.08,3.80,0.524,6,0.000,0.031,2598,2173,887,0,0,0,0,0,0
$GC,14926,0.75,486.2,486.6,10.6,1022,14930,0.00,1.05,0.00,0.000,4,0.000,0.037,2598,2863,886,0,0,0,0,0,0
$GC,14972,0.75,486.2,480.6,11.8,1026,14976,0.00,1.05,0.00,0.000,6,0.000,0.028,2603,2167,886,0,0,0,0,0,0
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$GC,15679,0.83,491.7,400.0,10.1,1092,15692,0.00,1.08,6.45,0.602,4,0.000,0.035,2609,2864,863,0,0,0,0,0,0
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$STATE,19436,end climb,SURFACE_DEPTH_REACHED
$STATE,19436,begin surface coast
$FINISH,0.5,1.021135
$STATE,19459,end surface coast,CONTROL_FINISHED_OK
$STATE,19459,begin surface
$SM_CCo,19537,0.00,0.000,0,0,442,595.34
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$IRIDIUM_FIX,2134.17,12004.54,201011,191924
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.44
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.8,114.581
$10V_AH,9.7,83.936
$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,20.100,95.175,664.100,0.000,0.000,27.668,43.535,151.175,0.000,0.000,18.270,3895.478,11669.703,721.246,3139.313,483.031,0.000,2314.909,0.000,2874.951,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,58.905,1068.705,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1111.177,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322768
$DATA_FILE_SIZE,93455,1605
$CAP_FILE_SIZE,216229,0
$CFSIZE,260165632,189145088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211011,062206,2135.371,12012.859,27,0.9,27,-2.6