version: 66.09
glider: 181
mission: 6
dive: 615
start: 10 7 111 16 25 27
data:
$ID,181
$MISSION,6
$DIVE,615
$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,280
$T_MISSION,320
$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,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,-41364.516
$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,2300
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$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,20
$C_ROLL_DIVE,2590
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,80
$R_STBD_OVSHOOT,47
$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,1
$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
$GPS1,071011,161937,2144.150,11956.457,38,0.9,38,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-64.2
$GPS2,071011,162501,2144.200,11956.324,9,0.9,14,-2.6
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$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,54.4,6494,-17.4,-11.786
$D_GRID,2526
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.53,-194.6,0.0,0.0,0,81,0.00,0.00,-61.08,0.000,2,0.000,0.000,130,2552,2192,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.0,-3.1,10,134,8.45,1.20,-34.28,0.000,4,0.226,0.062,2117,3299,3665,0,0,0,0,0,0
$GC,184,-0.53,-194.6,34.9,-48.2,26,190,0.00,1.02,0.00,0.000,6,0.000,0.026,2118,2586,3665,0,0,0,0,0,0
$GC,326,-0.53,-194.6,87.4,-32.2,51,332,0.00,1.08,0.00,0.000,4,0.000,0.042,2114,3278,3664,0,0,0,0,0,0
$GC,345,-0.53,-194.6,93.1,-30.3,54,352,0.00,0.98,0.00,0.000,6,0.000,0.026,2114,2593,3664,0,0,0,0,0,0
$GC,487,-0.53,-194.6,134.9,-22.3,79,494,0.00,0.95,0.00,0.000,4,0.000,0.023,2114,1882,3662,0,0,0,0,0,0
$GC,578,-0.53,-194.6,155.9,-19.9,95,585,0.00,1.08,0.00,0.000,6,0.000,0.034,2109,2592,3662,0,0,0,0,0,0
$GC,721,-0.53,-194.6,183.7,-20.1,120,728,0.00,0.98,0.00,0.000,4,0.000,0.022,2109,1892,3662,0,0,0,0,0,0
$GC,758,-0.53,-194.6,190.4,-17.8,126,764,0.00,1.05,0.00,0.000,6,0.000,0.034,2103,2584,3663,0,0,0,0,0,0
$GC,901,-0.53,-194.6,215.0,-17.1,144,905,0.00,1.08,0.00,0.000,4,0.000,0.038,2098,3300,3663,0,0,0,0,0,0
$GC,992,-0.53,-194.6,230.9,-18.0,152,996,0.00,1.02,0.00,0.000,6,0.000,0.024,2098,2583,3663,0,0,0,0,0,0
$GC,1323,-0.53,-194.6,282.4,-13.3,183,1325,0.12,0.00,0.00,0.000,6,0.162,0.000,2131,2579,3662,0,0,0,0,0,0
$GC,1642,-0.53,-194.6,327.2,-14.3,213,1645,0.00,0.95,0.00,0.000,4,0.000,0.025,2131,1884,3660,0,0,0,0,0,0
$GC,1747,-0.53,-194.6,342.5,-13.7,222,1755,0.00,1.10,0.00,0.000,6,0.000,0.035,2127,2605,3659,0,0,0,0,0,0
$GC,2073,-0.53,-194.6,385.0,-12.7,253,2077,0.00,1.05,0.00,0.000,4,0.000,0.041,2123,3293,3656,0,0,0,0,0,0
$GC,2100,-0.53,-194.6,388.7,-13.0,255,2107,0.00,1.00,0.00,0.000,6,0.000,0.024,2123,2589,3655,0,0,0,0,0,0
$GC,2426,-0.53,-194.6,429.9,-12.5,286,2430,0.00,0.98,0.00,0.000,4,0.000,0.026,2123,1881,3652,0,0,0,0,0,0
$GC,2482,-0.53,-194.6,436.9,-12.1,291,2486,0.00,1.08,0.00,0.000,6,0.000,0.036,2118,2581,3651,0,0,0,0,0,0
$GC,2814,-0.53,-194.6,480.5,-13.3,322,2817,0.00,1.10,0.00,0.000,4,0.000,0.041,2112,3297,3647,0,0,0,0,0,0
$GC,2852,-0.53,-194.6,486.1,-13.8,325,2860,0.00,1.02,0.00,0.000,6,0.000,0.025,2112,2588,3647,0,0,0,0,0,0
$GC,3183,-0.53,-194.6,531.6,-14.1,346,3187,0.00,0.98,0.00,0.000,4,0.000,0.026,2112,1883,3644,0,0,0,0,0,0
$GC,3206,-0.53,-194.6,535.2,-14.0,347,3210,0.00,1.10,0.00,0.000,6,0.000,0.038,2112,2593,3644,0,0,0,0,0,0
$GC,3539,-0.53,-194.6,579.4,-13.2,363,3543,0.00,1.08,0.00,0.000,4,0.000,0.043,2106,3292,3640,0,0,0,0,0,0
$GC,3610,-0.53,-194.6,588.1,-11.6,366,3614,0.00,1.02,0.00,0.000,6,0.000,0.025,2106,2589,3640,0,0,0,0,0,0
$GC,3943,-0.53,-194.6,626.9,-11.8,382,3947,0.00,0.98,0.00,0.000,4,0.000,0.026,2106,1884,3637,0,0,0,0,0,0
$GC,3975,-0.53,-194.6,631.2,-12.1,383,3979,0.00,1.10,0.00,0.000,6,0.000,0.037,2101,2593,3636,0,0,0,0,0,0
$GC,4299,-0.53,-194.6,671.2,-11.9,399,4302,0.00,1.08,0.00,0.000,4,0.000,0.041,2096,3294,3633,0,0,0,0,0,0
$GC,4434,-0.53,-194.6,687.5,-12.0,405,4437,0.00,1.02,0.00,0.000,6,0.000,0.027,2096,2597,3632,0,0,0,0,0,0
$GC,4768,-0.53,-194.6,726.1,-11.7,421,4772,0.12,1.02,0.00,0.000,4,0.159,0.031,2130,1897,3629,0,0,0,0,0,0
$GC,4835,-0.53,-194.6,733.1,-9.7,424,4839,0.00,1.08,0.00,0.000,6,0.000,0.033,2126,2600,3629,0,0,0,0,0,0
$GC,5168,-0.53,-194.6,764.9,-9.6,440,5172,0.00,1.05,0.00,0.000,4,0.000,0.042,2125,3282,3626,0,0,0,0,0,0
$GC,5225,-0.53,-194.6,770.4,-10.2,442,5228,0.00,1.02,0.00,0.000,6,0.000,0.025,2125,2591,3626,0,0,0,0,0,0
$GC,5547,-0.53,-194.6,800.6,-9.2,458,5551,0.00,1.10,0.00,0.000,4,0.000,0.043,2125,3285,3624,0,0,0,0,0,0
$GC,5598,-0.53,-194.6,805.5,-9.5,460,5602,0.00,1.02,0.00,0.000,6,0.000,0.025,2125,2594,3623,0,0,0,0,0,0
$GC,5926,-0.53,-194.6,834.5,-8.4,476,5929,0.00,1.10,0.00,0.000,4,0.000,0.043,2125,3285,3621,0,0,0,0,0,0
$GC,5942,-0.53,-194.6,836.1,-8.5,476,5949,0.00,1.02,0.00,0.000,6,0.000,0.025,2125,2601,3621,0,0,0,0,0,0
$GC,6259,-0.53,-194.6,860.7,-7.5,492,6263,0.00,1.08,0.00,0.000,4,0.000,0.043,2125,3282,3620,0,0,0,0,0,0
$GC,6287,-0.53,-194.6,863.1,-7.4,493,6290,0.00,1.05,0.00,0.000,6,0.000,0.026,2125,2586,3619,0,0,0,0,0,0
$GC,6614,-0.53,-194.6,887.0,-7.2,509,6618,0.00,1.10,0.00,0.000,4,0.000,0.043,2125,3282,3617,0,0,0,0,0,0
$GC,6644,-0.53,-194.6,889.2,-7.2,510,6647,0.00,1.05,0.00,0.000,6,0.000,0.026,2125,2590,3617,0,0,0,0,0,0
$GC,6972,-0.53,-194.6,914.3,-7.8,526,6976,0.00,1.10,0.00,0.000,4,0.000,0.043,2125,3282,3615,0,0,0,0,0,0
$GC,6988,-0.53,-194.6,915.7,-7.6,526,6994,0.00,1.05,0.00,0.000,6,0.000,0.025,2125,2585,3615,0,0,0,0,0,0
$GC,7305,-0.53,-194.6,941.3,-8.1,542,7309,0.00,1.10,0.00,0.000,4,0.000,0.043,2125,3279,3613,0,0,0,0,0,0
$GC,7339,-0.53,-194.6,944.7,-8.4,543,7342,0.00,1.05,0.00,0.000,6,0.000,0.025,2124,2583,3613,0,0,0,0,0,0
$GC,7662,-0.53,-194.6,972.9,-9.1,559,7665,0.00,1.12,0.00,0.000,4,0.000,0.043,2124,3284,3612,0,0,0,0,0,0
$GC,7689,-0.53,-194.6,975.8,-9.2,560,7693,0.00,1.05,0.00,0.000,6,0.000,0.026,2124,2594,3612,0,0,0,0,0,0
$STATE,7849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7849,begin apogee
$GC,7855,-0.13,0.0,990.5,9.2,568,8008,0.38,0.00,148.18,1.066,6,0.102,0.000,2254,2138,2871,0,0,0,0,0,0
$STATE,8009,end apogee,CONTROL_FINISHED_OK
$STATE,8009,begin climb
$GC,8012,0.53,194.6,1000.5,0.0,575,8180,0.60,1.17,158.12,1.050,4,0.065,0.033,2476,2860,2074,0,0,0,0,0,0
$GC,8326,0.67,305.8,987.4,7.3,589,8423,0.00,1.08,89.32,1.035,6,0.000,0.027,2481,2148,1621,0,0,0,0,0,0
$GC,8732,0.77,389.5,955.4,8.4,609,8805,0.20,1.02,68.03,1.019,4,0.067,0.031,2576,1462,1281,0,0,0,0,0,0
$GC,8874,0.77,389.5,937.6,13.3,615,8879,0.00,1.10,0.00,0.000,6,0.000,0.029,2576,2169,1280,0,0,0,0,0,0
$GC,9196,0.77,389.5,896.5,12.6,631,9200,0.00,1.05,0.00,0.000,4,0.000,0.037,2576,2858,1283,0,0,0,0,0,0
$GC,9223,0.77,389.5,892.7,13.6,632,9229,0.10,1.05,0.00,0.000,6,0.135,0.026,2549,2163,1283,0,0,0,0,0,0
$GC,9552,0.80,413.1,857.3,10.8,648,9577,0.00,1.12,20.48,0.933,4,0.000,0.034,2549,2865,1185,0,0,0,0,0,0
$GC,9665,0.80,413.1,844.1,12.0,653,9668,0.00,1.05,0.00,0.000,6,0.000,0.028,2552,2169,1184,0,0,0,0,0,0
$GC,9999,0.81,423.2,805.8,11.4,669,10013,0.00,1.05,10.88,0.839,4,0.000,0.031,2552,2866,1142,0,0,0,0,0,0
$GC,10060,0.81,423.2,798.3,12.5,671,10063,0.00,1.05,0.00,0.000,6,0.000,0.027,2556,2171,1141,0,0,0,0,0,0
$GC,10394,0.82,433.3,759.8,11.4,687,10408,0.00,1.10,9.30,0.798,4,0.000,0.035,2556,2863,1102,0,0,0,0,0,0
$GC,10470,0.82,433.3,750.5,12.0,690,10474,0.00,1.05,0.00,0.000,6,0.000,0.028,2560,2165,1102,0,0,0,0,0,0
$GC,10793,0.86,464.4,716.1,10.5,706,10823,0.00,1.10,25.98,0.869,4,0.000,0.031,2560,2888,975,0,0,0,0,0,0
$GC,10868,0.88,480.4,707.6,11.1,709,10888,0.00,1.10,15.20,0.812,6,0.000,0.027,2564,2163,911,0,0,0,0,0,0
$GC,11213,0.95,537.4,673.6,9.5,726,11266,0.12,1.10,46.20,0.856,4,0.086,0.034,2634,1468,677,0,0,0,0,0,0
$GC,11391,0.95,537.4,649.9,14.3,734,11395,0.00,1.08,0.00,0.000,6,0.000,0.031,2634,2163,676,0,0,0,0,0,0
$GC,11725,0.95,537.4,603.5,14.2,750,11728,0.00,1.08,0.00,0.000,4,0.000,0.040,2633,2864,675,0,0,0,0,0,0
$GC,11872,0.95,537.4,581.0,15.7,756,11876,0.10,1.05,0.00,0.000,6,0.138,0.025,2605,2158,675,0,0,0,0,0,0
$GC,12194,0.96,548.9,543.6,11.3,772,12209,0.00,1.05,10.35,0.715,4,0.000,0.031,2608,1465,631,0,0,0,0,0,0
$GC,12242,0.96,548.9,537.5,11.8,774,12246,0.00,1.08,0.00,0.000,6,0.000,0.029,2608,2170,631,0,0,0,0,0,0
$GC,12561,0.96,548.9,498.6,12.8,790,12564,0.00,1.05,0.00,0.000,4,0.000,0.037,2608,2864,633,0,0,0,0,0,0
$GC,12665,0.96,548.9,484.0,13.7,799,12673,0.00,1.05,0.00,0.000,6,0.000,0.025,2612,2156,633,0,0,0,0,0,0
$GC,12991,0.96,548.9,441.0,12.8,830,12995,0.00,1.00,0.00,0.000,4,0.000,0.034,2618,1478,633,0,0,0,0,0,0
$GC,13074,0.96,548.9,429.5,14.2,837,13081,0.00,1.05,0.00,0.000,6,0.000,0.029,2618,2173,633,0,0,0,0,0,0
$GC,13400,0.98,558.2,389.9,11.4,868,13415,0.00,1.10,9.43,0.636,4,0.000,0.036,2618,2866,593,0,0,0,0,0,0
$GC,13468,0.98,558.2,381.4,13.2,874,13471,0.00,1.05,0.00,0.000,6,0.000,0.027,2622,2166,592,0,0,0,0,0,0
$GC,13799,0.98,558.2,340.5,12.1,905,13802,0.00,1.05,0.00,0.000,4,0.000,0.034,2622,2857,592,0,0,0,0,0,0
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$STATE,16756,end climb,SURFACE_DEPTH_REACHED
$STATE,16756,begin surface coast
$FINISH,0.9,1.020938
$STATE,16787,end surface coast,CONTROL_FINISHED_OK
$STATE,16787,begin surface
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$IRIDIUM_FIX,2136.49,11950.16,071011,111144
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.20
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.40
$XPDR_PINGS,0
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$10V_AH,9.8,77.642
$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
$DEVICE_SECS,16.975,98.450,657.925,0.000,0.000,28.731,19.835,130.956,0.000,0.000,17.407,3414.333,9965.532,729.530,2675.080,394.727,0.000,2143.011,0.000,2457.880,0.000,0.539,0.000
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$SENSOR_SECS,915.871,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322740
$DATA_FILE_SIZE,77026,1319
$CAP_FILE_SIZE,187446,0
$CFSIZE,260165632,195239936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,300.9,1
$GPS,071011,210737,2145.093,11956.242,27,1.3,27,-2.6