version: 66.09
glider: 181
mission: 6
dive: 688
start: 10 20 111 3 16 46
data:
$ID,181
$MISSION,6
$DIVE,688
$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,-41463.309
$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,51
$R_STBD_OVSHOOT,51
$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
$GPS1,201011,031036,2136.426,12016.862,37,0.9,43,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-72.5
$GPS2,201011,031619,2136.371,12016.803,10,0.9,14,-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,301.5,33027,-14.3,-10.312
$D_GRID,2300
$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,-62.22,0.000,2,0.000,0.000,128,2612,2203,0,0,0,0,0,0
$GC,84,-0.61,-219.0,3.1,-3.0,11,137,8.32,1.05,-36.88,0.000,4,0.215,0.064,2149,3279,3762,0,0,0,0,0,0
$GC,196,-0.24,-219.0,32.8,-34.4,30,203,0.43,1.02,0.00,0.000,6,0.170,0.024,2266,2567,3761,0,0,0,0,0,0
$GC,543,-0.17,-219.0,93.8,-15.4,91,551,0.10,0.95,0.00,0.000,4,0.163,0.025,2295,1882,3760,0,0,0,0,0,0
$GC,690,-0.25,-219.0,110.6,-9.8,116,696,0.00,1.05,0.00,0.000,6,0.000,0.032,2295,2582,3760,0,0,0,0,0,0
$GC,1036,-0.51,-219.0,146.3,-10.1,177,1045,0.28,1.08,0.00,0.000,4,0.062,0.032,2178,3296,3760,0,0,0,0,0,0
$GC,1076,-0.61,-219.0,150.3,-10.0,183,1083,0.00,1.00,0.00,0.000,6,0.000,0.024,2178,2602,3760,0,0,0,0,0,0
$GC,1425,-0.56,-219.0,189.2,-9.8,244,1431,0.00,1.05,0.00,0.000,4,0.000,0.038,2173,3286,3762,0,0,0,0,0,0
$GC,1451,-0.50,-219.0,191.9,-9.8,248,1457,0.00,1.00,0.00,0.000,6,0.000,0.024,2173,2577,3761,0,0,0,0,0,0
$GC,1787,-0.45,-219.0,230.0,-11.7,286,1791,0.12,0.95,0.00,0.000,4,0.138,0.025,2209,1890,3762,0,0,0,0,0,0
$GC,1821,-0.45,-219.0,233.2,-10.4,289,1825,0.00,1.05,0.00,0.000,6,0.000,0.033,2207,2586,3762,0,0,0,0,0,0
$GC,2153,-0.59,-219.0,261.5,-8.5,320,2157,0.12,1.00,0.00,0.000,4,0.080,0.026,2126,1893,3761,0,0,0,0,0,0
$GC,2210,-0.57,-219.0,267.7,-11.4,325,2214,0.15,1.05,0.00,0.000,6,0.112,0.034,2174,2585,3760,0,0,0,0,0,0
$GC,2542,-0.66,-219.0,298.4,-8.8,356,2546,0.00,1.08,0.00,0.000,4,0.000,0.040,2170,3294,3759,0,0,0,0,0,0
$GC,2577,-0.74,-219.0,301.7,-8.9,359,2582,0.12,1.00,0.00,0.000,6,0.041,0.024,2089,2596,3758,0,0,0,0,0,0
$GC,2908,-0.57,-219.0,354.9,-16.7,390,2912,0.25,1.00,0.00,0.000,4,0.139,0.023,2168,1889,3755,0,0,0,0,0,0
$GC,2943,-0.51,-219.0,359.7,-13.9,393,2947,0.00,1.08,0.00,0.000,6,0.000,0.037,2165,2587,3755,0,0,0,0,0,0
$GC,3275,-0.48,-219.0,399.7,-11.7,424,3279,0.12,1.10,0.00,0.000,4,0.142,0.042,2197,3289,3752,0,0,0,0,0,0
$GC,3321,-0.54,-219.0,404.4,-9.9,428,3325,0.00,1.00,0.00,0.000,6,0.000,0.025,2197,2596,3752,0,0,0,0,0,0
$GC,3653,-0.70,-219.0,429.5,-6.0,459,3657,0.20,1.10,0.00,0.000,4,0.061,0.037,2096,3292,3748,0,0,0,0,0,0
$GC,3714,-0.55,-219.0,435.3,-11.5,464,3721,0.22,1.02,0.00,0.000,6,0.125,0.026,2169,2589,3748,0,0,0,0,0,0
$GC,4040,-0.66,-219.0,459.8,-8.7,495,4043,0.00,1.10,0.00,0.000,4,0.000,0.042,2166,3289,3746,0,0,0,0,0,0
$GC,4109,-0.72,-219.0,466.0,-9.2,501,4113,0.10,1.02,0.00,0.000,6,0.047,0.026,2097,2589,3745,0,0,0,0,0,0
$GC,4447,-0.58,-219.0,516.8,-15.3,528,4451,0.25,1.00,0.00,0.000,4,0.135,0.024,2176,1886,3742,0,0,0,0,0,0
$GC,4518,-0.60,-219.0,523.7,-9.1,531,4522,0.00,1.08,0.00,0.000,6,0.000,0.036,2174,2585,3741,0,0,0,0,0,0
$GC,4853,-0.70,-219.0,551.7,-8.0,547,4855,0.12,0.00,0.00,0.000,6,0.083,0.000,2103,2586,3738,0,0,0,0,0,0
$GC,5160,-0.70,-219.0,583.4,-10.6,562,5164,0.00,1.10,0.00,0.000,4,0.000,0.044,2098,3295,3735,0,0,0,0,0,0
$GC,5309,-0.57,-219.0,603.2,-14.0,568,5313,0.20,1.05,0.00,0.000,6,0.124,0.028,2163,2586,3733,0,0,0,0,0,0
$GC,5632,-0.57,-219.0,634.2,-9.5,584,5635,0.00,0.98,0.00,0.000,4,0.000,0.028,2163,1893,3731,0,0,0,0,0,0
$GC,5724,-0.57,-219.0,643.1,-9.5,588,5728,0.00,1.08,0.00,0.000,6,0.000,0.037,2161,2588,3731,0,0,0,0,0,0
$GC,6058,-0.65,-219.0,674.8,-10.0,604,6062,0.00,1.00,0.00,0.000,4,0.000,0.029,2161,1902,3728,0,0,0,0,0,0
$GC,6110,-0.76,-219.0,680.1,-10.2,606,6114,0.10,1.08,0.00,0.000,6,0.050,0.037,2093,2592,3728,0,0,0,0,0,0
$GC,6439,-0.63,-219.0,728.2,-15.4,622,6443,0.20,1.10,0.00,0.000,4,0.148,0.043,2147,3284,3726,0,0,0,0,0,0
$GC,6471,-0.58,-219.0,733.0,-13.5,623,6475,0.00,1.02,0.00,0.000,6,0.000,0.028,2146,2593,3725,0,0,0,0,0,0
$GC,6795,-0.55,-219.0,766.5,-10.2,639,6799,0.12,1.02,0.00,0.000,4,0.147,0.029,2182,1888,3723,0,0,0,0,0,0
$GC,6886,-0.64,-219.0,774.0,-7.9,643,6889,0.00,1.10,0.00,0.000,6,0.000,0.038,2182,2590,3723,0,0,0,0,0,0
$GC,7220,-0.83,-219.0,797.9,-6.9,659,7225,0.28,1.10,0.00,0.000,4,0.064,0.041,2066,3285,3722,0,0,0,0,0,0
$GC,7358,-0.65,-219.0,816.3,-15.6,665,7362,0.22,1.05,0.00,0.000,6,0.140,0.030,2136,2583,3720,0,0,0,0,0,0
$GC,7694,-0.61,-219.0,850.2,-9.7,681,7698,0.00,1.00,0.00,0.000,4,0.000,0.030,2136,1891,3719,0,0,0,0,0,0
$GC,7819,-0.57,-219.0,863.0,-10.0,686,7823,0.10,1.10,0.00,0.000,6,0.130,0.041,2166,2584,3718,0,0,0,0,0,0
$GC,8143,-0.60,-219.0,888.8,-8.1,702,8147,0.00,1.02,0.00,0.000,4,0.000,0.031,2166,1886,3716,0,0,0,0,0,0
$GC,8205,-0.63,-219.0,894.3,-8.4,704,8211,0.00,1.12,0.00,0.000,6,0.000,0.040,2166,2596,3716,0,0,0,0,0,0
$GC,8523,-0.76,-219.0,919.8,-8.3,720,8527,0.15,1.12,0.00,0.000,4,0.080,0.047,2086,3297,3714,0,0,0,0,0,0
$GC,8606,-0.63,-219.0,930.5,-15.1,723,8613,0.17,1.08,0.00,0.000,6,0.129,0.029,2143,2585,3713,0,0,0,0,0,0
$GC,8926,-0.61,-219.0,963.8,-10.1,739,8929,0.00,1.00,0.00,0.000,4,0.000,0.031,2143,1892,3712,0,0,0,0,0,0
$GC,9027,-0.61,-219.0,974.0,-9.5,743,9030,0.00,1.10,0.00,0.000,6,0.000,0.041,2140,2583,3712,0,0,0,0,0,0
$STATE,9201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9201,begin apogee
$GC,9209,-0.19,0.0,991.1,9.8,752,9382,0.45,0.00,166.75,1.067,6,0.119,0.000,2286,2157,2868,0,0,0,0,0,0
$STATE,9382,end apogee,CONTROL_FINISHED_OK
$STATE,9383,begin climb
$GC,9386,0.61,219.0,1001.2,0.0,760,9570,0.70,0.00,175.18,1.050,6,0.045,0.000,2565,2157,1977,0,0,0,0,0,0
$GC,9880,0.48,219.0,955.0,12.2,784,9884,0.20,1.08,0.00,0.000,4,0.163,0.032,2515,1458,1975,0,0,0,0,0,0
$GC,9950,0.43,229.5,948.1,10.0,787,9965,0.00,1.12,10.12,0.893,6,0.000,0.034,2515,2178,1933,0,0,0,0,0,0
$GC,10286,0.44,274.6,917.6,8.9,803,10329,0.00,1.12,37.10,0.986,4,0.000,0.041,2515,2864,1749,0,0,0,0,0,0
$GC,10425,0.41,283.0,904.0,10.0,809,10442,0.08,1.08,8.05,0.810,6,0.145,0.030,2496,2166,1715,0,0,0,0,0,0
$GC,10754,0.54,367.6,878.2,7.6,825,10832,0.10,1.17,68.82,0.978,4,0.101,0.039,2545,2864,1369,0,0,0,0,0,0
$GC,10852,0.52,367.6,868.1,10.4,829,10859,0.00,1.10,0.00,0.000,6,0.000,0.028,2549,2158,1370,0,0,0,0,0,0
$GC,11168,0.52,367.6,835.1,10.3,845,11172,0.00,1.05,0.00,0.000,4,0.000,0.035,2554,1461,1372,0,0,0,0,0,0
$GC,11207,0.50,367.6,830.9,10.5,846,11214,0.10,1.10,0.00,0.000,6,0.129,0.034,2522,2169,1372,0,0,0,0,0,0
$GC,11525,0.63,412.2,802.7,8.9,862,11569,0.12,1.15,36.85,0.926,4,0.088,0.035,2583,1463,1187,0,0,0,0,0,0
$GC,11677,0.59,412.2,784.5,12.6,868,11685,0.10,1.10,0.00,0.000,6,0.122,0.034,2550,2160,1188,0,0,0,0,0,0
$GC,11995,0.62,435.5,753.9,9.6,884,12020,0.00,1.12,20.50,0.871,4,0.000,0.042,2550,2862,1092,0,0,0,0,0,0
$GC,12108,0.62,435.5,742.1,11.1,889,12112,0.00,1.08,0.00,0.000,6,0.000,0.030,2553,2161,1092,0,0,0,0,0,0
$GC,12442,0.71,490.4,711.4,8.6,905,12492,0.00,1.12,44.22,0.877,4,0.000,0.037,2558,1462,869,0,0,0,0,0,0
$GC,12557,0.79,534.8,701.6,8.9,910,12599,0.12,1.10,37.28,0.851,6,0.054,0.030,2626,2175,688,0,0,0,0,0,0
$GC,12921,0.77,534.8,655.8,13.4,928,12925,0.00,1.05,0.00,0.000,4,0.000,0.041,2626,2854,690,0,0,0,0,0,0
$GC,13018,0.72,534.8,641.9,13.9,932,13022,0.12,1.05,0.00,0.000,6,0.133,0.030,2590,2166,690,0,0,0,0,0,0
$GC,13345,0.75,534.8,605.3,11.4,948,13348,0.00,1.08,0.00,0.000,4,0.000,0.037,2594,1474,690,0,0,0,0,0,0
$GC,13441,0.75,534.8,594.1,12.0,952,13444,0.00,1.05,0.00,0.000,6,0.000,0.031,2594,2156,690,0,0,0,0,0,0
$GC,13768,0.85,534.8,559.4,10.9,968,13773,0.10,1.08,0.00,0.000,4,0.103,0.037,2650,1472,690,0,0,0,0,0,0
$GC,13796,0.88,534.8,555.7,11.6,969,13799,0.00,1.08,0.00,0.000,6,0.000,0.032,2649,2166,690,0,0,0,0,0,0
$GC,14124,0.84,534.8,512.3,12.4,985,14128,0.00,1.08,0.00,0.000,4,0.000,0.041,2649,2864,690,0,0,0,0,0,0
$GC,14158,0.77,534.8,507.5,13.1,986,14162,0.15,1.08,0.00,0.000,6,0.135,0.029,2605,2160,690,0,0,0,0,0,0
$GC,14486,0.77,534.8,473.6,10.5,1014,14490,0.00,1.10,0.00,0.000,4,0.000,0.036,2606,2870,690,0,0,0,0,0,0
$GC,14593,0.76,534.8,461.5,11.2,1023,14600,0.00,1.08,0.00,0.000,6,0.000,0.029,2609,2164,691,0,0,0,0,0,0
$GC,14918,0.76,534.8,427.8,10.8,1054,14922,0.00,1.05,0.00,0.000,4,0.000,0.037,2614,1465,690,0,0,0,0,0,0
$GC,15010,0.73,534.8,417.1,12.0,1062,15014,0.00,1.08,0.00,0.000,6,0.000,0.030,2614,2170,691,0,0,0,0,0,0
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$GC,18254,1.31,666.2,51.4,8.8,1472,18261,0.22,1.08,0.00,0.000,4,0.064,0.029,2798,1457,441,0,0,0,0,0,0
$GC,18383,1.22,666.2,35.4,13.7,1494,18391,0.15,1.05,2.40,0.186,6,0.122,0.028,2750,2165,440,0,0,0,0,0,0
$STATE,18676,end climb,SURFACE_DEPTH_REACHED
$STATE,18676,begin surface coast
$FINISH,0.6,1.009976
$STATE,18706,end surface coast,CONTROL_FINISHED_OK
$STATE,18706,begin surface
$SM_CCo,18784,0.00,0.000,0,0,443,595.10
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$IRIDIUM_FIX,2131.85,12018.06,191011,222243
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.20
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.50
$XPDR_PINGS,1
$24V_AH,23.7,113.836
$10V_AH,9.8,83.533
$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,22.400,92.675,657.875,0.000,0.000,30.803,17.840,137.030,0.250,0.000,17.013,3780.942,11088.149,720.797,3060.715,466.369,0.000,2281.449,0.000,2829.417,0.000,0.541,0.000
$DEVICE_MAMPS,214.965,64.260,1067.175,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1072.530,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322760
$DATA_FILE_SIZE,90166,1551
$CAP_FILE_SIZE,210618,0
$CFSIZE,260165632,189538304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201011,083106,2135.607,12015.755,37,0.8,37,-2.6