version: 66.09
glider: 181
mission: 6
dive: 689
start: 10 20 111 8 37 47
data:
$ID,181
$MISSION,6
$DIVE,689
$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,-41464.664
$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,49
$R_STBD_OVSHOOT,33
$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
$GPS1,201011,083106,2135.607,12015.755,37,0.8,37,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-70.4
$GPS2,201011,083720,2135.517,12015.628,10,1.7,10,-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,305.8,32111,-14.3,-10.312
$D_GRID,2352
$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,-67.60,0.000,2,0.000,0.000,167,2578,2354,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.5,-3.4,12,137,8.25,1.15,-31.08,0.000,4,0.219,0.067,2148,3291,3764,0,0,0,0,0,0
$GC,187,-0.24,-219.0,29.8,-34.1,28,194,0.45,1.05,0.00,0.000,6,0.174,0.024,2271,2564,3764,0,0,0,0,0,0
$GC,534,-0.21,-219.0,89.0,-14.2,89,541,0.00,1.12,0.00,0.000,4,0.000,0.038,2267,3294,3763,0,0,0,0,0,0
$GC,638,-0.17,-219.0,101.1,-10.6,107,645,0.00,1.00,0.00,0.000,6,0.000,0.023,2267,2584,3762,0,0,0,0,0,0
$GC,985,-0.32,-219.0,135.5,-8.9,168,991,0.00,0.95,0.00,0.000,4,0.000,0.024,2267,1886,3762,0,0,0,0,0,0
$GC,1241,-0.56,-219.0,158.1,-8.8,213,1249,0.22,1.08,0.00,0.000,6,0.046,0.031,2166,2611,3762,0,0,0,0,0,0
$GC,1588,-0.56,-219.0,195.0,-10.9,274,1595,0.00,1.00,0.00,0.000,4,0.000,0.037,2166,3285,3763,0,0,0,0,0,0
$GC,1636,-0.52,-219.0,200.5,-11.7,282,1640,0.00,0.98,0.00,0.000,6,0.000,0.023,2165,2591,3763,0,0,0,0,0,0
$GC,1967,-0.46,-219.0,239.0,-10.9,313,1972,0.15,1.10,0.00,0.000,4,0.136,0.038,2206,3289,3763,0,0,0,0,0,0
$GC,2002,-0.46,-219.0,242.3,-9.9,316,2006,0.00,1.00,0.00,0.000,6,0.000,0.024,2206,2585,3763,0,0,0,0,0,0
$GC,2334,-0.59,-219.0,275.9,-10.9,347,2338,0.12,0.98,0.00,0.000,4,0.079,0.027,2122,1890,3763,0,0,0,0,0,0
$GC,2402,-0.53,-219.0,284.7,-13.5,353,2407,0.20,1.02,0.00,0.000,6,0.112,0.031,2184,2574,3762,0,0,0,0,0,0
$GC,2733,-0.58,-219.0,315.4,-7.0,384,2737,0.00,0.95,0.00,0.000,4,0.000,0.024,2184,1895,3761,0,0,0,0,0,0
$GC,2780,-0.69,-219.0,318.7,-6.8,388,2785,0.12,1.05,0.00,0.000,6,0.039,0.033,2098,2590,3761,0,0,0,0,0,0
$GC,3111,-0.53,-219.0,364.4,-14.9,419,3115,0.25,1.08,0.00,0.000,4,0.143,0.038,2174,3285,3758,0,0,0,0,0,0
$GC,3146,-0.47,-219.0,368.5,-11.9,422,3149,0.00,1.00,0.00,0.000,6,0.000,0.025,2174,2589,3758,0,0,0,0,0,0
$GC,3477,-0.56,-219.0,398.5,-9.2,453,3481,0.00,0.95,0.00,0.000,4,0.000,0.026,2174,1900,3755,0,0,0,0,0,0
$GC,3596,-0.64,-219.0,410.7,-10.4,463,3603,0.00,1.05,0.00,0.000,6,0.000,0.034,2172,2586,3754,0,0,0,0,0,0
$GC,3923,-0.76,-219.0,442.6,-8.9,494,3927,0.17,1.10,0.00,0.000,4,0.064,0.041,2076,3292,3751,0,0,0,0,0,0
$GC,3992,-0.58,-219.0,452.0,-16.5,500,3996,0.28,1.02,0.00,0.000,6,0.134,0.026,2162,2586,3750,0,0,0,0,0,0
$GC,4323,-0.56,-219.0,484.6,-9.8,531,4327,0.00,0.98,0.00,0.000,4,0.000,0.028,2162,1893,3748,0,0,0,0,0,0
$GC,4359,-0.56,-219.0,488.0,-10.0,534,4362,0.00,1.08,0.00,0.000,6,0.000,0.037,2159,2590,3748,0,0,0,0,0,0
$GC,4696,-0.53,-219.0,522.5,-10.6,556,4700,0.00,1.10,0.00,0.000,4,0.000,0.044,2154,3289,3744,0,0,0,0,0,0
$GC,4724,-0.51,-219.0,525.8,-10.1,557,4728,0.10,1.02,0.00,0.000,6,0.115,0.026,2188,2585,3743,0,0,0,0,0,0
$GC,5054,-0.66,-219.0,553.0,-8.0,573,5059,0.15,1.12,0.00,0.000,4,0.075,0.041,2111,3291,3741,0,0,0,0,0,0
$GC,5169,-0.56,-219.0,566.6,-13.3,578,5174,0.20,1.02,0.00,0.000,6,0.125,0.026,2176,2591,3740,0,0,0,0,0,0
$GC,5506,-0.68,-219.0,592.7,-7.3,594,5510,0.12,1.12,0.00,0.000,4,0.083,0.042,2103,3294,3737,0,0,0,0,0,0
$GC,5538,-0.68,-219.0,596.1,-7.8,595,5543,0.08,1.02,0.00,0.000,6,0.135,0.027,2129,2594,3737,0,0,0,0,0,0
$GC,5862,-0.61,-219.0,631.9,-11.0,611,5865,0.00,1.00,0.00,0.000,4,0.000,0.028,2129,1886,3735,0,0,0,0,0,0
$GC,5918,-0.55,-219.0,638.5,-11.3,613,5922,0.15,1.10,0.00,0.000,6,0.122,0.037,2175,2587,3734,0,0,0,0,0,0
$GC,6243,-0.69,-219.0,663.6,-7.4,629,6247,0.12,1.02,0.00,0.000,4,0.086,0.028,2107,1897,3732,0,0,0,0,0,0
$GC,6367,-0.63,-219.0,675.6,-9.7,634,6372,0.12,1.08,0.00,0.000,6,0.120,0.036,2145,2591,3731,0,0,0,0,0,0
$GC,6693,-0.60,-219.0,703.4,-8.8,650,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2592,3729,0,0,0,0,0,0
$GC,6999,-0.57,-219.0,733.1,-10.0,665,7003,0.00,1.10,0.00,0.000,4,0.000,0.045,2142,3295,3727,0,0,0,0,0,0
$GC,7016,-0.53,-219.0,735.0,-10.2,665,7023,0.12,1.05,0.00,0.000,6,0.119,0.028,2183,2587,3727,0,0,0,0,0,0
$GC,7334,-0.70,-219.0,760.9,-8.2,681,7338,0.17,1.15,0.00,0.000,4,0.073,0.042,2103,3298,3725,0,0,0,0,0,0
$GC,7482,-0.61,-219.0,778.7,-13.2,687,7486,0.17,1.05,0.00,0.000,6,0.126,0.028,2159,2595,3723,0,0,0,0,0,0
$GC,7803,-0.61,-219.0,807.5,-8.6,703,7807,0.00,1.00,0.00,0.000,4,0.000,0.028,2160,1891,3722,0,0,0,0,0,0
$GC,7936,-0.63,-219.0,818.1,-7.7,708,7943,0.00,1.10,0.00,0.000,6,0.000,0.037,2158,2595,3721,0,0,0,0,0,0
$GC,8253,-0.74,-219.0,842.9,-7.9,724,8257,0.12,1.10,0.00,0.000,4,0.087,0.044,2088,3289,3720,0,0,0,0,0,0
$GC,8270,-0.80,-219.0,844.6,-7.8,724,8277,0.00,1.05,0.00,0.000,6,0.000,0.026,2087,2584,3720,0,0,0,0,0,0
$GC,8588,-0.66,-219.0,887.8,-13.6,740,8592,0.17,1.02,0.00,0.000,4,0.148,0.030,2137,1887,3719,0,0,0,0,0,0
$GC,8615,-0.58,-219.0,891.5,-13.3,741,8619,0.00,1.10,0.00,0.000,6,0.000,0.040,2137,2584,3718,0,0,0,0,0,0
$GC,8944,-0.55,-219.0,922.1,-9.4,757,8948,0.15,1.05,0.00,0.000,4,0.150,0.030,2180,1883,3717,0,0,0,0,0,0
$GC,8990,-0.58,-219.0,925.4,-8.2,759,8994,0.00,1.12,0.00,0.000,6,0.000,0.037,2179,2603,3717,0,0,0,0,0,0
$GC,9325,-0.74,-219.0,948.0,-6.9,775,9329,0.20,1.10,0.00,0.000,4,0.069,0.042,2085,3295,3715,0,0,0,0,0,0
$GC,9395,-0.61,-219.0,955.4,-12.7,778,9399,0.22,1.05,0.00,0.000,6,0.135,0.029,2154,2593,3714,0,0,0,0,0,0
$GC,9729,-0.61,-219.0,984.6,-8.2,794,9733,0.00,1.00,0.00,0.000,4,0.000,0.030,2155,1895,3713,0,0,0,0,0,0
$STATE,9788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9788,begin apogee
$GC,9796,-0.19,0.0,990.1,8.4,796,9970,0.40,0.00,166.77,1.067,6,0.115,0.000,2288,2183,2869,0,0,0,0,0,0
$STATE,9971,end apogee,CONTROL_FINISHED_OK
$STATE,9971,begin climb
$GC,9974,0.61,219.0,1001.4,0.0,805,10157,0.70,1.05,175.50,1.052,4,0.045,0.036,2564,2855,1975,0,0,0,0,0,0
$GC,10213,0.46,219.0,988.5,12.2,815,10217,0.20,1.05,0.00,0.000,6,0.153,0.028,2511,2175,1974,0,0,0,0,0,0
$GC,10536,0.48,270.5,960.4,8.7,831,10582,0.00,1.08,41.65,1.008,4,0.000,0.032,2515,1463,1767,0,0,0,0,0,0
$GC,10651,0.49,302.7,949.7,9.3,836,10683,0.00,1.10,27.45,0.973,6,0.000,0.033,2515,2163,1635,0,0,0,0,0,0
$GC,10993,0.54,339.5,918.5,9.1,852,11028,0.00,1.12,30.73,0.979,4,0.000,0.037,2515,2866,1485,0,0,0,0,0,0
$GC,11126,0.54,342.2,905.5,10.2,858,11135,0.00,1.08,4.18,0.608,6,0.000,0.029,2520,2164,1475,0,0,0,0,0,0
$GC,11461,0.61,397.8,875.7,8.5,874,11511,0.00,1.10,46.03,0.972,4,0.000,0.037,2525,1470,1247,0,0,0,0,0,0
$GC,11585,0.68,439.1,864.5,9.0,879,11626,0.10,1.10,34.15,0.944,6,0.057,0.031,2581,2172,1077,0,0,0,0,0,0
$GC,11942,0.68,442.2,826.1,10.2,897,11952,0.00,1.10,4.25,0.622,4,0.000,0.040,2581,2864,1066,0,0,0,0,0,0
$GC,12094,0.64,442.2,808.9,11.7,903,12100,0.00,1.08,0.00,0.000,6,0.000,0.028,2585,2153,1066,0,0,0,0,0,0
$GC,12410,0.64,442.2,775.4,10.9,919,12413,0.00,1.02,0.00,0.000,4,0.000,0.036,2590,1471,1065,0,0,0,0,0,0
$GC,12437,0.63,442.2,772.1,11.2,920,12442,0.10,1.08,0.00,0.000,6,0.122,0.034,2557,2161,1065,0,0,0,0,0,0
$GC,12768,0.65,442.2,737.3,11.3,936,12771,0.00,1.10,0.00,0.000,4,0.000,0.039,2557,2876,1065,0,0,0,0,0,0
$GC,12874,0.65,442.2,723.2,12.8,940,12881,0.00,1.08,0.00,0.000,6,0.000,0.030,2560,2169,1065,0,0,0,0,0,0
$GC,13192,0.67,442.2,683.7,12.4,956,13195,0.00,1.05,0.00,0.000,4,0.000,0.037,2565,1472,1064,0,0,0,0,0,0
$GC,13260,0.67,442.2,674.9,12.9,959,13264,0.00,1.08,0.00,0.000,6,0.000,0.032,2565,2173,1065,0,0,0,0,0,0
$GC,13594,0.67,442.2,636.7,11.1,975,13598,0.00,1.05,0.00,0.000,4,0.000,0.040,2565,2862,1065,0,0,0,0,0,0
$GC,13662,0.67,442.2,629.1,11.4,978,13666,0.00,1.05,0.00,0.000,6,0.000,0.030,2569,2170,1065,0,0,0,0,0,0
$GC,13995,0.70,471.4,596.2,9.4,994,14025,0.00,1.12,24.08,0.802,4,0.000,0.037,2574,1463,946,0,0,0,0,0,0
$GC,14108,0.70,471.4,585.5,10.4,999,14112,0.00,1.10,0.00,0.000,6,0.000,0.031,2575,2175,949,0,0,0,0,0,0
$GC,14443,0.85,511.4,555.5,9.0,1015,14481,0.15,1.12,32.92,0.776,4,0.081,0.037,2646,2873,784,0,0,0,0,0,0
$GC,14492,0.82,511.4,549.5,11.8,1016,14497,0.10,1.10,0.00,0.000,6,0.142,0.029,2619,2160,783,0,0,0,0,0,0
$GC,14816,0.81,511.4,509.3,12.8,1032,14819,0.00,1.05,0.00,0.000,4,0.000,0.037,2623,1467,792,0,0,0,0,0,0
$GC,14921,0.77,511.4,494.4,13.9,1038,14928,0.00,1.08,0.00,0.000,6,0.000,0.033,2623,2160,792,0,0,0,0,0,0
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$GC,15635,0.89,555.4,404.7,8.9,1105,15677,0.17,1.10,36.50,0.685,4,0.078,0.037,2663,1471,605,0,0,0,0,0,0
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$STATE,19207,end climb,SURFACE_DEPTH_REACHED
$STATE,19208,begin surface coast
$FINISH,0.7,1.010375
$STATE,19236,end surface coast,CONTROL_FINISHED_OK
$STATE,19236,begin surface
$SM_CCo,19313,0.00,0.000,0,0,441,595.59
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$IRIDIUM_FIX,2124.90,12013.72,201011,030359
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.08
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.70
$XPDR_PINGS,1
$24V_AH,23.8,114.026
$10V_AH,9.8,83.634
$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
$DEVICE_SECS,22.850,97.775,669.850,0.000,0.000,22.700,46.127,147.281,0.250,0.000,13.273,3886.615,11413.758,711.828,3161.409,499.986,0.000,2319.419,0.000,2907.824,0.000,0.542,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1095.192,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,90248,1585
$CAP_FILE_SIZE,219154,0
$CFSIZE,260165632,189435904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201011,140100,2135.274,12014.328,35,1.1,41,-2.6