version: 66.09
glider: 181
mission: 6
dive: 73
start: 6 23 111 22 35 46
data:
$ID,181
$MISSION,6
$DIVE,73
$N_DIVES,80
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,300
$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,-4
$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,-39609.238
$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,2302
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$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,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,30
$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,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,230611,222906,2022.123,11955.602,35,1.0,36,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-64.4
$GPS2,230611,223519,2022.061,11955.559,8,1.0,13,-2.3
$SPEED_LIMITS,0.191,0.305
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,161.3,152175,-16.3,-11.000
$D_GRID,3312
$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,-0.57,-194.6,0.0,0.0,0,101,0.00,0.00,-82.20,0.000,2,0.000,0.000,149,2618,2660,0,0,0,0,0,0
$GC,104,-0.57,-194.6,3.6,-4.0,11,137,8.10,2.22,-18.50,0.000,4,0.242,0.044,2118,1175,3667,0,0,0,0,0,0
$GC,241,-0.57,-194.6,54.9,-32.2,34,249,0.00,2.28,0.00,0.000,6,0.000,0.046,2112,2594,3668,0,0,0,0,0,0
$GC,380,-0.57,-194.6,106.9,-36.8,59,388,0.00,1.88,0.00,0.000,4,0.000,0.047,2102,3783,3669,0,0,0,0,0,0
$GC,427,-0.57,-194.6,121.6,-27.8,67,436,0.00,1.80,0.00,0.000,6,0.000,0.026,2101,2587,3669,0,0,0,0,0,0
$GC,564,-0.57,-194.6,154.7,-26.8,92,572,0.00,2.08,0.00,0.000,4,0.000,0.028,2102,1195,3670,0,0,0,0,0,0
$GC,629,-0.57,-194.6,169.1,-21.3,103,637,0.00,2.20,0.00,0.000,6,0.000,0.039,2094,2601,3671,0,0,0,0,0,0
$GC,766,-0.57,-194.6,204.6,-23.1,128,774,0.00,1.83,0.00,0.000,4,0.000,0.044,2085,3780,3671,0,0,0,0,0,0
$GC,825,-0.57,-194.6,217.6,-19.9,138,834,0.10,1.77,0.00,0.000,6,0.145,0.026,2117,2591,3672,0,0,0,0,0,0
$GC,965,-0.57,-194.6,243.5,-18.8,163,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2589,3672,0,0,0,0,0,0
$GC,1108,-0.57,-194.6,268.6,-16.9,179,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2588,3675,0,0,0,0,0,0
$GC,1300,-0.57,-194.6,299.3,-16.1,197,1303,0.00,2.03,0.00,0.000,4,0.000,0.031,2117,1203,3671,0,0,0,0,0,0
$GC,1346,-0.57,-194.6,306.6,-14.4,201,1350,0.00,2.15,0.00,0.000,6,0.000,0.039,2112,2611,3671,0,0,0,0,0,0
$GC,1543,-0.57,-194.6,339.9,-18.0,219,1547,0.00,1.77,0.00,0.000,4,0.000,0.045,2103,3787,3669,0,0,0,0,0,0
$GC,1612,-0.57,-194.6,351.5,-15.3,225,1615,0.00,1.73,0.00,0.000,6,0.000,0.027,2103,2595,3669,0,0,0,0,0,0
$GC,1815,-0.57,-194.6,390.5,-20.4,244,1819,0.00,2.03,0.00,0.000,4,0.000,0.031,2103,1212,3666,0,0,0,0,0,0
$GC,1849,-0.57,-194.6,397.1,-19.5,247,1853,0.00,2.12,0.00,0.000,6,0.000,0.040,2096,2601,3666,0,0,0,0,0,0
$GC,2047,-0.57,-194.6,435.2,-19.7,265,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2603,3664,0,0,0,0,0,0
$GC,2238,-0.57,-194.6,471.1,-18.6,283,2241,0.00,1.80,0.00,0.000,4,0.000,0.047,2086,3789,3662,0,0,0,0,0,0
$GC,2287,-0.57,-194.6,480.2,-16.8,287,2295,0.08,1.77,0.00,0.000,6,0.136,0.028,2112,2598,3662,0,0,0,0,0,0
$GC,2486,-0.57,-194.6,508.9,-14.7,306,2490,0.00,2.05,0.00,0.000,4,0.000,0.033,2112,1201,3660,0,0,0,0,0,0
$GC,2563,-0.57,-194.6,520.0,-13.3,312,2570,0.00,2.17,0.00,0.000,6,0.000,0.041,2111,2598,3659,0,0,0,0,0,0
$GC,2761,-0.57,-194.6,549.5,-14.3,331,2765,0.00,1.80,0.00,0.000,4,0.000,0.050,2111,3780,3656,0,0,0,0,0,0
$GC,2818,-0.57,-194.6,557.0,-12.1,336,2822,0.00,1.73,0.00,0.000,6,0.000,0.028,2111,2595,3656,0,0,0,0,0,0
$GC,3022,-0.57,-194.6,584.7,-13.5,355,3026,0.00,2.05,0.00,0.000,4,0.000,0.034,2111,1208,3654,0,0,0,0,0,0
$GC,3060,-0.57,-194.6,589.9,-12.8,358,3067,0.00,2.17,0.00,0.000,6,0.000,0.041,2111,2593,3654,0,0,0,0,0,0
$GC,3255,-0.57,-194.6,615.1,-13.4,372,3258,0.00,1.83,0.00,0.000,4,0.000,0.050,2107,3790,3651,0,0,0,0,0,0
$GC,3301,-0.57,-194.6,621.0,-12.5,374,3305,0.00,1.75,0.00,0.000,6,0.000,0.029,2107,2596,3651,0,0,0,0,0,0
$GC,3635,-0.57,-194.6,666.5,-13.3,390,3638,0.00,2.05,0.00,0.000,4,0.000,0.034,2107,1208,3648,0,0,0,0,0,0
$GC,3692,-0.57,-194.6,673.6,-11.9,392,3696,0.00,2.15,0.00,0.000,6,0.000,0.041,2099,2609,3648,0,0,0,0,0,0
$GC,4008,-0.57,-194.6,715.2,-13.3,407,4011,0.00,1.80,0.00,0.000,4,0.000,0.050,2090,3789,3645,0,0,0,0,0,0
$GC,4069,-0.57,-194.6,723.6,-12.6,409,4077,0.00,1.77,0.00,0.000,6,0.000,0.029,2090,2601,3645,0,0,0,0,0,0
$GC,4385,-0.57,-194.6,766.3,-13.1,425,4389,0.00,2.08,0.00,0.000,4,0.000,0.034,2090,1205,3641,0,0,0,0,0,0
$GC,4461,-0.57,-194.6,776.0,-12.0,428,4466,0.12,2.12,0.00,0.000,6,0.171,0.041,2114,2597,3641,0,0,0,0,0,0
$GC,4783,-0.57,-194.6,808.7,-9.7,444,4787,0.00,1.83,0.00,0.000,4,0.000,0.051,2111,3787,3639,0,0,0,0,0,0
$GC,4811,-0.57,-194.6,811.3,-9.5,445,4815,0.00,1.75,0.00,0.000,6,0.000,0.029,2112,2597,3638,0,0,0,0,0,0
$GC,5138,-0.57,-194.6,844.4,-10.2,461,5142,0.00,2.05,0.00,0.000,4,0.000,0.034,2112,1212,3636,0,0,0,0,0,0
$GC,5184,-0.57,-194.6,849.1,-10.4,463,5188,0.00,2.15,0.00,0.000,6,0.000,0.042,2112,2607,3636,0,0,0,0,0,0
$GC,5511,-0.57,-194.6,883.9,-10.6,479,5515,0.00,1.80,0.00,0.000,4,0.000,0.052,2108,3780,3633,0,0,0,0,0,0
$GC,5535,-0.57,-194.6,886.4,-10.5,480,5538,0.00,1.75,0.00,0.000,6,0.000,0.031,2111,2592,3633,0,0,0,0,0,0
$GC,5868,-0.57,-194.6,921.3,-10.2,496,5871,0.00,2.05,0.00,0.000,4,0.000,0.035,2111,1212,3631,0,0,0,0,0,0
$GC,5929,-0.57,-194.6,927.5,-9.6,498,5936,0.00,2.17,0.00,0.000,6,0.000,0.042,2111,2611,3631,0,0,0,0,0,0
$GC,6246,-0.57,-194.6,957.9,-9.7,514,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2611,3628,0,0,0,0,0,0
$GC,6555,-0.57,-194.6,987.6,-9.5,529,6559,0.00,2.12,0.00,0.000,4,0.000,0.036,2111,1211,3627,0,0,0,0,0,0
$STATE,6579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6580,begin apogee
$GC,6586,-0.16,0.0,990.5,9.4,530,6742,0.40,0.00,149.32,1.112,6,0.127,0.000,2243,2131,2869,0,0,0,0,0,0
$STATE,6742,end apogee,CONTROL_FINISHED_OK
$STATE,6742,begin climb
$GC,6745,0.57,194.6,995.0,0.0,537,6912,0.68,2.30,158.95,1.077,4,0.061,0.037,2500,739,2076,0,0,0,0,0,0
$GC,6942,0.57,194.6,978.6,14.1,547,6947,0.00,2.25,0.00,0.000,6,0.000,0.036,2500,2128,2072,0,0,0,0,0,0
$GC,7270,0.57,194.6,930.2,14.5,563,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2128,2066,0,0,0,0,0,0
$GC,7579,0.57,194.6,888.2,13.0,578,7583,0.00,2.20,0.00,0.000,4,0.000,0.046,2500,3537,2064,0,0,0,0,0,0
$GC,7612,0.57,194.6,883.4,13.6,579,7619,0.00,2.15,0.00,0.000,6,0.000,0.031,2509,2139,2063,0,0,0,0,0,0
$GC,7929,0.57,194.6,840.9,13.6,595,7933,0.00,2.17,0.00,0.000,4,0.000,0.041,2520,723,2062,0,0,0,0,0,0
$GC,8024,0.57,194.6,827.4,13.9,599,8029,0.12,2.17,0.00,0.000,6,0.176,0.037,2489,2137,2062,0,0,0,0,0,0
$GC,8346,0.57,194.6,786.2,13.3,615,8350,0.00,2.17,0.00,0.000,4,0.000,0.047,2489,3532,2061,0,0,0,0,0,0
$GC,8383,0.57,194.6,780.3,15.3,616,8391,0.00,2.17,0.00,0.000,6,0.000,0.031,2498,2127,2060,0,0,0,0,0,0
$GC,8700,0.57,194.6,736.3,14.0,632,8704,0.00,2.15,0.00,0.000,4,0.000,0.040,2511,707,2060,0,0,0,0,0,0
$GC,8816,0.57,194.6,720.3,13.1,637,8821,0.00,2.17,0.00,0.000,6,0.000,0.035,2509,2131,2060,0,0,0,0,0,0
$GC,9139,0.57,194.6,677.3,13.1,653,9140,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2134,2059,0,0,0,0,0,0
$GC,9448,0.57,194.6,640.0,11.5,668,9452,0.00,2.15,0.00,0.000,4,0.000,0.046,2508,3537,2058,0,0,0,0,0,0
$GC,9536,0.57,194.6,628.6,12.8,672,9541,0.12,2.15,0.00,0.000,6,0.186,0.031,2488,2109,2059,0,0,0,0,0,0
$GC,9854,0.57,200.9,594.8,10.8,689,9867,0.00,2.15,3.85,0.616,4,0.000,0.041,2497,725,2049,0,0,0,0,0,0
$GC,9986,0.58,205.0,580.8,10.8,700,9997,0.00,2.15,5.07,0.708,6,0.000,0.035,2498,2130,2033,0,0,0,0,0,0
$GC,10197,0.58,206.7,556.9,10.9,720,10198,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2131,2032,0,0,0,0,0,0
$GC,10385,0.58,206.7,534.3,11.9,738,10389,0.00,2.15,0.00,0.000,4,0.000,0.045,2497,3535,2032,0,0,0,0,0,0
$GC,10439,0.58,206.7,527.6,13.1,742,10443,0.00,2.12,0.00,0.000,6,0.000,0.031,2506,2124,2032,0,0,0,0,0,0
$GC,10637,0.58,206.7,502.3,12.9,760,10640,0.00,2.12,0.00,0.000,4,0.000,0.041,2517,722,2032,0,0,0,0,0,0
$GC,10771,0.58,206.7,485.5,12.7,772,10775,0.00,2.15,0.00,0.000,6,0.000,0.037,2517,2135,2032,0,0,0,0,0,0
$GC,10969,0.58,206.7,458.8,13.7,790,10973,0.00,2.15,0.00,0.000,4,0.000,0.041,2527,720,2031,0,0,0,0,0,0
$GC,11012,0.58,206.7,452.5,13.9,793,11021,0.10,2.17,0.00,0.000,6,0.150,0.037,2495,2122,2031,0,0,0,0,0,0
$GC,11210,0.58,206.7,429.9,11.0,812,11214,0.00,2.17,0.00,0.000,4,0.000,0.047,2495,3538,2031,0,0,0,0,0,0
$GC,11291,0.58,206.7,420.2,12.4,819,11295,0.00,2.12,0.00,0.000,6,0.000,0.031,2504,2126,2031,0,0,0,0,0,0
$GC,11489,0.58,206.7,397.7,11.5,837,11493,0.00,2.15,0.00,0.000,4,0.000,0.041,2513,712,2031,0,0,0,0,0,0
$GC,11602,0.59,214.1,385.4,10.7,847,11618,0.00,2.15,8.60,0.719,6,0.000,0.036,2514,2127,1996,0,0,0,0,0,0
$GC,11819,0.59,214.1,360.5,12.2,867,11823,0.00,2.17,0.00,0.000,4,0.000,0.046,2514,3533,1995,0,0,0,0,0,0
$GC,11853,0.59,214.1,355.5,14.0,870,11858,0.12,2.15,0.00,0.000,6,0.184,0.030,2493,2112,1993,0,0,0,0,0,0
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$GC,13506,0.70,302.4,157.5,8.7,1091,13560,0.00,2.28,46.90,0.580,4,0.000,0.044,2509,3530,1635,0,0,0,0,0,0
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$STATE,14955,end climb,SURFACE_DEPTH_REACHED
$STATE,14955,begin surface coast
$FINISH,0.7,1.021060
$STATE,14972,end surface coast,CONTROL_FINISHED_OK
$STATE,14973,begin surface
$SM_CCo,15052,0.00,0.000,0,0,435,597.06
$SM_GC,0.52,6.53,0.00,0.00,0.033,0.000,0.000,209,2606,435,-6.46,0.17,597.06,0,0,0,0,0,0
$IRIDIUM_FIX,2015.67,12000.66,230611,181843
$TT8_MAMPS,0.027713,0.027713
$HUMID,39.88
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.1,11.897
$10V_AH,10.2,12.239
$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,16.875,183.525,623.400,0.000,0.000,28.662,22.022,177.060,0.000,0.000,16.075,3393.660,7514.501,698.659,3470.571,333.867,0.000,2136.262,0.000,2324.883,0.000,0.541,0.000
$DEVICE_MAMPS,241.740,52.020,1111.545,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,930.615,2032.434,1634.463,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322624
$DATA_FILE_SIZE,90228,1335
$CAP_FILE_SIZE,181353,0
$CFSIZE,260165632,244359168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103, 15.7,1
$GPS,240611,024755,2020.839,11956.616,39,1.2,40,-2.3