version: 66.09
glider: 181
mission: 6
dive: 680
start: 10 18 111 10 53 43
data:
$ID,181
$MISSION,6
$DIVE,680
$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,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$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,-41449.527
$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,2375
$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,54
$R_STBD_OVSHOOT,34
$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
$GPS1,181011,104724,2141.261,12024.319,37,1.4,37,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-63.3
$GPS2,181011,105320,2141.076,12024.281,14,1.4,14,-2.6
$SPEED_LIMITS,0.179,0.281
$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,282.5,42395,-16.5,-10.313
$D_GRID,938
$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,-0.49,-170.3,0.0,0.0,0,86,0.00,0.00,-67.60,0.000,2,0.000,0.000,137,2590,2354,0,0,0,0,0,0
$GC,90,-0.49,-170.3,3.5,-3.3,12,132,8.60,1.08,-26.45,0.000,4,0.217,0.064,2208,3300,3563,0,0,0,0,0,0
$GC,235,-0.49,-170.3,40.5,-27.6,37,242,0.00,1.05,0.00,0.000,6,0.000,0.024,2208,2581,3564,0,0,0,0,0,0
$GC,581,-0.49,-170.3,111.9,-14.5,98,588,0.00,1.10,0.00,0.000,4,0.000,0.039,2202,3291,3561,0,0,0,0,0,0
$GC,657,-0.49,-170.3,122.5,-13.6,111,664,0.00,1.02,0.00,0.000,6,0.000,0.024,2202,2570,3561,0,0,0,0,0,0
$GC,1003,-0.49,-170.3,163.5,-10.5,172,1009,0.00,0.93,0.00,0.000,4,0.000,0.025,2202,1889,3560,0,0,0,0,0,0
$GC,1044,-0.49,-170.3,167.5,-9.9,179,1051,0.00,1.08,0.00,0.000,6,0.000,0.034,2198,2602,3561,0,0,0,0,0,0
$GC,1393,-0.49,-170.3,206.2,-11.0,236,1397,0.00,1.00,0.00,0.000,4,0.000,0.025,2198,1886,3561,0,0,0,0,0,0
$GC,1428,-0.49,-170.3,210.2,-11.5,239,1432,0.00,1.05,0.00,0.000,6,0.000,0.034,2194,2581,3562,0,0,0,0,0,0
$GC,1760,-0.49,-170.3,242.9,-9.0,270,1763,0.00,0.98,0.00,0.000,4,0.000,0.026,2194,1888,3561,0,0,0,0,0,0
$GC,1878,-0.49,-170.3,254.5,-9.8,280,1885,0.00,1.05,0.00,0.000,6,0.000,0.034,2192,2585,3561,0,0,0,0,0,0
$GC,2204,-0.49,-170.3,279.5,-6.8,311,2208,0.00,1.08,0.00,0.000,4,0.000,0.041,2192,3291,3559,0,0,0,0,0,0
$GC,2218,-0.49,-170.3,280.4,-6.9,312,2222,0.00,1.00,0.00,0.000,6,0.000,0.025,2193,2593,3559,0,0,0,0,0,0
$GC,2549,-0.49,-170.3,305.1,-8.4,343,2553,0.00,1.00,0.00,0.000,4,0.000,0.028,2192,1892,3556,0,0,0,0,0,0
$GC,2634,-0.49,-170.3,312.4,-8.5,350,2641,0.00,1.05,0.00,0.000,6,0.000,0.035,2192,2583,3556,0,0,0,0,0,0
$GC,2959,-0.49,-170.3,336.8,-7.4,381,2963,0.00,1.08,0.00,0.000,4,0.000,0.041,2192,3289,3552,0,0,0,0,0,0
$GC,3065,-0.49,-170.3,344.3,-7.4,390,3068,0.00,1.00,0.00,0.000,6,0.000,0.026,2192,2599,3552,0,0,0,0,0,0
$GC,3396,-0.49,-170.3,369.3,-7.1,421,3400,0.00,1.00,0.00,0.000,4,0.000,0.028,2192,1886,3549,0,0,0,0,0,0
$GC,3477,-0.49,-170.3,375.4,-7.6,428,3481,0.00,1.08,0.00,0.000,6,0.000,0.037,2193,2586,3548,0,0,0,0,0,0
$GC,3809,-0.49,-170.3,402.0,-7.7,459,3812,0.00,1.08,0.00,0.000,4,0.000,0.044,2192,3289,3546,0,0,0,0,0,0
$GC,3879,-0.49,-170.3,407.3,-7.5,465,3882,0.00,1.02,0.00,0.000,6,0.000,0.027,2192,2589,3545,0,0,0,0,0,0
$GC,4210,-0.49,-170.3,430.4,-7.1,496,4214,0.00,0.98,0.00,0.000,4,0.000,0.029,2192,1895,3542,0,0,0,0,0,0
$GC,4283,-0.49,-170.3,435.6,-6.8,502,4290,0.00,1.05,0.00,0.000,6,0.000,0.037,2192,2577,3542,0,0,0,0,0,0
$GC,4609,-0.49,-170.3,460.8,-8.4,533,4612,0.00,1.10,0.00,0.000,4,0.000,0.044,2192,3289,3540,0,0,0,0,0,0
$GC,4673,-0.49,-170.3,466.2,-8.0,538,4679,0.00,1.02,0.00,0.000,6,0.000,0.027,2192,2594,3539,0,0,0,0,0,0
$GC,4998,-0.49,-170.3,493.5,-8.3,569,5002,0.00,1.00,0.00,0.000,4,0.000,0.030,2192,1893,3536,0,0,0,0,0,0
$GC,5056,-0.49,-170.3,498.2,-8.1,574,5060,0.00,1.08,0.00,0.000,6,0.000,0.039,2192,2585,3536,0,0,0,0,0,0
$GC,5390,-0.49,-170.3,521.6,-6.5,591,5393,0.00,1.10,0.00,0.000,4,0.000,0.045,2192,3295,3534,0,0,0,0,0,0
$GC,5414,-0.49,-170.3,523.3,-6.4,592,5418,0.00,1.05,0.00,0.000,6,0.000,0.028,2192,2593,3533,0,0,0,0,0,0
$GC,5748,-0.49,-170.3,547.6,-8.4,608,5752,0.00,1.05,0.00,0.000,4,0.000,0.031,2192,1881,3531,0,0,0,0,0,0
$GC,5820,-0.49,-170.3,554.2,-8.6,611,5824,0.00,1.10,0.00,0.000,6,0.000,0.038,2192,2587,3530,0,0,0,0,0,0
$GC,6148,-0.49,-170.3,582.2,-8.9,627,6151,0.00,1.10,0.00,0.000,4,0.000,0.044,2192,3296,3529,0,0,0,0,0,0
$GC,6195,-0.49,-170.3,586.3,-8.7,629,6199,0.00,1.05,0.00,0.000,6,0.000,0.028,2192,2605,3529,0,0,0,0,0,0
$GC,6528,-0.49,-170.3,613.6,-8.1,645,6532,0.00,1.05,0.00,0.000,4,0.000,0.031,2193,1878,3526,0,0,0,0,0,0
$GC,6630,-0.49,-170.3,622.1,-8.4,649,6634,0.00,1.10,0.00,0.000,6,0.000,0.040,2192,2583,3525,0,0,0,0,0,0
$GC,6952,-0.49,-170.3,647.2,-7.3,665,6956,0.00,1.05,0.00,0.000,4,0.000,0.031,2192,1875,3523,0,0,0,0,0,0
$GC,7101,-0.49,-170.3,656.7,-6.2,671,7105,0.00,1.12,0.00,0.000,6,0.000,0.040,2192,2592,3523,0,0,0,0,0,0
$GC,7423,-0.49,-170.3,674.0,-5.2,687,7427,0.00,1.10,0.00,0.000,4,0.000,0.047,2192,3295,3521,0,0,0,0,0,0
$GC,7456,-0.49,-170.3,675.8,-5.3,688,7460,0.00,1.08,0.00,0.000,6,0.000,0.029,2192,2592,3521,0,0,0,0,0,0
$GC,7779,-0.49,-170.3,698.1,-7.9,704,7783,0.00,1.02,0.00,0.000,4,0.000,0.032,2192,1881,3520,0,0,0,0,0,0
$GC,7841,-0.49,-170.3,703.5,-8.3,706,7847,0.00,1.10,0.00,0.000,6,0.000,0.041,2192,2582,3519,0,0,0,0,0,0
$GC,8158,-0.49,-170.3,733.3,-9.8,722,8162,0.00,1.10,0.00,0.000,4,0.000,0.047,2192,3283,3518,0,0,0,0,0,0
$GC,8306,-0.49,-170.3,747.5,-9.7,728,8309,0.00,1.08,0.00,0.000,6,0.000,0.030,2192,2585,3518,0,0,0,0,0,0
$GC,8629,-0.49,-170.3,777.8,-9.7,744,8632,0.00,1.02,0.00,0.000,4,0.000,0.033,2192,1880,3516,0,0,0,0,0,0
$GC,8698,-0.49,-170.3,783.8,-8.6,747,8702,0.00,1.12,0.00,0.000,6,0.000,0.041,2192,2592,3516,0,0,0,0,0,0
$GC,9031,-0.49,-170.3,808.6,-6.5,763,9035,0.00,1.10,0.00,0.000,4,0.000,0.047,2192,3294,3514,0,0,0,0,0,0
$GC,9160,-0.49,-170.3,816.1,-5.3,768,9167,0.00,1.08,0.00,0.000,6,0.000,0.030,2192,2590,3514,0,0,0,0,0,0
$GC,9477,-0.49,-170.3,831.5,-5.3,784,9480,0.00,1.05,0.00,0.000,4,0.000,0.034,2192,1886,3514,0,0,0,0,0,0
$GC,9547,-0.49,-170.3,835.1,-5.2,787,9551,0.00,1.10,0.00,0.000,6,0.000,0.041,2192,2583,3513,0,0,0,0,0,0
$GC,9880,-0.49,-170.3,852.5,-4.9,803,9881,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2583,3512,0,0,0,0,0,0
$GC,10189,-0.49,-170.3,873.0,-6.9,818,10193,0.00,1.10,0.00,0.000,4,0.000,0.046,2192,3287,3511,0,0,0,0,0,0
$GC,10241,-0.49,-170.3,876.6,-6.8,820,10245,0.00,1.08,0.00,0.000,6,0.000,0.029,2192,2586,3511,0,0,0,0,0,0
$STATE,10504,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10504,begin apogee
$GC,10510,-0.13,0.0,892.0,5.4,833,10643,0.38,0.00,126.38,1.006,6,0.080,0.000,2334,2149,2868,0,0,0,0,0,0
$STATE,10644,end apogee,CONTROL_FINISHED_OK
$STATE,10644,begin climb
$GC,10647,0.49,170.3,897.4,0.0,839,10790,0.52,1.23,135.27,0.985,4,0.047,0.041,2547,2873,2174,0,0,0,0,0,0
$GC,10920,0.49,174.2,879.5,10.2,851,10930,0.00,1.10,4.68,0.651,6,0.000,0.031,2552,2159,2158,0,0,0,0,0,0
$GC,11260,0.53,209.6,846.5,8.9,868,11295,0.00,1.12,29.08,0.930,4,0.000,0.037,2558,1454,2014,0,0,0,0,0,0
$GC,11476,0.53,209.6,824.7,10.4,877,11483,0.00,1.12,0.00,0.000,6,0.000,0.037,2558,2168,2013,0,0,0,0,0,0
$GC,11792,0.53,209.6,789.3,12.0,893,11793,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2168,2012,0,0,0,0,0,0
$GC,12102,0.53,209.6,750.2,12.3,908,12105,0.00,1.08,0.00,0.000,4,0.000,0.037,2562,1467,2012,0,0,0,0,0,0
$GC,12149,0.53,209.6,744.6,12.4,910,12153,0.00,1.10,0.00,0.000,6,0.000,0.037,2562,2167,2012,0,0,0,0,0,0
$GC,12483,0.53,209.6,707.8,11.0,926,12487,0.00,1.08,0.00,0.000,4,0.000,0.037,2566,1467,2011,0,0,0,0,0,0
$GC,12556,0.56,227.1,700.0,9.6,929,12576,0.00,1.10,14.70,0.825,6,0.000,0.037,2566,2166,1942,0,0,0,0,0,0
$GC,12904,0.59,258.7,668.5,9.0,946,12934,0.00,1.12,25.83,0.834,4,0.000,0.041,2566,2870,1813,0,0,0,0,0,0
$GC,12957,0.61,273.1,663.1,9.7,948,12973,0.00,1.10,12.73,0.760,6,0.000,0.032,2570,2163,1755,0,0,0,0,0,0
$GC,13298,0.63,288.2,628.9,9.7,965,13321,0.00,1.12,13.75,0.770,4,0.000,0.039,2575,1455,1694,0,0,0,0,0,0
$GC,13440,0.67,322.9,615.5,8.9,971,13477,0.00,1.12,28.73,0.796,6,0.000,0.037,2576,2169,1552,0,0,0,0,0,0
$GC,13786,0.74,378.5,586.2,8.0,988,13838,0.12,1.15,44.55,0.793,4,0.090,0.042,2636,2870,1324,0,0,0,0,0,0
$GC,13917,0.74,378.5,569.3,14.1,994,13921,0.00,1.10,0.00,0.000,6,0.000,0.031,2641,2158,1323,0,0,0,0,0,0
$GC,14250,0.74,378.5,522.3,14.8,1010,14254,0.00,1.05,0.00,0.000,4,0.000,0.038,2646,1464,1323,0,0,0,0,0,0
$GC,14321,0.74,378.5,511.7,15.6,1013,14326,0.10,1.10,0.00,0.000,6,0.144,0.037,2615,2163,1323,0,0,0,0,0,0
$GC,14651,0.74,378.5,463.0,14.4,1040,14655,0.00,1.08,0.00,0.000,4,0.000,0.043,2615,2860,1323,0,0,0,0,0,0
$GC,14698,0.74,378.5,456.3,15.1,1044,14702,0.00,1.05,0.00,0.000,6,0.000,0.032,2618,2170,1322,0,0,0,0,0,0
$GC,15029,0.74,378.5,413.0,11.6,1075,15033,0.00,1.05,0.00,0.000,4,0.000,0.039,2623,1476,1322,0,0,0,0,0,0
$GC,15043,0.74,378.5,411.7,11.4,1076,15047,0.00,1.08,0.00,0.000,6,0.000,0.037,2623,2164,1323,0,0,0,0,0,0
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$GC,18308,1.01,595.4,58.8,7.7,1510,18362,0.08,1.08,47.47,0.422,6,0.061,0.029,2702,2162,440,0,0,0,0,0,0
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$STATE,18850,end climb,SURFACE_DEPTH_REACHED
$STATE,18850,begin surface coast
$FINISH,0.7,1.021050
$STATE,18879,end surface coast,CONTROL_FINISHED_OK
$STATE,18879,begin surface
$SM_CCo,18958,0.00,0.000,0,0,441,595.59
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$IRIDIUM_FIX,2134.17,12021.23,181011,060617
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.40
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.8,112.628
$10V_AH,9.8,82.785
$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,16.575,95.550,608.800,0.000,0.000,30.917,15.775,151.407,0.000,0.000,16.848,3861.812,11160.070,672.003,3122.601,482.606,0.000,2259.666,0.000,2902.140,0.000,0.540,0.000
$DEVICE_MAMPS,217.260,64.260,1005.975,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1110.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321672
$DATA_FILE_SIZE,93573,1610
$CAP_FILE_SIZE,200671,0
$CFSIZE,260165632,190246912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181011,161055,2141.365,12022.697,35,1.7,35,-2.6