version: 66.09
glider: 181
mission: 6
dive: 681
start: 10 18 111 16 17 54
data:
$ID,181
$MISSION,6
$DIVE,681
$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,-41450.785
$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,42
$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,51
$R_STBD_OVSHOOT,35
$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
$GPS1,181011,161055,2141.365,12022.697,35,1.7,35,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-61.4
$GPS2,181011,161731,2141.146,12022.636,7,0.9,12,-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,283.0,39586,-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,-0.60,-170.3,0.0,0.0,0,86,0.00,0.00,-67.75,0.000,2,0.000,0.000,129,2587,2363,0,0,0,0,0,0
$GC,90,-0.60,-170.3,3.3,-3.2,12,132,8.55,1.10,-26.83,0.000,4,0.220,0.063,2170,3296,3564,0,0,0,0,0,0
$GC,241,-0.60,-170.3,45.0,-28.9,38,248,0.00,1.08,0.00,0.000,6,0.000,0.025,2170,2556,3562,0,0,0,0,0,0
$GC,587,-0.60,-170.3,121.6,-15.9,99,594,0.00,1.15,0.00,0.000,4,0.000,0.039,2165,3298,3559,0,0,0,0,0,0
$GC,674,-0.60,-170.3,135.8,-15.7,114,680,0.00,1.02,0.00,0.000,6,0.000,0.024,2165,2583,3559,0,0,0,0,0,0
$GC,1019,-0.60,-170.3,187.3,-15.9,175,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2579,3559,0,0,0,0,0,0
$GC,1351,-0.60,-170.3,232.5,-12.5,213,1355,0.00,0.95,0.00,0.000,4,0.000,0.026,2165,1883,3559,0,0,0,0,0,0
$GC,1419,-0.60,-170.3,240.1,-10.7,219,1423,0.00,1.10,0.00,0.000,6,0.000,0.036,2160,2602,3559,0,0,0,0,0,0
$GC,1750,-0.60,-170.3,279.3,-12.1,250,1754,0.00,1.00,0.00,0.000,4,0.000,0.026,2160,1889,3559,0,0,0,0,0,0
$GC,1877,-0.60,-170.3,296.8,-15.2,261,1880,0.00,1.08,0.00,0.000,6,0.000,0.035,2155,2592,3558,0,0,0,0,0,0
$GC,2211,-0.60,-170.3,345.3,-13.3,292,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2593,3556,0,0,0,0,0,0
$GC,2538,-0.60,-170.3,375.6,-8.5,323,2542,0.00,1.00,0.00,0.000,4,0.000,0.027,2155,1892,3554,0,0,0,0,0,0
$GC,2623,-0.60,-170.3,383.3,-9.2,330,2630,0.00,1.08,0.00,0.000,6,0.000,0.038,2152,2585,3554,0,0,0,0,0,0
$GC,2949,-0.60,-170.3,418.1,-12.0,361,2952,0.00,0.98,0.00,0.000,4,0.000,0.028,2152,1903,3550,0,0,0,0,0,0
$GC,3007,-0.60,-170.3,425.5,-13.1,366,3011,0.08,1.05,0.00,0.000,6,0.135,0.038,2172,2583,3550,0,0,0,0,0,0
$GC,3337,-0.60,-170.3,466.2,-12.4,397,3341,0.00,1.10,0.00,0.000,4,0.000,0.043,2169,3300,3547,0,0,0,0,0,0
$GC,3396,-0.60,-170.3,473.2,-12.1,402,3400,0.00,1.02,0.00,0.000,6,0.000,0.028,2169,2602,3547,0,0,0,0,0,0
$GC,3726,-0.60,-170.3,501.9,-6.7,432,3730,0.00,1.00,0.00,0.000,4,0.000,0.029,2169,1892,3543,0,0,0,0,0,0
$GC,3811,-0.60,-170.3,507.0,-5.8,435,3818,0.00,1.08,0.00,0.000,6,0.000,0.039,2164,2585,3542,0,0,0,0,0,0
$GC,4128,-0.60,-170.3,525.5,-5.9,451,4131,0.00,1.00,0.00,0.000,4,0.000,0.029,2165,1896,3540,0,0,0,0,0,0
$GC,4174,-0.60,-170.3,528.2,-6.0,453,4178,0.00,1.08,0.00,0.000,6,0.000,0.040,2161,2586,3540,0,0,0,0,0,0
$GC,4507,-0.60,-170.3,557.8,-10.0,469,4511,0.00,1.02,0.00,0.000,4,0.000,0.030,2161,1886,3536,0,0,0,0,0,0
$GC,4602,-0.60,-170.3,568.6,-11.3,473,4606,0.00,1.10,0.00,0.000,6,0.000,0.040,2156,2591,3535,0,0,0,0,0,0
$GC,4931,-0.60,-170.3,607.4,-11.4,489,4934,0.00,1.02,0.00,0.000,4,0.000,0.030,2156,1889,3533,0,0,0,0,0,0
$GC,4969,-0.60,-170.3,612.3,-12.2,490,4976,0.00,1.10,0.00,0.000,6,0.000,0.041,2152,2593,3532,0,0,0,0,0,0
$GC,5286,-0.60,-170.3,644.2,-9.6,506,5289,0.00,1.02,0.00,0.000,4,0.000,0.031,2152,1894,3530,0,0,0,0,0,0
$GC,5360,-0.60,-170.3,651.0,-9.3,509,5364,0.08,1.10,0.00,0.000,6,0.137,0.041,2174,2592,3529,0,0,0,0,0,0
$GC,5687,-0.60,-170.3,674.6,-7.0,525,5690,0.00,1.02,0.00,0.000,4,0.000,0.031,2174,1895,3526,0,0,0,0,0,0
$GC,5737,-0.60,-170.3,678.2,-7.0,527,5741,0.00,1.10,0.00,0.000,6,0.000,0.040,2171,2594,3526,0,0,0,0,0,0
$GC,6066,-0.60,-170.3,703.7,-8.5,543,6069,0.00,1.02,0.00,0.000,4,0.000,0.031,2171,1899,3524,0,0,0,0,0,0
$GC,6161,-0.60,-170.3,713.2,-9.6,547,6164,0.00,1.10,0.00,0.000,6,0.000,0.044,2166,2590,3523,0,0,0,0,0,0
$GC,6489,-0.60,-170.3,746.1,-10.1,563,6493,0.00,1.05,0.00,0.000,4,0.000,0.033,2166,1899,3521,0,0,0,0,0,0
$GC,6603,-0.60,-170.3,758.3,-10.4,568,6606,0.00,1.10,0.00,0.000,6,0.000,0.043,2165,2594,3520,0,0,0,0,0,0
$GC,6936,-0.60,-170.3,794.3,-11.2,584,6939,0.00,1.02,0.00,0.000,4,0.000,0.031,2165,1901,3518,0,0,0,0,0,0
$GC,7014,-0.60,-170.3,803.3,-11.0,587,7017,0.00,1.08,0.00,0.000,6,0.000,0.043,2161,2583,3518,0,0,0,0,0,0
$GC,7335,-0.60,-170.3,837.6,-11.0,603,7339,0.00,1.02,0.00,0.000,4,0.000,0.033,2161,1895,3517,0,0,0,0,0,0
$GC,7422,-0.60,-170.3,847.5,-11.7,606,7428,0.00,1.10,0.00,0.000,6,0.000,0.043,2157,2586,3516,0,0,0,0,0,0
$GC,7738,-0.60,-170.3,887.5,-12.4,622,7742,0.00,1.02,0.00,0.000,4,0.000,0.033,2157,1899,3515,0,0,0,0,0,0
$GC,7830,-0.60,-170.3,898.1,-11.2,626,7833,0.00,1.10,0.00,0.000,6,0.000,0.043,2152,2592,3514,0,0,0,0,0,0
$GC,8163,-0.60,-170.3,931.6,-9.2,642,8167,0.00,1.02,0.00,0.000,4,0.000,0.032,2152,1903,3512,0,0,0,0,0,0
$STATE,8238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8238,begin apogee
$GC,8246,-0.19,0.0,938.6,9.6,645,8384,0.47,0.00,127.30,1.030,6,0.113,0.000,2309,2183,2869,0,0,0,0,0,0
$STATE,8386,end apogee,CONTROL_FINISHED_OK
$STATE,8386,begin climb
$GC,8389,0.60,170.3,945.7,0.0,652,8531,0.70,1.15,136.15,1.014,4,0.050,0.036,2590,1483,2174,0,0,0,0,0,0
$GC,8593,0.60,170.3,936.0,13.0,660,8600,0.00,1.08,0.00,0.000,6,0.000,0.037,2590,2160,2172,0,0,0,0,0,0
$GC,8910,0.60,170.3,895.2,13.7,676,8914,0.00,1.02,0.00,0.000,4,0.000,0.035,2594,1484,2171,0,0,0,0,0,0
$GC,9063,0.60,170.3,872.7,14.6,682,9070,0.00,1.08,0.00,0.000,6,0.000,0.037,2594,2173,2170,0,0,0,0,0,0
$GC,9380,0.60,170.3,827.8,13.9,698,9384,0.00,1.05,0.00,0.000,4,0.000,0.037,2598,1484,2170,0,0,0,0,0,0
$GC,9553,0.60,170.3,803.2,14.1,705,9560,0.00,1.05,0.00,0.000,6,0.000,0.037,2598,2162,2169,0,0,0,0,0,0
$GC,9870,0.60,170.3,761.3,12.6,721,9874,0.00,1.02,0.00,0.000,4,0.000,0.036,2603,1486,2169,0,0,0,0,0,0
$GC,10128,0.60,170.3,728.6,12.3,732,10133,0.10,1.05,0.00,0.000,6,0.160,0.037,2574,2162,2168,0,0,0,0,0,0
$GC,10451,0.64,196.5,696.4,9.2,748,10477,0.00,1.08,20.65,0.845,4,0.000,0.034,2576,1479,2068,0,0,0,0,0,0
$GC,10702,0.64,196.5,669.9,11.0,759,10706,0.00,1.08,0.00,0.000,6,0.000,0.037,2576,2161,2066,0,0,0,0,0,0
$GC,11029,0.64,196.5,632.6,12.2,775,11030,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2161,2066,0,0,0,0,0,0
$GC,11338,0.64,196.5,591.8,13.5,790,11342,0.00,1.10,0.00,0.000,4,0.000,0.044,2576,2870,2065,0,0,0,0,0,0
$GC,11395,0.64,196.5,584.1,13.7,792,11399,0.00,1.05,0.00,0.000,6,0.000,0.033,2581,2183,2066,0,0,0,0,0,0
$GC,11719,0.69,237.4,549.0,8.6,808,11755,0.00,1.15,32.20,0.775,4,0.000,0.039,2586,1463,1901,0,0,0,0,0,0
$GC,12007,0.77,306.7,528.3,7.5,820,12067,0.08,1.10,53.92,0.761,6,0.066,0.037,2633,2164,1618,0,0,0,0,0,0
$GC,12379,0.77,306.7,479.2,15.1,844,12382,0.00,1.08,0.00,0.000,4,0.000,0.037,2637,1466,1618,0,0,0,0,0,0
$GC,12503,0.77,306.7,459.5,15.7,855,12507,0.00,1.10,0.00,0.000,6,0.000,0.038,2637,2163,1619,0,0,0,0,0,0
$GC,12834,0.77,306.7,408.1,15.4,886,12835,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2164,1618,0,0,0,0,0,0
$GC,13157,0.77,306.7,364.2,12.4,916,13161,0.00,1.08,0.00,0.000,4,0.000,0.035,2641,1456,1618,0,0,0,0,0,0
$GC,13226,0.77,306.7,355.2,12.5,922,13229,0.00,1.12,0.00,0.000,6,0.000,0.037,2641,2173,1618,0,0,0,0,0,0
$GC,13557,0.77,306.7,315.4,12.1,953,13560,0.00,1.08,0.00,0.000,4,0.000,0.035,2645,1467,1618,0,0,0,0,0,0
$GC,13683,0.77,306.7,301.2,11.1,964,13686,0.00,1.10,0.00,0.000,6,0.000,0.037,2646,2171,1618,0,0,0,0,0,0
$GC,14015,0.77,306.7,263.9,11.9,995,14019,0.00,1.08,0.00,0.000,4,0.000,0.036,2650,1466,1619,0,0,0,0,0,0
$GC,14139,0.77,306.7,248.4,12.3,1006,14143,0.00,1.10,0.00,0.000,6,0.000,0.036,2650,2172,1619,0,0,0,0,0,0
$GC,14470,0.77,308.5,210.1,10.2,1037,14471,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2172,1619,0,0,0,0,0,0
$GC,14800,0.83,356.0,182.2,8.4,1086,14847,0.00,1.12,38.35,0.544,4,0.000,0.040,2650,2870,1416,0,0,0,0,0,0
$GC,14907,0.88,392.3,172.9,8.8,1104,14943,0.00,1.08,28.65,0.505,6,0.000,0.031,2654,2165,1267,0,0,0,0,0,0
$GC,15282,0.88,392.3,137.4,11.3,1170,15289,0.00,1.08,0.00,0.000,4,0.000,0.037,2654,2863,1271,0,0,0,0,0,0
$GC,15296,0.88,392.3,135.8,11.8,1172,15302,0.00,1.05,0.00,0.000,6,0.000,0.031,2658,2169,1271,0,0,0,0,0,0
$GC,15641,1.03,520.1,108.9,5.1,1233,15744,0.15,1.10,94.65,0.474,4,0.075,0.035,2742,1467,747,0,0,0,0,0,0
$GC,15751,1.03,520.1,98.2,10.6,1251,15759,0.10,1.10,0.00,0.000,6,0.124,0.032,2708,2174,747,0,0,0,0,0,0
$GC,16100,1.08,558.0,66.0,8.8,1312,16138,0.00,1.10,31.17,0.457,4,0.000,0.037,2708,2871,593,0,0,0,0,0,0
$GC,16227,1.11,584.8,54.1,9.2,1333,16257,0.00,1.08,21.88,0.433,6,0.000,0.030,2711,2163,483,0,0,0,0,0,0
$GC,16596,1.11,584.8,15.2,13.0,1398,16603,0.00,1.08,0.00,0.000,4,0.000,0.033,2711,2872,484,0,0,0,0,0,0
$GC,16683,1.11,584.8,5.1,10.4,1413,16690,0.00,1.08,0.00,0.000,6,0.000,0.030,2715,2155,485,0,0,0,0,0,0
$STATE,16700,end climb,SURFACE_DEPTH_REACHED
$STATE,16700,begin surface coast
$FINISH,0.7,1.004147
$STATE,16724,end surface coast,CONTROL_FINISHED_OK
$STATE,16724,begin surface
$SM_CCo,16803,0.00,0.000,0,0,486,584.55
$SM_GC,1.43,6.47,0.00,0.00,0.031,0.000,0.000,209,2581,486,-6.68,-0.25,584.55,0,0,0,0,0,0
$IRIDIUM_FIX,2131.85,12021.23,181011,101046
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.18
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.90
$XPDR_PINGS,1
$24V_AH,23.8,112.769
$10V_AH,9.7,82.876
$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,16.775,74.725,584.925,0.000,0.000,27.293,39.353,163.509,0.250,0.000,15.574,3381.771,9831.238,636.622,2922.684,407.593,0.000,2078.536,0.000,2662.424,0.000,0.541,0.000
$DEVICE_MAMPS,220.320,62.730,1030.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,978.977,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321636
$DATA_FILE_SIZE,80313,1420
$CAP_FILE_SIZE,173665,0
$CFSIZE,260165632,190189568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181011,205906,2140.698,12021.804,29,0.9,29,-2.6