version: 66.09
glider: 181
mission: 6
dive: 351
start: 8 15 111 17 23 21
data:
$ID,181
$MISSION,6
$DIVE,351
$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,280
$T_MISSION,320
$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,1
$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,-40977.566
$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,2320
$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,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,150811,171606,2133.387,12004.179,27,1.4,27,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-66.4
$GPS2,150811,172256,2133.412,12004.177,9,1.6,9,-2.6
$SPEED_LIMITS,0.204,0.329
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$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,344.1,22631,-16.3,-11.786
$D_GRID,2660
$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,-0.54,-219.0,0.0,0.0,0,83,0.00,0.00,-64.55,0.000,2,0.000,0.000,207,2617,2256,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.3,-3.3,10,135,8.02,1.83,-31.92,0.000,4,0.228,0.055,2129,3770,3763,0,0,0,0,0,0
$GC,215,-0.54,-219.0,44.9,-29.2,31,222,0.00,1.77,0.00,0.000,6,0.000,0.024,2129,2562,3764,0,0,0,0,0,0
$GC,353,-0.54,-219.0,87.5,-27.4,56,361,0.00,2.03,0.00,0.000,4,0.000,0.025,2129,1196,3763,0,0,0,0,0,0
$GC,391,-0.54,-219.0,95.0,-19.9,62,399,0.00,2.12,0.00,0.000,6,0.000,0.034,2124,2561,3763,0,0,0,0,0,0
$GC,531,-0.54,-219.0,124.6,-21.9,87,538,0.00,1.88,0.00,0.000,4,0.000,0.041,2115,3790,3763,0,0,0,0,0,0
$GC,594,-0.54,-219.0,136.7,-17.0,98,602,0.00,1.67,0.00,0.000,6,0.000,0.023,2115,2661,3763,0,0,0,0,0,0
$GC,736,-0.54,-219.0,159.3,-18.7,123,744,0.12,2.15,0.00,0.000,4,0.171,0.028,2146,1200,3764,0,0,0,0,0,0
$GC,778,-0.54,-219.0,167.4,-15.2,130,786,0.00,2.20,0.00,0.000,6,0.000,0.033,2139,2624,3764,0,0,0,0,0,0
$GC,920,-0.54,-219.0,186.3,-15.2,155,927,0.00,1.75,0.00,0.000,4,0.000,0.042,2131,3777,3764,0,0,0,0,0,0
$GC,1013,-0.54,-219.0,201.2,-13.7,171,1020,0.00,1.62,0.00,0.000,6,0.000,0.022,2131,2676,3764,0,0,0,0,0,0
$GC,1339,-0.54,-219.0,245.7,-12.3,202,1343,0.00,2.15,0.00,0.000,4,0.000,0.028,2130,1201,3764,0,0,0,0,0,0
$GC,1413,-0.54,-219.0,252.9,-8.2,208,1417,0.00,2.22,0.00,0.000,6,0.000,0.032,2125,2676,3764,0,0,0,0,0,0
$GC,1738,-0.54,-219.0,289.9,-11.9,238,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2676,3762,0,0,0,0,0,0
$GC,2058,-0.54,-219.0,327.8,-12.2,268,2062,0.00,2.17,0.00,0.000,4,0.000,0.028,2125,1210,3759,0,0,0,0,0,0
$GC,2122,-0.54,-219.0,334.8,-9.7,273,2126,0.00,2.22,0.00,0.000,6,0.000,0.034,2125,2671,3759,0,0,0,0,0,0
$GC,2448,-0.54,-219.0,372.7,-11.2,303,2451,0.00,1.67,0.00,0.000,4,0.000,0.044,2115,3782,3755,0,0,0,0,0,0
$GC,2487,-0.54,-219.0,377.0,-10.5,306,2494,0.00,1.62,0.00,0.000,6,0.000,0.024,2117,2691,3755,0,0,0,0,0,0
$GC,2814,-0.54,-219.0,410.6,-9.5,337,2818,0.00,2.20,0.00,0.000,4,0.000,0.030,2117,1201,3753,0,0,0,0,0,0
$GC,2903,-0.54,-219.0,418.0,-7.2,344,2911,0.12,2.22,0.00,0.000,6,0.148,0.034,2147,2661,3752,0,0,0,0,0,0
$GC,3229,-0.54,-219.0,440.8,-8.1,375,3233,0.00,2.17,0.00,0.000,4,0.000,0.029,2147,1203,3750,0,0,0,0,0,0
$GC,3287,-0.54,-219.0,445.5,-8.1,380,3291,0.00,2.17,0.00,0.000,6,0.000,0.034,2147,2638,3749,0,0,0,0,0,0
$GC,3612,-0.54,-219.0,471.9,-7.8,410,3616,0.00,2.15,0.00,0.000,4,0.000,0.029,2148,1202,3746,0,0,0,0,0,0
$GC,3654,-0.54,-219.0,475.0,-7.5,413,3661,0.00,2.17,0.00,0.000,6,0.000,0.034,2146,2621,3746,0,0,0,0,0,0
$GC,3979,-0.54,-219.0,498.5,-7.4,444,3983,0.00,1.77,0.00,0.000,4,0.000,0.045,2143,3789,3743,0,0,0,0,0,0
$GC,4198,-0.54,-219.0,518.5,-9.8,454,4205,0.00,1.88,0.00,0.000,6,0.000,0.024,2143,2531,3741,0,0,0,0,0,0
$GC,4516,-0.54,-219.0,545.1,-8.1,470,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2537,3739,0,0,0,0,0,0
$GC,4824,-0.54,-219.0,567.8,-6.7,485,4828,0.00,1.95,0.00,0.000,4,0.000,0.030,2143,1202,3737,0,0,0,0,0,0
$GC,4851,-0.54,-219.0,569.8,-6.8,486,4855,0.00,2.03,0.00,0.000,6,0.000,0.031,2143,2549,3737,0,0,0,0,0,0
$GC,5179,-0.54,-219.0,589.4,-6.2,502,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2549,3735,0,0,0,0,0,0
$GC,5489,-0.54,-219.0,608.4,-5.8,517,5493,0.00,2.00,0.00,0.000,4,0.000,0.030,2143,1206,3732,0,0,0,0,0,0
$GC,5583,-0.54,-219.0,614.3,-6.3,521,5587,0.00,2.05,0.00,0.000,6,0.000,0.033,2143,2553,3731,0,0,0,0,0,0
$GC,5912,-0.54,-219.0,632.2,-5.6,537,5916,0.00,2.00,0.00,0.000,4,0.000,0.030,2143,1210,3730,0,0,0,0,0,0
$GC,5958,-0.54,-219.0,635.1,-5.9,539,5962,0.00,2.03,0.00,0.000,6,0.000,0.034,2143,2537,3730,0,0,0,0,0,0
$GC,6291,-0.54,-219.0,659.1,-7.9,555,6294,0.00,2.00,0.00,0.000,4,0.000,0.031,2143,1202,3729,0,0,0,0,0,0
$GC,6549,-0.54,-219.0,682.7,-9.4,566,6552,0.00,1.98,0.00,0.000,6,0.000,0.033,2143,2509,3727,0,0,0,0,0,0
$GC,6871,-0.54,-219.0,712.2,-9.2,582,6875,0.00,1.98,0.00,0.000,4,0.000,0.044,2143,3776,3725,0,0,0,0,0,0
$GC,7129,-0.54,-219.0,736.1,-8.7,593,7133,0.00,1.90,0.00,0.000,6,0.000,0.024,2143,2481,3723,0,0,0,0,0,0
$GC,7452,-0.54,-219.0,757.3,-6.1,609,7456,0.00,1.88,0.00,0.000,4,0.000,0.033,2150,1210,3721,0,0,0,0,0,0
$GC,7588,-0.54,-219.0,765.9,-6.2,615,7592,0.00,1.95,0.00,0.000,6,0.000,0.034,2150,2489,3722,0,0,0,0,0,0
$GC,7924,-0.54,-219.0,787.5,-7.1,631,7928,0.00,1.92,0.00,0.000,4,0.000,0.031,2157,1197,3721,0,0,0,0,0,0
$GC,8009,-0.54,-219.0,794.3,-7.5,634,8016,0.00,1.98,0.00,0.000,6,0.000,0.034,2156,2485,3720,0,0,0,0,0,0
$GC,8326,-0.54,-219.0,821.1,-8.8,650,8329,0.00,2.00,0.00,0.000,4,0.000,0.044,2157,3784,3719,0,0,0,0,0,0
$GC,8372,-0.54,-219.0,825.6,-9.7,652,8376,0.00,1.92,0.00,0.000,6,0.000,0.025,2159,2482,3719,0,0,0,0,0,0
$GC,8705,-0.54,-219.0,857.7,-9.8,668,8709,0.00,1.88,0.00,0.000,4,0.000,0.032,2166,1209,3717,0,0,0,0,0,0
$GC,8783,-0.54,-219.0,865.1,-9.0,671,8787,0.00,1.95,0.00,0.000,6,0.000,0.032,2167,2491,3715,0,0,0,0,0,0
$GC,9105,-0.54,-219.0,892.5,-8.0,687,9107,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2491,3716,0,0,0,0,0,0
$GC,9415,-0.54,-219.0,915.2,-6.8,702,9419,0.00,2.00,0.00,0.000,4,0.000,0.046,2167,3783,3714,0,0,0,0,0,0
$GC,9449,-0.54,-219.0,917.7,-6.6,703,9452,0.00,1.92,0.00,0.000,6,0.000,0.025,2167,2483,3714,0,0,0,0,0,0
$STATE,9624,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9624,begin apogee
$GC,9630,-0.13,0.0,928.8,6.5,712,9800,0.28,0.00,164.10,1.047,4,0.064,0.000,2295,2110,2869,0,0,0,0,0,0
$STATE,9801,end apogee,CONTROL_FINISHED_OK
$STATE,9801,begin climb
$GC,9803,0.54,219.0,934.9,0.0,720,9987,0.55,2.22,175.38,1.023,4,0.047,0.037,2516,735,1977,0,0,0,0,0,0
$GC,10168,0.54,219.0,896.0,14.2,736,10173,0.00,2.17,0.00,0.000,6,0.000,0.033,2516,2126,1975,0,0,0,0,0,0
$GC,10496,0.54,219.0,851.5,13.1,752,10500,0.00,2.12,0.00,0.000,4,0.000,0.036,2529,742,1975,0,0,0,0,0,0
$GC,10686,0.54,219.0,827.0,13.0,760,10694,0.12,2.15,0.00,0.000,6,0.165,0.033,2494,2134,1974,0,0,0,0,0,0
$GC,11003,0.55,227.3,789.8,11.5,776,11012,0.00,0.00,7.70,0.838,6,0.000,0.000,2494,2134,1944,0,0,0,0,0,0
$GC,11329,0.60,264.5,754.7,10.4,792,11362,0.00,0.00,30.25,0.914,6,0.000,0.000,2494,2134,1790,0,0,0,0,0,0
$GC,11657,0.60,264.5,717.1,12.0,808,11661,0.00,2.17,0.00,0.000,4,0.000,0.044,2494,3532,1788,0,0,0,0,0,0
$GC,11707,0.60,264.5,710.2,13.8,810,11711,0.00,2.15,0.00,0.000,6,0.000,0.028,2502,2120,1788,0,0,0,0,0,0
$GC,12031,0.60,264.5,666.2,13.9,826,12035,0.00,2.12,0.00,0.000,4,0.000,0.039,2513,724,1788,0,0,0,0,0,0
$GC,12049,0.60,264.5,663.3,13.8,827,12053,0.00,2.15,0.00,0.000,6,0.000,0.033,2513,2122,1788,0,0,0,0,0,0
$GC,12376,0.60,264.5,615.5,14.7,843,12380,0.00,2.20,0.00,0.000,4,0.000,0.044,2510,3543,1787,0,0,0,0,0,0
$GC,12471,0.60,264.5,600.3,15.5,847,12475,0.00,2.12,0.00,0.000,6,0.000,0.028,2522,2135,1787,0,0,0,0,0,0
$GC,12795,0.63,290.6,561.2,10.8,863,12820,0.00,2.20,20.75,0.799,4,0.000,0.038,2533,714,1685,0,0,0,0,0,0
$GC,12877,0.68,330.7,552.1,10.3,866,12914,0.00,2.22,31.33,0.785,6,0.000,0.033,2533,2149,1521,0,0,0,0,0,0
$GC,13230,0.68,330.7,510.8,12.1,884,13234,0.00,2.15,0.00,0.000,4,0.000,0.044,2533,3532,1524,0,0,0,0,0,0
$GC,13316,0.68,330.7,499.2,14.4,888,13320,0.00,2.10,0.00,0.000,6,0.000,0.028,2543,2147,1526,0,0,0,0,0,0
$GC,13641,0.68,330.7,451.8,14.8,918,13645,0.00,2.17,0.00,0.000,4,0.000,0.037,2553,713,1525,0,0,0,0,0,0
$GC,13727,0.68,330.7,439.3,14.7,925,13732,0.00,2.20,0.00,0.000,6,0.000,0.034,2553,2137,1525,0,0,0,0,0,0
$GC,14059,0.68,330.7,390.8,14.1,956,14063,0.00,2.15,0.00,0.000,4,0.000,0.042,2553,3535,1529,0,0,0,0,0,0
$GC,14121,0.68,330.7,381.6,15.1,961,14126,0.00,2.10,0.00,0.000,6,0.000,0.028,2562,2138,1526,0,0,0,0,0,0
$GC,14447,0.68,330.7,335.7,14.9,991,14451,0.00,2.12,0.00,0.000,4,0.000,0.036,2573,722,1526,0,0,0,0,0,0
$GC,14511,0.68,330.7,326.2,15.4,996,14516,0.12,2.17,0.00,0.000,6,0.158,0.032,2541,2154,1526,0,0,0,0,0,0
$GC,14837,0.68,330.7,284.1,11.8,1026,14841,0.00,2.12,0.00,0.000,4,0.000,0.043,2541,3535,1525,0,0,0,0,0,0
$GC,14869,0.68,330.7,279.8,12.1,1028,14877,0.00,2.12,0.00,0.000,6,0.000,0.027,2546,2146,1526,0,0,0,0,0,0
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$GC,17155,1.14,703.9,19.7,11.4,1363,17163,0.12,2.28,0.00,0.000,6,0.138,0.028,2685,2233,442,0,0,0,0,0,0
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$STATE,17321,end climb,SURFACE_DEPTH_REACHED
$STATE,17321,begin surface coast
$FINISH,0.3,1.020748
$STATE,17343,end surface coast,CONTROL_FINISHED_OK
$STATE,17343,begin surface
$SM_CCo,17422,0.00,0.000,0,0,438,595.10
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$IRIDIUM_FIX,2122.58,12004.22,150811,121253
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.93
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,23.3,56.810
$10V_AH,9.8,52.499
$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
$DEVICE_SECS,16.525,173.450,640.025,0.000,0.000,28.894,38.475,183.229,0.250,0.000,12.245,3396.341,9964.037,710.892,3338.201,403.632,0.000,2210.549,0.000,2593.669,0.000,0.542,0.000
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$SENSOR_SECS,969.827,2125.399,661.392,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323588
$DATA_FILE_SIZE,93564,1396
$CAP_FILE_SIZE,190717,0
$CFSIZE,260165632,218402816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150811,221500,2135.855,12002.958,39,0.9,39,-2.6