version: 66.09
glider: 181
mission: 6
dive: 419
start: 8 29 111 23 20 45
data:
$ID,181
$MISSION,6
$DIVE,419
$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,-4
$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,-41088.281
$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,43
$R_STBD_OVSHOOT,72
$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
$GPS1,290811,231407,2025.979,12009.751,37,1.0,37,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-58.5
$GPS2,290811,232020,2025.946,12009.724,10,1.3,10,-2.3
$SPEED_LIMITS,0.204,0.329
$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,188.4,160080,-16.3,-11.786
$D_GRID,3574
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.54,-219.0,0.0,0.0,0,88,0.00,0.00,-68.22,0.000,2,0.000,0.000,140,2650,2354,0,0,0,0,0,0
$GC,91,-0.54,-219.0,3.2,-3.4,12,138,8.48,1.70,-31.20,0.000,4,0.233,0.056,2128,3748,3762,0,0,0,0,0,0
$GC,181,-0.54,-219.0,30.5,-43.0,27,188,0.00,1.73,0.00,0.000,6,0.000,0.024,2128,2571,3763,0,0,0,0,0,0
$GC,324,-0.54,-219.0,75.8,-24.7,52,331,0.00,2.00,0.00,0.000,4,0.000,0.027,2128,1200,3763,0,0,0,0,0,0
$GC,355,-0.54,-219.0,83.0,-23.4,57,362,0.00,2.20,0.00,0.000,6,0.000,0.037,2124,2629,3763,0,0,0,0,0,0
$GC,498,-0.54,-219.0,108.5,-15.3,82,505,0.00,1.75,0.00,0.000,4,0.000,0.044,2115,3780,3763,0,0,0,0,0,0
$GC,612,-0.54,-219.0,125.2,-14.7,102,619,0.00,1.60,0.00,0.000,6,0.000,0.024,2115,2704,3764,0,0,0,0,0,0
$GC,756,-0.54,-219.0,152.9,-20.4,127,762,0.00,1.67,0.00,0.000,4,0.000,0.042,2107,3789,3765,0,0,0,0,0,0
$GC,791,-0.54,-219.0,160.4,-20.5,133,799,0.08,1.60,0.00,0.000,6,0.123,0.024,2143,2712,3765,0,0,0,0,0,0
$GC,937,-0.54,-219.0,183.0,-14.7,158,944,0.00,2.22,0.00,0.000,4,0.000,0.028,2143,1197,3765,0,0,0,0,0,0
$GC,973,-0.54,-219.0,188.2,-14.0,164,980,0.00,2.30,0.00,0.000,6,0.000,0.034,2139,2706,3765,0,0,0,0,0,0
$GC,1113,-0.54,-219.0,205.6,-12.3,185,1117,0.00,2.22,0.00,0.000,4,0.000,0.028,2139,1207,3765,0,0,0,0,0,0
$GC,1159,-0.54,-219.0,211.4,-12.7,189,1163,0.00,2.20,0.00,0.000,6,0.000,0.034,2138,2656,3765,0,0,0,0,0,0
$GC,1489,-0.54,-219.0,266.6,-17.3,220,1493,0.00,2.15,0.00,0.000,4,0.000,0.028,2138,1205,3764,0,0,0,0,0,0
$GC,1553,-0.54,-219.0,277.0,-16.0,225,1557,0.00,2.20,0.00,0.000,6,0.000,0.034,2138,2651,3764,0,0,0,0,0,0
$GC,1878,-0.54,-219.0,322.2,-10.6,255,1882,0.00,1.73,0.00,0.000,4,0.000,0.044,2138,3785,3762,0,0,0,0,0,0
$GC,1906,-0.54,-219.0,324.9,-9.6,257,1913,0.00,1.67,0.00,0.000,6,0.000,0.025,2138,2634,3762,0,0,0,0,0,0
$GC,2232,-0.54,-219.0,347.4,-5.9,288,2236,0.00,2.10,0.00,0.000,4,0.000,0.028,2138,1205,3760,0,0,0,0,0,0
$GC,2318,-0.54,-219.0,352.2,-5.6,295,2322,0.00,2.17,0.00,0.000,6,0.000,0.033,2138,2637,3760,0,0,0,0,0,0
$GC,2643,-0.54,-219.0,367.5,-4.3,325,2647,0.00,2.12,0.00,0.000,4,0.000,0.029,2138,1210,3757,0,0,0,0,0,0
$GC,2685,-0.54,-219.0,369.3,-4.2,328,2689,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2600,3757,0,0,0,0,0,0
$GC,3016,-0.54,-219.0,388.0,-6.4,359,3020,0.00,1.80,0.00,0.000,4,0.000,0.046,2133,3776,3754,0,0,0,0,0,0
$GC,3040,-0.54,-219.0,389.6,-6.5,361,3044,0.00,1.73,0.00,0.000,6,0.000,0.025,2133,2595,3754,0,0,0,0,0,0
$GC,3372,-0.54,-219.0,417.0,-9.3,392,3376,0.00,2.05,0.00,0.000,4,0.000,0.030,2133,1205,3752,0,0,0,0,0,0
$GC,3422,-0.54,-219.0,421.9,-9.5,396,3429,0.00,2.12,0.00,0.000,6,0.000,0.034,2126,2593,3752,0,0,0,0,0,0
$GC,3747,-0.54,-219.0,455.3,-10.3,427,3751,0.00,2.08,0.00,0.000,4,0.000,0.030,2125,1209,3749,0,0,0,0,0,0
$GC,3769,-0.54,-219.0,457.9,-10.4,428,3776,0.00,2.10,0.00,0.000,6,0.000,0.036,2125,2571,3749,0,0,0,0,0,0
$GC,4095,-0.54,-219.0,492.9,-11.0,459,4098,0.00,1.88,0.00,0.000,4,0.000,0.046,2116,3786,3748,0,0,0,0,0,0
$GC,4113,-0.54,-219.0,494.9,-11.0,460,4119,0.00,1.80,0.00,0.000,6,0.000,0.026,2116,2565,3747,0,0,0,0,0,0
$GC,4431,-0.54,-219.0,532.3,-11.7,478,4434,0.00,2.03,0.00,0.000,4,0.000,0.031,2116,1210,3745,0,0,0,0,0,0
$GC,4464,-0.54,-219.0,536.5,-11.5,479,4469,0.12,2.10,0.00,0.000,6,0.145,0.035,2148,2572,3745,0,0,0,0,0,0
$GC,4781,-0.54,-219.0,567.8,-10.5,494,4785,0.00,2.05,0.00,0.000,4,0.000,0.031,2148,1207,3743,0,0,0,0,0,0
$GC,4804,-0.54,-219.0,570.3,-10.6,495,4808,0.00,2.05,0.00,0.000,6,0.000,0.034,2144,2551,3742,0,0,0,0,0,0
$GC,5137,-0.54,-219.0,604.0,-9.3,511,5140,0.00,2.03,0.00,0.000,4,0.000,0.031,2144,1206,3741,0,0,0,0,0,0
$GC,5255,-0.54,-219.0,614.2,-8.3,516,5259,0.00,1.95,0.00,0.000,6,0.000,0.031,2144,2490,3740,0,0,0,0,0,0
$GC,5583,-0.54,-219.0,631.8,-4.1,532,5587,0.00,1.92,0.00,0.000,4,0.000,0.033,2144,1207,3738,0,0,0,0,0,0
$GC,5667,-0.54,-219.0,635.0,-3.7,535,5674,0.00,1.90,0.00,0.000,6,0.000,0.033,2144,2454,3737,0,0,0,0,0,0
$GC,5983,-0.54,-219.0,644.8,-3.4,551,5985,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2454,3736,0,0,0,0,0,0
$GC,6293,-0.54,-219.0,658.6,-5.5,566,6297,0.00,1.88,0.00,0.000,4,0.000,0.033,2144,1205,3734,0,0,0,0,0,0
$GC,6349,-0.54,-219.0,662.2,-6.3,568,6353,0.00,1.90,0.00,0.000,6,0.000,0.034,2144,2445,3734,0,0,0,0,0,0
$GC,6671,-0.54,-219.0,685.5,-8.3,584,6675,0.00,1.88,0.00,0.000,4,0.000,0.033,2144,1205,3733,0,0,0,0,0,0
$GC,6710,-0.54,-219.0,689.3,-9.2,585,6717,0.00,1.90,0.00,0.000,6,0.000,0.035,2144,2448,3732,0,0,0,0,0,0
$GC,7027,-0.54,-219.0,722.2,-11.6,601,7031,0.00,2.08,0.00,0.000,4,0.000,0.046,2144,3782,3731,0,0,0,0,0,0
$GC,7090,-0.54,-219.0,730.5,-13.6,604,7094,0.00,2.03,0.00,0.000,6,0.000,0.026,2144,2457,3730,0,0,0,0,0,0
$GC,7423,-0.54,-219.0,774.3,-13.1,620,7427,0.00,1.90,0.00,0.000,4,0.000,0.033,2146,1206,3729,0,0,0,0,0,0
$GC,7546,-0.54,-219.0,790.5,-12.7,625,7550,0.00,1.92,0.00,0.000,6,0.000,0.034,2145,2441,3729,0,0,0,0,0,0
$GC,7869,-0.54,-219.0,824.9,-10.1,641,7873,0.00,1.85,0.00,0.000,4,0.000,0.031,2146,1207,3727,0,0,0,0,0,0
$GC,7942,-0.54,-219.0,832.2,-9.5,644,7946,0.00,1.92,0.00,0.000,6,0.000,0.034,2146,2435,3727,0,0,0,0,0,0
$GC,8269,-0.54,-219.0,858.5,-7.3,660,8273,0.00,1.90,0.00,0.000,4,0.000,0.034,2145,1205,3726,0,0,0,0,0,0
$GC,8294,-0.54,-219.0,860.2,-6.8,661,8298,0.00,1.88,0.00,0.000,6,0.000,0.033,2145,2437,3726,0,0,0,0,0,0
$GC,8627,-0.54,-219.0,879.9,-5.6,677,8631,0.00,1.85,0.00,0.000,4,0.000,0.033,2145,1207,3724,0,0,0,0,0,0
$GC,8879,-0.54,-219.0,895.5,-6.9,688,8882,0.00,1.85,0.00,0.000,6,0.000,0.034,2146,2421,3723,0,0,0,0,0,0
$GC,9206,-0.54,-219.0,920.4,-8.7,704,9210,0.00,1.83,0.00,0.000,4,0.000,0.034,2146,1207,3723,0,0,0,0,0,0
$GC,9253,-0.54,-219.0,924.9,-9.9,706,9256,0.00,1.85,0.00,0.000,6,0.000,0.034,2146,2420,3723,0,0,0,0,0,0
$GC,9586,-0.54,-219.0,960.4,-11.4,722,9589,0.00,1.83,0.00,0.000,4,0.000,0.033,2146,1206,3721,0,0,0,0,0,0
$STATE,9607,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9607,begin apogee
$GC,9615,-0.13,0.0,963.0,11.5,723,9791,0.32,0.00,169.02,1.062,4,0.063,0.000,2294,2133,2869,0,0,0,0,0,0
$STATE,9791,end apogee,CONTROL_FINISHED_OK
$STATE,9791,begin climb
$GC,9794,0.54,219.0,978.9,0.0,731,9980,0.57,2.30,177.85,1.043,4,0.053,0.038,2511,739,1976,0,0,0,0,0,0
$GC,10087,0.55,227.0,963.3,11.5,745,10105,0.00,2.20,8.23,0.848,6,0.000,0.034,2511,2122,1943,0,0,0,0,0,0
$GC,10415,0.55,227.0,920.3,13.9,761,10419,0.00,2.12,0.00,0.000,4,0.000,0.037,2521,739,1941,0,0,0,0,0,0
$GC,10556,0.55,227.0,899.5,15.0,767,10560,0.00,2.17,0.00,0.000,6,0.000,0.034,2521,2142,1941,0,0,0,0,0,0
$GC,10872,0.55,227.0,848.9,16.1,782,10873,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2143,1941,0,0,0,0,0,0
$GC,11181,0.55,227.0,801.9,15.1,797,11182,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2144,1940,0,0,0,0,0,0
$GC,11491,0.55,227.0,757.2,14.1,812,11495,0.00,2.17,0.00,0.000,4,0.000,0.044,2521,3540,1939,0,0,0,0,0,0
$GC,11513,0.55,227.0,753.7,14.5,813,11518,0.12,2.12,0.00,0.000,6,0.183,0.028,2500,2139,1939,0,0,0,0,0,0
$GC,11843,0.60,269.5,717.1,10.2,829,11886,0.00,2.28,33.85,0.894,4,0.000,0.039,2510,719,1770,0,0,0,0,0,0
$GC,11945,0.67,320.5,706.7,9.9,833,11991,0.00,2.22,40.80,0.873,6,0.000,0.033,2509,2141,1561,0,0,0,0,0,0
$GC,12303,0.70,350.7,669.2,10.7,850,12334,0.10,2.25,25.20,0.843,4,0.111,0.045,2551,3544,1439,0,0,0,0,0,0
$GC,12412,0.70,350.7,653.4,14.2,855,12416,0.00,2.15,0.00,0.000,6,0.000,0.028,2561,2146,1440,0,0,0,0,0,0
$GC,12740,0.70,350.7,605.0,15.0,871,12744,0.00,2.17,0.00,0.000,4,0.000,0.037,2572,723,1439,0,0,0,0,0,0
$GC,12852,0.70,350.7,588.2,15.0,876,12856,0.00,2.20,0.00,0.000,6,0.000,0.033,2572,2120,1439,0,0,0,0,0,0
$GC,13180,0.70,350.7,536.3,16.3,892,13184,0.00,2.20,0.00,0.000,4,0.000,0.044,2572,3538,1439,0,0,0,0,0,0
$GC,13248,0.70,350.7,523.8,18.0,895,13253,0.15,2.12,0.00,0.000,6,0.167,0.027,2543,2132,1439,0,0,0,0,0,0
$GC,13570,0.70,350.7,476.7,14.5,918,13574,0.00,2.15,0.00,0.000,4,0.000,0.037,2552,711,1439,0,0,0,0,0,0
$GC,13610,0.70,350.7,470.9,14.6,921,13614,0.00,2.17,0.00,0.000,6,0.000,0.032,2552,2129,1439,0,0,0,0,0,0
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$STATE,17410,end climb,SURFACE_DEPTH_REACHED
$STATE,17411,begin surface coast
$FINISH,0.3,1.008697
$STATE,17440,end surface coast,CONTROL_FINISHED_OK
$STATE,17440,begin surface
$SM_CCo,17517,0.00,0.000,0,0,440,595.83
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$IRIDIUM_FIX,2022.56,12006.94,290811,181848
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.70
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,23.2,68.355
$10V_AH,9.8,60.288
$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
$DEVICE_SECS,16.700,192.650,652.575,0.000,0.000,22.805,47.492,155.051,0.250,0.000,13.418,3406.371,10489.429,755.800,2831.171,397.001,0.000,2219.815,0.000,2575.283,0.000,0.539,0.000
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$SENSOR_SECS,979.971,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323048
$DATA_FILE_SIZE,80301,1414
$CAP_FILE_SIZE,196977,0
$CFSIZE,260165632,211849216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300811,041400,2023.785,12007.917,39,1.2,39,-2.3