version: 66.09
glider: 181
mission: 6
dive: 391
start: 8 24 111 3 9 50
data:
$ID,181
$MISSION,6
$DIVE,391
$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,595.83368
$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,-41036.746
$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,48
$R_STBD_OVSHOOT,47
$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
$GPS1,240811,025507,2109.676,11946.723,27,1.4,27,-2.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.6
$GPS2,240811,030925,2110.044,11946.609,10,1.5,15,-2.5
$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,176.9,241981,-16.3,-11.786
$D_GRID,3293
$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,-219.0,0.0,0.0,0,81,0.00,0.00,-61.95,0.000,2,0.000,0.000,202,2649,2191,0,0,0,0,0,0
$GC,84,-0.54,-219.0,3.0,-2.9,11,138,8.23,2.17,-36.55,0.000,4,0.230,0.038,2136,1181,3763,0,0,0,0,0,0
$GC,180,-0.54,-219.0,24.3,-22.3,27,186,0.00,2.15,0.00,0.000,6,0.000,0.035,2127,2588,3763,0,0,0,0,0,0
$GC,323,-0.54,-219.0,58.9,-19.9,52,330,0.00,1.83,0.00,0.000,4,0.000,0.042,2118,3787,3761,0,0,0,0,0,0
$GC,381,-0.54,-219.0,71.2,-18.9,62,388,0.00,1.65,0.00,0.000,6,0.000,0.022,2118,2644,3760,0,0,0,0,0,0
$GC,525,-0.54,-219.0,102.8,-25.6,87,532,0.00,1.77,0.00,0.000,4,0.000,0.041,2109,3790,3760,0,0,0,0,0,0
$GC,567,-0.54,-219.0,113.9,-25.3,94,574,0.05,1.58,0.00,0.000,6,0.148,0.023,2141,2711,3760,0,0,0,0,0,0
$GC,713,-0.54,-219.0,140.3,-18.0,119,719,0.00,2.20,0.00,0.000,4,0.000,0.025,2141,1194,3760,0,0,0,0,0,0
$GC,777,-0.54,-219.0,148.8,-11.1,130,784,0.00,2.25,0.00,0.000,6,0.000,0.031,2139,2682,3760,0,0,0,0,0,0
$GC,920,-0.54,-219.0,168.9,-14.4,155,927,0.00,1.65,0.00,0.000,4,0.000,0.041,2131,3787,3760,0,0,0,0,0,0
$GC,957,-0.54,-219.0,174.5,-15.4,161,963,0.00,1.62,0.00,0.000,6,0.000,0.022,2131,2678,3760,0,0,0,0,0,0
$GC,1101,-0.54,-219.0,195.0,-13.4,186,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2675,3760,0,0,0,0,0,0
$GC,1242,-0.54,-219.0,212.9,-12.2,202,1246,0.00,2.15,0.00,0.000,4,0.000,0.026,2131,1195,3760,0,0,0,0,0,0
$GC,1298,-0.54,-219.0,218.7,-9.8,206,1304,0.00,2.28,0.00,0.000,6,0.000,0.032,2125,2696,3759,0,0,0,0,0,0
$GC,1623,-0.54,-219.0,252.8,-11.2,237,1627,0.00,2.20,0.00,0.000,4,0.000,0.027,2125,1201,3758,0,0,0,0,0,0
$GC,1653,-0.54,-219.0,256.0,-11.3,239,1657,0.00,2.28,0.00,0.000,6,0.000,0.033,2125,2701,3757,0,0,0,0,0,0
$GC,1978,-0.54,-219.0,295.6,-12.5,269,1982,0.00,2.22,0.00,0.000,4,0.000,0.028,2125,1206,3755,0,0,0,0,0,0
$GC,2006,-0.54,-219.0,299.0,-12.6,271,2013,0.00,2.25,0.00,0.000,6,0.000,0.034,2125,2683,3754,0,0,0,0,0,0
$GC,2332,-0.54,-219.0,332.7,-9.7,302,2336,0.00,2.20,0.00,0.000,4,0.000,0.028,2125,1199,3751,0,0,0,0,0,0
$GC,2365,-0.54,-219.0,336.1,-9.3,304,2372,0.00,2.22,0.00,0.000,6,0.000,0.034,2125,2663,3751,0,0,0,0,0,0
$GC,2691,-0.54,-219.0,368.6,-11.2,335,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2664,3747,0,0,0,0,0,0
$GC,3012,-0.54,-219.0,404.6,-11.0,365,3016,0.00,2.17,0.00,0.000,4,0.000,0.028,2125,1202,3744,0,0,0,0,0,0
$GC,3056,-0.54,-219.0,409.6,-10.8,368,3062,0.00,2.20,0.00,0.000,6,0.000,0.034,2125,2651,3743,0,0,0,0,0,0
$GC,3381,-0.54,-219.0,442.2,-9.6,399,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2652,3740,0,0,0,0,0,0
$GC,3701,-0.54,-219.0,474.1,-9.6,429,3705,0.00,2.17,0.00,0.000,4,0.000,0.030,2125,1201,3737,0,0,0,0,0,0
$GC,3763,-0.54,-219.0,480.1,-8.9,434,3770,0.00,2.20,0.00,0.000,6,0.000,0.035,2125,2638,3736,0,0,0,0,0,0
$GC,4098,-0.54,-219.0,510.2,-9.1,461,4102,0.00,2.15,0.00,0.000,4,0.000,0.029,2125,1201,3732,0,0,0,0,0,0
$GC,4138,-0.54,-219.0,513.8,-9.2,463,4142,0.00,2.17,0.00,0.000,6,0.000,0.035,2124,2621,3732,0,0,0,0,0,0
$GC,4466,-0.54,-219.0,542.4,-9.0,479,4470,0.00,1.80,0.00,0.000,4,0.000,0.047,2125,3767,3730,0,0,0,0,0,0
$GC,4489,-0.54,-219.0,544.5,-9.1,480,4493,0.00,1.67,0.00,0.000,6,0.000,0.025,2125,2619,3730,0,0,0,0,0,0
$GC,4823,-0.54,-219.0,575.9,-9.7,496,4826,0.00,2.10,0.00,0.000,4,0.000,0.029,2125,1197,3727,0,0,0,0,0,0
$GC,4901,-0.54,-219.0,583.2,-9.2,499,4908,0.00,2.15,0.00,0.000,6,0.000,0.034,2125,2601,3726,0,0,0,0,0,0
$GC,5218,-0.54,-219.0,613.9,-10.2,515,5222,0.00,2.10,0.00,0.000,4,0.000,0.031,2125,1206,3723,0,0,0,0,0,0
$GC,5245,-0.54,-219.0,617.2,-10.4,516,5249,0.00,2.12,0.00,0.000,6,0.000,0.037,2125,2590,3723,0,0,0,0,0,0
$GC,5567,-0.54,-219.0,651.4,-10.8,532,5571,0.00,1.83,0.00,0.000,4,0.000,0.048,2125,3776,3721,0,0,0,0,0,0
$GC,5618,-0.54,-219.0,656.9,-10.6,534,5622,0.00,1.80,0.00,0.000,6,0.000,0.027,2125,2596,3721,0,0,0,0,0,0
$GC,5945,-0.54,-219.0,687.0,-8.8,550,5946,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2593,3719,0,0,0,0,0,0
$GC,6254,-0.54,-219.0,712.0,-8.1,565,6258,0.00,2.10,0.00,0.000,4,0.000,0.032,2125,1188,3717,0,0,0,0,0,0
$GC,6321,-0.54,-219.0,717.5,-8.4,568,6325,0.00,2.00,0.00,0.000,6,0.000,0.035,2125,2483,3716,0,0,0,0,0,0
$GC,6648,-0.54,-219.0,741.7,-7.3,584,6652,0.00,1.98,0.00,0.000,4,0.000,0.032,2125,1174,3714,0,0,0,0,0,0
$GC,6762,-0.54,-219.0,750.3,-7.4,589,6765,0.00,1.90,0.00,0.000,6,0.000,0.035,2125,2416,3714,0,0,0,0,0,0
$GC,7094,-0.54,-219.0,775.5,-7.7,605,7098,0.00,1.85,0.00,0.000,4,0.000,0.033,2125,1186,3712,0,0,0,0,0,0
$GC,7164,-0.54,-219.0,781.2,-8.1,608,7168,0.00,1.85,0.00,0.000,6,0.000,0.035,2125,2366,3712,0,0,0,0,0,0
$GC,7497,-0.54,-219.0,808.9,-8.7,624,7501,0.00,2.22,0.00,0.000,4,0.000,0.047,2125,3778,3710,0,0,0,0,0,0
$GC,7558,-0.54,-219.0,814.6,-9.0,626,7565,0.00,1.95,0.00,0.000,6,0.000,0.026,2125,2458,3710,0,0,0,0,0,0
$GC,7875,-0.54,-219.0,842.1,-8.8,642,7879,0.00,2.08,0.00,0.000,4,0.000,0.045,2125,3783,3709,0,0,0,0,0,0
$GC,7915,-0.54,-219.0,845.6,-8.5,644,7919,0.00,2.10,0.00,0.000,6,0.000,0.025,2125,2371,3708,0,0,0,0,0,0
$GC,8243,-0.54,-219.0,871.4,-7.5,660,8247,0.00,2.22,0.00,0.000,4,0.000,0.044,2125,3785,3707,0,0,0,0,0,0
$GC,8494,-0.54,-219.0,890.1,-8.2,671,8499,0.00,2.20,0.00,0.000,6,0.000,0.025,2125,2320,3705,0,0,0,0,0,0
$GC,8812,-0.54,-219.0,911.2,-6.8,686,8816,0.00,1.70,0.00,0.000,4,0.000,0.033,2125,1198,3704,0,0,0,0,0,0
$GC,8948,-0.54,-219.0,921.3,-7.5,692,8952,0.00,1.73,0.00,0.000,6,0.000,0.032,2125,2338,3704,0,0,0,0,0,0
$GC,9282,-0.54,-219.0,946.6,-7.9,708,9285,0.00,1.73,0.00,0.000,4,0.000,0.032,2125,1186,3702,0,0,0,0,0,0
$GC,9315,-0.54,-219.0,949.5,-8.0,709,9319,0.00,1.73,0.00,0.000,6,0.000,0.031,2125,2333,3702,0,0,0,0,0,0
$STATE,9613,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9614,begin apogee
$GC,9620,-0.13,0.0,972.5,7.9,724,9791,0.40,0.00,164.10,1.075,4,0.065,0.000,2285,2104,2869,0,0,0,0,0,0
$STATE,9792,end apogee,CONTROL_FINISHED_OK
$STATE,9792,begin climb
$GC,9794,0.54,219.0,983.0,0.0,732,9982,0.60,2.40,177.48,1.053,4,0.047,0.041,2516,3545,1976,0,0,0,0,0,0
$GC,10077,0.54,219.0,959.9,14.6,745,10081,0.00,2.17,0.00,0.000,6,0.000,0.026,2526,2151,1975,0,0,0,0,0,0
$GC,10399,0.54,219.0,915.7,13.7,761,10404,0.12,2.20,0.00,0.000,4,0.189,0.036,2506,720,1973,0,0,0,0,0,0
$GC,10500,0.57,239.1,904.0,11.1,765,10522,0.00,2.15,17.25,0.968,6,0.000,0.032,2506,2118,1893,0,0,0,0,0,0
$GC,10833,0.57,239.1,862.3,12.7,781,10837,0.00,2.20,0.00,0.000,4,0.000,0.043,2506,3532,1892,0,0,0,0,0,0
$GC,10918,0.57,239.1,849.9,14.8,785,10922,0.00,2.15,0.00,0.000,6,0.000,0.028,2515,2117,1891,0,0,0,0,0,0
$GC,11246,0.57,239.1,803.8,13.8,801,11250,0.00,2.12,0.00,0.000,4,0.000,0.037,2526,715,1891,0,0,0,0,0,0
$GC,11340,0.57,239.1,789.9,14.4,805,11344,0.00,2.15,0.00,0.000,6,0.000,0.031,2526,2120,1891,0,0,0,0,0,0
$GC,11663,0.57,239.1,744.5,13.6,821,11664,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2120,1890,0,0,0,0,0,0
$GC,11971,0.57,239.1,702.5,13.4,836,11975,0.00,2.20,0.00,0.000,4,0.000,0.043,2526,3541,1890,0,0,0,0,0,0
$GC,11993,0.57,239.1,699.4,13.0,837,11997,0.12,2.17,0.00,0.000,6,0.181,0.027,2506,2100,1890,0,0,0,0,0,0
$GC,12321,0.57,239.4,661.1,11.8,853,12325,0.00,2.10,0.00,0.000,4,0.000,0.037,2515,713,1889,0,0,0,0,0,0
$GC,12416,0.58,252.3,649.6,11.3,857,12432,0.00,2.12,11.35,0.815,6,0.000,0.032,2515,2100,1840,0,0,0,0,0,0
$GC,12756,0.58,252.3,607.9,12.5,874,12760,0.00,2.22,0.00,0.000,4,0.000,0.043,2516,3537,1839,0,0,0,0,0,0
$GC,12844,0.58,252.3,594.9,14.1,878,12848,0.00,2.15,0.00,0.000,6,0.000,0.027,2525,2111,1838,0,0,0,0,0,0
$GC,13173,0.58,252.3,551.4,13.1,894,13177,0.00,2.10,0.00,0.000,4,0.000,0.037,2536,722,1838,0,0,0,0,0,0
$GC,13267,0.58,252.3,538.7,12.5,898,13271,0.00,2.10,0.00,0.000,6,0.000,0.031,2536,2097,1838,0,0,0,0,0,0
$GC,13590,0.58,252.3,496.8,12.4,915,13594,0.00,2.22,0.00,0.000,4,0.000,0.042,2536,3536,1839,0,0,0,0,0,0
$GC,13619,0.58,252.3,492.9,13.0,917,13624,0.15,2.17,0.00,0.000,6,0.171,0.028,2508,2095,1839,0,0,0,0,0,0
$GC,13946,0.67,320.9,460.9,9.3,947,14003,0.00,2.15,52.53,0.756,4,0.000,0.037,2516,724,1559,0,0,0,0,0,0
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$STATE,17585,end climb,SURFACE_DEPTH_REACHED
$STATE,17585,begin surface coast
$FINISH,0.2,0.998673
$STATE,17620,end surface coast,CONTROL_FINISHED_OK
$STATE,17620,begin surface
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$IRIDIUM_FIX,2106.38,11948.42,240811,030356
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.23
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,23.2,63.649
$10V_AH,9.8,57.662
$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
$DEVICE_SECS,16.550,184.275,642.075,0.000,0.000,141.299,151.249,143.624,0.500,0.000,17.793,3411.320,10906.534,754.824,3089.446,383.532,0.000,2216.267,0.000,2587.999,0.000,0.541,0.000
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$SENSOR_SECS,990.207,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323516
$DATA_FILE_SIZE,83428,1428
$CAP_FILE_SIZE,197471,0
$CFSIZE,260165632,214364160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240811,080607,2109.192,11947.511,39,0.9,39,-2.5