version: 66.09
glider: 181
mission: 6
dive: 394
start: 8 24 111 18 13 57
data:
$ID,181
$MISSION,6
$DIVE,394
$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,-41040.52
$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,49
$R_STBD_OVSHOOT,34
$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
$GPS1,240811,180736,2105.502,11949.472,31,0.9,31,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.7
$GPS2,240811,181332,2105.516,11949.354,10,1.1,10,-2.4
$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,177.8,233202,-16.3,-11.786
$D_GRID,3307
$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,-219.0,0.0,0.0,0,82,0.00,0.00,-63.00,0.000,2,0.000,0.000,206,2608,2209,0,0,0,0,0,0
$GC,85,-0.54,-219.0,3.0,-3.1,11,138,8.00,2.17,-35.42,0.000,4,0.226,0.041,2137,1194,3764,0,0,0,0,0,0
$GC,186,-0.54,-219.0,25.3,-19.4,28,193,0.00,2.17,0.00,0.000,6,0.000,0.035,2128,2609,3764,0,0,0,0,0,0
$GC,329,-0.54,-219.0,62.1,-24.4,53,336,0.00,2.10,0.00,0.000,4,0.000,0.025,2128,1183,3764,0,0,0,0,0,0
$GC,428,-0.54,-219.0,77.8,-12.5,70,434,0.00,2.35,0.00,0.000,6,0.000,0.034,2125,2715,3764,0,0,0,0,0,0
$GC,571,-0.54,-219.0,103.2,-20.1,95,577,0.00,1.62,0.00,0.000,4,0.000,0.042,2116,3794,3764,0,0,0,0,0,0
$GC,606,-0.54,-219.0,109.7,-18.2,101,613,0.00,1.60,0.00,0.000,6,0.000,0.022,2116,2707,3764,0,0,0,0,0,0
$GC,749,-0.54,-219.0,137.9,-21.7,126,756,0.00,2.22,0.00,0.000,4,0.000,0.027,2116,1184,3764,0,0,0,0,0,0
$GC,785,-0.54,-219.0,144.9,-18.7,132,793,0.12,2.33,0.00,0.000,6,0.153,0.034,2146,2709,3764,0,0,0,0,0,0
$GC,931,-0.54,-219.0,166.4,-13.9,157,938,0.00,1.62,0.00,0.000,4,0.000,0.042,2139,3793,3765,0,0,0,0,0,0
$GC,956,-0.54,-219.0,170.0,-13.1,161,962,0.00,1.62,0.00,0.000,6,0.000,0.022,2139,2682,3765,0,0,0,0,0,0
$GC,1100,-0.54,-219.0,189.1,-13.2,186,1106,0.00,2.17,0.00,0.000,4,0.000,0.027,2139,1187,3765,0,0,0,0,0,0
$GC,1159,-0.54,-219.0,196.4,-11.2,196,1166,0.00,2.25,0.00,0.000,6,0.000,0.032,2138,2672,3765,0,0,0,0,0,0
$GC,1302,-0.54,-219.0,213.8,-11.5,212,1306,0.00,1.67,0.00,0.000,4,0.000,0.043,2138,3785,3765,0,0,0,0,0,0
$GC,1339,-0.54,-219.0,217.5,-10.7,215,1343,0.00,1.62,0.00,0.000,6,0.000,0.022,2138,2681,3765,0,0,0,0,0,0
$GC,1670,-0.54,-219.0,249.7,-8.8,246,1674,0.00,2.17,0.00,0.000,4,0.000,0.027,2138,1190,3764,0,0,0,0,0,0
$GC,1755,-0.54,-219.0,256.6,-7.9,253,1762,0.00,2.25,0.00,0.000,6,0.000,0.032,2138,2679,3764,0,0,0,0,0,0
$GC,2080,-0.54,-219.0,289.1,-10.5,284,2084,0.00,2.20,0.00,0.000,4,0.000,0.028,2138,1192,3762,0,0,0,0,0,0
$GC,2110,-0.54,-219.0,291.9,-10.1,286,2114,0.00,2.22,0.00,0.000,6,0.000,0.033,2138,2660,3762,0,0,0,0,0,0
$GC,2436,-0.54,-219.0,323.7,-9.3,316,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2660,3760,0,0,0,0,0,0
$GC,2756,-0.54,-219.0,352.0,-9.2,346,2760,0.00,2.17,0.00,0.000,4,0.000,0.028,2137,1196,3758,0,0,0,0,0,0
$GC,2819,-0.54,-219.0,357.7,-8.4,351,2824,0.00,2.22,0.00,0.000,6,0.000,0.034,2138,2647,3757,0,0,0,0,0,0
$GC,3151,-0.54,-219.0,388.7,-9.7,382,3155,0.00,2.17,0.00,0.000,4,0.000,0.028,2138,1189,3754,0,0,0,0,0,0
$GC,3181,-0.54,-219.0,391.5,-9.6,384,3185,0.00,2.20,0.00,0.000,6,0.000,0.034,2138,2629,3754,0,0,0,0,0,0
$GC,3507,-0.54,-219.0,422.0,-9.5,414,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2629,3752,0,0,0,0,0,0
$GC,3826,-0.54,-219.0,450.7,-8.8,444,3830,0.00,2.15,0.00,0.000,4,0.000,0.030,2138,1194,3749,0,0,0,0,0,0
$GC,3855,-0.54,-219.0,453.3,-8.5,446,3859,0.00,2.17,0.00,0.000,6,0.000,0.035,2138,2610,3749,0,0,0,0,0,0
$GC,4180,-0.54,-219.0,481.3,-8.2,476,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2611,3747,0,0,0,0,0,0
$GC,4497,-0.54,-219.0,506.9,-8.1,502,4501,0.00,2.12,0.00,0.000,4,0.000,0.030,2138,1195,3744,0,0,0,0,0,0
$GC,4541,-0.54,-219.0,510.7,-8.0,504,4545,0.00,2.17,0.00,0.000,6,0.000,0.034,2138,2610,3744,0,0,0,0,0,0
$GC,4869,-0.54,-219.0,536.8,-8.4,520,4873,0.00,2.12,0.00,0.000,4,0.000,0.030,2138,1195,3742,0,0,0,0,0,0
$GC,4891,-0.54,-219.0,539.0,-8.7,521,4895,0.00,2.15,0.00,0.000,6,0.000,0.035,2138,2592,3742,0,0,0,0,0,0
$GC,5213,-0.54,-219.0,567.5,-8.8,537,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2591,3739,0,0,0,0,0,0
$GC,5522,-0.54,-219.0,593.8,-8.4,552,5526,0.00,2.10,0.00,0.000,4,0.000,0.031,2138,1193,3737,0,0,0,0,0,0
$GC,5556,-0.54,-219.0,596.7,-8.1,553,5563,0.00,2.15,0.00,0.000,6,0.000,0.035,2138,2585,3737,0,0,0,0,0,0
$GC,5873,-0.54,-219.0,619.9,-7.3,569,5876,0.00,1.83,0.00,0.000,4,0.000,0.045,2138,3779,3735,0,0,0,0,0,0
$GC,6043,-0.54,-219.0,633.4,-8.7,576,6047,0.00,1.98,0.00,0.000,6,0.000,0.024,2138,2472,3734,0,0,0,0,0,0
$GC,6365,-0.54,-219.0,657.7,-7.6,592,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2469,3732,0,0,0,0,0,0
$GC,6674,-0.54,-219.0,679.5,-7.2,607,6678,0.00,1.90,0.00,0.000,4,0.000,0.031,2138,1191,3731,0,0,0,0,0,0
$GC,6758,-0.54,-219.0,686.3,-7.9,610,6765,0.00,2.00,0.00,0.000,6,0.000,0.032,2138,2504,3730,0,0,0,0,0,0
$GC,7074,-0.54,-219.0,712.8,-8.8,626,7078,0.00,1.98,0.00,0.000,4,0.000,0.045,2137,3787,3729,0,0,0,0,0,0
$GC,7109,-0.54,-219.0,716.0,-8.6,627,7113,0.00,1.92,0.00,0.000,6,0.000,0.024,2138,2483,3729,0,0,0,0,0,0
$GC,7431,-0.54,-219.0,745.5,-8.8,643,7435,0.00,1.90,0.00,0.000,4,0.000,0.030,2138,1192,3727,0,0,0,0,0,0
$GC,7477,-0.54,-219.0,749.5,-9.0,645,7481,0.00,2.00,0.00,0.000,6,0.000,0.032,2138,2501,3727,0,0,0,0,0,0
$GC,7811,-0.54,-219.0,778.7,-8.4,661,7815,0.00,1.98,0.00,0.000,4,0.000,0.031,2138,1194,3725,0,0,0,0,0,0
$GC,8070,-0.54,-219.0,800.0,-8.0,672,8074,0.00,1.98,0.00,0.000,6,0.000,0.033,2138,2485,3723,0,0,0,0,0,0
$GC,8392,-0.54,-219.0,823.3,-7.5,688,8395,0.00,1.92,0.00,0.000,4,0.000,0.030,2139,1195,3722,0,0,0,0,0,0
$GC,8650,-0.54,-219.0,843.9,-8.1,699,8653,0.00,1.95,0.00,0.000,6,0.000,0.033,2138,2468,3722,0,0,0,0,0,0
$GC,8972,-0.54,-219.0,866.7,-7.0,715,8975,0.00,1.92,0.00,0.000,4,0.000,0.031,2144,1189,3720,0,0,0,0,0,0
$GC,8983,-0.54,-219.0,867.5,-7.0,715,8986,0.00,1.92,0.00,0.000,6,0.000,0.033,2144,2445,3720,0,0,0,0,0,0
$GC,9305,-0.54,-219.0,894.0,-8.9,731,9309,0.00,2.08,0.00,0.000,4,0.000,0.045,2144,3784,3719,0,0,0,0,0,0
$GC,9562,-0.54,-219.0,921.7,-11.3,742,9569,0.00,2.05,0.00,0.000,6,0.000,0.025,2147,2408,3719,0,0,0,0,0,0
$STATE,9608,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9608,begin apogee
$GC,9614,-0.13,0.0,926.7,10.8,745,9786,0.32,0.00,166.62,1.042,4,0.056,0.000,2292,2096,2868,0,0,0,0,0,0
$STATE,9786,end apogee,CONTROL_FINISHED_OK
$STATE,9786,begin climb
$GC,9789,0.54,219.0,940.4,0.0,753,9974,0.55,2.17,176.30,1.023,4,0.045,0.037,2512,750,1976,0,0,0,0,0,0
$GC,10178,0.58,250.2,914.6,10.7,771,10209,0.00,2.15,26.27,0.973,6,0.000,0.032,2512,2129,1848,0,0,0,0,0,0
$GC,10526,0.58,250.2,872.7,12.2,788,10530,0.00,2.12,0.00,0.000,4,0.000,0.036,2522,749,1845,0,0,0,0,0,0
$GC,10695,0.58,250.2,851.6,13.0,795,10702,0.00,2.15,0.00,0.000,6,0.000,0.033,2522,2140,1846,0,0,0,0,0,0
$GC,11013,0.58,250.2,809.3,13.3,811,11017,0.00,2.15,0.00,0.000,4,0.000,0.043,2522,3535,1845,0,0,0,0,0,0
$GC,11040,0.58,250.2,804.9,14.1,812,11044,0.00,2.12,0.00,0.000,6,0.000,0.026,2531,2119,1844,0,0,0,0,0,0
$GC,11362,0.58,250.2,759.9,14.2,828,11366,0.00,2.10,0.00,0.000,4,0.000,0.035,2542,724,1844,0,0,0,0,0,0
$GC,11470,0.58,250.2,744.7,14.3,833,11475,0.12,2.15,0.00,0.000,6,0.170,0.032,2511,2127,1844,0,0,0,0,0,0
$GC,11797,0.58,250.2,704.2,12.4,849,11801,0.00,2.17,0.00,0.000,4,0.000,0.044,2511,3534,1843,0,0,0,0,0,0
$GC,11852,0.58,250.2,696.2,14.1,851,11860,0.00,2.12,0.00,0.000,6,0.000,0.028,2519,2123,1843,0,0,0,0,0,0
$GC,12169,0.58,250.2,654.7,13.0,867,12173,0.00,2.12,0.00,0.000,4,0.000,0.036,2529,717,1843,0,0,0,0,0,0
$GC,12277,0.58,250.2,641.0,12.9,872,12281,0.00,2.12,0.00,0.000,6,0.000,0.032,2530,2107,1843,0,0,0,0,0,0
$GC,12604,0.58,250.2,600.2,12.1,888,12608,0.00,2.22,0.00,0.000,4,0.000,0.044,2529,3544,1842,0,0,0,0,0,0
$GC,12671,0.58,250.2,591.5,13.0,891,12676,0.12,2.15,0.00,0.000,6,0.176,0.028,2509,2122,1842,0,0,0,0,0,0
$GC,12994,0.67,326.5,561.4,9.0,907,13058,0.00,2.28,57.72,0.812,4,0.000,0.037,2518,721,1537,0,0,0,0,0,0
$GC,13114,0.77,404.5,550.5,9.0,912,13182,0.15,2.15,60.90,0.784,6,0.084,0.032,2581,2099,1218,0,0,0,0,0,0
$GC,13500,0.77,404.5,496.1,14.7,932,13504,0.00,2.25,0.00,0.000,4,0.000,0.044,2581,3536,1222,0,0,0,0,0,0
$GC,13588,0.77,404.5,481.2,16.8,939,13595,0.00,2.17,0.00,0.000,6,0.000,0.027,2591,2110,1221,0,0,0,0,0,0
$GC,13914,0.77,404.5,426.8,16.4,970,13918,0.00,2.10,0.00,0.000,4,0.000,0.035,2602,720,1221,0,0,0,0,0,0
$GC,13947,0.77,404.5,421.2,16.0,972,13955,0.12,2.15,0.00,0.000,6,0.159,0.033,2570,2120,1221,0,0,0,0,0,0
$GC,14273,0.77,404.5,376.0,12.8,1003,14277,0.00,2.20,0.00,0.000,4,0.000,0.043,2570,3540,1221,0,0,0,0,0,0
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$STATE,17273,end climb,SURFACE_DEPTH_REACHED
$STATE,17273,begin surface coast
$FINISH,0.3,1.011136
$STATE,17309,end surface coast,CONTROL_FINISHED_OK
$STATE,17309,begin surface
$SM_CCo,17386,0.00,0.000,0,0,440,595.83
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$IRIDIUM_FIX,2057.14,11951.28,240811,131347
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.51
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.3,64.155
$10V_AH,9.8,57.942
$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,16.425,185.075,639.675,0.000,0.000,40.724,24.686,145.251,0.000,0.000,15.045,3429.274,10270.267,750.891,2894.799,384.873,0.000,2233.787,0.000,2646.465,0.000,0.540,0.000
$DEVICE_MAMPS,226.440,45.135,1041.930,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,986.144,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323532
$DATA_FILE_SIZE,83578,1425
$CAP_FILE_SIZE,195468,0
$CFSIZE,260165632,214110208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240811,230500,2103.752,11948.918,39,1.0,39,-2.4