version: 66.09
glider: 181
mission: 6
dive: 412
start: 8 28 111 13 4 40
data:
$ID,181
$MISSION,6
$DIVE,412
$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,-41070.531
$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,27
$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
$GPS1,280811,125307,2039.802,12003.369,42,1.4,42,-2.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-53.8
$GPS2,280811,130414,2039.498,12003.631,12,1.5,12,-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,184.4,184379,-16.3,-11.786
$D_GRID,3645
$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,-219.0,0.0,0.0,0,87,0.00,0.00,-68.22,0.000,2,0.000,0.000,123,2606,2323,0,0,0,0,0,0
$GC,91,-0.54,-219.0,3.3,-3.6,12,139,8.57,1.85,-31.33,0.000,4,0.233,0.053,2127,3796,3764,0,0,0,0,0,0
$GC,168,-0.54,-219.0,24.1,-32.5,25,175,0.00,1.77,0.00,0.000,6,0.000,0.024,2127,2585,3764,0,0,0,0,0,0
$GC,312,-0.54,-219.0,71.6,-22.7,50,318,0.00,2.03,0.00,0.000,4,0.000,0.027,2127,1195,3763,0,0,0,0,0,0
$GC,404,-0.54,-219.0,90.3,-17.2,66,410,0.00,2.42,0.00,0.000,6,0.000,0.034,2116,2775,3762,0,0,0,0,0,0
$GC,547,-0.54,-219.0,117.2,-16.0,91,553,0.00,1.58,0.00,0.000,4,0.000,0.044,2109,3789,3762,0,0,0,0,0,0
$GC,623,-0.54,-219.0,126.7,-10.7,104,630,0.10,1.45,0.00,0.000,6,0.123,0.024,2144,2788,3762,0,0,0,0,0,0
$GC,768,-0.54,-219.0,142.0,-12.3,129,775,0.00,2.33,0.00,0.000,4,0.000,0.027,2144,1202,3762,0,0,0,0,0,0
$GC,788,-0.54,-219.0,144.9,-13.5,132,794,0.00,2.45,0.00,0.000,6,0.000,0.034,2138,2806,3762,0,0,0,0,0,0
$GC,931,-0.54,-219.0,166.5,-15.6,157,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2806,3763,0,0,0,0,0,0
$GC,1074,-0.54,-219.0,184.5,-9.6,182,1081,0.00,2.38,0.00,0.000,4,0.000,0.027,2138,1204,3762,0,0,0,0,0,0
$GC,1138,-0.54,-219.0,188.4,-6.1,193,1145,0.00,2.45,0.00,0.000,6,0.000,0.034,2138,2796,3763,0,0,0,0,0,0
$GC,1284,-0.54,-219.0,195.5,-5.6,218,1290,0.00,2.38,0.00,0.000,4,0.000,0.028,2138,1198,3762,0,0,0,0,0,0
$GC,1315,-0.54,-219.0,197.6,-6.0,223,1322,0.00,2.38,0.00,0.000,6,0.000,0.034,2138,2753,3762,0,0,0,0,0,0
$GC,1453,-0.54,-219.0,208.7,-9.4,239,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2754,3761,0,0,0,0,0,0
$GC,1774,-0.54,-219.0,239.4,-10.4,269,1778,0.00,2.30,0.00,0.000,4,0.000,0.028,2138,1207,3759,0,0,0,0,0,0
$GC,1791,-0.54,-219.0,241.5,-11.0,270,1795,0.00,2.35,0.00,0.000,6,0.000,0.035,2138,2735,3759,0,0,0,0,0,0
$GC,2123,-0.54,-219.0,282.7,-12.2,301,2127,0.00,1.62,0.00,0.000,4,0.000,0.044,2138,3780,3756,0,0,0,0,0,0
$GC,2195,-0.54,-219.0,290.6,-10.4,307,2201,0.00,1.62,0.00,0.000,6,0.000,0.024,2138,2683,3755,0,0,0,0,0,0
$GC,2521,-0.54,-219.0,316.2,-5.7,338,2525,0.00,2.17,0.00,0.000,4,0.000,0.029,2138,1207,3752,0,0,0,0,0,0
$GC,2611,-0.54,-219.0,320.3,-4.4,345,2618,0.00,2.25,0.00,0.000,6,0.000,0.034,2138,2679,3752,0,0,0,0,0,0
$GC,2936,-0.54,-219.0,341.0,-7.7,376,2940,0.00,2.20,0.00,0.000,4,0.000,0.029,2137,1203,3749,0,0,0,0,0,0
$GC,2969,-0.54,-219.0,344.0,-7.9,378,2976,0.00,2.22,0.00,0.000,6,0.000,0.034,2138,2658,3749,0,0,0,0,0,0
$GC,3296,-0.54,-219.0,377.6,-11.0,409,3300,0.00,2.17,0.00,0.000,4,0.000,0.031,2137,1202,3746,0,0,0,0,0,0
$GC,3352,-0.54,-219.0,383.7,-10.2,413,3359,0.00,2.20,0.00,0.000,6,0.000,0.035,2138,2638,3745,0,0,0,0,0,0
$GC,3678,-0.54,-219.0,417.0,-10.5,444,3682,0.00,2.15,0.00,0.000,4,0.000,0.031,2138,1201,3742,0,0,0,0,0,0
$GC,3700,-0.54,-219.0,419.5,-10.5,445,3707,0.00,2.15,0.00,0.000,6,0.000,0.036,2138,2597,3742,0,0,0,0,0,0
$GC,4028,-0.54,-219.0,448.7,-7.6,476,4031,0.00,1.83,0.00,0.000,4,0.000,0.047,2138,3783,3740,0,0,0,0,0,0
$GC,4075,-0.54,-219.0,452.3,-7.4,480,4078,0.00,1.75,0.00,0.000,6,0.000,0.025,2138,2591,3739,0,0,0,0,0,0
$GC,4406,-0.54,-219.0,477.3,-8.1,511,4409,0.00,2.05,0.00,0.000,4,0.000,0.029,2138,1201,3737,0,0,0,0,0,0
$GC,4475,-0.54,-219.0,483.2,-8.8,517,4479,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2588,3736,0,0,0,0,0,0
$GC,4799,-0.54,-219.0,512.7,-9.7,541,4802,0.00,1.83,0.00,0.000,4,0.000,0.046,2138,3777,3734,0,0,0,0,0,0
$GC,4983,-0.54,-219.0,532.8,-11.8,549,4987,0.00,1.88,0.00,0.000,6,0.000,0.024,2138,2501,3732,0,0,0,0,0,0
$GC,5311,-0.54,-219.0,564.0,-9.0,565,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2500,3730,0,0,0,0,0,0
$GC,5621,-0.54,-219.0,589.5,-8.3,580,5625,0.00,2.03,0.00,0.000,4,0.000,0.043,2138,3774,3729,0,0,0,0,0,0
$GC,5676,-0.54,-219.0,594.9,-9.4,582,5680,0.00,1.88,0.00,0.000,6,0.000,0.024,2138,2497,3728,0,0,0,0,0,0
$GC,5999,-0.54,-219.0,622.1,-8.7,598,6002,0.00,2.00,0.00,0.000,4,0.000,0.044,2138,3783,3726,0,0,0,0,0,0
$GC,6038,-0.54,-219.0,625.9,-9.1,599,6045,0.00,1.88,0.00,0.000,6,0.000,0.025,2138,2508,3726,0,0,0,0,0,0
$GC,6354,-0.54,-219.0,653.2,-8.2,615,6358,0.00,1.98,0.00,0.000,4,0.000,0.032,2145,1204,3724,0,0,0,0,0,0
$GC,6432,-0.54,-219.0,659.4,-7.7,618,6436,0.00,2.00,0.00,0.000,6,0.000,0.032,2145,2516,3724,0,0,0,0,0,0
$GC,6754,-0.54,-219.0,678.7,-5.5,634,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2516,3722,0,0,0,0,0,0
$GC,7063,-0.54,-219.0,692.2,-4.2,649,7067,0.00,1.98,0.00,0.000,4,0.000,0.030,2145,1197,3721,0,0,0,0,0,0
$GC,7137,-0.54,-219.0,695.9,-5.1,652,7140,0.00,2.00,0.00,0.000,6,0.000,0.033,2145,2505,3721,0,0,0,0,0,0
$GC,7464,-0.54,-219.0,714.8,-6.9,668,7468,0.00,1.95,0.00,0.000,4,0.000,0.030,2145,1200,3719,0,0,0,0,0,0
$GC,7722,-0.54,-219.0,738.1,-9.8,679,7726,0.00,1.98,0.00,0.000,6,0.000,0.035,2145,2484,3718,0,0,0,0,0,0
$GC,8044,-0.54,-219.0,768.9,-9.7,695,8048,0.00,1.92,0.00,0.000,4,0.000,0.031,2145,1202,3717,0,0,0,0,0,0
$GC,8162,-0.54,-219.0,780.7,-9.6,700,8166,0.00,1.98,0.00,0.000,6,0.000,0.034,2145,2464,3716,0,0,0,0,0,0
$GC,8490,-0.54,-219.0,809.6,-8.5,716,8494,0.00,1.95,0.00,0.000,4,0.000,0.033,2145,1200,3715,0,0,0,0,0,0
$GC,8679,-0.54,-219.0,825.7,-8.6,724,8683,0.00,1.92,0.00,0.000,6,0.000,0.034,2145,2457,3714,0,0,0,0,0,0
$GC,9001,-0.54,-219.0,852.2,-8.5,740,9005,0.00,1.90,0.00,0.000,4,0.000,0.033,2145,1195,3713,0,0,0,0,0,0
$GC,9258,-0.54,-219.0,875.3,-9.0,751,9262,0.00,1.90,0.00,0.000,6,0.000,0.033,2145,2440,3712,0,0,0,0,0,0
$GC,9581,-0.54,-219.0,900.8,-7.9,767,9585,0.00,1.85,0.00,0.000,4,0.000,0.032,2147,1206,3711,0,0,0,0,0,0
$STATE,9606,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9606,begin apogee
$GC,9613,-0.13,0.0,903.1,7.8,768,9784,0.32,0.00,165.50,1.020,4,0.061,0.000,2294,2138,2869,0,0,0,0,0,0
$STATE,9784,end apogee,CONTROL_FINISHED_OK
$STATE,9785,begin climb
$GC,9787,0.54,219.0,911.6,0.0,776,9970,0.55,2.28,175.43,0.998,4,0.047,0.037,2506,738,1976,0,0,0,0,0,0
$GC,10043,0.54,219.0,891.6,13.9,788,10047,0.00,2.20,0.00,0.000,6,0.000,0.033,2507,2124,1974,0,0,0,0,0,0
$GC,10365,0.54,219.0,844.9,14.6,804,10369,0.00,2.17,0.00,0.000,4,0.000,0.037,2516,730,1972,0,0,0,0,0,0
$GC,10554,0.54,219.0,816.5,14.4,812,10561,0.00,2.17,0.00,0.000,6,0.000,0.034,2516,2142,1972,0,0,0,0,0,0
$GC,10871,0.54,219.0,769.3,14.4,828,10875,0.00,2.17,0.00,0.000,4,0.000,0.044,2516,3542,1972,0,0,0,0,0,0
$GC,10893,0.54,219.0,765.6,14.1,829,10897,0.00,2.12,0.00,0.000,6,0.000,0.028,2526,2135,1972,0,0,0,0,0,0
$GC,11220,0.54,219.0,720.7,13.0,845,11225,0.12,2.17,0.00,0.000,4,0.181,0.038,2504,714,1971,0,0,0,0,0,0
$GC,11373,0.57,245.7,704.2,10.8,852,11400,0.00,2.12,21.67,0.871,6,0.000,0.033,2504,2105,1866,0,0,0,0,0,0
$GC,11722,0.60,268.7,667.7,10.9,869,11747,0.00,2.33,19.15,0.837,4,0.000,0.044,2504,3535,1773,0,0,0,0,0,0
$GC,11815,0.60,268.7,655.6,13.5,873,11819,0.00,2.17,0.00,0.000,6,0.000,0.028,2514,2120,1771,0,0,0,0,0,0
$GC,12136,0.60,268.7,608.3,15.9,889,12140,0.00,2.15,0.00,0.000,4,0.000,0.039,2524,711,1771,0,0,0,0,0,0
$GC,12163,0.60,268.7,603.7,16.1,890,12167,0.00,2.17,0.00,0.000,6,0.000,0.034,2525,2118,1771,0,0,0,0,0,0
$GC,12484,0.60,268.7,553.6,13.6,906,12488,0.00,2.20,0.00,0.000,4,0.000,0.044,2525,3535,1770,0,0,0,0,0,0
$GC,12533,0.60,268.7,546.8,13.3,908,12537,0.00,2.15,0.00,0.000,6,0.000,0.028,2534,2115,1770,0,0,0,0,0,0
$GC,12856,0.66,318.5,511.8,10.0,924,12900,0.00,2.25,38.62,0.775,4,0.000,0.038,2545,717,1569,0,0,0,0,0,0
$GC,12948,0.72,361.0,502.5,10.2,928,12992,0.00,2.17,33.50,0.741,6,0.000,0.033,2545,2108,1396,0,0,0,0,0,0
$GC,13310,0.73,372.0,461.6,11.4,961,13325,0.00,2.30,10.60,0.677,4,0.000,0.044,2545,3542,1352,0,0,0,0,0,0
$GC,13428,0.73,372.0,447.0,12.5,971,13435,0.00,2.15,0.00,0.000,6,0.000,0.027,2555,2133,1353,0,0,0,0,0,0
$GC,13753,0.73,372.0,405.0,14.3,1002,13754,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2133,1353,0,0,0,0,0,0
$GC,14074,0.73,372.0,357.3,14.2,1032,14078,0.00,2.15,0.00,0.000,4,0.000,0.036,2565,713,1353,0,0,0,0,0,0
$GC,14107,0.73,372.0,352.4,12.8,1034,14114,0.00,2.17,0.00,0.000,6,0.000,0.031,2565,2127,1353,0,0,0,0,0,0
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$GC,16837,1.26,802.9,20.0,13.5,1403,16844,0.00,1.95,0.28,0.111,4,0.000,0.034,2744,3539,441,0,0,0,0,0,0
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$STATE,16925,end climb,SURFACE_DEPTH_REACHED
$STATE,16926,begin surface coast
$FINISH,0.3,1.021361
$STATE,16944,end surface coast,CONTROL_FINISHED_OK
$STATE,16944,begin surface
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$IRIDIUM_FIX,2029.47,12004.12,280811,121233
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.18
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,23.5,67.158
$10V_AH,9.8,59.637
$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
$DEVICE_SECS,16.725,171.300,639.250,0.000,0.000,88.298,130.228,176.904,0.250,0.000,15.240,3398.990,10086.357,743.126,3064.472,385.085,0.000,2210.459,0.000,2628.588,0.000,0.541,0.000
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$SENSOR_SECS,983.005,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323020
$DATA_FILE_SIZE,80317,1421
$CAP_FILE_SIZE,191444,0
$CFSIZE,260165632,212480000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280811,174937,2037.618,12004.588,38,1.3,38,-2.4