version: 66.09
glider: 181
mission: 6
dive: 89
start: 6 27 111 9 11 11
data:
$ID,181
$MISSION,6
$DIVE,89
$N_DIVES,95
$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,400
$T_MISSION,440
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,2
$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,-39629.371
$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,2302
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$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,64
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,270611,090407,2007.927,11958.133,29,1.0,29,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-68.6
$GPS2,270611,091044,2007.968,11958.131,8,1.7,8,-2.3
$SPEED_LIMITS,0.143,0.243
$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,173.6,125919,-14.5,-8.250
$D_GRID,3507
$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,14,begin dive
$GC,16,-0.47,-146.0,0.0,0.0,0,77,0.00,0.00,-58.40,0.000,2,0.000,0.000,184,2558,2469,0,0,0,0,0,0
$GC,80,-0.47,-146.0,3.1,-4.1,8,119,7.95,1.95,-20.67,0.000,4,0.234,0.060,2133,3778,3469,0,0,0,0,0,0
$GC,156,-0.47,-146.0,33.4,-50.8,19,164,0.00,1.80,0.00,0.000,6,0.000,0.030,2133,2618,3470,0,0,0,0,0,0
$GC,293,-0.47,-146.0,84.2,-35.6,44,301,0.00,2.15,0.00,0.000,4,0.000,0.027,2132,1181,3471,0,0,0,0,0,0
$GC,373,-0.47,-146.0,105.6,-23.1,58,381,0.00,2.22,0.00,0.000,6,0.000,0.039,2123,2593,3472,0,0,0,0,0,0
$GC,511,-0.47,-146.0,137.3,-21.0,83,519,0.00,1.85,0.00,0.000,4,0.000,0.043,2114,3783,3473,0,0,0,0,0,0
$GC,582,-0.47,-146.0,152.6,-21.2,95,591,0.10,1.80,0.00,0.000,6,0.145,0.025,2145,2582,3474,0,0,0,0,0,0
$GC,722,-0.47,-146.0,178.1,-15.6,120,730,0.00,2.05,0.00,0.000,4,0.000,0.028,2145,1203,3474,0,0,0,0,0,0
$GC,787,-0.47,-146.0,188.3,-14.1,131,796,0.00,2.17,0.00,0.000,6,0.000,0.035,2138,2605,3475,0,0,0,0,0,0
$GC,932,-0.47,-146.0,210.4,-16.0,151,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2606,3474,0,0,0,0,0,0
$GC,1251,-0.47,-146.0,260.7,-15.1,181,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2605,3474,0,0,0,0,0,0
$GC,1578,-0.47,-146.0,306.9,-13.2,212,1582,0.00,2.08,0.00,0.000,4,0.000,0.031,2138,1202,3473,0,0,0,0,0,0
$GC,1630,-0.47,-146.0,313.8,-12.9,216,1634,0.00,2.12,0.00,0.000,6,0.000,0.037,2137,2600,3472,0,0,0,0,0,0
$GC,1955,-0.47,-146.0,356.9,-12.9,246,1959,0.00,1.77,0.00,0.000,4,0.000,0.047,2135,3779,3470,0,0,0,0,0,0
$GC,1994,-0.47,-146.0,361.8,-11.9,249,2002,0.00,1.77,0.00,0.000,6,0.000,0.027,2135,2585,3470,0,0,0,0,0,0
$GC,2321,-0.47,-146.0,402.3,-12.2,280,2324,0.00,2.03,0.00,0.000,4,0.000,0.031,2134,1206,3466,0,0,0,0,0,0
$GC,2382,-0.47,-146.0,409.7,-10.8,285,2390,0.00,2.17,0.00,0.000,6,0.000,0.037,2126,2603,3465,0,0,0,0,0,0
$GC,2707,-0.47,-146.0,448.5,-11.5,316,2711,0.00,2.08,0.00,0.000,4,0.000,0.032,2126,1207,3464,0,0,0,0,0,0
$GC,2770,-0.47,-146.0,455.6,-11.0,321,2774,0.00,2.12,0.00,0.000,6,0.000,0.039,2124,2599,3462,0,0,0,0,0,0
$GC,3096,-0.47,-146.0,492.5,-11.5,351,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2599,3458,0,0,0,0,0,0
$GC,3418,-0.47,-146.0,529.5,-11.5,370,3422,0.00,2.08,0.00,0.000,4,0.000,0.034,2124,1212,3456,0,0,0,0,0,0
$GC,3462,-0.47,-146.0,535.0,-11.5,372,3466,0.00,2.17,0.00,0.000,6,0.000,0.041,2124,2630,3455,0,0,0,0,0,0
$GC,3790,-0.47,-146.0,572.5,-11.6,388,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2631,3453,0,0,0,0,0,0
$GC,4099,-0.47,-146.0,608.3,-11.4,403,4103,0.00,1.75,0.00,0.000,4,0.000,0.050,2122,3784,3450,0,0,0,0,0,0
$GC,4115,-0.47,-146.0,610.3,-11.0,403,4123,0.08,1.75,0.00,0.000,6,0.142,0.028,2143,2621,3449,0,0,0,0,0,0
$GC,4432,-0.47,-146.0,639.6,-9.1,419,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2620,3447,0,0,0,0,0,0
$GC,4741,-0.47,-146.0,666.7,-8.9,434,4745,0.00,2.12,0.00,0.000,4,0.000,0.034,2143,1192,3444,0,0,0,0,0,0
$GC,4804,-0.47,-146.0,672.5,-9.1,437,4808,0.00,2.17,0.00,0.000,6,0.000,0.039,2138,2609,3444,0,0,0,0,0,0
$GC,5131,-0.47,-146.0,705.0,-10.1,453,5135,0.00,2.12,0.00,0.000,4,0.000,0.035,2138,1196,3443,0,0,0,0,0,0
$GC,5194,-0.47,-146.0,711.3,-9.4,456,5198,0.00,2.15,0.00,0.000,6,0.000,0.041,2139,2598,3442,0,0,0,0,0,0
$GC,5521,-0.47,-146.0,742.1,-9.1,472,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2599,3438,0,0,0,0,0,0
$GC,5830,-0.47,-146.0,768.0,-7.8,487,5834,0.00,2.10,0.00,0.000,4,0.000,0.035,2138,1202,3438,0,0,0,0,0,0
$GC,5902,-0.47,-146.0,773.3,-6.9,490,5907,0.00,2.17,0.00,0.000,6,0.000,0.041,2137,2618,3438,0,0,0,0,0,0
$GC,6225,-0.47,-146.0,795.6,-7.2,506,6229,0.00,1.77,0.00,0.000,4,0.000,0.051,2137,3779,3436,0,0,0,0,0,0
$GC,6249,-0.47,-146.0,797.3,-7.3,507,6253,0.00,1.75,0.00,0.000,6,0.000,0.030,2137,2591,3436,0,0,0,0,0,0
$GC,6582,-0.47,-146.0,822.8,-8.2,523,6586,0.00,2.08,0.00,0.000,4,0.000,0.036,2138,1195,3435,0,0,0,0,0,0
$GC,6682,-0.47,-146.0,831.7,-8.5,527,6689,0.00,2.17,0.00,0.000,6,0.000,0.041,2137,2600,3434,0,0,0,0,0,0
$GC,6998,-0.47,-146.0,861.2,-9.6,543,7002,0.00,2.12,0.00,0.000,4,0.000,0.036,2137,1206,3432,0,0,0,0,0,0
$GC,7053,-0.47,-146.0,867.0,-10.2,545,7061,0.00,2.17,0.00,0.000,6,0.000,0.042,2138,2601,3432,0,0,0,0,0,0
$GC,7369,-0.47,-146.0,898.0,-9.9,561,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2605,3434,0,0,0,0,0,0
$GC,7678,-0.47,-146.0,926.6,-8.9,576,7682,0.00,2.12,0.00,0.000,4,0.000,0.037,2137,1200,3430,0,0,0,0,0,0
$GC,7728,-0.47,-146.0,931.3,-9.4,578,7732,0.00,2.17,0.00,0.000,6,0.000,0.043,2137,2603,3430,0,0,0,0,0,0
$GC,8049,-0.47,-146.0,960.4,-9.1,594,8050,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2604,3429,0,0,0,0,0,0
$GC,8358,-0.47,-146.0,987.0,-8.3,609,8362,0.00,2.12,0.00,0.000,4,0.000,0.037,2138,1201,3428,0,0,0,0,0,0
$STATE,8391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8391,begin apogee
$GC,8398,-0.16,0.0,990.1,8.3,610,8516,0.32,0.00,111.00,1.115,6,0.123,0.000,2246,2135,2869,0,0,0,0,0,0
$STATE,8516,end apogee,CONTROL_FINISHED_OK
$STATE,8517,begin climb
$GC,8519,0.47,146.0,994.4,0.0,616,8649,0.57,2.38,120.85,1.086,4,0.080,0.041,2457,736,2273,0,0,0,0,0,0
$GC,8716,0.47,146.0,982.1,10.8,625,8720,0.00,2.22,0.00,0.000,6,0.000,0.034,2457,2122,2267,0,0,0,0,0,0
$GC,9044,0.47,146.0,948.4,10.2,641,9048,0.00,2.22,0.00,0.000,4,0.000,0.046,2454,3536,2262,0,0,0,0,0,0
$GC,9098,0.47,146.0,941.8,11.7,643,9106,0.00,2.20,0.00,0.000,6,0.000,0.030,2472,2138,2262,0,0,0,0,0,0
$GC,9415,0.47,146.0,906.5,11.2,659,9419,0.00,2.17,0.00,0.000,4,0.000,0.040,2478,721,2260,0,0,0,0,0,0
$GC,9478,0.47,146.0,899.2,11.5,662,9482,0.00,2.20,0.00,0.000,6,0.000,0.035,2479,2133,2260,0,0,0,0,0,0
$GC,9810,0.47,146.0,860.4,11.5,678,9814,0.00,2.17,0.00,0.000,4,0.000,0.045,2478,3536,2259,0,0,0,0,0,0
$GC,9843,0.47,146.0,856.0,12.4,679,9848,0.12,2.15,0.00,0.000,6,0.198,0.031,2459,2116,2258,0,0,0,0,0,0
$GC,10160,0.47,146.0,823.3,10.4,694,10164,0.00,2.12,0.00,0.000,4,0.000,0.041,2469,720,2257,0,0,0,0,0,0
$GC,10222,0.47,146.0,816.7,11.2,697,10226,0.00,2.17,0.00,0.000,6,0.000,0.035,2469,2133,2257,0,0,0,0,0,0
$GC,10554,0.47,146.0,782.3,10.3,713,10558,0.00,2.17,0.00,0.000,4,0.000,0.046,2468,3542,2254,0,0,0,0,0,0
$GC,10610,0.47,146.0,775.8,11.5,715,10614,0.00,2.15,0.00,0.000,6,0.000,0.030,2477,2120,2256,0,0,0,0,0,0
$GC,10932,0.47,146.0,743.3,9.8,731,10936,0.00,2.12,0.00,0.000,4,0.000,0.041,2488,721,2254,0,0,0,0,0,0
$GC,11010,0.47,146.0,735.3,9.7,734,11018,0.10,2.20,0.00,0.000,6,0.155,0.035,2448,2131,2257,0,0,0,0,0,0
$GC,11327,0.47,148.0,709.2,8.2,750,11331,0.00,2.17,0.00,0.000,4,0.000,0.046,2448,3542,2255,0,0,0,0,0,0
$GC,11354,0.47,149.5,706.8,8.2,751,11358,0.00,2.15,0.00,0.000,6,0.000,0.031,2456,2120,2255,0,0,0,0,0,0
$GC,11671,0.47,150.1,680.7,8.2,766,11675,0.00,2.12,0.00,0.000,4,0.000,0.043,2467,716,2255,0,0,0,0,0,0
$GC,11748,0.47,150.1,673.7,8.8,769,11756,0.00,2.17,0.00,0.000,6,0.000,0.036,2467,2132,2255,0,0,0,0,0,0
$GC,12064,0.47,150.1,644.3,9.2,785,12068,0.00,2.15,0.00,0.000,4,0.000,0.046,2467,3539,2252,0,0,0,0,0,0
$GC,12153,0.47,150.1,634.7,10.9,789,12158,0.00,2.17,0.00,0.000,6,0.000,0.031,2477,2095,2254,0,0,0,0,0,0
$GC,12481,0.47,150.1,602.9,9.7,805,12482,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2095,2254,0,0,0,0,0,0
$GC,12791,0.47,150.1,571.0,10.7,820,12794,0.00,2.08,0.00,0.000,4,0.000,0.041,2487,716,2254,0,0,0,0,0,0
$GC,12831,0.47,150.1,566.6,10.6,822,12836,0.12,2.15,0.00,0.000,6,0.168,0.034,2455,2138,2254,0,0,0,0,0,0
$GC,13159,0.47,150.1,536.1,9.2,838,13163,0.00,2.12,0.00,0.000,4,0.000,0.045,2455,3536,2254,0,0,0,0,0,0
$GC,13225,0.47,150.1,528.9,10.5,841,13230,0.00,2.17,0.00,0.000,6,0.000,0.030,2464,2088,2255,0,0,0,0,0,0
$GC,13544,0.47,150.1,498.2,9.5,857,13547,0.00,2.05,0.00,0.000,4,0.000,0.040,2474,720,2257,0,0,0,0,0,0
$GC,13637,0.47,150.1,488.7,10.0,865,13646,0.00,2.17,0.00,0.000,6,0.000,0.034,2474,2127,2255,0,0,0,0,0,0
$GC,13963,0.47,150.1,457.3,9.6,896,13967,0.00,2.15,0.00,0.000,4,0.000,0.044,2474,3541,2254,0,0,0,0,0,0
$GC,14002,0.47,150.1,453.3,10.2,899,14006,0.00,2.12,0.00,0.000,6,0.000,0.031,2483,2125,2254,0,0,0,0,0,0
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$STATE,18975,end climb,SURFACE_DEPTH_REACHED
$STATE,18977,begin surface coast
$FINISH,1.4,1.021108
$STATE,18989,end surface coast,CONTROL_FINISHED_OK
$STATE,18989,begin surface
$SM_CCo,19066,0.00,0.000,0,0,690,534.51
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$TT8_MAMPS,0.027713,0.027713
$HUMID,39.76
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.1,14.185
$10V_AH,10.1,15.030
$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
$DEVICE_SECS,15.975,193.775,525.100,0.000,0.000,25.104,19.849,200.740,0.000,0.000,11.492,3885.086,10694.287,642.938,3839.884,380.311,0.000,2200.460,0.000,2641.027,0.000,0.541,0.000
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$SENSOR_SECS,1066.328,2320.185,1656.084,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322616
$DATA_FILE_SIZE,100357,1524
$CAP_FILE_SIZE,196884,0
$CFSIZE,260165632,242716672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,111.484,166.3,1
$GPS,270611,091044,2007.968,11958.131,901,99.0,901,-2.3