version: 66.09
glider: 181
mission: 6
dive: 92
start: 6 28 111 1 12 10
data:
$ID,181
$MISSION,6
$DIVE,92
$N_DIVES,100
$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,-40538.066
$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,44
$R_STBD_OVSHOOT,43
$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,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
$GPS1,280611,010506,2005.578,11954.871,26,1.5,26,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-69.5
$GPS2,280611,011143,2005.651,11954.870,15,1.5,15,-2.2
$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,133.0,121918,-14.5,-8.250
$D_GRID,3460
$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,-0.47,-146.0,0.0,0.0,0,87,0.00,0.00,-68.70,0.000,2,0.000,0.000,180,2613,2507,0,0,0,0,0,0
$GC,90,-0.47,-146.0,3.2,-3.6,9,123,7.95,1.88,-19.73,0.000,4,0.235,0.058,2131,3780,3467,0,0,0,0,0,0
$GC,136,-0.47,-146.0,20.2,-37.5,15,146,0.00,1.80,0.00,0.000,6,0.000,0.026,2131,2586,3468,0,0,0,0,0,0
$GC,275,-0.47,-146.0,78.4,-28.9,40,282,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2584,3470,0,0,0,0,0,0
$GC,412,-0.47,-146.0,114.7,-27.3,65,420,0.00,1.88,0.00,0.000,4,0.000,0.042,2122,3779,3470,0,0,0,0,0,0
$GC,470,-0.47,-146.0,133.8,-32.3,75,479,0.00,1.73,0.00,0.000,6,0.000,0.025,2122,2632,3471,0,0,0,0,0,0
$GC,610,-0.47,-146.0,160.8,-18.2,100,618,0.00,2.15,0.00,0.000,4,0.000,0.029,2122,1194,3470,0,0,0,0,0,0
$GC,690,-0.47,-146.0,176.4,-17.5,114,699,0.10,2.15,0.00,0.000,6,0.146,0.037,2144,2571,3476,0,0,0,0,0,0
$GC,830,-0.47,-146.0,198.9,-15.7,139,839,0.00,2.08,0.00,0.000,4,0.000,0.028,2144,1187,3473,0,0,0,0,0,0
$GC,847,-0.47,-146.0,202.1,-16.0,141,851,0.00,2.12,0.00,0.000,6,0.000,0.037,2137,2580,3473,0,0,0,0,0,0
$GC,1174,-0.47,-146.0,252.9,-15.4,171,1177,0.00,1.83,0.00,0.000,4,0.000,0.044,2129,3787,3473,0,0,0,0,0,0
$GC,1277,-0.47,-146.0,267.7,-12.8,180,1285,0.00,1.80,0.00,0.000,6,0.000,0.024,2129,2579,3472,0,0,0,0,0,0
$GC,1603,-0.47,-146.0,314.8,-14.5,211,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2575,3470,0,0,0,0,0,0
$GC,1923,-0.47,-146.0,358.2,-13.3,241,1926,0.00,1.85,0.00,0.000,4,0.000,0.045,2123,3787,3468,0,0,0,0,0,0
$GC,1946,-0.47,-146.0,361.5,-13.5,243,1950,0.00,1.75,0.00,0.000,6,0.000,0.026,2123,2583,3468,0,0,0,0,0,0
$GC,2277,-0.47,-146.0,406.8,-14.4,274,2281,0.00,2.05,0.00,0.000,4,0.000,0.032,2123,1186,3465,0,0,0,0,0,0
$GC,2316,-0.47,-146.0,412.2,-13.8,277,2324,0.12,2.15,0.00,0.000,6,0.165,0.039,2146,2595,3464,0,0,0,0,0,0
$GC,2642,-0.47,-146.0,446.3,-9.9,308,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2596,3462,0,0,0,0,0,0
$GC,2963,-0.47,-146.0,477.7,-10.4,338,2967,0.00,2.10,0.00,0.000,4,0.000,0.033,2146,1205,3458,0,0,0,0,0,0
$GC,3008,-0.47,-146.0,483.0,-11.1,342,3012,0.00,2.12,0.00,0.000,6,0.000,0.039,2139,2593,3458,0,0,0,0,0,0
$GC,3331,-0.47,-146.0,518.9,-11.2,364,3335,0.00,1.80,0.00,0.000,4,0.000,0.049,2138,3779,3455,0,0,0,0,0,0
$GC,3403,-0.47,-146.0,527.0,-10.0,367,3407,0.00,1.77,0.00,0.000,6,0.000,0.028,2138,2594,3455,0,0,0,0,0,0
$GC,3731,-0.47,-146.0,561.3,-10.6,383,3735,0.00,2.05,0.00,0.000,4,0.000,0.034,2137,1202,3451,0,0,0,0,0,0
$GC,3836,-0.47,-146.0,572.8,-10.7,387,3845,0.00,2.15,0.00,0.000,6,0.000,0.040,2138,2579,3450,0,0,0,0,0,0
$GC,4153,-0.47,-146.0,605.8,-10.7,403,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2579,3448,0,0,0,0,0,0
$GC,4462,-0.47,-146.0,636.2,-9.4,418,4463,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2579,3445,0,0,0,0,0,0
$GC,4771,-0.47,-146.0,663.6,-8.7,433,4772,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2578,3444,0,0,0,0,0,0
$GC,5081,-0.47,-146.0,691.8,-9.3,448,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2579,3442,0,0,0,0,0,0
$GC,5390,-0.47,-146.0,722.8,-10.1,463,5394,0.00,2.08,0.00,0.000,4,0.000,0.035,2138,1200,3439,0,0,0,0,0,0
$GC,5456,-0.47,-146.0,729.7,-9.9,466,5460,0.00,2.17,0.00,0.000,6,0.000,0.041,2137,2581,3439,0,0,0,0,0,0
$GC,5784,-0.47,-146.0,761.3,-9.4,482,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2582,3437,0,0,0,0,0,0
$GC,6093,-0.47,-146.0,790.9,-9.8,497,6094,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2582,3435,0,0,0,0,0,0
$GC,6403,-0.47,-146.0,822.4,-10.5,512,6407,0.00,2.08,0.00,0.000,4,0.000,0.035,2138,1207,3434,0,0,0,0,0,0
$GC,6436,-0.47,-146.0,826.2,-10.8,513,6443,0.00,2.12,0.00,0.000,6,0.000,0.042,2138,2580,3433,0,0,0,0,0,0
$GC,6752,-0.47,-146.0,859.3,-10.6,529,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2582,3432,0,0,0,0,0,0
$GC,7061,-0.47,-146.0,893.9,-11.3,544,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2581,3431,0,0,0,0,0,0
$GC,7371,-0.47,-146.0,928.6,-11.3,559,7375,0.00,2.08,0.00,0.000,4,0.000,0.037,2138,1209,3430,0,0,0,0,0,0
$GC,7398,-0.47,-146.0,931.9,-11.1,560,7402,0.00,2.15,0.00,0.000,6,0.000,0.042,2138,2600,3430,0,0,0,0,0,0
$GC,7726,-0.47,-146.0,965.1,-9.8,576,7730,0.00,2.10,0.00,0.000,4,0.000,0.036,2140,1211,3428,0,0,0,0,0,0
$GC,7766,-0.47,-146.0,969.1,-9.9,578,7770,0.00,2.10,0.00,0.000,6,0.000,0.042,2137,2569,3428,0,0,0,0,0,0
$STATE,8008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8008,begin apogee
$GC,8014,-0.16,0.0,990.9,8.7,590,8131,0.32,0.00,110.18,1.117,4,0.125,0.000,2245,2123,2870,0,0,0,0,0,0
$STATE,8132,end apogee,CONTROL_FINISHED_OK
$STATE,8132,begin climb
$GC,8134,0.47,146.0,995.0,0.0,595,8263,0.62,2.30,120.47,1.087,4,0.086,0.041,2453,715,2274,0,0,0,0,0,0
$GC,8271,0.49,166.4,989.7,7.5,602,8294,0.00,2.30,17.80,0.989,6,0.000,0.035,2453,2126,2192,0,0,0,0,0,0
$GC,8603,0.49,166.4,954.7,10.5,618,8607,0.00,2.22,0.00,0.000,4,0.000,0.046,2453,3538,2183,0,0,0,0,0,0
$GC,8681,0.49,166.4,945.2,11.9,621,8685,0.00,2.20,0.00,0.000,6,0.000,0.031,2463,2115,2182,0,0,0,0,0,0
$GC,9004,0.49,166.4,910.0,10.9,637,9008,0.00,2.15,0.00,0.000,4,0.000,0.041,2474,716,2180,0,0,0,0,0,0
$GC,9103,0.49,166.4,899.1,10.8,641,9111,0.00,2.17,0.00,0.000,6,0.000,0.035,2474,2127,2180,0,0,0,0,0,0
$GC,9420,0.49,166.4,863.4,11.3,657,9424,0.00,2.17,0.00,0.000,4,0.000,0.046,2474,3536,2179,0,0,0,0,0,0
$GC,9505,0.49,166.4,852.6,13.4,661,9509,0.00,2.15,0.00,0.000,6,0.000,0.031,2483,2123,2178,0,0,0,0,0,0
$GC,9833,0.49,166.4,812.7,12.0,677,9837,0.00,2.15,0.00,0.000,4,0.000,0.042,2495,713,2178,0,0,0,0,0,0
$GC,10032,0.49,166.4,788.5,11.5,686,10037,0.08,2.17,0.00,0.000,6,0.161,0.035,2463,2105,2177,0,0,0,0,0,0
$GC,10360,0.49,166.4,754.0,10.2,702,10364,0.00,2.22,0.00,0.000,4,0.000,0.045,2463,3545,2176,0,0,0,0,0,0
$GC,10431,0.49,166.4,745.6,11.7,705,10436,0.00,2.20,0.00,0.000,6,0.000,0.031,2472,2120,2176,0,0,0,0,0,0
$GC,10753,0.49,166.4,710.4,11.2,721,10757,0.00,2.12,0.00,0.000,4,0.000,0.042,2482,721,2176,0,0,0,0,0,0
$GC,10861,0.49,166.4,698.2,11.5,726,10865,0.00,2.12,0.00,0.000,6,0.000,0.036,2482,2118,2176,0,0,0,0,0,0
$GC,11188,0.49,166.4,659.4,11.9,742,11192,0.00,2.20,0.00,0.000,4,0.000,0.045,2482,3546,2176,0,0,0,0,0,0
$GC,11282,0.49,166.4,646.9,13.1,746,11286,0.00,2.15,0.00,0.000,6,0.000,0.031,2491,2124,2175,0,0,0,0,0,0
$GC,11604,0.49,166.4,604.5,13.5,762,11608,0.00,2.15,0.00,0.000,4,0.000,0.042,2503,710,2175,0,0,0,0,0,0
$GC,11675,0.49,166.4,595.0,13.0,765,11680,0.15,2.17,0.00,0.000,6,0.171,0.034,2464,2139,2174,0,0,0,0,0,0
$GC,11991,0.49,166.4,559.5,11.3,780,11993,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2139,2175,0,0,0,0,0,0
$GC,12301,0.49,166.4,524.9,11.1,795,12302,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2139,2173,0,0,0,0,0,0
$GC,12612,0.49,166.4,491.3,10.7,813,12616,0.00,2.17,0.00,0.000,4,0.000,0.039,2472,715,2174,0,0,0,0,0,0
$GC,12641,0.49,166.4,488.0,10.9,815,12645,0.00,2.17,0.00,0.000,6,0.000,0.036,2472,2145,2174,0,0,0,0,0,0
$GC,12966,0.49,166.4,453.6,9.8,845,12970,0.00,2.12,0.00,0.000,4,0.000,0.046,2472,3535,2175,0,0,0,0,0,0
$GC,13031,0.49,166.4,446.2,11.1,850,13039,0.00,2.12,0.00,0.000,6,0.000,0.029,2481,2142,2174,0,0,0,0,0,0
$GC,13357,0.49,166.4,413.7,10.1,881,13361,0.00,2.15,0.00,0.000,4,0.000,0.039,2492,709,2174,0,0,0,0,0,0
$GC,13385,0.49,166.4,410.7,9.9,883,13390,0.00,2.20,0.00,0.000,6,0.000,0.035,2492,2156,2174,0,0,0,0,0,0
$GC,13716,0.49,166.4,375.6,9.9,914,13720,0.00,2.10,0.00,0.000,4,0.000,0.046,2492,3535,2175,0,0,0,0,0,0
$GC,13766,0.49,166.4,370.1,10.9,918,13771,0.15,2.10,0.00,0.000,6,0.182,0.029,2464,2144,2174,0,0,0,0,0,0
$GC,14097,0.59,243.9,348.7,5.3,949,14157,0.00,0.00,57.67,0.711,6,0.000,0.000,2464,2145,1874,0,0,0,0,0,0
$GC,14476,0.63,272.8,324.5,7.1,985,14504,0.12,2.22,22.42,0.681,4,0.092,0.036,2531,715,1755,0,0,0,0,0,0
$GC,14542,0.63,272.8,316.9,12.4,990,14550,0.00,2.25,0.00,0.000,6,0.000,0.035,2531,2153,1756,0,0,0,0,0,0
$GC,14869,0.63,272.8,269.9,14.3,1021,14873,0.00,2.15,0.00,0.000,4,0.000,0.045,2531,3538,1753,0,0,0,0,0,0
$GC,14921,0.63,272.8,262.3,14.7,1025,14926,0.15,2.12,0.00,0.000,6,0.170,0.028,2502,2140,1754,0,0,0,0,0,0
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$GC,17151,0.90,495.4,41.3,6.1,1366,17199,0.00,0.00,43.03,0.482,6,0.000,0.000,2587,2142,847,0,0,0,0,0,0
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$STATE,17586,end climb,SURFACE_DEPTH_REACHED
$STATE,17587,begin surface coast
$FINISH,-0.1,1.017686
$STATE,17615,end surface coast,CONTROL_FINISHED_OK
$STATE,17615,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,40.03
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.1,14.544
$10V_AH,10.2,15.579
$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
$DEVICE_SECS,16.150,156.450,522.025,0.000,0.000,29.698,18.650,192.871,0.000,0.000,17.939,3667.105,9880.896,608.615,3562.287,351.968,0.000,2036.159,0.000,2457.836,0.000,0.540,0.000
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$SENSOR_SECS,1010.000,1495.021,1617.076,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322628
$DATA_FILE_SIZE,97121,1447
$CAP_FILE_SIZE,179150,0
$CFSIZE,260165632,242434048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.224,  0.5,1
$GPS,280611,060806,2006.363,11956.888,24,1.3,24,-2.2