version: 66.09
glider: 181
mission: 6
dive: 203
start: 7 19 111 8 47 57
data:
$ID,181
$MISSION,6
$DIVE,203
$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,300
$T_MISSION,340
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$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,-40774.699
$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,45
$R_STBD_OVSHOOT,49
$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
$GPS1,190711,084124,1859.504,12035.418,39,1.2,39,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-60.6
$GPS2,190711,084732,1859.582,12035.506,10,1.9,10,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$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,190.2,46916,-15.3,-11.000
$D_GRID,3387
$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,-0.52,-219.0,0.0,0.0,0,89,0.00,0.00,-71.03,0.000,2,0.000,0.000,170,2621,2476,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.6,-4.1,10,131,8.02,1.85,-24.58,0.000,4,0.229,0.057,2134,3777,3765,0,0,0,0,0,0
$GC,185,-0.52,-219.0,50.2,-66.7,25,193,0.00,1.80,0.00,0.000,6,0.000,0.024,2134,2578,3766,0,0,0,0,0,0
$GC,319,-0.52,-219.0,114.8,-33.1,50,327,0.00,1.88,0.00,0.000,4,0.000,0.043,2125,3759,3768,0,0,0,0,0,0
$GC,355,-0.52,-219.0,124.1,-25.1,56,364,0.00,1.77,0.00,0.000,6,0.000,0.024,2126,2576,3767,0,0,0,0,0,0
$GC,490,-0.52,-219.0,157.1,-20.8,81,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2572,3768,0,0,0,0,0,0
$GC,623,-0.52,-219.0,181.2,-17.5,106,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2572,3769,0,0,0,0,0,0
$GC,763,-0.52,-219.0,205.9,-17.7,129,766,0.00,1.83,0.00,0.000,4,0.000,0.042,2116,3767,3769,0,0,0,0,0,0
$GC,840,-0.52,-219.0,219.3,-15.3,136,845,0.12,1.80,0.00,0.000,6,0.145,0.024,2150,2527,3770,0,0,0,0,0,0
$GC,1172,-0.52,-219.0,263.9,-12.9,167,1176,0.00,1.92,0.00,0.000,4,0.000,0.029,2150,1200,3769,0,0,0,0,0,0
$GC,1199,-0.52,-219.0,267.9,-12.9,169,1206,0.00,2.03,0.00,0.000,6,0.000,0.035,2150,2509,3768,0,0,0,0,0,0
$GC,1525,-0.52,-219.0,310.6,-13.7,200,1528,0.00,1.92,0.00,0.000,4,0.000,0.045,2150,3774,3767,0,0,0,0,0,0
$GC,1616,-0.52,-219.0,320.9,-9.8,208,1619,0.00,1.80,0.00,0.000,6,0.000,0.024,2150,2527,3766,0,0,0,0,0,0
$GC,1948,-0.52,-219.0,357.9,-10.3,239,1951,0.00,1.92,0.00,0.000,4,0.000,0.045,2150,3771,3760,0,0,0,0,0,0
$GC,1986,-0.52,-219.0,361.8,-9.7,242,1993,0.00,1.80,0.00,0.000,6,0.000,0.026,2150,2559,3762,0,0,0,0,0,0
$GC,2312,-0.52,-219.0,392.1,-9.9,273,2316,0.00,1.98,0.00,0.000,4,0.000,0.031,2150,1206,3759,0,0,0,0,0,0
$GC,2340,-0.52,-219.0,395.1,-10.1,275,2347,0.00,2.03,0.00,0.000,6,0.000,0.036,2150,2550,3759,0,0,0,0,0,0
$GC,2666,-0.52,-219.0,427.4,-10.2,306,2670,0.00,1.88,0.00,0.000,4,0.000,0.047,2150,3774,3755,0,0,0,0,0,0
$GC,2761,-0.52,-219.0,435.8,-8.2,314,2768,0.00,1.77,0.00,0.000,6,0.000,0.026,2150,2575,3755,0,0,0,0,0,0
$GC,3087,-0.52,-219.0,468.8,-10.8,345,3090,0.00,2.00,0.00,0.000,4,0.000,0.030,2150,1212,3751,0,0,0,0,0,0
$GC,3144,-0.52,-219.0,474.2,-9.0,350,3148,0.00,2.08,0.00,0.000,6,0.000,0.036,2150,2572,3751,0,0,0,0,0,0
$GC,3484,-0.52,-219.0,508.1,-9.6,378,3487,0.00,1.85,0.00,0.000,4,0.000,0.047,2150,3784,3748,0,0,0,0,0,0
$GC,3556,-0.52,-219.0,514.9,-8.5,381,3560,0.00,1.77,0.00,0.000,6,0.000,0.026,2150,2561,3747,0,0,0,0,0,0
$GC,3884,-0.52,-219.0,539.8,-7.3,397,3887,0.00,1.88,0.00,0.000,4,0.000,0.044,2150,3781,3745,0,0,0,0,0,0
$GC,4142,-0.52,-219.0,561.6,-8.5,408,4145,0.00,1.90,0.00,0.000,6,0.000,0.025,2150,2484,3742,0,0,0,0,0,0
$GC,4464,-0.52,-219.0,591.2,-9.9,424,4468,0.00,1.88,0.00,0.000,4,0.000,0.032,2157,1201,3741,0,0,0,0,0,0
$GC,4722,-0.52,-219.0,616.1,-8.9,435,4726,0.00,1.98,0.00,0.000,6,0.000,0.034,2157,2478,3738,0,0,0,0,0,0
$GC,5044,-0.52,-219.0,640.2,-7.5,451,5048,0.00,1.90,0.00,0.000,4,0.000,0.033,2160,1202,3736,0,0,0,0,0,0
$GC,5302,-0.52,-219.0,661.0,-8.3,462,5305,0.00,1.95,0.00,0.000,6,0.000,0.034,2160,2489,3735,0,0,0,0,0,0
$GC,5623,-0.52,-219.0,686.7,-8.1,478,5627,0.00,1.98,0.00,0.000,4,0.000,0.045,2160,3786,3732,0,0,0,0,0,0
$GC,5714,-0.52,-219.0,694.7,-8.7,482,5718,0.00,1.90,0.00,0.000,6,0.000,0.026,2160,2493,3732,0,0,0,0,0,0
$GC,6048,-0.52,-219.0,723.0,-8.9,498,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2492,3730,0,0,0,0,0,0
$GC,6357,-0.52,-219.0,752.0,-9.4,513,6361,0.00,1.92,0.00,0.000,4,0.000,0.034,2160,1221,3730,0,0,0,0,0,0
$GC,6403,-0.52,-219.0,756.6,-10.0,515,6407,0.00,1.98,0.00,0.000,6,0.000,0.035,2160,2486,3729,0,0,0,0,0,0
$GC,6736,-0.52,-219.0,789.8,-10.1,531,6739,0.00,1.90,0.00,0.000,4,0.000,0.032,2167,1213,3727,0,0,0,0,0,0
$GC,6896,-0.52,-219.0,805.3,-10.2,538,6900,0.00,2.00,0.00,0.000,6,0.000,0.034,2167,2491,3726,0,0,0,0,0,0
$GC,7229,-0.52,-219.0,840.3,-10.8,554,7230,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2495,3727,0,0,0,0,0,0
$GC,7538,-0.52,-219.0,874.0,-10.9,569,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2495,3723,0,0,0,0,0,0
$GC,7848,-0.52,-219.0,906.3,-10.1,584,7851,0.00,1.92,0.00,0.000,4,0.000,0.033,2167,1212,3722,0,0,0,0,0,0
$GC,7898,-0.52,-219.0,911.7,-10.4,586,7901,0.00,1.95,0.00,0.000,6,0.000,0.036,2167,2489,3720,0,0,0,0,0,0
$GC,8226,-0.52,-219.0,940.2,-8.7,602,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2489,3721,0,0,0,0,0,0
$GC,8535,-0.52,-219.0,966.7,-8.5,617,8538,0.00,1.92,0.00,0.000,4,0.000,0.033,2174,1208,3720,0,0,0,0,0,0
$GC,8635,-0.52,-219.0,975.9,-9.2,621,8639,0.00,1.95,0.00,0.000,6,0.000,0.034,2173,2485,3719,0,0,0,0,0,0
$STATE,8811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8811,begin apogee
$GC,8817,-0.13,0.0,991.5,9.1,630,8986,0.25,0.00,163.60,1.099,4,0.068,0.000,2292,2125,2869,0,0,0,0,0,0
$STATE,8987,end apogee,CONTROL_FINISHED_OK
$STATE,8987,begin climb
$GC,8990,0.52,219.0,1001.0,0.0,638,9173,0.55,2.25,175.02,1.069,4,0.049,0.038,2512,745,1976,0,0,0,0,0,0
$GC,9363,0.52,219.0,964.4,13.5,654,9367,0.00,2.25,0.00,0.000,6,0.000,0.034,2512,2126,1974,0,0,0,0,0,0
$GC,9685,0.52,219.0,917.9,14.4,670,9689,0.00,2.20,0.00,0.000,4,0.000,0.044,2512,3538,1973,0,0,0,0,0,0
$GC,9908,0.52,219.0,881.7,15.9,680,9913,0.12,2.17,0.00,0.000,6,0.189,0.028,2492,2136,1972,0,0,0,0,0,0
$GC,10236,0.52,219.0,839.2,12.7,696,10240,0.00,2.15,0.00,0.000,4,0.000,0.038,2502,722,1972,0,0,0,0,0,0
$GC,10330,0.52,219.0,826.8,13.0,700,10334,0.00,2.15,0.00,0.000,6,0.000,0.034,2502,2115,1972,0,0,0,0,0,0
$GC,10652,0.52,219.0,783.9,13.2,716,10656,0.00,2.20,0.00,0.000,4,0.000,0.044,2502,3535,1971,0,0,0,0,0,0
$GC,10673,0.52,219.0,780.6,13.1,717,10678,0.00,2.20,0.00,0.000,6,0.000,0.028,2511,2087,1971,0,0,0,0,0,0
$GC,11001,0.52,219.0,737.8,13.2,733,11005,0.00,2.08,0.00,0.000,4,0.000,0.038,2521,713,1971,0,0,0,0,0,0
$GC,11109,0.52,219.0,724.6,12.3,738,11113,0.12,2.10,0.00,0.000,6,0.166,0.034,2489,2083,1970,0,0,0,0,0,0
$GC,11435,0.52,219.0,686.6,11.7,754,11440,0.00,2.25,0.00,0.000,4,0.000,0.045,2489,3538,1970,0,0,0,0,0,0
$GC,11525,0.52,219.0,674.8,13.2,758,11529,0.00,2.20,0.00,0.000,6,0.000,0.028,2499,2081,1970,0,0,0,0,0,0
$GC,11846,0.52,219.0,634.6,12.7,774,11850,0.00,2.05,0.00,0.000,4,0.000,0.039,2509,724,1970,0,0,0,0,0,0
$GC,11873,0.52,219.0,630.9,12.6,775,11877,0.00,2.12,0.00,0.000,6,0.000,0.034,2508,2085,1970,0,0,0,0,0,0
$GC,12202,0.52,219.0,588.4,12.8,791,12206,0.00,2.25,0.00,0.000,4,0.000,0.046,2509,3533,1971,0,0,0,0,0,0
$GC,12318,0.52,219.0,571.7,13.7,796,12323,0.00,2.17,0.00,0.000,6,0.000,0.028,2518,2095,1970,0,0,0,0,0,0
$GC,12647,0.52,219.0,528.0,13.5,812,12651,0.00,2.10,0.00,0.000,4,0.000,0.039,2528,712,1970,0,0,0,0,0,0
$GC,12724,0.52,219.0,516.9,13.2,815,12729,0.15,2.15,0.00,0.000,6,0.158,0.034,2488,2125,1970,0,0,0,0,0,0
$GC,13052,0.59,270.0,482.0,9.3,839,13097,0.00,2.25,37.75,0.782,4,0.000,0.043,2488,3538,1767,0,0,0,0,0,0
$GC,13169,0.64,314.2,470.7,9.5,849,13210,0.00,2.20,33.97,0.747,6,0.000,0.029,2497,2103,1588,0,0,0,0,0,0
$GC,13527,0.69,354.3,437.7,9.6,883,13570,0.12,2.25,31.58,0.733,4,0.094,0.037,2560,712,1427,0,0,0,0,0,0
$GC,13586,0.69,354.3,429.5,14.1,888,13594,0.00,2.22,0.00,0.000,6,0.000,0.033,2560,2101,1424,0,0,0,0,0,0
$GC,13912,0.69,354.3,376.7,17.6,919,13916,0.00,2.28,0.00,0.000,4,0.000,0.045,2560,3542,1425,0,0,0,0,0,0
$GC,13968,0.69,354.3,366.1,18.8,924,13972,0.00,2.17,0.00,0.000,6,0.000,0.028,2569,2120,1425,0,0,0,0,0,0
$GC,14293,0.69,354.3,304.5,19.3,954,14297,0.00,2.12,0.00,0.000,4,0.000,0.038,2580,721,1425,0,0,0,0,0,0
$GC,14361,0.69,354.3,291.8,18.4,960,14366,0.15,2.17,0.00,0.000,6,0.155,0.035,2541,2130,1425,0,0,0,0,0,0
$GC,14686,0.69,354.3,240.7,14.4,990,14690,0.00,2.17,0.00,0.000,4,0.000,0.045,2541,3538,1425,0,0,0,0,0,0
$GC,14794,0.69,354.3,224.4,14.1,999,14802,0.00,2.12,0.00,0.000,6,0.000,0.030,2545,2133,1426,0,0,0,0,0,0
$GC,15117,0.69,354.3,179.3,13.0,1045,15125,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2132,1425,0,0,0,0,0,0
$GC,15251,0.69,354.3,162.2,12.9,1070,15259,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2133,1425,0,0,0,0,0,0
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$GC,16407,1.02,619.0,49.6,10.1,1271,16423,0.00,2.22,5.22,0.405,4,0.000,0.037,2616,3540,440,0,0,0,0,0,0
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$GC,16747,1.06,655.4,12.7,10.6,1332,16755,0.00,2.22,0.00,0.000,6,0.000,0.028,2673,2155,438,0,0,0,0,0,0
$STATE,16843,end climb,SURFACE_DEPTH_REACHED
$STATE,16843,begin surface coast
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$STATE,16884,end surface coast,CONTROL_FINISHED_OK
$STATE,16884,begin surface
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$IRIDIUM_FIX,1853.26,12039.84,190711,040446
$TT8_MAMPS,0.027713,0.027713
$HUMID,42.67
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.6,32.345
$10V_AH,10.0,31.748
$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
$DEVICE_SECS,16.375,157.075,622.800,0.000,0.000,27.966,21.262,175.442,0.000,0.000,13.238,3309.011,9366.621,658.001,3629.634,352.309,0.000,2176.177,0.000,2602.135,0.000,0.542,0.000
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$SENSOR_SECS,945.752,1390.422,1483.763,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321508
$DATA_FILE_SIZE,93731,1357
$CAP_FILE_SIZE,183091,0
$CFSIZE,260165632,232038400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190711,133154,1858.520,12036.537,38,1.0,38,-2.1