version: 66.09
glider: 181
mission: 6
dive: 359
start: 8 17 111 8 18 15
data:
$ID,181
$MISSION,6
$DIVE,359
$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,-40987.719
$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,70
$R_STBD_OVSHOOT,42
$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
$GPS1,170811,081124,2142.443,11958.753,37,1.3,38,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-71.5
$GPS2,170811,081750,2142.550,11958.726,11,1.2,11,-2.6
$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,182.2,301051,-16.3,-11.786
$D_GRID,2762
$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,-0.54,-219.0,0.0,0.0,0,83,0.00,0.00,-64.47,0.000,2,0.000,0.000,207,2572,2279,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.2,-3.2,10,135,8.02,2.03,-32.72,0.000,4,0.230,0.037,2129,1199,3759,0,0,0,0,0,0
$GC,160,-0.54,-219.0,24.8,-38.3,21,167,0.00,2.17,0.00,0.000,6,0.000,0.039,2122,2593,3758,0,0,0,0,0,0
$GC,299,-0.54,-219.0,77.1,-34.7,46,307,0.00,1.88,0.00,0.000,4,0.000,0.046,2113,3782,3757,0,0,0,0,0,0
$GC,353,-0.54,-219.0,94.6,-34.6,55,361,0.12,1.77,0.00,0.000,6,0.174,0.024,2142,2571,3757,0,0,0,0,0,0
$GC,496,-0.54,-219.0,124.0,-16.4,80,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2569,3757,0,0,0,0,0,0
$GC,637,-0.54,-219.0,146.9,-16.0,105,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2569,3757,0,0,0,0,0,0
$GC,774,-0.54,-219.0,168.8,-15.4,130,782,0.00,1.90,0.00,0.000,4,0.000,0.041,2135,3784,3759,0,0,0,0,0,0
$GC,838,-0.54,-219.0,177.5,-13.1,141,846,0.00,1.70,0.00,0.000,6,0.000,0.023,2135,2639,3758,0,0,0,0,0,0
$GC,980,-0.54,-219.0,194.8,-11.7,166,988,0.00,2.12,0.00,0.000,4,0.000,0.027,2135,1201,3758,0,0,0,0,0,0
$GC,1042,-0.54,-219.0,202.4,-10.5,175,1049,0.00,2.12,0.00,0.000,6,0.000,0.031,2127,2606,3758,0,0,0,0,0,0
$GC,1367,-0.54,-219.0,244.6,-13.8,206,1371,0.00,1.80,0.00,0.000,4,0.000,0.042,2125,3772,3758,0,0,0,0,0,0
$GC,1428,-0.54,-219.0,253.2,-12.7,211,1436,0.00,1.75,0.00,0.000,6,0.000,0.023,2125,2583,3757,0,0,0,0,0,0
$GC,1754,-0.54,-219.0,297.9,-13.3,242,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2582,3756,0,0,0,0,0,0
$GC,2074,-0.54,-219.0,336.3,-11.6,272,2078,0.00,2.00,0.00,0.000,4,0.000,0.028,2125,1206,3753,0,0,0,0,0,0
$GC,2100,-0.54,-219.0,339.2,-11.7,274,2104,0.00,2.12,0.00,0.000,6,0.000,0.033,2125,2608,3753,0,0,0,0,0,0
$GC,2426,-0.54,-219.0,378.5,-12.6,304,2429,0.00,1.77,0.00,0.000,4,0.000,0.044,2125,3780,3751,0,0,0,0,0,0
$GC,2472,-0.54,-219.0,383.9,-11.7,308,2476,0.00,1.67,0.00,0.000,6,0.000,0.024,2124,2622,3750,0,0,0,0,0,0
$GC,2803,-0.54,-219.0,420.5,-9.6,339,2807,0.00,2.08,0.00,0.000,4,0.000,0.028,2125,1200,3747,0,0,0,0,0,0
$GC,2869,-0.54,-219.0,426.4,-8.1,344,2876,0.00,2.15,0.00,0.000,6,0.000,0.034,2125,2606,3746,0,0,0,0,0,0
$GC,3194,-0.54,-219.0,457.9,-10.3,375,3198,0.00,1.77,0.00,0.000,4,0.000,0.044,2120,3776,3744,0,0,0,0,0,0
$GC,3222,-0.54,-219.0,460.9,-10.0,377,3229,0.00,1.77,0.00,0.000,6,0.000,0.024,2120,2587,3743,0,0,0,0,0,0
$GC,3547,-0.54,-219.0,497.7,-12.3,408,3551,0.00,2.03,0.00,0.000,4,0.000,0.028,2120,1210,3740,0,0,0,0,0,0
$GC,3597,-0.54,-219.0,503.6,-10.9,411,3602,0.12,2.12,0.00,0.000,6,0.143,0.034,2149,2604,3740,0,0,0,0,0,0
$GC,3921,-0.54,-219.0,533.4,-9.1,427,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2605,3737,0,0,0,0,0,0
$GC,4228,-0.54,-219.0,558.4,-7.3,442,4232,0.00,2.10,0.00,0.000,4,0.000,0.029,2149,1196,3734,0,0,0,0,0,0
$GC,4271,-0.54,-219.0,561.7,-7.1,444,4275,0.00,2.12,0.00,0.000,6,0.000,0.033,2149,2594,3734,0,0,0,0,0,0
$GC,4600,-0.54,-219.0,581.4,-5.6,460,4603,0.00,2.08,0.00,0.000,4,0.000,0.030,2149,1203,3731,0,0,0,0,0,0
$GC,4763,-0.54,-219.0,591.4,-6.2,467,4768,0.00,2.08,0.00,0.000,6,0.000,0.033,2150,2565,3730,0,0,0,0,0,0
$GC,5085,-0.54,-219.0,612.8,-7.2,483,5089,0.00,2.05,0.00,0.000,4,0.000,0.031,2149,1193,3728,0,0,0,0,0,0
$GC,5180,-0.54,-219.0,620.9,-9.1,487,5184,0.00,2.05,0.00,0.000,6,0.000,0.033,2150,2538,3728,0,0,0,0,0,0
$GC,5505,-0.54,-219.0,648.2,-8.6,503,5508,0.00,1.90,0.00,0.000,4,0.000,0.045,2149,3776,3725,0,0,0,0,0,0
$GC,5539,-0.54,-219.0,651.6,-8.8,504,5543,0.00,1.80,0.00,0.000,6,0.000,0.024,2149,2546,3724,0,0,0,0,0,0
$GC,5862,-0.54,-219.0,678.2,-7.9,520,5866,0.00,1.98,0.00,0.000,4,0.000,0.030,2149,1201,3722,0,0,0,0,0,0
$GC,6119,-0.54,-219.0,697.1,-6.9,531,6123,0.00,2.03,0.00,0.000,6,0.000,0.034,2149,2526,3721,0,0,0,0,0,0
$GC,6442,-0.54,-219.0,716.6,-6.3,547,6446,0.00,1.98,0.00,0.000,4,0.000,0.031,2149,1205,3720,0,0,0,0,0,0
$GC,6700,-0.54,-219.0,735.7,-7.9,558,6704,0.00,1.98,0.00,0.000,6,0.000,0.032,2149,2504,3718,0,0,0,0,0,0
$GC,7022,-0.54,-219.0,759.2,-7.7,574,7026,0.00,1.95,0.00,0.000,4,0.000,0.031,2149,1199,3716,0,0,0,0,0,0
$GC,7280,-0.54,-219.0,779.9,-8.1,585,7284,0.00,2.00,0.00,0.000,6,0.000,0.034,2149,2480,3719,0,0,0,0,0,0
$GC,7601,-0.54,-219.0,803.7,-7.3,601,7605,0.00,1.90,0.00,0.000,4,0.000,0.030,2149,1204,3713,0,0,0,0,0,0
$GC,7775,-0.54,-219.0,817.1,-8.0,608,7782,0.00,1.95,0.00,0.000,6,0.000,0.033,2149,2478,3712,0,0,0,0,0,0
$GC,8092,-0.54,-219.0,841.8,-8.0,624,8095,0.00,1.90,0.00,0.000,4,0.000,0.031,2149,1206,3711,0,0,0,0,0,0
$GC,8171,-0.54,-219.0,848.7,-8.8,627,8174,0.00,1.92,0.00,0.000,6,0.000,0.032,2149,2470,3710,0,0,0,0,0,0
$GC,8494,-0.54,-219.0,877.7,-9.3,643,8498,0.00,1.90,0.00,0.000,4,0.000,0.032,2149,1207,3710,0,0,0,0,0,0
$GC,8752,-0.54,-219.0,903.7,-10.1,654,8756,0.00,1.92,0.00,0.000,6,0.000,0.032,2149,2442,3709,0,0,0,0,0,0
$GC,9074,-0.54,-219.0,933.0,-9.1,670,9078,0.00,1.85,0.00,0.000,4,0.000,0.033,2150,1208,3708,0,0,0,0,0,0
$GC,9189,-0.54,-219.0,943.1,-9.3,675,9193,0.00,1.90,0.00,0.000,6,0.000,0.034,2149,2424,3708,0,0,0,0,0,0
$GC,9522,-0.54,-219.0,970.5,-8.3,691,9523,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2425,3706,0,0,0,0,0,0
$STATE,9622,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9622,begin apogee
$GC,9628,-0.13,0.0,978.7,7.9,696,9799,0.32,0.00,164.30,1.082,4,0.071,0.000,2279,2116,2869,0,0,0,0,0,0
$STATE,9800,end apogee,CONTROL_FINISHED_OK
$STATE,9800,begin climb
$GC,9802,0.54,219.0,987.4,0.0,704,9993,0.60,2.22,177.93,1.059,4,0.051,0.037,2504,746,1976,0,0,0,0,0,0
$GC,10033,0.54,219.0,970.1,13.7,714,10040,0.00,2.25,0.00,0.000,6,0.000,0.033,2504,2121,1975,0,0,0,0,0,0
$GC,10352,0.54,219.0,927.6,13.1,730,10356,0.00,2.22,0.00,0.000,4,0.000,0.044,2504,3545,1971,0,0,0,0,0,0
$GC,10414,0.54,219.0,918.6,14.2,733,10418,0.00,2.10,0.00,0.000,6,0.000,0.027,2514,2158,1973,0,0,0,0,0,0
$GC,10742,0.54,219.0,877.2,12.2,749,10746,0.00,2.17,0.00,0.000,4,0.000,0.037,2525,725,1973,0,0,0,0,0,0
$GC,10860,0.54,219.0,862.8,11.9,754,10864,0.00,2.15,0.00,0.000,6,0.000,0.032,2525,2125,1973,0,0,0,0,0,0
$GC,11177,0.54,219.0,824.9,12.0,769,11182,0.12,2.17,0.00,0.000,4,0.175,0.037,2502,715,1972,0,0,0,0,0,0
$GC,11209,0.55,222.4,820.8,11.7,770,11220,0.00,2.15,4.28,0.700,6,0.000,0.032,2502,2108,1961,0,0,0,0,0,0
$GC,11550,0.55,224.6,783.5,11.7,787,11554,0.00,2.22,0.00,0.000,4,0.000,0.044,2502,3547,1959,0,0,0,0,0,0
$GC,11622,0.55,224.6,773.2,13.9,790,11626,0.00,2.15,0.00,0.000,6,0.000,0.027,2512,2118,1960,0,0,0,0,0,0
$GC,11938,0.55,224.6,728.5,14.5,805,11942,0.00,2.12,0.00,0.000,4,0.000,0.038,2523,714,1959,0,0,0,0,0,0
$GC,12061,0.55,224.6,710.6,14.3,810,12068,0.00,2.15,0.00,0.000,6,0.000,0.033,2523,2112,1959,0,0,0,0,0,0
$GC,12378,0.55,224.6,663.8,14.6,826,12382,0.00,2.20,0.00,0.000,4,0.000,0.044,2523,3539,1959,0,0,0,0,0,0
$GC,12442,0.55,224.6,653.9,15.6,829,12447,0.12,2.15,0.00,0.000,6,0.181,0.028,2503,2111,1958,0,0,0,0,0,0
$GC,12770,0.55,229.8,613.4,11.6,845,12784,0.00,2.20,6.93,0.741,4,0.000,0.037,2511,714,1932,0,0,0,0,0,0
$GC,12908,0.58,251.9,597.5,11.0,851,12933,0.00,2.10,18.48,0.801,6,0.000,0.032,2511,2093,1842,0,0,0,0,0,0
$GC,13255,0.61,272.3,558.5,11.0,868,13278,0.00,2.35,16.95,0.781,4,0.000,0.044,2511,3536,1759,0,0,0,0,0,0
$GC,13383,0.61,272.3,543.5,11.8,873,13387,0.00,2.17,0.00,0.000,6,0.000,0.028,2521,2107,1758,0,0,0,0,0,0
$GC,13699,0.65,303.9,508.7,10.6,888,13729,0.00,2.15,25.25,0.770,4,0.000,0.037,2531,720,1629,0,0,0,0,0,0
$GC,13801,0.69,337.1,498.0,10.6,893,13836,0.00,2.12,26.15,0.744,6,0.000,0.032,2531,2094,1494,0,0,0,0,0,0
$GC,14155,0.69,343.5,456.1,11.6,926,14168,0.00,2.35,7.95,0.667,4,0.000,0.044,2531,3541,1468,0,0,0,0,0,0
$GC,14276,0.69,343.5,440.4,12.4,936,14282,0.00,2.17,0.00,0.000,6,0.000,0.027,2541,2120,1469,0,0,0,0,0,0
$GC,14601,0.69,343.5,398.4,13.6,967,14605,0.00,2.15,0.00,0.000,4,0.000,0.037,2552,716,1469,0,0,0,0,0,0
$GC,14656,0.69,343.5,390.9,13.3,971,14663,0.00,2.20,0.00,0.000,6,0.000,0.032,2552,2120,1469,0,0,0,0,0,0
$GC,14982,0.69,343.5,345.5,13.0,1002,14986,0.00,2.20,0.00,0.000,4,0.000,0.044,2552,3540,1469,0,0,0,0,0,0
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$STATE,17821,end climb,SURFACE_DEPTH_REACHED
$STATE,17821,begin surface coast
$FINISH,2.0,1.020698
$STATE,17829,end surface coast,CONTROL_FINISHED_OK
$STATE,17829,begin surface
$SM_CCo,17907,0.00,0.000,0,0,439,596.08
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$IRIDIUM_FIX,2141.13,11948.15,170811,030350
$TT8_MAMPS,0.027713,0.027713
$HUMID,44.21
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.1,58.139
$10V_AH,9.8,53.564
$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,16.325,182.200,649.350,0.000,0.000,28.889,18.487,184.500,0.000,0.000,14.186,3455.245,10213.931,727.021,3471.777,409.383,0.000,2299.027,0.000,2726.963,0.000,0.541,0.000
$DEVICE_MAMPS,229.500,45.900,1082.475,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,980.199,2142.415,678.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323560
$DATA_FILE_SIZE,93620,1407
$CAP_FILE_SIZE,198380,0
$CFSIZE,260165632,217608192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170811,131801,2142.416,11959.035,40,1.4,40,-2.6