version: 66.09
glider: 181
mission: 6
dive: 361
start: 8 17 111 18 36 15
data:
$ID,181
$MISSION,6
$DIVE,361
$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,-40990.234
$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,44
$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
$GPS1,170811,182707,2141.187,11959.031,39,1.0,39,-2.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.5
$GPS2,170811,183550,2141.217,11958.936,13,1.7,13,-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,182.2,298580,-16.3,-11.786
$D_GRID,2857
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.54,-219.0,0.0,0.0,0,84,0.00,0.00,-64.32,0.000,2,0.000,0.000,204,2612,2260,0,0,0,0,0,0
$GC,87,-0.54,-219.0,3.2,-3.1,10,136,8.05,2.15,-33.28,0.000,4,0.228,0.038,2134,1187,3759,0,0,0,0,0,0
$GC,199,-0.54,-219.0,34.6,-27.4,28,207,0.00,2.22,0.00,0.000,6,0.000,0.038,2125,2592,3758,0,0,0,0,0,0
$GC,340,-0.54,-219.0,78.5,-27.3,53,347,0.00,1.85,0.00,0.000,4,0.000,0.043,2116,3778,3757,0,0,0,0,0,0
$GC,392,-0.54,-219.0,92.4,-26.8,62,400,0.00,1.60,0.00,0.000,6,0.000,0.022,2116,2698,3756,0,0,0,0,0,0
$GC,533,-0.54,-219.0,124.1,-21.8,87,540,0.00,2.22,0.00,0.000,4,0.000,0.027,2116,1183,3757,0,0,0,0,0,0
$GC,634,-0.54,-219.0,141.3,-15.2,105,642,0.12,2.30,0.00,0.000,6,0.152,0.033,2146,2695,3757,0,0,0,0,0,0
$GC,775,-0.54,-219.0,162.0,-14.2,130,783,0.00,2.25,0.00,0.000,4,0.000,0.027,2147,1196,3757,0,0,0,0,0,0
$GC,801,-0.54,-219.0,166.5,-15.6,134,809,0.00,2.28,0.00,0.000,6,0.000,0.034,2139,2666,3757,0,0,0,0,0,0
$GC,943,-0.54,-219.0,187.0,-13.8,159,950,0.00,1.73,0.00,0.000,4,0.000,0.041,2132,3786,3757,0,0,0,0,0,0
$GC,983,-0.54,-219.0,192.4,-13.2,166,991,0.00,1.73,0.00,0.000,6,0.000,0.022,2132,2617,3757,0,0,0,0,0,0
$GC,1123,-0.54,-219.0,210.2,-12.9,184,1126,0.00,2.05,0.00,0.000,4,0.000,0.027,2132,1212,3758,0,0,0,0,0,0
$GC,1170,-0.54,-219.0,215.2,-10.5,188,1174,0.00,2.10,0.00,0.000,6,0.000,0.032,2125,2600,3757,0,0,0,0,0,0
$GC,1496,-0.54,-219.0,253.6,-11.7,218,1500,0.00,1.85,0.00,0.000,4,0.000,0.043,2117,3783,3756,0,0,0,0,0,0
$GC,1564,-0.54,-219.0,262.1,-11.6,224,1568,0.00,1.70,0.00,0.000,6,0.000,0.023,2117,2608,3756,0,0,0,0,0,0
$GC,1895,-0.54,-219.0,314.1,-15.2,255,1899,0.00,2.05,0.00,0.000,4,0.000,0.028,2117,1206,3754,0,0,0,0,0,0
$GC,1922,-0.54,-219.0,318.2,-14.3,257,1930,0.08,2.17,0.00,0.000,6,0.120,0.034,2151,2608,3754,0,0,0,0,0,0
$GC,2249,-0.54,-219.0,349.2,-9.7,288,2252,0.00,1.77,0.00,0.000,4,0.000,0.044,2147,3785,3751,0,0,0,0,0,0
$GC,2284,-0.54,-219.0,352.7,-9.7,291,2287,0.00,1.70,0.00,0.000,6,0.000,0.024,2147,2609,3751,0,0,0,0,0,0
$GC,2615,-0.54,-219.0,386.4,-10.2,322,2618,0.00,2.05,0.00,0.000,4,0.000,0.029,2147,1211,3748,0,0,0,0,0,0
$GC,2673,-0.54,-219.0,392.1,-9.5,327,2677,0.00,2.17,0.00,0.000,6,0.000,0.033,2141,2628,3748,0,0,0,0,0,0
$GC,3004,-0.54,-219.0,424.5,-9.6,358,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2628,3745,0,0,0,0,0,0
$GC,3325,-0.54,-219.0,454.6,-8.5,388,3328,0.00,2.12,0.00,0.000,4,0.000,0.030,2141,1201,3741,0,0,0,0,0,0
$GC,3380,-0.54,-219.0,459.2,-7.8,392,3387,0.00,2.15,0.00,0.000,6,0.000,0.034,2138,2606,3741,0,0,0,0,0,0
$GC,3705,-0.54,-219.0,481.0,-6.6,423,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2606,3739,0,0,0,0,0,0
$GC,4038,-0.54,-219.0,502.1,-6.8,453,4042,0.00,2.10,0.00,0.000,4,0.000,0.031,2139,1202,3735,0,0,0,0,0,0
$GC,4078,-0.54,-219.0,505.2,-6.9,455,4083,0.00,2.12,0.00,0.000,6,0.000,0.035,2138,2592,3735,0,0,0,0,0,0
$GC,4406,-0.54,-219.0,530.5,-8.4,471,4410,0.00,1.85,0.00,0.000,4,0.000,0.047,2138,3770,3731,0,0,0,0,0,0
$GC,4445,-0.54,-219.0,534.0,-8.6,472,4452,0.00,1.77,0.00,0.000,6,0.000,0.025,2138,2565,3731,0,0,0,0,0,0
$GC,4761,-0.54,-219.0,562.3,-9.3,488,4765,0.00,1.90,0.00,0.000,4,0.000,0.044,2143,3781,3730,0,0,0,0,0,0
$GC,4834,-0.54,-219.0,569.4,-9.6,491,4837,0.00,1.90,0.00,0.000,6,0.000,0.026,2138,2481,3730,0,0,0,0,0,0
$GC,5164,-0.54,-219.0,598.3,-8.6,507,5167,0.00,2.03,0.00,0.000,4,0.000,0.044,2138,3786,3727,0,0,0,0,0,0
$GC,5249,-0.54,-219.0,605.6,-7.9,510,5256,0.00,2.03,0.00,0.000,6,0.000,0.024,2138,2421,3726,0,0,0,0,0,0
$GC,5566,-0.54,-219.0,628.9,-7.0,526,5570,0.00,1.80,0.00,0.000,4,0.000,0.031,2138,1195,3724,0,0,0,0,0,0
$GC,5694,-0.54,-219.0,638.1,-7.0,531,5701,0.00,1.83,0.00,0.000,6,0.000,0.031,2138,2400,3723,0,0,0,0,0,0
$GC,6014,-0.54,-219.0,659.9,-6.9,547,6018,0.00,1.77,0.00,0.000,4,0.000,0.031,2138,1204,3721,0,0,0,0,0,0
$GC,6199,-0.54,-219.0,674.1,-8.2,555,6202,0.00,1.75,0.00,0.000,6,0.000,0.031,2138,2368,3721,0,0,0,0,0,0
$GC,6529,-0.54,-219.0,698.3,-7.8,571,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2369,3719,0,0,0,0,0,0
$GC,6836,-0.54,-219.0,722.4,-8.1,586,6840,0.00,2.17,0.00,0.000,4,0.000,0.044,2138,3777,3717,0,0,0,0,0,0
$GC,7020,-0.54,-219.0,739.1,-9.8,594,7024,0.00,2.05,0.00,0.000,6,0.000,0.024,2138,2399,3716,0,0,0,0,0,0
$GC,7342,-0.54,-219.0,768.2,-9.0,610,7346,0.00,1.75,0.00,0.000,4,0.000,0.032,2138,1199,3714,0,0,0,0,0,0
$GC,7599,-0.54,-219.0,792.3,-8.9,621,7603,0.00,1.77,0.00,0.000,6,0.000,0.033,2142,2372,3713,0,0,0,0,0,0
$GC,7921,-0.54,-219.0,818.0,-7.5,637,7925,0.00,2.17,0.00,0.000,4,0.000,0.044,2142,3774,3711,0,0,0,0,0,0
$GC,8145,-0.54,-219.0,835.4,-7.9,647,8149,0.00,2.12,0.00,0.000,6,0.000,0.024,2146,2344,3711,0,0,0,0,0,0
$GC,8475,-0.54,-219.0,857.3,-7.0,663,8479,0.00,1.67,0.00,0.000,4,0.000,0.031,2154,1198,3710,0,0,0,0,0,0
$GC,8682,-0.54,-219.0,873.9,-8.3,672,8686,0.00,1.75,0.00,0.000,6,0.000,0.032,2154,2327,3710,0,0,0,0,0,0
$GC,9011,-0.54,-219.0,898.5,-7.4,688,9014,0.00,1.70,0.00,0.000,4,0.000,0.032,2159,1199,3708,0,0,0,0,0,0
$GC,9173,-0.54,-219.0,911.2,-8.1,695,9176,0.00,1.70,0.00,0.000,6,0.000,0.033,2159,2324,3707,0,0,0,0,0,0
$GC,9508,-0.54,-219.0,936.3,-7.4,711,9512,0.00,2.28,0.00,0.000,4,0.000,0.047,2159,3779,3706,0,0,0,0,0,0
$GC,9563,-0.54,-219.0,940.9,-8.0,713,9570,0.00,2.20,0.00,0.000,6,0.000,0.024,2159,2318,3705,0,0,0,0,0,0
$STATE,9609,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9609,begin apogee
$GC,9615,-0.13,0.0,943.9,7.0,716,9785,0.30,0.00,163.65,1.056,4,0.071,0.000,2282,2116,2869,0,0,0,0,0,0
$STATE,9785,end apogee,CONTROL_FINISHED_OK
$STATE,9785,begin climb
$GC,9788,0.54,219.0,953.5,0.0,724,9977,0.60,2.35,176.52,1.034,4,0.049,0.041,2511,3538,1976,0,0,0,0,0,0
$GC,9988,0.54,219.0,940.5,13.7,733,9992,0.00,2.25,0.00,0.000,6,0.000,0.027,2521,2143,1975,0,0,0,0,0,0
$GC,10311,0.54,219.0,895.4,13.7,749,10315,0.00,2.20,0.00,0.000,4,0.000,0.035,2531,710,1973,0,0,0,0,0,0
$GC,10356,0.54,219.0,889.0,14.1,751,10361,0.15,2.20,0.00,0.000,6,0.161,0.031,2493,2144,1974,0,0,0,0,0,0
$GC,10685,0.54,219.0,850.0,12.0,767,10689,0.00,2.15,0.00,0.000,4,0.000,0.042,2493,3531,1973,0,0,0,0,0,0
$GC,10776,0.54,219.0,837.7,14.0,771,10780,0.00,2.12,0.00,0.000,6,0.000,0.027,2501,2134,1973,0,0,0,0,0,0
$GC,11108,0.54,219.0,796.2,12.1,787,11112,0.00,2.15,0.00,0.000,4,0.000,0.037,2512,714,1972,0,0,0,0,0,0
$GC,11244,0.54,219.0,779.4,12.4,793,11248,0.00,2.15,0.00,0.000,6,0.000,0.031,2512,2122,1972,0,0,0,0,0,0
$GC,11566,0.54,219.0,737.6,13.2,809,11570,0.00,2.17,0.00,0.000,4,0.000,0.042,2511,3538,1971,0,0,0,0,0,0
$GC,11629,0.54,219.0,728.5,15.3,812,11633,0.00,2.12,0.00,0.000,6,0.000,0.028,2522,2132,1972,0,0,0,0,0,0
$GC,11962,0.54,219.0,681.4,13.8,828,11966,0.00,2.15,0.00,0.000,4,0.000,0.037,2532,711,1971,0,0,0,0,0,0
$GC,12085,0.54,219.0,665.4,12.7,833,12092,0.15,2.17,0.00,0.000,6,0.157,0.032,2493,2126,1971,0,0,0,0,0,0
$GC,12403,0.60,263.6,633.2,10.2,849,12446,0.00,2.28,34.42,0.858,4,0.000,0.043,2493,3533,1794,0,0,0,0,0,0
$GC,12486,0.60,263.6,623.5,12.2,852,12493,0.00,2.17,0.00,0.000,6,0.000,0.027,2500,2123,1793,0,0,0,0,0,0
$GC,12804,0.60,263.6,583.8,13.0,868,12808,0.00,2.15,0.00,0.000,4,0.000,0.037,2511,713,1793,0,0,0,0,0,0
$GC,12892,0.60,263.6,571.7,13.0,872,12897,0.00,2.15,0.00,0.000,6,0.000,0.031,2511,2115,1793,0,0,0,0,0,0
$GC,13221,0.60,263.6,527.1,13.8,888,13225,0.00,2.20,0.00,0.000,4,0.000,0.043,2511,3535,1792,0,0,0,0,0,0
$GC,13289,0.60,263.6,517.1,15.2,891,13293,0.00,2.12,0.00,0.000,6,0.000,0.028,2520,2119,1792,0,0,0,0,0,0
$GC,13613,0.60,263.6,474.8,12.3,915,13617,0.00,2.12,0.00,0.000,4,0.000,0.037,2531,721,1792,0,0,0,0,0,0
$GC,13656,0.60,263.6,469.0,12.0,918,13663,0.00,2.17,0.00,0.000,6,0.000,0.033,2531,2112,1792,0,0,0,0,0,0
$GC,13982,0.60,263.6,428.3,12.8,949,13986,0.00,2.20,0.00,0.000,4,0.000,0.044,2531,3535,1792,0,0,0,0,0,0
$GC,14037,0.60,263.6,420.4,14.0,953,14044,0.00,2.12,0.00,0.000,6,0.000,0.028,2541,2132,1792,0,0,0,0,0,0
$GC,14362,0.60,263.6,377.8,13.1,984,14366,0.00,2.15,0.00,0.000,4,0.000,0.037,2551,710,1792,0,0,0,0,0,0
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$STATE,17465,end climb,SURFACE_DEPTH_REACHED
$STATE,17465,begin surface coast
$FINISH,1.4,1.020617
$STATE,17478,end surface coast,CONTROL_FINISHED_OK
$STATE,17478,begin surface
$SM_CCo,17558,0.00,0.000,0,0,439,595.34
$SM_GC,1.20,6.57,0.00,0.00,0.041,0.000,0.000,202,2609,439,-6.51,0.25,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,2134.17,12007.71,170811,131318
$TT8_MAMPS,0.028462,0.028462
$HUMID,43.69
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.2,58.476
$10V_AH,9.8,53.845
$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,16.775,182.825,633.025,0.000,0.000,62.791,48.510,191.510,0.000,0.000,15.641,3423.657,10046.043,712.902,3463.638,414.341,0.000,2253.423,0.000,2668.261,0.000,0.541,0.000
$DEVICE_MAMPS,227.970,46.665,1056.465,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,974.427,2134.095,641.858,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323556
$DATA_FILE_SIZE,93801,1401
$CAP_FILE_SIZE,194782,0
$CFSIZE,260165632,217403392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170811,233007,2141.010,11958.794,36,0.9,36,-2.6