version: 66.09
glider: 181
mission: 6
dive: 362
start: 8 17 111 23 37 39
data:
$ID,181
$MISSION,6
$DIVE,362
$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,-40991.492
$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,48
$R_STBD_OVSHOOT,34
$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
$GPS1,170811,233007,2141.010,11958.794,36,0.9,36,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.8
$GPS2,170811,233714,2141.146,11958.674,14,0.9,14,-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,182.2,298451,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.54,-219.0,0.0,0.0,0,83,0.00,0.00,-64.40,0.000,2,0.000,0.000,200,2607,2272,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.4,-3.8,10,134,8.12,2.12,-32.12,0.000,4,0.231,0.036,2134,1178,3763,0,0,0,0,0,0
$GC,164,-0.54,-219.0,23.1,-26.9,22,172,0.00,2.25,0.00,0.000,6,0.000,0.037,2125,2600,3763,0,0,0,0,0,0
$GC,304,-0.54,-219.0,62.7,-25.9,47,311,0.00,1.85,0.00,0.000,4,0.000,0.043,2116,3785,3763,0,0,0,0,0,0
$GC,352,-0.54,-219.0,74.8,-24.6,55,360,0.00,1.67,0.00,0.000,6,0.000,0.023,2116,2661,3762,0,0,0,0,0,0
$GC,491,-0.54,-219.0,104.9,-22.3,80,499,0.00,2.20,0.00,0.000,4,0.000,0.028,2117,1187,3762,0,0,0,0,0,0
$GC,589,-0.54,-219.0,122.5,-16.6,97,597,0.12,2.25,0.00,0.000,6,0.153,0.034,2146,2661,3762,0,0,0,0,0,0
$GC,730,-0.54,-219.0,143.9,-16.3,122,738,0.00,1.73,0.00,0.000,4,0.000,0.042,2139,3781,3762,0,0,0,0,0,0
$GC,784,-0.54,-219.0,153.1,-15.0,131,791,0.00,1.65,0.00,0.000,6,0.000,0.022,2139,2659,3763,0,0,0,0,0,0
$GC,924,-0.54,-219.0,174.5,-15.3,156,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2657,3763,0,0,0,0,0,0
$GC,1064,-0.54,-219.0,197.8,-15.0,181,1071,0.00,2.15,0.00,0.000,4,0.000,0.027,2140,1187,3763,0,0,0,0,0,0
$GC,1092,-0.54,-219.0,202.2,-14.4,184,1100,0.00,2.30,0.00,0.000,6,0.000,0.032,2138,2703,3763,0,0,0,0,0,0
$GC,1419,-0.54,-219.0,239.5,-10.0,215,1423,0.00,2.22,0.00,0.000,4,0.000,0.027,2138,1191,3763,0,0,0,0,0,0
$GC,1482,-0.54,-219.0,245.1,-8.5,220,1486,0.00,2.25,0.00,0.000,6,0.000,0.032,2138,2683,3763,0,0,0,0,0,0
$GC,1808,-0.54,-219.0,276.1,-10.5,250,1812,0.00,2.20,0.00,0.000,4,0.000,0.027,2138,1193,3761,0,0,0,0,0,0
$GC,1829,-0.54,-219.0,278.5,-10.5,251,1836,0.00,2.28,0.00,0.000,6,0.000,0.034,2138,2681,3761,0,0,0,0,0,0
$GC,2154,-0.54,-219.0,312.8,-10.8,282,2158,0.00,1.67,0.00,0.000,4,0.000,0.045,2138,3790,3758,0,0,0,0,0,0
$GC,2171,-0.54,-219.0,314.8,-10.7,283,2177,0.00,1.67,0.00,0.000,6,0.000,0.023,2138,2657,3758,0,0,0,0,0,0
$GC,2496,-0.54,-219.0,347.6,-9.6,314,2500,0.00,2.15,0.00,0.000,4,0.000,0.028,2138,1185,3755,0,0,0,0,0,0
$GC,2552,-0.54,-219.0,352.8,-8.8,318,2559,0.00,2.25,0.00,0.000,6,0.000,0.032,2138,2669,3755,0,0,0,0,0,0
$GC,2878,-0.54,-219.0,384.2,-10.1,349,2882,0.00,2.20,0.00,0.000,4,0.000,0.029,2138,1191,3752,0,0,0,0,0,0
$GC,2899,-0.54,-219.0,386.6,-10.0,350,2906,0.00,2.22,0.00,0.000,6,0.000,0.035,2138,2651,3751,0,0,0,0,0,0
$GC,3225,-0.54,-219.0,416.9,-8.7,381,3229,0.00,2.20,0.00,0.000,4,0.000,0.030,2138,1188,3749,0,0,0,0,0,0
$GC,3271,-0.54,-219.0,420.7,-8.2,385,3276,0.00,2.20,0.00,0.000,6,0.000,0.034,2138,2632,3749,0,0,0,0,0,0
$GC,3597,-0.54,-219.0,446.7,-8.4,415,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2630,3746,0,0,0,0,0,0
$GC,3917,-0.54,-219.0,473.0,-8.5,445,3921,0.00,2.17,0.00,0.000,4,0.000,0.031,2138,1190,3743,0,0,0,0,0,0
$GC,3952,-0.54,-219.0,476.1,-8.5,448,3956,0.00,2.20,0.00,0.000,6,0.000,0.036,2138,2615,3743,0,0,0,0,0,0
$GC,4283,-0.54,-219.0,504.3,-8.9,477,4287,0.00,2.12,0.00,0.000,4,0.000,0.030,2138,1195,3740,0,0,0,0,0,0
$GC,4304,-0.54,-219.0,506.5,-9.0,478,4308,0.00,2.15,0.00,0.000,6,0.000,0.036,2138,2604,3740,0,0,0,0,0,0
$GC,4632,-0.54,-219.0,533.9,-8.1,494,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2604,3738,0,0,0,0,0,0
$GC,4941,-0.54,-219.0,555.2,-6.3,509,4945,0.00,2.12,0.00,0.000,4,0.000,0.031,2138,1190,3736,0,0,0,0,0,0
$GC,4975,-0.54,-219.0,557.4,-6.2,510,4982,0.00,2.17,0.00,0.000,6,0.000,0.035,2138,2600,3739,0,0,0,0,0,0
$GC,5293,-0.54,-219.0,579.2,-7.5,526,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2601,3732,0,0,0,0,0,0
$GC,5601,-0.54,-219.0,608.6,-10.0,541,5605,0.00,2.15,0.00,0.000,4,0.000,0.032,2138,1196,3731,0,0,0,0,0,0
$GC,5651,-0.54,-219.0,613.7,-9.9,543,5655,0.00,2.15,0.00,0.000,6,0.000,0.036,2138,2592,3731,0,0,0,0,0,0
$GC,5968,-0.54,-219.0,643.8,-9.2,558,5969,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2592,3726,0,0,0,0,0,0
$GC,6278,-0.54,-219.0,671.7,-9.4,573,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2592,3727,0,0,0,0,0,0
$GC,6586,-0.54,-219.0,700.7,-8.9,588,6590,0.00,2.10,0.00,0.000,4,0.000,0.031,2138,1196,3725,0,0,0,0,0,0
$GC,6619,-0.54,-219.0,703.8,-9.2,589,6626,0.00,2.15,0.00,0.000,6,0.000,0.036,2138,2580,3725,0,0,0,0,0,0
$GC,6936,-0.54,-219.0,728.8,-7.8,605,6940,0.00,1.88,0.00,0.000,4,0.000,0.047,2135,3792,3723,0,0,0,0,0,0
$GC,6970,-0.54,-219.0,731.5,-7.7,606,6974,0.00,1.80,0.00,0.000,6,0.000,0.027,2138,2572,3723,0,0,0,0,0,0
$GC,7291,-0.54,-219.0,753.3,-6.7,622,7295,0.00,1.90,0.00,0.000,4,0.000,0.045,2138,3787,3721,0,0,0,0,0,0
$GC,7338,-0.54,-219.0,756.5,-6.7,624,7342,0.00,1.95,0.00,0.000,6,0.000,0.027,2138,2503,3719,0,0,0,0,0,0
$GC,7671,-0.54,-219.0,780.4,-7.4,640,7674,0.00,1.92,0.00,0.000,4,0.000,0.032,2138,1203,3719,0,0,0,0,0,0
$GC,7874,-0.54,-219.0,797.3,-8.8,649,7877,0.00,2.00,0.00,0.000,6,0.000,0.034,2138,2505,3719,0,0,0,0,0,0
$GC,8209,-0.54,-219.0,825.3,-8.6,665,8212,0.00,1.98,0.00,0.000,4,0.000,0.047,2138,3785,3718,0,0,0,0,0,0
$GC,8466,-0.54,-219.0,851.5,-10.1,676,8470,0.00,1.88,0.00,0.000,6,0.000,0.025,2138,2508,3716,0,0,0,0,0,0
$GC,8789,-0.54,-219.0,879.3,-8.7,692,8792,0.00,1.92,0.00,0.000,4,0.000,0.031,2141,1204,3715,0,0,0,0,0,0
$GC,9046,-0.54,-219.0,900.7,-8.0,703,9050,0.00,2.00,0.00,0.000,6,0.000,0.034,2141,2509,3713,0,0,0,0,0,0
$GC,9369,-0.54,-219.0,924.3,-7.4,719,9372,0.00,1.98,0.00,0.000,4,0.000,0.031,2146,1199,3712,0,0,0,0,0,0
$STATE,9602,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9602,begin apogee
$GC,9610,-0.13,0.0,943.4,8.4,729,9779,0.35,0.00,164.77,1.061,4,0.072,0.000,2283,2141,2870,0,0,0,0,0,0
$STATE,9780,end apogee,CONTROL_FINISHED_OK
$STATE,9780,begin climb
$GC,9783,0.54,219.0,953.7,0.0,737,9968,0.60,2.30,177.20,1.037,4,0.048,0.042,2512,3539,1977,0,0,0,0,0,0
$GC,10074,0.54,219.0,929.8,13.8,751,10078,0.00,2.17,0.00,0.000,6,0.000,0.027,2521,2142,1975,0,0,0,0,0,0
$GC,10397,0.54,219.0,887.8,12.9,767,10401,0.00,2.17,0.00,0.000,4,0.000,0.039,2522,3540,1975,0,0,0,0,0,0
$GC,10505,0.54,219.0,872.0,14.4,772,10510,0.15,2.20,0.00,0.000,6,0.184,0.028,2495,2090,1974,0,0,0,0,0,0
$GC,10833,0.54,219.0,832.4,12.1,788,10837,0.00,2.08,0.00,0.000,4,0.000,0.037,2505,718,1974,0,0,0,0,0,0
$GC,10927,0.55,228.4,820.9,11.4,792,10943,0.00,2.08,9.15,0.868,6,0.000,0.031,2505,2081,1937,0,0,0,0,0,0
$GC,11273,0.55,228.4,779.8,12.2,809,11277,0.00,2.25,0.00,0.000,4,0.000,0.044,2505,3535,1936,0,0,0,0,0,0
$GC,11372,0.55,228.4,765.8,13.1,813,11380,0.00,2.20,0.00,0.000,6,0.000,0.028,2514,2086,1935,0,0,0,0,0,0
$GC,11689,0.55,228.4,726.2,12.3,829,11693,0.00,2.08,0.00,0.000,4,0.000,0.037,2525,713,1935,0,0,0,0,0,0
$GC,11745,0.55,228.4,719.3,12.1,831,11752,0.00,2.15,0.00,0.000,6,0.000,0.032,2525,2090,1935,0,0,0,0,0,0
$GC,12063,0.55,228.4,678.6,12.9,847,12068,0.00,2.22,0.00,0.000,4,0.000,0.043,2525,3535,1935,0,0,0,0,0,0
$GC,12126,0.55,228.4,669.4,14.6,850,12131,0.15,2.15,0.00,0.000,6,0.174,0.027,2496,2103,1934,0,0,0,0,0,0
$GC,12455,0.64,302.1,637.4,9.1,866,12519,0.00,2.20,56.50,0.869,4,0.000,0.037,2506,715,1636,0,0,0,0,0,0
$GC,12570,0.75,392.3,627.3,8.5,871,12653,0.17,2.15,69.72,0.845,6,0.080,0.031,2578,2092,1270,0,0,0,0,0,0
$GC,12960,0.75,392.3,569.0,15.7,890,12964,0.00,2.25,0.00,0.000,4,0.000,0.044,2579,3534,1276,0,0,0,0,0,0
$GC,13055,0.75,392.3,552.5,16.9,894,13059,0.00,2.20,0.00,0.000,6,0.000,0.028,2588,2086,1276,0,0,0,0,0,0
$GC,13378,0.75,392.3,495.4,18.4,911,13382,0.00,2.08,0.00,0.000,4,0.000,0.037,2599,717,1276,0,0,0,0,0,0
$GC,13430,0.75,392.3,486.6,16.4,915,13434,0.12,2.10,0.00,0.000,6,0.163,0.032,2568,2087,1276,0,0,0,0,0,0
$GC,13755,0.75,392.3,434.4,15.5,945,13759,0.00,2.25,0.00,0.000,4,0.000,0.044,2568,3537,1276,0,0,0,0,0,0
$GC,13877,0.75,392.3,414.3,15.5,955,13885,0.00,2.17,0.00,0.000,6,0.000,0.028,2575,2126,1274,0,0,0,0,0,0
$GC,14203,0.75,392.3,366.2,14.3,986,14207,0.00,2.15,0.00,0.000,4,0.000,0.037,2586,711,1276,0,0,0,0,0,0
$GC,14271,0.75,392.3,356.9,13.4,992,14275,0.00,2.17,0.00,0.000,6,0.000,0.033,2586,2131,1276,0,0,0,0,0,0
$GC,14596,0.75,392.3,307.7,14.6,1022,14600,0.00,2.17,0.00,0.000,4,0.000,0.044,2586,3542,1278,0,0,0,0,0,0
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$STATE,17044,end climb,SURFACE_DEPTH_REACHED
$STATE,17045,begin surface coast
$FINISH,0.3,1.006672
$STATE,17071,end surface coast,CONTROL_FINISHED_OK
$STATE,17072,begin surface
$SM_CCo,17151,0.00,0.000,0,0,441,595.34
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$IRIDIUM_FIX,2131.85,11959.36,170811,181811
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.72
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.1,58.649
$10V_AH,9.8,53.980
$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
$DEVICE_SECS,16.900,181.900,648.725,0.000,0.000,30.201,43.441,193.937,0.000,0.000,17.017,3344.319,9753.600,739.834,3314.702,406.332,0.000,2229.680,0.000,2559.121,0.000,0.541,0.000
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$SENSOR_SECS,958.994,2098.016,644.696,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93726,1378
$CAP_FILE_SIZE,191817,0
$CFSIZE,260165632,217305088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180811,042437,2140.695,11958.601,29,0.9,29,-2.6