version: 66.09
glider: 181
mission: 6
dive: 403
start: 8 26 111 15 46 56
data:
$ID,181
$MISSION,6
$DIVE,403
$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,-41051.836
$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,37
$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
$GPS1,260811,153807,2054.450,11955.345,23,1.6,23,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-59.6
$GPS2,260811,154632,2054.341,11955.126,16,1.7,16,-2.4
$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,180.1,211931,-16.3,-11.786
$D_GRID,3431
$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,18,-0.54,-219.0,0.0,0.0,0,88,0.00,0.00,-67.65,0.000,2,0.000,0.000,183,2617,2345,0,0,0,0,0,0
$GC,91,-0.54,-219.0,3.3,-3.3,12,139,8.07,2.15,-31.50,0.000,4,0.224,0.042,2140,1186,3764,0,0,0,0,0,0
$GC,230,-0.54,-219.0,37.8,-23.5,36,237,0.00,2.17,0.00,0.000,6,0.000,0.036,2132,2599,3764,0,0,0,0,0,0
$GC,374,-0.54,-219.0,73.2,-23.3,61,380,0.00,1.83,0.00,0.000,4,0.000,0.043,2123,3790,3764,0,0,0,0,0,0
$GC,471,-0.54,-219.0,92.4,-19.4,78,478,0.00,1.67,0.00,0.000,6,0.000,0.024,2123,2620,3764,0,0,0,0,0,0
$GC,616,-0.54,-219.0,118.8,-18.4,103,622,0.00,2.05,0.00,0.000,4,0.000,0.028,2123,1211,3764,0,0,0,0,0,0
$GC,658,-0.54,-219.0,126.0,-15.9,110,666,0.12,2.17,0.00,0.000,6,0.156,0.034,2146,2641,3764,0,0,0,0,0,0
$GC,803,-0.54,-219.0,143.4,-11.4,135,810,0.00,1.73,0.00,0.000,4,0.000,0.043,2139,3783,3764,0,0,0,0,0,0
$GC,851,-0.54,-219.0,149.7,-12.2,143,858,0.00,1.60,0.00,0.000,6,0.000,0.023,2139,2703,3764,0,0,0,0,0,0
$GC,994,-0.54,-219.0,171.1,-14.1,168,1001,0.00,2.17,0.00,0.000,4,0.000,0.027,2139,1213,3764,0,0,0,0,0,0
$GC,1035,-0.54,-219.0,175.5,-10.9,175,1042,0.00,2.20,0.00,0.000,6,0.000,0.033,2138,2665,3764,0,0,0,0,0,0
$GC,1181,-0.54,-219.0,191.7,-12.4,200,1187,0.00,2.12,0.00,0.000,4,0.000,0.028,2138,1220,3764,0,0,0,0,0,0
$GC,1200,-0.54,-219.0,194.6,-13.2,203,1206,0.00,2.15,0.00,0.000,6,0.000,0.034,2138,2639,3764,0,0,0,0,0,0
$GC,1345,-0.54,-219.0,212.2,-12.5,220,1349,0.00,1.73,0.00,0.000,4,0.000,0.043,2138,3782,3764,0,0,0,0,0,0
$GC,1391,-0.54,-219.0,217.6,-11.1,224,1395,0.00,1.65,0.00,0.000,6,0.000,0.023,2138,2639,3764,0,0,0,0,0,0
$GC,1723,-0.54,-219.0,251.7,-10.3,255,1727,0.00,2.10,0.00,0.000,4,0.000,0.028,2138,1197,3762,0,0,0,0,0,0
$GC,1801,-0.54,-219.0,259.6,-9.8,261,1808,0.00,2.15,0.00,0.000,6,0.000,0.033,2138,2619,3762,0,0,0,0,0,0
$GC,2127,-0.54,-219.0,292.6,-9.9,292,2131,0.00,1.80,0.00,0.000,4,0.000,0.044,2134,3776,3760,0,0,0,0,0,0
$GC,2150,-0.54,-219.0,294.9,-10.1,294,2154,0.00,1.67,0.00,0.000,6,0.000,0.024,2133,2620,3760,0,0,0,0,0,0
$GC,2481,-0.54,-219.0,329.3,-10.4,325,2485,0.00,2.08,0.00,0.000,4,0.000,0.030,2133,1206,3756,0,0,0,0,0,0
$GC,2538,-0.54,-219.0,335.0,-9.6,329,2544,0.00,2.15,0.00,0.000,6,0.000,0.033,2127,2620,3757,0,0,0,0,0,0
$GC,2863,-0.54,-219.0,369.2,-10.4,360,2867,0.00,2.10,0.00,0.000,4,0.000,0.030,2127,1207,3753,0,0,0,0,0,0
$GC,2919,-0.54,-219.0,374.8,-9.6,364,2926,0.00,2.10,0.00,0.000,6,0.000,0.034,2127,2584,3753,0,0,0,0,0,0
$GC,3244,-0.54,-219.0,407.2,-9.9,395,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2585,3750,0,0,0,0,0,0
$GC,3567,-0.54,-219.0,438.1,-9.7,425,3570,0.00,1.85,0.00,0.000,4,0.000,0.047,2125,3787,3747,0,0,0,0,0,0
$GC,3590,-0.54,-219.0,440.8,-9.7,427,3594,0.00,1.77,0.00,0.000,6,0.000,0.025,2125,2564,3747,0,0,0,0,0,0
$GC,3921,-0.54,-219.0,473.7,-10.2,458,3925,0.00,2.00,0.00,0.000,4,0.000,0.029,2125,1207,3743,0,0,0,0,0,0
$GC,3956,-0.54,-219.0,477.2,-10.4,461,3960,0.00,2.10,0.00,0.000,6,0.000,0.034,2124,2574,3743,0,0,0,0,0,0
$GC,4292,-0.54,-219.0,511.2,-9.9,487,4295,0.00,2.03,0.00,0.000,4,0.000,0.030,2125,1220,3740,0,0,0,0,0,0
$GC,4308,-0.54,-219.0,513.1,-9.8,487,4315,0.00,2.08,0.00,0.000,6,0.000,0.036,2125,2565,3740,0,0,0,0,0,0
$GC,4624,-0.54,-219.0,541.6,-8.9,503,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2565,3738,0,0,0,0,0,0
$GC,4934,-0.54,-219.0,567.0,-8.1,518,4938,0.00,1.92,0.00,0.000,4,0.000,0.048,2123,3776,3735,0,0,0,0,0,0
$GC,4995,-0.54,-219.0,572.0,-7.9,520,5002,0.00,1.77,0.00,0.000,6,0.000,0.026,2123,2564,3735,0,0,0,0,0,0
$GC,5312,-0.54,-219.0,599.1,-8.7,536,5316,0.00,2.03,0.00,0.000,4,0.000,0.031,2123,1202,3732,0,0,0,0,0,0
$GC,5340,-0.54,-219.0,601.7,-8.8,537,5344,0.00,2.10,0.00,0.000,6,0.000,0.036,2115,2559,3731,0,0,0,0,0,0
$GC,5667,-0.54,-219.0,631.7,-9.3,553,5671,0.00,1.95,0.00,0.000,4,0.000,0.049,2112,3776,3730,0,0,0,0,0,0
$GC,5695,-0.54,-219.0,634.4,-9.2,554,5699,0.12,1.80,0.00,0.000,6,0.128,0.027,2149,2560,3730,0,0,0,0,0,0
$GC,6023,-0.54,-219.0,657.3,-7.5,570,6027,0.00,2.03,0.00,0.000,4,0.000,0.032,2150,1200,3729,0,0,0,0,0,0
$GC,6073,-0.54,-219.0,661.6,-8.1,572,6077,0.00,2.08,0.00,0.000,6,0.000,0.036,2149,2549,3728,0,0,0,0,0,0
$GC,6402,-0.54,-219.0,689.5,-8.6,588,6405,0.00,1.90,0.00,0.000,4,0.000,0.046,2150,3777,3725,0,0,0,0,0,0
$GC,6660,-0.54,-219.0,716.2,-10.4,599,6664,0.00,1.80,0.00,0.000,6,0.000,0.025,2150,2559,3724,0,0,0,0,0,0
$GC,6982,-0.54,-219.0,746.9,-9.6,615,6985,0.00,1.90,0.00,0.000,4,0.000,0.046,2150,3778,3722,0,0,0,0,0,0
$GC,7209,-0.54,-219.0,769.4,-10.0,625,7213,0.00,1.77,0.00,0.000,6,0.000,0.025,2150,2574,3721,0,0,0,0,0,0
$GC,7542,-0.54,-219.0,800.2,-9.4,641,7546,0.00,1.90,0.00,0.000,4,0.000,0.045,2150,3786,3720,0,0,0,0,0,0
$GC,7672,-0.54,-219.0,813.1,-10.0,646,7679,0.00,1.77,0.00,0.000,6,0.000,0.024,2157,2581,3719,0,0,0,0,0,0
$GC,7988,-0.54,-219.0,841.7,-8.6,662,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2581,3718,0,0,0,0,0,0
$GC,8298,-0.54,-219.0,866.1,-7.4,677,8302,0.00,1.88,0.00,0.000,4,0.000,0.044,2157,3786,3716,0,0,0,0,0,0
$GC,8451,-0.54,-219.0,878.4,-8.0,683,8458,0.00,1.77,0.00,0.000,6,0.000,0.025,2157,2585,3715,0,0,0,0,0,0
$GC,8767,-0.54,-219.0,900.4,-7.1,699,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2585,3714,0,0,0,0,0,0
$GC,9077,-0.54,-219.0,924.6,-8.3,714,9081,0.00,2.08,0.00,0.000,4,0.000,0.032,2160,1196,3713,0,0,0,0,0,0
$GC,9122,-0.54,-219.0,928.7,-9.3,716,9125,0.00,2.15,0.00,0.000,6,0.000,0.034,2160,2588,3713,0,0,0,0,0,0
$GC,9450,-0.54,-219.0,958.9,-10.0,732,9454,0.00,2.10,0.00,0.000,4,0.000,0.031,2161,1200,3711,0,0,0,0,0,0
$GC,9490,-0.54,-219.0,963.1,-10.1,734,9494,0.00,2.10,0.00,0.000,6,0.000,0.034,2161,2565,3711,0,0,0,0,0,0
$STATE,9610,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9610,begin apogee
$GC,9616,-0.13,0.0,975.0,9.8,740,9788,0.30,0.00,166.95,1.069,4,0.058,0.000,2295,2115,2869,0,0,0,0,0,0
$STATE,9789,end apogee,CONTROL_FINISHED_OK
$STATE,9789,begin climb
$GC,9791,0.54,219.0,988.1,0.0,748,9977,0.55,2.25,177.98,1.053,4,0.048,0.037,2510,723,1976,0,0,0,0,0,0
$GC,10143,0.58,253.7,966.3,10.5,764,10178,0.00,2.20,29.17,1.001,6,0.000,0.033,2510,2128,1834,0,0,0,0,0,0
$GC,10506,0.59,260.4,924.6,11.5,782,10520,0.00,2.28,6.75,0.838,4,0.000,0.037,2520,713,1807,0,0,0,0,0,0
$GC,10694,0.60,268.0,902.4,11.5,790,10709,0.00,2.20,8.68,0.857,6,0.000,0.034,2519,2132,1776,0,0,0,0,0,0
$GC,11038,0.60,268.0,857.2,13.6,807,11042,0.00,2.20,0.00,0.000,4,0.000,0.045,2519,3534,1774,0,0,0,0,0,0
$GC,11094,0.60,268.0,848.4,15.5,809,11098,0.00,2.15,0.00,0.000,6,0.000,0.027,2529,2117,1773,0,0,0,0,0,0
$GC,11410,0.60,268.0,802.9,14.2,824,11414,0.00,2.12,0.00,0.000,4,0.000,0.038,2540,721,1773,0,0,0,0,0,0
$GC,11518,0.60,268.0,787.6,13.7,828,11525,0.00,2.15,0.00,0.000,6,0.000,0.034,2540,2117,1773,0,0,0,0,0,0
$GC,11834,0.60,268.0,742.3,14.1,844,11838,0.00,2.22,0.00,0.000,4,0.000,0.045,2539,3542,1772,0,0,0,0,0,0
$GC,11861,0.60,268.0,738.1,14.8,845,11865,0.15,2.15,0.00,0.000,6,0.177,0.027,2512,2114,1772,0,0,0,0,0,0
$GC,12188,0.61,276.2,699.7,11.5,861,12202,0.00,2.22,7.65,0.786,4,0.000,0.038,2521,711,1741,0,0,0,0,0,0
$GC,12259,0.63,293.6,691.6,11.2,864,12279,0.00,2.15,15.07,0.822,6,0.000,0.033,2521,2112,1672,0,0,0,0,0,0
$GC,12609,0.63,293.6,650.8,11.9,881,12613,0.00,2.22,0.00,0.000,4,0.000,0.045,2522,3534,1671,0,0,0,0,0,0
$GC,12669,0.63,293.6,642.4,13.8,883,12676,0.00,2.15,0.00,0.000,6,0.000,0.028,2531,2123,1670,0,0,0,0,0,0
$GC,12986,0.63,293.6,603.2,12.4,899,12990,0.00,2.12,0.00,0.000,4,0.000,0.038,2542,723,1671,0,0,0,0,0,0
$GC,13081,0.63,293.6,591.2,12.2,903,13085,0.00,2.12,0.00,0.000,6,0.000,0.033,2542,2108,1671,0,0,0,0,0,0
$GC,13403,0.63,293.6,550.6,12.4,919,13407,0.00,2.20,0.00,0.000,4,0.000,0.044,2542,3535,1672,0,0,0,0,0,0
$GC,13443,0.63,293.6,545.0,14.4,921,13447,0.00,2.17,0.00,0.000,6,0.000,0.028,2552,2097,1671,0,0,0,0,0,0
$GC,13770,0.63,293.6,500.9,13.3,937,13774,0.00,2.10,0.00,0.000,4,0.000,0.038,2562,711,1672,0,0,0,0,0,0
$GC,13906,0.63,293.6,482.8,13.2,948,13914,0.15,2.08,0.00,0.000,6,0.153,0.033,2522,2074,1671,0,0,0,0,0,0
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$STATE,18017,end climb,SURFACE_DEPTH_REACHED
$STATE,18017,begin surface coast
$FINISH,0.4,1.020814
$STATE,18040,end surface coast,CONTROL_FINISHED_OK
$STATE,18040,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,44.84
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.2,65.650
$10V_AH,9.8,58.790
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323548
$DATA_FILE_SIZE,86786,1472
$CAP_FILE_SIZE,205660,0
$CFSIZE,260165632,213278720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260811,205007,2051.985,11955.489,35,1.0,35,-2.4