version: 66.09
glider: 181
mission: 6
dive: 404
start: 8 26 111 20 56 51
data:
$ID,181
$MISSION,6
$DIVE,404
$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,-4
$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,-41053.094
$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,50
$R_STBD_OVSHOOT,48
$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
$GPS1,260811,205007,2051.985,11955.489,35,1.0,35,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-61.6
$GPS2,260811,205608,2051.973,11955.408,13,1.3,13,-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,180.2,207530,-16.3,-11.786
$D_GRID,3479
$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,-219.0,0.0,0.0,0,86,0.00,0.00,-67.57,0.000,2,0.000,0.000,176,2628,2344,0,0,0,0,0,0
$GC,89,-0.54,-219.0,3.3,-3.7,12,137,8.25,2.17,-29.62,0.000,4,0.230,0.038,2139,1190,3764,0,0,0,0,0,0
$GC,191,-0.54,-219.0,29.3,-19.4,29,198,0.00,2.15,0.00,0.000,6,0.000,0.035,2132,2588,3765,0,0,0,0,0,0
$GC,334,-0.54,-219.0,67.0,-25.6,54,341,0.00,1.85,0.00,0.000,4,0.000,0.044,2122,3780,3764,0,0,0,0,0,0
$GC,461,-0.54,-219.0,103.2,-16.3,76,467,0.00,1.67,0.00,0.000,6,0.000,0.023,2122,2625,3764,0,0,0,0,0,0
$GC,605,-0.54,-219.0,130.3,-20.2,101,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2624,3764,0,0,0,0,0,0
$GC,747,-0.54,-219.0,155.3,-16.7,126,754,0.00,2.08,0.00,0.000,4,0.000,0.026,2122,1196,3764,0,0,0,0,0,0
$GC,783,-0.54,-219.0,160.7,-14.5,132,791,0.12,2.20,0.00,0.000,6,0.145,0.033,2147,2650,3765,0,0,0,0,0,0
$GC,930,-0.54,-219.0,176.8,-11.5,157,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2650,3765,0,0,0,0,0,0
$GC,1071,-0.54,-219.0,194.1,-11.9,182,1078,0.00,2.12,0.00,0.000,4,0.000,0.027,2148,1205,3765,0,0,0,0,0,0
$GC,1113,-0.54,-219.0,198.9,-11.7,189,1120,0.00,2.17,0.00,0.000,6,0.000,0.032,2148,2645,3765,0,0,0,0,0,0
$GC,1255,-0.54,-219.0,214.9,-11.5,203,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2646,3765,0,0,0,0,0,0
$GC,1575,-0.54,-219.0,248.5,-9.6,233,1579,0.00,2.15,0.00,0.000,4,0.000,0.028,2148,1197,3764,0,0,0,0,0,0
$GC,1620,-0.54,-219.0,252.9,-9.1,236,1627,0.00,2.17,0.00,0.000,6,0.000,0.033,2143,2630,3764,0,0,0,0,0,0
$GC,1946,-0.54,-219.0,286.2,-10.3,267,1950,0.00,2.12,0.00,0.000,4,0.000,0.030,2143,1200,3762,0,0,0,0,0,0
$GC,1998,-0.54,-219.0,291.0,-9.2,271,2002,0.00,2.12,0.00,0.000,6,0.000,0.034,2139,2605,3762,0,0,0,0,0,0
$GC,2324,-0.54,-219.0,319.9,-8.5,301,2327,0.00,1.80,0.00,0.000,4,0.000,0.045,2138,3786,3759,0,0,0,0,0,0
$GC,2348,-0.54,-219.0,321.9,-8.7,303,2352,0.00,1.77,0.00,0.000,6,0.000,0.024,2138,2596,3759,0,0,0,0,0,0
$GC,2679,-0.54,-219.0,354.7,-10.9,334,2682,0.00,2.05,0.00,0.000,4,0.000,0.031,2138,1201,3756,0,0,0,0,0,0
$GC,2754,-0.54,-219.0,362.6,-10.4,340,2758,0.00,2.10,0.00,0.000,6,0.000,0.034,2138,2577,3755,0,0,0,0,0,0
$GC,3079,-0.54,-219.0,395.6,-9.6,370,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2577,3752,0,0,0,0,0,0
$GC,3400,-0.54,-219.0,427.1,-10.3,400,3403,0.00,2.05,0.00,0.000,4,0.000,0.031,2138,1214,3749,0,0,0,0,0,0
$GC,3427,-0.54,-219.0,430.3,-10.4,402,3434,0.00,2.08,0.00,0.000,6,0.000,0.036,2138,2558,3749,0,0,0,0,0,0
$GC,3753,-0.54,-219.0,461.1,-9.1,433,3756,0.00,1.90,0.00,0.000,4,0.000,0.048,2138,3786,3747,0,0,0,0,0,0
$GC,3791,-0.54,-219.0,464.6,-9.0,436,3798,0.00,1.80,0.00,0.000,6,0.000,0.027,2138,2561,3746,0,0,0,0,0,0
$GC,4118,-0.54,-219.0,488.2,-7.3,467,4122,0.00,1.90,0.00,0.000,4,0.000,0.047,2138,3780,3743,0,0,0,0,0,0
$GC,4146,-0.54,-219.0,490.4,-7.0,469,4153,0.00,1.95,0.00,0.000,6,0.000,0.026,2138,2459,3743,0,0,0,0,0,0
$GC,4466,-0.54,-219.0,516.3,-8.4,491,4470,0.00,2.08,0.00,0.000,4,0.000,0.045,2138,3786,3741,0,0,0,0,0,0
$GC,4574,-0.54,-219.0,526.1,-9.4,496,4578,0.00,2.08,0.00,0.000,6,0.000,0.026,2138,2397,3739,0,0,0,0,0,0
$GC,4907,-0.54,-219.0,556.3,-9.0,512,4911,0.00,1.80,0.00,0.000,4,0.000,0.034,2138,1207,3737,0,0,0,0,0,0
$GC,5003,-0.54,-219.0,565.1,-9.4,516,5007,0.00,1.88,0.00,0.000,6,0.000,0.034,2138,2410,3737,0,0,0,0,0,0
$GC,5330,-0.54,-219.0,590.6,-7.6,532,5334,0.00,2.15,0.00,0.000,4,0.000,0.045,2138,3789,3735,0,0,0,0,0,0
$GC,5398,-0.54,-219.0,595.8,-7.5,535,5402,0.00,2.05,0.00,0.000,6,0.000,0.025,2138,2413,3733,0,0,0,0,0,0
$GC,5732,-0.54,-219.0,619.4,-7.2,551,5736,0.00,2.15,0.00,0.000,4,0.000,0.044,2138,3781,3731,0,0,0,0,0,0
$GC,5832,-0.54,-219.0,628.1,-9.4,555,5839,0.00,2.05,0.00,0.000,6,0.000,0.026,2138,2407,3731,0,0,0,0,0,0
$GC,6149,-0.54,-219.0,654.0,-8.6,571,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2407,3729,0,0,0,0,0,0
$GC,6457,-0.54,-219.0,681.3,-9.0,586,6461,0.00,2.15,0.00,0.000,4,0.000,0.044,2138,3780,3728,0,0,0,0,0,0
$GC,6536,-0.54,-219.0,688.6,-9.6,589,6543,0.00,2.03,0.00,0.000,6,0.000,0.026,2138,2421,3727,0,0,0,0,0,0
$GC,6852,-0.54,-219.0,717.1,-8.7,605,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2422,3726,0,0,0,0,0,0
$GC,7162,-0.54,-219.0,743.6,-8.5,620,7166,0.00,2.15,0.00,0.000,4,0.000,0.044,2138,3789,3724,0,0,0,0,0,0
$GC,7195,-0.54,-219.0,746.4,-8.3,621,7202,0.00,2.05,0.00,0.000,6,0.000,0.026,2138,2415,3724,0,0,0,0,0,0
$GC,7512,-0.54,-219.0,772.9,-8.5,637,7515,0.00,1.80,0.00,0.000,4,0.000,0.033,2139,1200,3723,0,0,0,0,0,0
$GC,7769,-0.54,-219.0,796.7,-9.1,648,7773,0.00,1.85,0.00,0.000,6,0.000,0.033,2139,2420,3722,0,0,0,0,0,0
$GC,8091,-0.54,-219.0,825.8,-9.2,664,8095,0.00,1.83,0.00,0.000,4,0.000,0.031,2140,1201,3721,0,0,0,0,0,0
$GC,8349,-0.54,-219.0,852.5,-10.5,675,8353,0.00,1.85,0.00,0.000,6,0.000,0.033,2140,2421,3720,0,0,0,0,0,0
$GC,8672,-0.54,-219.0,885.1,-10.2,691,8675,0.00,1.83,0.00,0.000,4,0.000,0.032,2141,1203,3719,0,0,0,0,0,0
$GC,8930,-0.54,-219.0,913.0,-10.3,702,8933,0.00,1.83,0.00,0.000,6,0.000,0.033,2141,2407,3718,0,0,0,0,0,0
$GC,9253,-0.54,-219.0,944.9,-9.8,718,9256,0.00,1.83,0.00,0.000,4,0.000,0.034,2141,1196,3716,0,0,0,0,0,0
$GC,9510,-0.54,-219.0,971.4,-10.1,729,9514,0.00,1.83,0.00,0.000,6,0.000,0.034,2141,2390,3715,0,0,0,0,0,0
$STATE,9623,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9624,begin apogee
$GC,9630,-0.13,0.0,982.3,9.7,735,9805,0.35,0.00,167.70,1.073,4,0.057,0.000,2292,2113,2869,0,0,0,0,0,0
$STATE,9806,end apogee,CONTROL_FINISHED_OK
$STATE,9806,begin climb
$GC,9809,0.54,219.0,995.2,0.0,743,9997,0.57,2.40,178.30,1.055,4,0.047,0.043,2512,3543,1975,0,0,0,0,0,0
$GC,10048,0.54,219.0,980.3,13.6,754,10055,0.00,2.22,0.00,0.000,6,0.000,0.028,2521,2145,1973,0,0,0,0,0,0
$GC,10364,0.54,219.0,939.1,13.3,770,10368,0.00,2.20,0.00,0.000,4,0.000,0.037,2533,713,1972,0,0,0,0,0,0
$GC,10487,0.54,219.0,922.8,13.4,775,10492,0.15,2.17,0.00,0.000,6,0.163,0.034,2494,2120,1972,0,0,0,0,0,0
$GC,10805,0.58,251.2,888.0,10.6,790,10836,0.00,2.25,26.38,0.980,4,0.000,0.042,2494,3535,1843,0,0,0,0,0,0
$GC,10889,0.58,251.2,878.4,12.1,794,10893,0.00,2.17,0.00,0.000,6,0.000,0.028,2503,2127,1842,0,0,0,0,0,0
$GC,11223,0.60,264.8,840.7,11.3,810,11245,0.00,2.25,11.93,0.890,4,0.000,0.038,2513,717,1789,0,0,0,0,0,0
$GC,11342,0.61,276.6,826.8,11.4,815,11360,0.00,2.15,10.95,0.852,6,0.000,0.032,2513,2110,1741,0,0,0,0,0,0
$GC,11670,0.61,276.6,786.5,12.6,831,11674,0.00,2.22,0.00,0.000,4,0.000,0.044,2513,3535,1739,0,0,0,0,0,0
$GC,11714,0.61,276.6,780.0,14.2,833,11718,0.00,2.17,0.00,0.000,6,0.000,0.028,2523,2105,1739,0,0,0,0,0,0
$GC,12035,0.61,276.6,735.4,14.2,849,12039,0.00,2.10,0.00,0.000,4,0.000,0.037,2533,720,1738,0,0,0,0,0,0
$GC,12084,0.61,276.6,728.3,14.3,851,12088,0.00,2.15,0.00,0.000,6,0.000,0.034,2533,2116,1738,0,0,0,0,0,0
$GC,12407,0.61,276.6,681.9,14.2,867,12411,0.00,2.20,0.00,0.000,4,0.000,0.044,2533,3535,1738,0,0,0,0,0,0
$GC,12462,0.61,276.6,672.9,15.9,869,12469,0.00,2.15,0.00,0.000,6,0.000,0.028,2543,2116,1738,0,0,0,0,0,0
$GC,12779,0.61,276.6,627.9,13.6,885,12783,0.00,2.12,0.00,0.000,4,0.000,0.037,2555,713,1737,0,0,0,0,0,0
$GC,12886,0.61,276.6,613.7,12.7,890,12891,0.15,2.15,0.00,0.000,6,0.158,0.033,2514,2118,1738,0,0,0,0,0,0
$GC,13215,0.64,301.1,578.1,10.9,906,13240,0.00,2.25,20.05,0.804,4,0.000,0.044,2514,3538,1641,0,0,0,0,0,0
$GC,13281,0.64,301.1,570.2,11.9,909,13285,0.00,2.17,0.00,0.000,6,0.000,0.028,2522,2114,1640,0,0,0,0,0,0
$GC,13609,0.65,308.3,532.6,11.5,925,13623,0.00,2.22,7.80,0.692,4,0.000,0.037,2533,713,1612,0,0,0,0,0,0
$GC,13726,0.66,314.0,518.9,11.6,930,13738,0.00,2.17,6.53,0.621,6,0.000,0.032,2533,2116,1588,0,0,0,0,0,0
$GC,14052,0.66,314.0,478.5,12.0,953,14056,0.00,2.22,0.00,0.000,4,0.000,0.044,2533,3542,1588,0,0,0,0,0,0
$GC,14137,0.66,314.0,467.0,13.4,960,14141,0.00,2.15,0.00,0.000,6,0.000,0.028,2543,2129,1588,0,0,0,0,0,0
$GC,14462,0.66,314.0,426.8,12.2,990,14466,0.00,2.15,0.00,0.000,4,0.000,0.037,2554,713,1588,0,0,0,0,0,0
$GC,14503,0.66,314.0,421.9,12.4,993,14507,0.00,2.20,0.00,0.000,6,0.000,0.033,2554,2143,1588,0,0,0,0,0,0
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$STATE,18042,end climb,SURFACE_DEPTH_REACHED
$STATE,18042,begin surface coast
$FINISH,1.0,1.020846
$STATE,18061,end surface coast,CONTROL_FINISHED_OK
$STATE,18061,begin surface
$SM_CCo,18141,0.00,0.000,0,0,445,594.36
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$IRIDIUM_FIX,2045.60,11954.13,260811,151539
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.74
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,23.2,65.820
$10V_AH,9.8,58.886
$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
$DEVICE_SECS,16.850,180.925,659.175,0.000,0.000,29.836,19.552,160.508,0.250,0.000,17.608,3547.473,10773.165,760.157,3021.633,403.904,0.000,2300.905,0.000,2771.327,0.000,0.542,0.000
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$SENSOR_SECS,1015.811,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323144
$DATA_FILE_SIZE,83641,1466
$CAP_FILE_SIZE,201300,0
$CFSIZE,260165632,213192704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270811,020025,2050.317,11955.041,35,1.4,35,-2.4