version: 66.09
glider: 181
mission: 6
dive: 409
start: 8 27 111 22 13 20
data:
$ID,181
$MISSION,6
$DIVE,409
$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,-41066.758
$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,38
$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
$GPS1,270811,220705,2044.195,12000.005,44,1.4,48,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-44.0
$GPS2,270811,221255,2044.179,12000.030,9,1.6,14,-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,182.4,192940,-16.3,-11.786
$D_GRID,3416
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.54,-219.0,0.0,0.0,0,98,0.00,0.00,-78.88,0.000,2,0.000,0.000,167,2610,2578,0,0,0,0,0,0
$GC,101,-0.54,-219.0,3.3,-3.2,14,143,8.25,1.88,-25.27,0.000,4,0.230,0.060,2129,3775,3764,0,0,0,0,0,0
$GC,234,-0.54,-219.0,42.5,-23.8,37,241,0.00,1.75,0.00,0.000,6,0.000,0.023,2128,2584,3765,0,0,0,0,0,0
$GC,378,-0.54,-219.0,78.2,-26.0,62,384,0.00,2.03,0.00,0.000,4,0.000,0.025,2129,1185,3765,0,0,0,0,0,0
$GC,397,-0.54,-219.0,83.4,-26.4,65,404,0.00,2.12,0.00,0.000,6,0.000,0.036,2121,2569,3765,0,0,0,0,0,0
$GC,540,-0.54,-219.0,114.1,-18.6,90,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2570,3765,0,0,0,0,0,0
$GC,683,-0.54,-219.0,139.2,-18.9,115,690,0.00,1.88,0.00,0.000,4,0.000,0.042,2112,3786,3765,0,0,0,0,0,0
$GC,770,-0.54,-219.0,154.8,-16.3,130,777,0.12,1.80,0.00,0.000,6,0.145,0.024,2146,2545,3765,0,0,0,0,0,0
$GC,915,-0.54,-219.0,173.7,-12.4,155,921,0.00,1.95,0.00,0.000,4,0.000,0.028,2146,1200,3766,0,0,0,0,0,0
$GC,946,-0.54,-219.0,177.7,-12.5,160,952,0.00,2.08,0.00,0.000,6,0.000,0.033,2139,2568,3766,0,0,0,0,0,0
$GC,1091,-0.54,-219.0,195.1,-10.7,185,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2569,3766,0,0,0,0,0,0
$GC,1235,-0.54,-219.0,211.8,-12.0,202,1239,0.00,1.85,0.00,0.000,4,0.000,0.043,2131,3786,3766,0,0,0,0,0,0
$GC,1272,-0.54,-219.0,216.2,-11.8,205,1275,0.00,1.80,0.00,0.000,6,0.000,0.024,2131,2539,3766,0,0,0,0,0,0
$GC,1603,-0.54,-219.0,272.1,-17.5,236,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2537,3765,0,0,0,0,0,0
$GC,1922,-0.54,-219.0,320.2,-13.1,266,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2537,3763,0,0,0,0,0,0
$GC,2242,-0.54,-219.0,357.0,-11.4,296,2246,0.00,2.00,0.00,0.000,4,0.000,0.030,2131,1204,3761,0,0,0,0,0,0
$GC,2265,-0.54,-219.0,359.8,-11.3,298,2269,0.00,2.08,0.00,0.000,6,0.000,0.034,2127,2567,3761,0,0,0,0,0,0
$GC,2591,-0.54,-219.0,395.1,-10.0,328,2594,0.00,1.85,0.00,0.000,4,0.000,0.045,2125,3776,3758,0,0,0,0,0,0
$GC,2627,-0.54,-219.0,398.5,-9.8,331,2630,0.00,1.77,0.00,0.000,6,0.000,0.026,2125,2559,3758,0,0,0,0,0,0
$GC,2958,-0.54,-219.0,430.4,-8.6,362,2961,0.00,2.00,0.00,0.000,4,0.000,0.031,2125,1201,3756,0,0,0,0,0,0
$GC,3016,-0.54,-219.0,435.0,-7.9,367,3020,0.00,2.08,0.00,0.000,6,0.000,0.035,2125,2558,3755,0,0,0,0,0,0
$GC,3347,-0.54,-219.0,460.5,-7.5,398,3351,0.00,1.88,0.00,0.000,4,0.000,0.047,2122,3775,3752,0,0,0,0,0,0
$GC,3372,-0.54,-219.0,462.1,-7.3,400,3376,0.00,1.85,0.00,0.000,6,0.000,0.026,2122,2548,3751,0,0,0,0,0,0
$GC,3703,-0.54,-219.0,481.6,-5.1,431,3707,0.00,1.98,0.00,0.000,4,0.000,0.031,2122,1212,3749,0,0,0,0,0,0
$GC,3772,-0.54,-219.0,485.2,-5.3,437,3776,0.00,2.03,0.00,0.000,6,0.000,0.035,2114,2533,3749,0,0,0,0,0,0
$GC,4101,-0.54,-219.0,511.8,-9.3,462,4105,0.12,1.95,0.00,0.000,4,0.153,0.047,2142,3777,3746,0,0,0,0,0,0
$GC,4163,-0.54,-219.0,517.2,-8.1,464,4170,0.00,1.83,0.00,0.000,6,0.000,0.027,2142,2540,3746,0,0,0,0,0,0
$GC,4480,-0.54,-219.0,545.9,-9.8,480,4483,0.00,1.95,0.00,0.000,4,0.000,0.046,2141,3776,3743,0,0,0,0,0,0
$GC,4640,-0.54,-219.0,563.0,-12.1,487,4644,0.00,1.98,0.00,0.000,6,0.000,0.027,2141,2473,3742,0,0,0,0,0,0
$GC,4972,-0.54,-219.0,594.4,-8.8,503,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2471,3740,0,0,0,0,0,0
$GC,5282,-0.54,-219.0,622.5,-9.2,518,5285,0.00,1.88,0.00,0.000,4,0.000,0.033,2142,1206,3737,0,0,0,0,0,0
$GC,5355,-0.54,-219.0,630.0,-10.8,521,5359,0.00,1.92,0.00,0.000,6,0.000,0.034,2141,2469,3737,0,0,0,0,0,0
$GC,5683,-0.54,-219.0,660.4,-8.9,537,5686,0.00,1.90,0.00,0.000,4,0.000,0.033,2145,1200,3735,0,0,0,0,0,0
$GC,5873,-0.54,-219.0,677.4,-8.4,545,5877,0.00,1.95,0.00,0.000,6,0.000,0.034,2145,2447,3734,0,0,0,0,0,0
$GC,6194,-0.54,-219.0,699.5,-6.5,561,6198,0.00,1.85,0.00,0.000,4,0.000,0.034,2145,1212,3732,0,0,0,0,0,0
$GC,6452,-0.54,-219.0,717.3,-7.2,572,6456,0.00,1.85,0.00,0.000,6,0.000,0.035,2145,2424,3730,0,0,0,0,0,0
$GC,6774,-0.54,-219.0,739.1,-7.1,588,6778,0.00,1.83,0.00,0.000,4,0.000,0.034,2150,1212,3729,0,0,0,0,0,0
$GC,7032,-0.54,-219.0,761.2,-9.1,599,7036,0.00,1.83,0.00,0.000,6,0.000,0.036,2151,2402,3728,0,0,0,0,0,0
$GC,7355,-0.54,-219.0,790.6,-9.7,615,7359,0.00,1.80,0.00,0.000,4,0.000,0.034,2156,1207,3726,0,0,0,0,0,0
$GC,7613,-0.54,-219.0,818.6,-10.8,626,7617,0.00,1.83,0.00,0.000,6,0.000,0.036,2156,2398,3725,0,0,0,0,0,0
$GC,7935,-0.54,-219.0,852.0,-10.6,642,7939,0.00,1.80,0.00,0.000,4,0.000,0.035,2160,1203,3723,0,0,0,0,0,0
$GC,8193,-0.54,-219.0,880.0,-10.5,653,8197,0.00,1.83,0.00,0.000,6,0.000,0.036,2160,2392,3722,0,0,0,0,0,0
$GC,8515,-0.54,-219.0,913.5,-10.7,669,8519,0.00,1.77,0.00,0.000,4,0.000,0.035,2161,1213,3721,0,0,0,0,0,0
$GC,8773,-0.54,-219.0,942.8,-11.8,680,8777,0.00,1.80,0.00,0.000,6,0.000,0.036,2161,2383,3720,0,0,0,0,0,0
$GC,9095,-0.54,-219.0,975.8,-10.3,696,9099,0.00,1.77,0.00,0.000,4,0.000,0.035,2161,1206,3719,0,0,0,0,0,0
$STATE,9233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9235,begin apogee
$GC,9242,-0.13,0.0,990.2,10.0,702,9415,0.30,0.00,168.35,1.079,4,0.060,0.000,2295,2140,2869,0,0,0,0,0,0
$STATE,9416,end apogee,CONTROL_FINISHED_OK
$STATE,9416,begin climb
$GC,9419,0.54,219.0,1001.1,0.0,710,9607,0.52,2.30,177.82,1.057,4,0.047,0.039,2505,739,1976,0,0,0,0,0,0
$GC,9639,0.54,219.0,989.0,11.8,721,9643,0.00,2.28,0.00,0.000,6,0.000,0.035,2505,2126,1976,0,0,0,0,0,0
$GC,9965,0.54,219.0,946.5,13.1,737,9969,0.00,2.22,0.00,0.000,4,0.000,0.045,2505,3542,1974,0,0,0,0,0,0
$GC,10020,0.54,219.0,938.5,14.5,739,10027,0.00,2.12,0.00,0.000,6,0.000,0.028,2514,2154,1973,0,0,0,0,0,0
$GC,10336,0.54,219.0,894.6,14.0,755,10340,0.00,2.20,0.00,0.000,4,0.000,0.039,2526,714,1973,0,0,0,0,0,0
$GC,10472,0.54,219.0,875.9,13.6,761,10477,0.12,2.17,0.00,0.000,6,0.166,0.035,2494,2122,1973,0,0,0,0,0,0
$GC,10795,0.54,219.0,836.4,12.3,777,10799,0.00,2.20,0.00,0.000,4,0.000,0.045,2494,3536,1972,0,0,0,0,0,0
$GC,10857,0.54,219.0,828.0,13.6,780,10861,0.00,2.15,0.00,0.000,6,0.000,0.028,2503,2119,1971,0,0,0,0,0,0
$GC,11184,0.54,219.0,786.5,12.5,796,11188,0.00,2.12,0.00,0.000,4,0.000,0.040,2513,722,1971,0,0,0,0,0,0
$GC,11251,0.54,219.0,777.9,12.8,799,11255,0.00,2.17,0.00,0.000,6,0.000,0.034,2513,2134,1971,0,0,0,0,0,0
$GC,11579,0.54,219.0,737.6,12.2,815,11583,0.00,2.17,0.00,0.000,4,0.000,0.045,2513,3535,1971,0,0,0,0,0,0
$GC,11606,0.54,219.0,733.8,12.7,816,11611,0.00,2.17,0.00,0.000,6,0.000,0.028,2522,2130,1971,0,0,0,0,0,0
$GC,11928,0.54,219.0,691.5,13.1,832,11932,0.00,2.15,0.00,0.000,4,0.000,0.039,2533,717,1970,0,0,0,0,0,0
$GC,12001,0.54,219.0,682.0,12.8,835,12006,0.15,2.17,0.00,0.000,6,0.158,0.034,2494,2132,1970,0,0,0,0,0,0
$GC,12317,0.59,259.3,648.8,10.3,850,12354,0.00,2.25,31.62,0.856,4,0.000,0.043,2494,3542,1812,0,0,0,0,0,0
$GC,12418,0.59,262.6,637.5,11.7,853,12428,0.00,2.17,4.38,0.551,6,0.000,0.028,2502,2132,1798,0,0,0,0,0,0
$GC,12758,0.62,286.1,600.1,10.9,870,12783,0.00,2.25,19.67,0.799,4,0.000,0.040,2512,724,1701,0,0,0,0,0,0
$GC,12829,0.63,292.0,591.9,11.6,873,12840,0.00,2.20,6.30,0.632,6,0.000,0.033,2512,2131,1678,0,0,0,0,0,0
$GC,13150,0.63,292.0,553.4,12.0,888,13154,0.00,2.20,0.00,0.000,4,0.000,0.044,2512,3535,1678,0,0,0,0,0,0
$GC,13217,0.63,292.0,544.6,12.9,891,13221,0.00,2.15,0.00,0.000,6,0.000,0.029,2522,2139,1679,0,0,0,0,0,0
$GC,13543,0.63,292.0,504.5,12.0,907,13547,0.00,2.17,0.00,0.000,4,0.000,0.038,2533,715,1682,0,0,0,0,0,0
$GC,13582,0.64,297.4,499.8,11.6,908,13594,0.00,2.20,7.22,0.680,6,0.000,0.034,2533,2141,1655,0,0,0,0,0,0
$GC,13913,0.65,307.4,461.3,11.4,939,13929,0.00,2.22,9.75,0.678,4,0.000,0.044,2533,3526,1615,0,0,0,0,0,0
$GC,13985,0.65,307.4,451.8,13.9,945,13992,0.00,2.12,0.00,0.000,6,0.000,0.028,2542,2135,1614,0,0,0,0,0,0
$GC,14310,0.65,307.4,410.8,13.2,976,14314,0.00,2.15,0.00,0.000,4,0.000,0.037,2553,721,1614,0,0,0,0,0,0
$GC,14418,0.65,307.4,396.7,13.7,985,14422,0.00,2.15,0.00,0.000,6,0.000,0.034,2554,2117,1614,0,0,0,0,0,0
$GC,14743,0.65,307.4,351.5,13.9,1015,14747,0.00,2.20,0.00,0.000,4,0.000,0.044,2553,3535,1614,0,0,0,0,0,0
$GC,14842,0.65,307.4,336.2,14.6,1023,14850,0.12,2.12,0.00,0.000,6,0.172,0.028,2532,2136,1614,0,0,0,0,0,0
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$STATE,17598,end climb,SURFACE_DEPTH_REACHED
$STATE,17598,begin surface coast
$FINISH,0.2,1.021337
$STATE,17630,end surface coast,CONTROL_FINISHED_OK
$STATE,17630,begin surface
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$IRIDIUM_FIX,2036.38,11954.98,270811,171709
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.57
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.60
$XPDR_PINGS,0
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$10V_AH,9.8,59.355
$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,17.000,181.150,652.775,0.000,0.000,29.288,20.388,150.814,0.000,0.000,18.169,3427.378,10486.190,750.493,2989.256,391.252,0.000,2278.001,0.000,2743.783,0.000,0.540,0.000
$DEVICE_MAMPS,229.500,60.435,1079.415,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,978.642,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323020
$DATA_FILE_SIZE,80217,1411
$CAP_FILE_SIZE,198789,0
$CFSIZE,260165632,212742144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280811,030937,2042.479,11958.965,32,1.4,32,-2.4