version: 66.09
glider: 181
mission: 6
dive: 522
start: 9 19 111 15 58 36
data:
$ID,181
$MISSION,6
$DIVE,522
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$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,-41243.031
$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,2300
$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,15
$C_ROLL_DIVE,2610
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,190911,154924,1853.151,12011.135,24,0.9,41,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-73.4
$GPS2,190911,155738,1853.116,12011.188,12,1.1,12,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W3A
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.221,0.221
$KALMAN_X,65905.5,-59.0,171.1,-43467.3,519.3
$KALMAN_Y,82890.3,-2363.0,916.2,-121158.3,-1628.7
$MHEAD_RNG_PITCHd_Wd,303.7,23373,-17.4,-11.786
$D_GRID,1926
$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,-0.53,-194.6,0.0,0.0,0,79,0.00,0.00,-58.60,0.000,2,0.000,0.000,191,2629,2144,0,0,0,0,0,0
$GC,82,-0.53,-194.6,3.2,-3.6,10,127,8.02,0.80,-32.75,0.000,4,0.221,0.063,2121,2057,3664,0,0,0,0,0,0
$GC,186,-0.53,-194.6,35.9,-32.0,27,192,0.00,0.85,0.00,0.000,6,0.000,0.039,2119,2615,3660,0,0,0,0,0,0
$GC,328,-0.53,-194.6,81.6,-28.3,52,335,0.00,0.75,0.00,0.000,4,0.000,0.037,2115,3133,3659,0,0,0,0,0,0
$GC,354,-0.53,-194.6,87.9,-24.5,56,362,0.00,0.75,0.00,0.000,6,0.000,0.024,2115,2578,3659,0,0,0,0,0,0
$GC,498,-0.53,-194.6,116.7,-16.7,81,504,0.00,0.85,0.00,0.000,4,0.000,0.037,2111,3140,3659,0,0,0,0,0,0
$GC,613,-0.53,-194.6,133.9,-16.3,101,619,0.00,0.70,0.00,0.000,6,0.000,0.024,2111,2614,3659,0,0,0,0,0,0
$GC,754,-0.53,-194.6,155.0,-14.4,126,761,0.00,0.68,0.00,0.000,4,0.000,0.024,2112,2083,3659,0,0,0,0,0,0
$GC,823,-0.53,-194.6,165.0,-13.9,138,830,0.00,0.80,0.00,0.000,6,0.000,0.034,2108,2623,3659,0,0,0,0,0,0
$GC,966,-0.53,-194.6,184.9,-14.4,163,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2623,3659,0,0,0,0,0,0
$GC,1107,-0.53,-194.6,201.5,-10.4,187,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2623,3659,0,0,0,0,0,0
$GC,1429,-0.53,-194.6,235.2,-11.9,217,1432,0.00,0.70,0.00,0.000,4,0.000,0.024,2108,2091,3659,0,0,0,0,0,0
$GC,1475,-0.53,-194.6,240.7,-11.3,221,1479,0.00,0.77,0.00,0.000,6,0.000,0.035,2104,2612,3659,0,0,0,0,0,0
$GC,1806,-0.53,-194.6,273.1,-9.9,252,1810,0.00,0.70,0.00,0.000,4,0.000,0.024,2103,2082,3657,0,0,0,0,0,0
$GC,1841,-0.53,-194.6,276.8,-10.6,255,1844,0.00,0.77,0.00,0.000,6,0.000,0.037,2100,2604,3657,0,0,0,0,0,0
$GC,2172,-0.53,-194.6,320.1,-14.0,286,2175,0.00,0.68,0.00,0.000,4,0.000,0.026,2100,2096,3654,0,0,0,0,0,0
$GC,2220,-0.53,-194.6,327.3,-14.0,290,2228,0.08,0.77,0.00,0.000,6,0.129,0.037,2123,2607,3653,0,0,0,0,0,0
$GC,2547,-0.53,-194.6,367.2,-11.4,321,2550,0.00,0.77,0.00,0.000,4,0.000,0.041,2121,3130,3650,0,0,0,0,0,0
$GC,2594,-0.53,-194.6,372.2,-10.8,325,2597,0.00,0.70,0.00,0.000,6,0.000,0.027,2122,2625,3649,0,0,0,0,0,0
$GC,2925,-0.53,-194.6,406.4,-10.5,356,2928,0.00,0.73,0.00,0.000,4,0.000,0.026,2122,2086,3646,0,0,0,0,0,0
$GC,3053,-0.53,-194.6,419.0,-9.5,367,3060,0.00,0.80,0.00,0.000,6,0.000,0.038,2118,2615,3645,0,0,0,0,0,0
$GC,3379,-0.53,-194.6,447.1,-9.1,398,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2616,3642,0,0,0,0,0,0
$GC,3699,-0.53,-194.6,475.1,-8.8,428,3703,0.00,0.73,0.00,0.000,4,0.000,0.026,2118,2087,3639,0,0,0,0,0,0
$GC,3816,-0.53,-194.6,485.6,-9.1,438,3823,0.00,0.80,0.00,0.000,6,0.000,0.038,2114,2613,3638,0,0,0,0,0,0
$GC,4149,-0.53,-194.6,516.4,-9.4,462,4152,0.00,0.73,0.00,0.000,4,0.000,0.026,2114,2082,3635,0,0,0,0,0,0
$GC,4196,-0.53,-194.6,520.8,-9.3,464,4200,0.00,0.80,0.00,0.000,6,0.000,0.040,2112,2608,3635,0,0,0,0,0,0
$GC,4529,-0.53,-194.6,551.1,-9.1,480,4533,0.00,0.73,0.00,0.000,4,0.000,0.028,2112,2081,3632,0,0,0,0,0,0
$GC,4601,-0.53,-194.6,557.8,-9.0,483,4605,0.00,0.80,0.00,0.000,6,0.000,0.041,2112,2603,3632,0,0,0,0,0,0
$GC,4930,-0.53,-194.6,587.4,-9.1,499,4931,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2602,3630,0,0,0,0,0,0
$GC,5238,-0.53,-194.6,614.9,-8.8,514,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2603,3627,0,0,0,0,0,0
$GC,5549,-0.53,-194.6,638.3,-7.0,529,5552,0.00,0.70,0.00,0.000,4,0.000,0.028,2112,2091,3625,0,0,0,0,0,0
$GC,5595,-0.53,-194.6,641.4,-6.6,531,5599,0.00,0.80,0.00,0.000,6,0.000,0.041,2112,2607,3625,0,0,0,0,0,0
$GC,5928,-0.53,-194.6,663.5,-6.9,547,5932,0.00,0.73,0.00,0.000,4,0.000,0.028,2112,2085,3623,0,0,0,0,0,0
$GC,6020,-0.53,-194.6,670.3,-7.5,551,6024,0.00,0.80,0.00,0.000,6,0.000,0.041,2112,2604,3622,0,0,0,0,0,0
$GC,6353,-0.53,-194.6,698.2,-8.7,567,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2604,3621,0,0,0,0,0,0
$GC,6663,-0.53,-194.6,728.2,-10.1,582,6667,0.00,0.70,0.00,0.000,4,0.000,0.028,2112,2094,3619,0,0,0,0,0,0
$GC,6776,-0.53,-194.6,740.3,-10.6,587,6780,0.00,0.80,0.00,0.000,6,0.000,0.042,2112,2611,3618,0,0,0,0,0,0
$GC,7110,-0.53,-194.6,776.0,-10.9,603,7114,0.00,0.73,0.00,0.000,4,0.000,0.028,2111,2090,3617,0,0,0,0,0,0
$GC,7228,-0.53,-194.6,789.2,-11.1,608,7232,0.00,0.80,0.00,0.000,6,0.000,0.042,2112,2607,3617,0,0,0,0,0,0
$GC,7556,-0.53,-194.6,822.9,-10.1,624,7557,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2607,3615,0,0,0,0,0,0
$GC,7864,-0.53,-194.6,850.1,-8.5,639,7868,0.00,0.73,0.00,0.000,4,0.000,0.028,2112,2090,3614,0,0,0,0,0,0
$GC,7986,-0.53,-194.6,860.1,-7.8,644,7989,0.00,0.80,0.00,0.000,6,0.000,0.042,2112,2610,3613,0,0,0,0,0,0
$GC,8308,-0.53,-194.6,882.4,-6.6,660,8312,0.00,0.73,0.00,0.000,4,0.000,0.028,2112,2093,3612,0,0,0,0,0,0
$GC,8423,-0.53,-194.6,890.0,-6.2,665,8426,0.00,0.80,0.00,0.000,6,0.000,0.043,2112,2606,3612,0,0,0,0,0,0
$GC,8757,-0.53,-194.6,911.8,-6.6,681,8761,0.00,0.73,0.00,0.000,4,0.000,0.029,2112,2097,3610,0,0,0,0,0,0
$GC,8830,-0.53,-194.6,917.0,-7.0,684,8834,0.00,0.80,0.00,0.000,6,0.000,0.044,2112,2609,3610,0,0,0,0,0,0
$GC,9159,-0.53,-194.6,941.3,-7.8,700,9160,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2609,3609,0,0,0,0,0,0
$GC,9467,-0.53,-194.6,969.5,-9.9,715,9470,0.00,0.75,0.00,0.000,4,0.000,0.031,2112,2101,3608,0,0,0,0,0,0
$GC,9584,-0.53,-194.6,981.8,-10.5,720,9588,0.00,0.80,0.00,0.000,6,0.000,0.043,2112,2612,3608,0,0,0,0,0,0
$STATE,9620,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9620,begin apogee
$GC,9627,-0.13,0.0,985.7,10.8,722,9782,0.43,0.00,148.55,1.072,6,0.112,0.000,2253,2175,2869,0,0,0,0,0,0
$STATE,9783,end apogee,CONTROL_FINISHED_OK
$STATE,9783,begin climb
$GC,9787,0.53,194.6,998.3,0.0,729,9953,0.57,0.88,158.88,1.051,4,0.053,0.031,2485,1627,2074,0,0,0,0,0,0
$GC,10068,0.65,295.1,989.9,7.7,742,10154,0.00,0.85,81.28,1.037,6,0.000,0.031,2485,2187,1666,0,0,0,0,0,0
$GC,10461,0.74,365.3,954.9,8.9,761,10527,0.15,0.77,57.08,1.021,4,0.085,0.041,2546,2683,1378,0,0,0,0,0,0
$GC,10672,0.74,365.3,925.1,14.1,770,10676,0.00,0.77,0.00,0.000,6,0.000,0.027,2550,2148,1378,0,0,0,0,0,0
$GC,10995,0.74,365.3,882.7,12.9,786,10999,0.00,0.80,0.00,0.000,4,0.000,0.039,2550,2679,1381,0,0,0,0,0,0
$GC,11041,0.74,365.3,876.5,13.3,788,11045,0.00,0.73,0.00,0.000,6,0.000,0.028,2554,2175,1382,0,0,0,0,0,0
$GC,11375,0.74,369.3,836.7,11.6,804,11384,0.00,0.77,5.70,0.758,4,0.000,0.028,2557,1644,1364,0,0,0,0,0,0
$GC,11500,0.74,369.3,821.6,12.6,809,11503,0.00,0.77,0.00,0.000,6,0.000,0.034,2557,2161,1363,0,0,0,0,0,0
$GC,11821,0.74,369.3,779.2,13.2,825,11825,0.00,0.77,0.00,0.000,4,0.000,0.040,2557,2689,1363,0,0,0,0,0,0
$GC,11944,0.74,369.3,760.8,15.5,830,11948,0.00,0.77,0.00,0.000,6,0.000,0.028,2560,2152,1362,0,0,0,0,0,0
$GC,12266,0.74,369.3,715.2,14.2,846,12267,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2152,1362,0,0,0,0,0,0
$GC,12576,0.74,369.3,669.1,15.4,861,12580,0.00,0.70,0.00,0.000,4,0.000,0.034,2564,1652,1362,0,0,0,0,0,0
$GC,12637,0.74,369.3,659.0,15.8,863,12644,0.00,0.77,0.00,0.000,6,0.000,0.034,2564,2168,1362,0,0,0,0,0,0
$GC,12953,0.74,369.3,610.4,14.8,879,12956,0.00,0.77,0.00,0.000,4,0.000,0.041,2564,2693,1362,0,0,0,0,0,0
$GC,13023,0.74,369.3,600.1,15.5,882,13026,0.00,0.77,0.00,0.000,6,0.000,0.029,2567,2157,1362,0,0,0,0,0,0
$GC,13356,0.74,369.3,556.4,11.9,898,13359,0.00,0.70,0.00,0.000,4,0.000,0.034,2571,1658,1362,0,0,0,0,0,0
$GC,13412,0.74,369.3,549.5,12.1,900,13417,0.10,0.75,0.00,0.000,6,0.134,0.033,2539,2164,1362,0,0,0,0,0,0
$GC,13733,0.79,403.1,516.6,10.4,916,13764,0.00,0.82,27.52,0.763,4,0.000,0.039,2539,2688,1225,0,0,0,0,0,0
$GC,13870,0.79,403.1,500.5,12.1,922,13874,0.00,0.75,0.00,0.000,6,0.000,0.029,2540,2171,1225,0,0,0,0,0,0
$GC,14201,0.85,458.9,469.2,9.5,953,14249,0.10,0.75,44.22,0.735,4,0.109,0.029,2589,1642,998,0,0,0,0,0,0
$GC,14357,0.85,458.9,448.4,14.4,967,14361,0.00,0.80,0.00,0.000,6,0.000,0.032,2589,2167,1003,0,0,0,0,0,0
$GC,14689,0.85,458.9,396.7,15.9,998,14692,0.00,0.77,0.00,0.000,4,0.000,0.039,2589,2692,1004,0,0,0,0,0,0
$GC,14768,0.85,458.9,383.6,16.5,1005,14772,0.00,0.77,0.00,0.000,6,0.000,0.028,2593,2154,1004,0,0,0,0,0,0
$GC,15100,0.85,458.9,333.0,14.4,1036,15101,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2154,1004,0,0,0,0,0,0
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$STATE,17737,end climb,SURFACE_DEPTH_REACHED
$STATE,17737,begin surface coast
$FINISH,0.6,1.019832
$STATE,17765,end surface coast,CONTROL_FINISHED_OK
$STATE,17767,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,46.73
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,23.4,85.604
$10V_AH,9.8,69.587
$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
$DEVICE_SECS,16.350,62.225,636.950,0.000,0.000,50.749,85.811,148.096,0.250,0.000,15.128,3624.729,10671.741,700.346,2932.757,394.801,33.361,2156.655,0.000,2622.681,0.000,0.542,0.000
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$SENSOR_SECS,987.249,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322212
$DATA_FILE_SIZE,80218,1419
$CAP_FILE_SIZE,190656,0
$CFSIZE,260165632,202858496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109, 69.4,1
$GPS,190911,205707,1854.380,12010.163,29,1.2,29,-2.0