version: 66.09
glider: 181
mission: 6
dive: 530
start: 9 21 111 8 28 50
data:
$ID,181
$MISSION,6
$DIVE,530
$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,-41253.086
$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,66
$R_STBD_OVSHOOT,51
$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
$GPS1,210911,082124,1858.700,12002.716,23,1.4,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.4
$GPS2,210911,082752,1858.763,12002.750,10,2.6,29,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W3A
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.195,0.244
$KALMAN_X,84696.4,1246.3,-90.4,-78060.6,1111.4
$KALMAN_Y,71308.4,1586.2,-652.9,-101501.1,-3063.2
$MHEAD_RNG_PITCHd_Wd,281.5,5333,-17.4,-11.786
$D_GRID,3001
$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,17,-0.53,-194.6,0.0,0.0,0,79,0.00,0.00,-60.25,0.000,2,0.000,0.000,185,2615,2169,0,0,0,0,0,0
$GC,83,-0.53,-194.6,3.0,-3.1,10,133,8.10,0.75,-34.30,0.000,4,0.222,0.060,2122,2060,3661,0,0,0,0,0,0
$GC,269,-0.53,-194.6,54.6,-22.0,42,275,0.00,0.80,0.00,0.000,6,0.000,0.035,2120,2593,3661,0,0,0,0,0,0
$GC,411,-0.53,-194.6,86.2,-22.9,67,418,0.00,0.80,0.00,0.000,4,0.000,0.040,2115,3130,3660,0,0,0,0,0,0
$GC,560,-0.53,-194.6,112.6,-14.7,93,567,0.00,0.75,0.00,0.000,6,0.000,0.024,2115,2574,3660,0,0,0,0,0,0
$GC,702,-0.53,-194.6,135.2,-16.8,118,708,0.00,0.60,0.00,0.000,4,0.000,0.025,2115,2081,3661,0,0,0,0,0,0
$GC,739,-0.53,-194.6,140.5,-14.5,124,746,0.00,0.80,0.00,0.000,6,0.000,0.035,2112,2617,3661,0,0,0,0,0,0
$GC,883,-0.53,-194.6,160.6,-13.4,149,890,0.00,0.75,0.00,0.000,4,0.000,0.039,2108,3133,3662,0,0,0,0,0,0
$GC,937,-0.53,-194.6,167.5,-12.6,158,944,0.00,0.70,0.00,0.000,6,0.000,0.024,2108,2606,3662,0,0,0,0,0,0
$GC,1081,-0.53,-194.6,184.5,-11.2,183,1088,0.00,0.65,0.00,0.000,4,0.000,0.024,2108,2088,3661,0,0,0,0,0,0
$GC,1201,-0.53,-194.6,197.9,-10.9,204,1208,0.00,0.77,0.00,0.000,6,0.000,0.035,2104,2609,3662,0,0,0,0,0,0
$GC,1338,-0.53,-194.6,214.5,-12.3,218,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2609,3661,0,0,0,0,0,0
$GC,1658,-0.53,-194.6,256.9,-13.8,248,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2609,3661,0,0,0,0,0,0
$GC,1977,-0.53,-194.6,296.9,-10.9,278,1981,0.00,0.77,0.00,0.000,4,0.000,0.040,2100,3133,3658,0,0,0,0,0,0
$GC,2013,-0.53,-194.6,301.2,-11.5,281,2017,0.00,0.70,0.00,0.000,6,0.000,0.025,2100,2614,3658,0,0,0,0,0,0
$GC,2344,-0.53,-194.6,339.9,-12.4,312,2347,0.00,0.68,0.00,0.000,4,0.000,0.025,2100,2082,3655,0,0,0,0,0,0
$GC,2437,-0.53,-194.6,351.4,-12.0,320,2446,0.08,0.80,0.00,0.000,6,0.126,0.036,2124,2612,3655,0,0,0,0,0,0
$GC,2765,-0.53,-194.6,384.0,-10.5,351,2769,0.00,0.70,0.00,0.000,4,0.000,0.025,2124,2091,3652,0,0,0,0,0,0
$GC,2822,-0.53,-194.6,389.9,-10.1,356,2826,0.00,0.77,0.00,0.000,6,0.000,0.037,2124,2604,3651,0,0,0,0,0,0
$GC,3153,-0.53,-194.6,423.9,-10.0,387,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2605,3648,0,0,0,0,0,0
$GC,3474,-0.53,-194.6,455.5,-9.5,417,3478,0.00,0.80,0.00,0.000,4,0.000,0.041,2121,3139,3645,0,0,0,0,0,0
$GC,3532,-0.53,-194.6,461.0,-9.4,422,3535,0.00,0.73,0.00,0.000,6,0.000,0.026,2121,2612,3645,0,0,0,0,0,0
$GC,3863,-0.53,-194.6,490.3,-9.3,453,3867,0.00,0.70,0.00,0.000,4,0.000,0.028,2121,2091,3642,0,0,0,0,0,0
$GC,3987,-0.53,-194.6,501.4,-8.7,463,3991,0.00,0.80,0.00,0.000,6,0.000,0.038,2117,2617,3640,0,0,0,0,0,0
$GC,4309,-0.53,-194.6,530.1,-9.2,479,4312,0.00,0.77,0.00,0.000,4,0.000,0.041,2113,3137,3638,0,0,0,0,0,0
$GC,4343,-0.53,-194.6,533.3,-9.3,480,4347,0.00,0.73,0.00,0.000,6,0.000,0.026,2113,2612,3638,0,0,0,0,0,0
$GC,4665,-0.53,-194.6,562.8,-9.3,496,4668,0.00,0.73,0.00,0.000,4,0.000,0.027,2113,2074,3636,0,0,0,0,0,0
$GC,4743,-0.53,-194.6,570.2,-9.1,499,4747,0.00,0.80,0.00,0.000,6,0.000,0.039,2112,2600,3634,0,0,0,0,0,0
$GC,5065,-0.53,-194.6,600.6,-9.8,515,5069,0.00,0.70,0.00,0.000,4,0.000,0.025,2112,2077,3633,0,0,0,0,0,0
$GC,5148,-0.53,-194.6,608.9,-9.7,518,5154,0.00,0.82,0.00,0.000,6,0.000,0.040,2112,2618,3633,0,0,0,0,0,0
$GC,5465,-0.53,-194.6,640.1,-10.1,534,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2618,3630,0,0,0,0,0,0
$GC,5774,-0.53,-194.6,671.2,-9.8,549,5777,0.00,0.73,0.00,0.000,4,0.000,0.024,2112,2087,3629,0,0,0,0,0,0
$GC,5823,-0.53,-194.6,676.2,-9.3,551,5827,0.00,0.80,0.00,0.000,6,0.000,0.040,2112,2612,3629,0,0,0,0,0,0
$GC,6152,-0.53,-194.6,702.8,-7.6,567,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2611,3626,0,0,0,0,0,0
$GC,6460,-0.53,-194.6,724.7,-6.8,582,6464,0.00,0.70,0.00,0.000,4,0.000,0.026,2112,2093,3625,0,0,0,0,0,0
$GC,6512,-0.53,-194.6,728.2,-6.8,584,6515,0.00,0.80,0.00,0.000,6,0.000,0.040,2112,2614,3625,0,0,0,0,0,0
$GC,6839,-0.53,-194.6,751.7,-7.4,600,6842,0.00,0.73,0.00,0.000,4,0.000,0.026,2112,2087,3623,0,0,0,0,0,0
$GC,6917,-0.53,-194.6,757.8,-7.5,603,6921,0.00,0.80,0.00,0.000,6,0.000,0.039,2112,2608,3623,0,0,0,0,0,0
$GC,7240,-0.53,-194.6,782.9,-8.0,619,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2608,3621,0,0,0,0,0,0
$GC,7548,-0.53,-194.6,809.8,-9.0,634,7552,0.00,0.70,0.00,0.000,4,0.000,0.027,2112,2094,3620,0,0,0,0,0,0
$GC,7643,-0.53,-194.6,819.3,-10.2,638,7647,0.00,0.80,0.00,0.000,6,0.000,0.041,2112,2608,3619,0,0,0,0,0,0
$GC,7970,-0.53,-194.6,853.8,-10.7,654,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2607,3618,0,0,0,0,0,0
$GC,8280,-0.53,-194.6,888.7,-11.2,669,8284,0.00,0.70,0.00,0.000,4,0.000,0.027,2112,2095,3617,0,0,0,0,0,0
$GC,8416,-0.53,-194.6,904.4,-11.9,675,8419,0.00,0.80,0.00,0.000,6,0.000,0.041,2111,2611,3617,0,0,0,0,0,0
$GC,8749,-0.53,-194.6,940.4,-10.3,691,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2611,3615,0,0,0,0,0,0
$GC,9059,-0.53,-194.6,968.8,-8.7,706,9063,0.00,0.73,0.00,0.000,4,0.000,0.027,2112,2090,3614,0,0,0,0,0,0
$GC,9137,-0.53,-194.6,975.7,-8.3,709,9141,0.00,0.80,0.00,0.000,6,0.000,0.041,2111,2603,3614,0,0,0,0,0,0
$STATE,9312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9312,begin apogee
$GC,9319,-0.13,0.0,990.9,8.7,718,9475,0.43,0.00,149.73,1.073,6,0.109,0.000,2254,2167,2869,0,0,0,0,0,0
$STATE,9476,end apogee,CONTROL_FINISHED_OK
$STATE,9476,begin climb
$GC,9478,0.53,194.6,1000.3,0.0,725,9642,0.57,0.00,159.88,1.050,6,0.053,0.000,2483,2166,2075,0,0,0,0,0,0
$GC,9943,0.58,232.5,964.9,10.2,748,9977,0.00,0.00,31.58,1.007,6,0.000,0.000,2484,2166,1921,0,0,0,0,0,0
$GC,10274,0.65,294.4,932.8,9.3,764,10327,0.00,0.00,50.95,1.008,6,0.000,0.000,2482,2166,1668,0,0,0,0,0,0
$GC,10622,0.73,356.0,900.6,9.3,781,10677,0.15,0.88,49.80,0.990,4,0.083,0.039,2547,2695,1416,0,0,0,0,0,0
$GC,10806,0.73,356.0,875.9,13.8,789,10810,0.00,0.77,0.00,0.000,6,0.000,0.025,2550,2156,1416,0,0,0,0,0,0
$GC,11128,0.73,356.0,834.8,12.8,805,11131,0.00,0.82,0.00,0.000,4,0.000,0.036,2551,2700,1418,0,0,0,0,0,0
$GC,11189,0.73,356.0,826.2,13.9,807,11196,0.00,0.77,0.00,0.000,6,0.000,0.027,2554,2159,1418,0,0,0,0,0,0
$GC,11505,0.73,356.0,783.1,13.5,823,11509,0.00,0.70,0.00,0.000,4,0.000,0.032,2558,1655,1418,0,0,0,0,0,0
$GC,11577,0.73,356.0,773.0,13.9,826,11581,0.00,0.77,0.00,0.000,6,0.000,0.031,2557,2175,1418,0,0,0,0,0,0
$GC,11906,0.73,356.0,729.5,13.1,842,11910,0.00,0.75,0.00,0.000,4,0.000,0.040,2558,2688,1418,0,0,0,0,0,0
$GC,11985,0.73,356.0,718.5,13.6,845,11989,0.00,0.75,0.00,0.000,6,0.000,0.027,2561,2160,1418,0,0,0,0,0,0
$GC,12307,0.73,356.0,674.8,13.7,861,12311,0.00,0.70,0.00,0.000,4,0.000,0.032,2565,1657,1418,0,0,0,0,0,0
$GC,12359,0.73,356.0,667.5,14.2,863,12363,0.08,0.75,0.00,0.000,6,0.142,0.032,2540,2164,1417,0,0,0,0,0,0
$GC,12685,0.73,356.0,626.0,12.9,879,12689,0.00,0.75,0.00,0.000,4,0.000,0.038,2540,2680,1417,0,0,0,0,0,0
$GC,12791,0.73,356.0,611.5,14.0,883,12798,0.00,0.73,0.00,0.000,6,0.000,0.028,2541,2167,1418,0,0,0,0,0,0
$GC,13107,0.73,356.0,570.6,12.8,899,13111,0.00,0.73,0.00,0.000,4,0.000,0.033,2545,1649,1417,0,0,0,0,0,0
$GC,13163,0.73,356.0,563.5,12.6,901,13167,0.00,0.77,0.00,0.000,6,0.000,0.031,2545,2166,1417,0,0,0,0,0,0
$GC,13485,0.76,381.9,527.1,10.7,917,13511,0.00,0.80,22.25,0.761,4,0.000,0.035,2545,2690,1310,0,0,0,0,0,0
$GC,13623,0.79,406.5,512.2,10.8,923,13648,0.00,0.75,21.15,0.730,6,0.000,0.027,2548,2164,1210,0,0,0,0,0,0
$GC,13968,0.87,475.1,480.3,9.0,949,14026,0.00,0.85,54.17,0.737,4,0.000,0.034,2548,2691,932,0,0,0,0,0,0
$GC,14086,0.95,539.2,469.7,9.2,959,14143,0.12,0.77,52.03,0.718,6,0.059,0.026,2614,2158,670,0,0,0,0,0,0
$GC,14463,0.95,539.2,421.8,13.5,994,14466,0.00,0.80,0.00,0.000,4,0.000,0.034,2614,2691,669,0,0,0,0,0,0
$GC,14497,0.95,539.2,416.7,14.4,997,14501,0.00,0.75,0.00,0.000,6,0.000,0.027,2617,2166,669,0,0,0,0,0,0
$GC,14828,0.95,539.2,367.6,15.4,1028,14832,0.00,0.73,0.00,0.000,4,0.000,0.031,2621,1646,668,0,0,0,0,0,0
$GC,14877,0.95,539.2,359.8,15.3,1032,14885,0.00,0.77,0.00,0.000,6,0.000,0.031,2621,2166,668,0,0,0,0,0,0
$GC,15203,0.95,539.2,308.2,16.6,1063,15206,0.00,0.75,0.00,0.000,4,0.000,0.038,2621,2684,668,0,0,0,0,0,0
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$GC,16148,0.95,539.2,158.1,13.8,1175,16154,0.00,0.75,0.00,0.000,6,0.000,0.030,2628,2165,668,0,0,0,0,0,0
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$GC,17448,1.40,900.7,18.3,8.8,1400,17455,0.17,0.73,0.00,0.000,4,0.068,0.035,2772,2677,441,0,0,0,0,0,0
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$STATE,17558,end climb,SURFACE_DEPTH_REACHED
$STATE,17558,begin surface coast
$FINISH,0.3,1.010077
$STATE,17578,end surface coast,CONTROL_FINISHED_OK
$STATE,17578,begin surface
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$IRIDIUM_FIX,1853.26,11959.96,210911,030320
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.42
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.4,87.008
$10V_AH,9.8,70.321
$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
$DEVICE_SECS,16.475,56.950,639.475,0.000,0.000,30.465,47.370,142.538,0.000,0.000,32.720,3602.945,10556.288,744.536,2755.979,371.020,33.363,2115.003,0.000,2489.975,0.000,0.538,0.000
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$SENSOR_SECS,989.505,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322224
$DATA_FILE_SIZE,80013,1422
$CAP_FILE_SIZE,180544,0
$CFSIZE,260165632,202170368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110, 71.5,1
$GPS,210911,132425,1859.085,12001.303,41,1.7,41,-2.0