version: 66.09
glider: 181
mission: 6
dive: 447
start: 9 4 111 9 21 33
data:
$ID,181
$MISSION,6
$DIVE,447
$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,-41127.016
$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,51
$R_STBD_OVSHOOT,35
$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
$GPS1,040911,091237,1947.327,12010.009,27,1.4,27,-2.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.7
$GPS2,040911,092108,1947.273,12009.958,10,1.8,10,-2.2
$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,193.5,89269,-16.3,-11.786
$D_GRID,4087
$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,18,-0.54,-219.0,0.0,0.0,0,82,0.00,0.00,-61.40,0.000,2,0.000,0.000,204,2581,2193,0,0,0,0,0,0
$GC,85,-0.54,-219.0,3.0,-2.9,11,138,8.10,2.12,-36.20,0.000,4,0.226,0.041,2138,1194,3764,0,0,0,0,0,0
$GC,206,-0.54,-219.0,29.3,-19.8,32,213,0.00,2.20,0.00,0.000,6,0.000,0.037,2137,2596,3765,0,0,0,0,0,0
$GC,350,-0.54,-219.0,75.6,-34.1,57,356,0.00,1.83,0.00,0.000,4,0.000,0.043,2129,3792,3764,0,0,0,0,0,0
$GC,414,-0.54,-219.0,88.0,-17.0,68,421,0.00,1.75,0.00,0.000,6,0.000,0.024,2129,2591,3764,0,0,0,0,0,0
$GC,557,-0.54,-219.0,111.0,-16.1,93,564,0.00,1.85,0.00,0.000,4,0.000,0.042,2123,3790,3763,0,0,0,0,0,0
$GC,583,-0.54,-219.0,115.4,-17.6,97,590,0.00,1.67,0.00,0.000,6,0.000,0.024,2123,2636,3764,0,0,0,0,0,0
$GC,727,-0.54,-219.0,138.2,-13.2,122,733,0.00,2.10,0.00,0.000,4,0.000,0.028,2123,1199,3764,0,0,0,0,0,0
$GC,797,-0.54,-219.0,146.2,-9.5,134,804,0.12,2.10,0.00,0.000,6,0.140,0.033,2150,2587,3764,0,0,0,0,0,0
$GC,943,-0.54,-219.0,158.8,-8.9,159,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2587,3765,0,0,0,0,0,0
$GC,1086,-0.54,-219.0,174.2,-10.9,184,1092,0.00,2.05,0.00,0.000,4,0.000,0.028,2150,1198,3765,0,0,0,0,0,0
$GC,1117,-0.54,-219.0,177.6,-11.0,189,1124,0.00,2.08,0.00,0.000,6,0.000,0.033,2151,2570,3765,0,0,0,0,0,0
$GC,1262,-0.54,-219.0,192.1,-9.9,214,1269,0.00,1.83,0.00,0.000,4,0.000,0.043,2150,3776,3765,0,0,0,0,0,0
$GC,1290,-0.54,-219.0,194.5,-9.0,218,1296,0.00,1.77,0.00,0.000,6,0.000,0.024,2150,2545,3765,0,0,0,0,0,0
$GC,1429,-0.54,-219.0,205.7,-8.9,237,1433,0.00,1.95,0.00,0.000,4,0.000,0.028,2150,1202,3764,0,0,0,0,0,0
$GC,1468,-0.54,-219.0,210.3,-11.5,240,1475,0.00,2.08,0.00,0.000,6,0.000,0.032,2150,2562,3764,0,0,0,0,0,0
$GC,1794,-0.54,-219.0,243.0,-8.2,271,1798,0.00,2.05,0.00,0.000,4,0.000,0.029,2150,1182,3762,0,0,0,0,0,0
$GC,1817,-0.54,-219.0,245.1,-8.3,273,1821,0.00,1.98,0.00,0.000,6,0.000,0.032,2150,2493,3762,0,0,0,0,0,0
$GC,2148,-0.54,-219.0,267.1,-5.3,304,2152,0.00,1.95,0.00,0.000,4,0.000,0.041,2150,3782,3760,0,0,0,0,0,0
$GC,2194,-0.54,-219.0,269.6,-5.5,308,2198,0.00,2.00,0.00,0.000,6,0.000,0.024,2150,2415,3760,0,0,0,0,0,0
$GC,2526,-0.54,-219.0,293.7,-8.5,339,2530,0.00,2.10,0.00,0.000,4,0.000,0.041,2150,3774,3757,0,0,0,0,0,0
$GC,2673,-0.54,-219.0,308.7,-10.8,351,2680,0.00,2.00,0.00,0.000,6,0.000,0.025,2150,2420,3756,0,0,0,0,0,0
$GC,2998,-0.54,-219.0,343.3,-10.8,382,3002,0.00,2.12,0.00,0.000,4,0.000,0.043,2150,3785,3752,0,0,0,0,0,0
$GC,3174,-0.54,-219.0,362.0,-9.9,397,3177,0.00,1.98,0.00,0.000,6,0.000,0.025,2150,2448,3751,0,0,0,0,0,0
$GC,3505,-0.54,-219.0,390.2,-8.0,428,3509,0.00,2.08,0.00,0.000,4,0.000,0.043,2150,3780,3748,0,0,0,0,0,0
$GC,3672,-0.54,-219.0,404.2,-8.6,442,3678,0.00,1.92,0.00,0.000,6,0.000,0.027,2150,2475,3747,0,0,0,0,0,0
$GC,3997,-0.54,-219.0,430.5,-8.6,473,4001,0.00,2.05,0.00,0.000,4,0.000,0.044,2150,3782,3744,0,0,0,0,0,0
$GC,4059,-0.54,-219.0,436.4,-9.7,478,4066,0.00,1.90,0.00,0.000,6,0.000,0.026,2158,2493,3742,0,0,0,0,0,0
$GC,4385,-0.54,-219.0,464.7,-9.0,509,4388,0.00,2.00,0.00,0.000,4,0.000,0.045,2158,3773,3740,0,0,0,0,0,0
$GC,4511,-0.54,-219.0,476.8,-9.8,520,4514,0.00,1.90,0.00,0.000,6,0.000,0.027,2160,2492,3739,0,0,0,0,0,0
$GC,4841,-0.54,-219.0,508.2,-9.9,547,4844,0.00,2.03,0.00,0.000,4,0.000,0.044,2160,3783,3737,0,0,0,0,0,0
$GC,4881,-0.54,-219.0,512.7,-10.6,548,4887,0.00,1.92,0.00,0.000,6,0.000,0.027,2160,2483,3736,0,0,0,0,0,0
$GC,5197,-0.54,-219.0,543.5,-9.7,564,5200,0.00,2.03,0.00,0.000,4,0.000,0.045,2160,3774,3734,0,0,0,0,0,0
$GC,5298,-0.54,-219.0,553.9,-10.5,568,5302,0.00,1.90,0.00,0.000,6,0.000,0.027,2162,2500,3732,0,0,0,0,0,0
$GC,5620,-0.54,-219.0,585.0,-9.8,584,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2497,3732,0,0,0,0,0,0
$GC,5929,-0.54,-219.0,614.9,-9.7,599,5933,0.00,1.92,0.00,0.000,4,0.000,0.034,2171,1203,3730,0,0,0,0,0,0
$GC,5999,-0.54,-219.0,621.3,-9.4,602,6002,0.00,1.98,0.00,0.000,6,0.000,0.034,2170,2496,3729,0,0,0,0,0,0
$GC,6332,-0.54,-219.0,654.3,-10.0,618,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2496,3728,0,0,0,0,0,0
$GC,6642,-0.54,-219.0,682.5,-8.6,633,6645,0.00,1.98,0.00,0.000,4,0.000,0.046,2171,3773,3726,0,0,0,0,0,0
$GC,6748,-0.54,-219.0,691.7,-8.7,637,6755,0.00,1.95,0.00,0.000,6,0.000,0.028,2170,2491,3725,0,0,0,0,0,0
$GC,7064,-0.54,-219.0,715.0,-7.1,653,7066,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2491,3724,0,0,0,0,0,0
$GC,7374,-0.54,-219.0,739.7,-8.7,668,7378,0.00,2.03,0.00,0.000,4,0.000,0.047,2171,3776,3722,0,0,0,0,0,0
$GC,7407,-0.54,-219.0,743.0,-9.2,669,7411,0.00,1.92,0.00,0.000,6,0.000,0.028,2171,2488,3722,0,0,0,0,0,0
$GC,7730,-0.54,-219.0,774.7,-10.7,685,7734,0.00,1.92,0.00,0.000,4,0.000,0.035,2171,1199,3721,0,0,0,0,0,0
$GC,7769,-0.54,-219.0,779.4,-11.6,686,7776,0.00,2.00,0.00,0.000,6,0.000,0.036,2171,2497,3720,0,0,0,0,0,0
$GC,8085,-0.54,-219.0,815.0,-11.5,702,8089,0.00,2.00,0.00,0.000,4,0.000,0.047,2171,3779,3719,0,0,0,0,0,0
$GC,8132,-0.54,-219.0,820.3,-11.4,704,8136,0.00,1.92,0.00,0.000,6,0.000,0.028,2171,2499,3719,0,0,0,0,0,0
$GC,8465,-0.54,-219.0,854.9,-10.0,720,8466,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2495,3717,0,0,0,0,0,0
$GC,8774,-0.54,-219.0,884.1,-9.0,735,8778,0.00,2.05,0.00,0.000,4,0.000,0.048,2171,3779,3716,0,0,0,0,0,0
$GC,8844,-0.54,-219.0,890.2,-8.8,738,8847,0.00,1.92,0.00,0.000,6,0.000,0.028,2171,2500,3716,0,0,0,0,0,0
$GC,9177,-0.54,-219.0,916.7,-7.9,754,9180,0.00,1.95,0.00,0.000,4,0.000,0.036,2172,1200,3715,0,0,0,0,0,0
$GC,9216,-0.54,-219.0,920.0,-8.3,755,9223,0.00,2.00,0.00,0.000,6,0.000,0.037,2172,2491,3714,0,0,0,0,0,0
$GC,9532,-0.54,-219.0,946.9,-9.2,771,9534,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2491,3713,0,0,0,0,0,0
$STATE,9612,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9612,begin apogee
$GC,9618,-0.13,0.0,954.8,9.6,775,9791,0.28,0.00,167.88,1.057,4,0.066,0.000,2298,2112,2869,0,0,0,0,0,0
$STATE,9792,end apogee,CONTROL_FINISHED_OK
$STATE,9792,begin climb
$GC,9794,0.54,219.0,966.8,0.0,783,9980,0.52,2.25,177.38,1.036,4,0.048,0.040,2510,731,1976,0,0,0,0,0,0
$GC,10137,0.61,277.4,946.5,9.7,799,10190,0.00,2.20,47.33,1.009,6,0.000,0.035,2510,2122,1738,0,0,0,0,0,0
$GC,10501,0.69,341.6,911.7,9.5,816,10559,0.10,2.22,51.80,1.004,4,0.109,0.037,2561,740,1475,0,0,0,0,0,0
$GC,10631,0.69,341.6,895.5,12.3,821,10635,0.00,2.22,0.00,0.000,6,0.000,0.037,2561,2143,1475,0,0,0,0,0,0
$GC,10959,0.69,341.6,848.4,15.1,837,10963,0.00,2.20,0.00,0.000,4,0.000,0.047,2561,3538,1476,0,0,0,0,0,0
$GC,11014,0.69,341.6,838.8,17.2,839,11021,0.00,2.10,0.00,0.000,6,0.000,0.031,2570,2166,1477,0,0,0,0,0,0
$GC,11330,0.69,341.6,785.0,17.2,855,11334,0.00,2.22,0.00,0.000,4,0.000,0.041,2582,713,1477,0,0,0,0,0,0
$GC,11407,0.69,341.6,771.8,17.0,858,11415,0.15,2.25,0.00,0.000,6,0.163,0.037,2543,2165,1476,0,0,0,0,0,0
$GC,11724,0.69,341.6,725.8,14.1,874,11728,0.00,2.15,0.00,0.000,4,0.000,0.047,2543,3541,1476,0,0,0,0,0,0
$GC,11774,0.69,341.6,718.0,14.7,876,11777,0.00,2.12,0.00,0.000,6,0.000,0.031,2551,2150,1476,0,0,0,0,0,0
$GC,12102,0.69,341.6,672.9,13.7,892,12106,0.00,2.17,0.00,0.000,4,0.000,0.040,2562,721,1478,0,0,0,0,0,0
$GC,12136,0.69,341.6,668.4,12.6,893,12143,0.00,2.20,0.00,0.000,6,0.000,0.037,2562,2147,1478,0,0,0,0,0,0
$GC,12452,0.69,341.6,624.6,13.9,909,12456,0.00,2.17,0.00,0.000,4,0.000,0.047,2561,3535,1477,0,0,0,0,0,0
$GC,12502,0.69,341.6,617.1,14.7,911,12506,0.00,2.10,0.00,0.000,6,0.000,0.031,2571,2158,1478,0,0,0,0,0,0
$GC,12823,0.69,341.6,570.9,14.5,927,12827,0.00,2.20,0.00,0.000,4,0.000,0.041,2582,717,1478,0,0,0,0,0,0
$GC,12923,0.69,341.6,556.7,13.6,931,12931,0.15,2.20,0.00,0.000,6,0.154,0.037,2543,2135,1477,0,0,0,0,0,0
$GC,13240,0.72,363.2,520.1,11.0,947,13265,0.00,2.25,18.83,0.766,4,0.000,0.047,2542,3528,1387,0,0,0,0,0,0
$GC,13363,0.72,365.7,505.6,11.7,952,13375,0.00,2.10,3.58,0.451,6,0.000,0.031,2550,2158,1378,0,0,0,0,0,0
$GC,13694,0.76,396.6,469.5,10.7,981,13727,0.00,2.30,25.12,0.733,4,0.000,0.041,2561,724,1251,0,0,0,0,0,0
$GC,13752,0.78,414.3,462.9,11.1,986,13775,0.00,2.25,14.98,0.679,6,0.000,0.033,2560,2172,1179,0,0,0,0,0,0
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$STATE,17348,end climb,SURFACE_DEPTH_REACHED
$STATE,17348,begin surface coast
$FINISH,0.2,1.020920
$STATE,17377,end surface coast,CONTROL_FINISHED_OK
$STATE,17378,begin surface
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$IRIDIUM_FIX,1938.95,12012.25,040911,090951
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.10
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,23.4,73.162
$10V_AH,9.8,62.757
$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,16.225,179.450,653.025,0.000,0.000,58.501,87.141,158.527,0.250,0.000,13.411,3469.048,10391.132,773.017,2925.714,394.228,0.000,2233.777,0.000,2588.046,0.000,0.542,0.000
$DEVICE_MAMPS,225.675,48.195,1057.230,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1012.105,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323024
$DATA_FILE_SIZE,83588,1460
$CAP_FILE_SIZE,194453,0
$CFSIZE,260165632,209453056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040911,141337,1945.171,12009.137,31,0.9,31,-2.2