version: 66.09
glider: 181
mission: 6
dive: 457
start: 9 6 111 10 45 38
data:
$ID,181
$MISSION,6
$DIVE,457
$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,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,-41139.59
$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,47
$R_STBD_OVSHOOT,41
$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
$GPS1,060911,103501,1933.839,12004.200,42,1.1,42,-2.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-71.3
$GPS2,060911,104514,1933.746,12004.273,12,1.2,12,-2.1
$SPEED_LIMITS,0.204,0.312
$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,188.9,62944,-17.4,-11.786
$D_GRID,4144
$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,13,begin dive
$GC,16,-0.53,-194.6,0.0,0.0,0,81,0.00,0.00,-62.22,0.000,2,0.000,0.000,202,2633,2226,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.2,-3.4,11,132,8.18,2.17,-31.33,0.000,4,0.228,0.039,2141,1177,3665,0,0,0,0,0,0
$GC,190,-0.53,-194.6,31.4,-22.0,29,197,0.00,2.20,0.00,0.000,6,0.000,0.037,2138,2600,3664,0,0,0,0,0,0
$GC,334,-0.53,-194.6,63.0,-21.9,54,341,0.00,1.80,0.00,0.000,4,0.000,0.042,2129,3787,3664,0,0,0,0,0,0
$GC,387,-0.53,-194.6,74.9,-20.6,63,393,0.00,1.70,0.00,0.000,6,0.000,0.024,2129,2613,3663,0,0,0,0,0,0
$GC,530,-0.53,-194.6,101.9,-18.0,88,536,0.00,1.80,0.00,0.000,4,0.000,0.041,2120,3788,3663,0,0,0,0,0,0
$GC,606,-0.53,-194.6,114.3,-14.9,101,612,0.00,1.60,0.00,0.000,6,0.000,0.024,2120,2710,3663,0,0,0,0,0,0
$GC,748,-0.53,-194.6,136.4,-15.2,126,755,0.00,2.20,0.00,0.000,4,0.000,0.028,2120,1205,3663,0,0,0,0,0,0
$GC,785,-0.53,-194.6,141.1,-13.0,132,792,0.12,2.35,0.00,0.000,6,0.157,0.034,2145,2734,3663,0,0,0,0,0,0
$GC,930,-0.53,-194.6,157.3,-11.3,157,937,0.00,1.60,0.00,0.000,4,0.000,0.042,2139,3776,3664,0,0,0,0,0,0
$GC,967,-0.53,-194.6,161.7,-11.7,163,973,0.00,1.55,0.00,0.000,6,0.000,0.024,2139,2719,3663,0,0,0,0,0,0
$GC,1112,-0.53,-194.6,177.3,-11.6,188,1118,0.00,2.22,0.00,0.000,4,0.000,0.028,2139,1200,3664,0,0,0,0,0,0
$GC,1165,-0.53,-194.6,183.3,-10.3,197,1172,0.00,2.28,0.00,0.000,6,0.000,0.033,2138,2698,3664,0,0,0,0,0,0
$GC,1313,-0.53,-194.6,198.6,-9.8,222,1319,0.00,2.20,0.00,0.000,4,0.000,0.028,2139,1210,3663,0,0,0,0,0,0
$GC,1353,-0.53,-194.6,202.9,-9.3,226,1360,0.00,2.17,0.00,0.000,6,0.000,0.034,2138,2647,3663,0,0,0,0,0,0
$GC,1679,-0.53,-194.6,228.7,-8.7,257,1683,0.00,2.15,0.00,0.000,4,0.000,0.029,2138,1200,3661,0,0,0,0,0,0
$GC,1730,-0.53,-194.6,233.5,-9.2,261,1735,0.00,2.15,0.00,0.000,6,0.000,0.034,2138,2616,3661,0,0,0,0,0,0
$GC,2057,-0.53,-194.6,266.8,-10.3,291,2061,0.00,1.75,0.00,0.000,4,0.000,0.044,2138,3774,3659,0,0,0,0,0,0
$GC,2092,-0.53,-194.6,270.5,-10.0,294,2096,0.00,1.70,0.00,0.000,6,0.000,0.024,2138,2599,3658,0,0,0,0,0,0
$GC,2423,-0.53,-194.6,301.7,-9.0,325,2427,0.00,2.05,0.00,0.000,4,0.000,0.029,2138,1204,3655,0,0,0,0,0,0
$GC,2460,-0.53,-194.6,304.8,-9.1,328,2464,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2595,3655,0,0,0,0,0,0
$GC,2787,-0.53,-194.6,332.6,-8.4,358,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2595,3652,0,0,0,0,0,0
$GC,3106,-0.53,-194.6,361.0,-9.1,388,3110,0.00,2.08,0.00,0.000,4,0.000,0.030,2138,1205,3648,0,0,0,0,0,0
$GC,3135,-0.53,-194.6,363.9,-9.0,390,3139,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2598,3648,0,0,0,0,0,0
$GC,3460,-0.53,-194.6,393.4,-9.3,420,3465,0.00,2.10,0.00,0.000,4,0.000,0.031,2138,1210,3645,0,0,0,0,0,0
$GC,3518,-0.53,-194.6,398.5,-8.8,425,3522,0.00,2.08,0.00,0.000,6,0.000,0.035,2138,2566,3645,0,0,0,0,0,0
$GC,3843,-0.53,-194.6,425.9,-7.9,455,3847,0.00,1.90,0.00,0.000,4,0.000,0.047,2138,3773,3642,0,0,0,0,0,0
$GC,3867,-0.53,-194.6,427.8,-8.2,457,3871,0.00,1.77,0.00,0.000,6,0.000,0.027,2138,2564,3642,0,0,0,0,0,0
$GC,4198,-0.53,-194.6,450.6,-6.1,488,4201,0.00,2.00,0.00,0.000,4,0.000,0.032,2138,1212,3639,0,0,0,0,0,0
$GC,4261,-0.53,-194.6,454.6,-6.3,493,4267,0.00,2.08,0.00,0.000,6,0.000,0.036,2138,2550,3639,0,0,0,0,0,0
$GC,4586,-0.53,-194.6,477.1,-7.8,524,4590,0.00,1.92,0.00,0.000,4,0.000,0.046,2138,3774,3636,0,0,0,0,0,0
$GC,4676,-0.53,-194.6,484.7,-8.6,532,4680,0.00,1.98,0.00,0.000,6,0.000,0.026,2138,2469,3635,0,0,0,0,0,0
$GC,5005,-0.53,-194.6,513.4,-8.8,556,5009,0.00,2.08,0.00,0.000,4,0.000,0.045,2138,3790,3633,0,0,0,0,0,0
$GC,5151,-0.53,-194.6,526.2,-8.7,562,5155,0.00,2.08,0.00,0.000,6,0.000,0.026,2138,2405,3631,0,0,0,0,0,0
$GC,5473,-0.53,-194.6,549.3,-6.8,578,5477,0.00,2.17,0.00,0.000,4,0.000,0.046,2138,3776,3630,0,0,0,0,0,0
$GC,5732,-0.53,-194.6,566.0,-6.5,589,5736,0.00,2.00,0.00,0.000,6,0.000,0.027,2138,2465,3629,0,0,0,0,0,0
$GC,6053,-0.53,-194.6,583.6,-5.6,605,6057,0.00,1.88,0.00,0.000,4,0.000,0.034,2138,1206,3627,0,0,0,0,0,0
$GC,6311,-0.53,-194.6,599.6,-6.7,616,6315,0.00,1.88,0.00,0.000,6,0.000,0.034,2138,2442,3625,0,0,0,0,0,0
$GC,6633,-0.53,-194.6,623.7,-8.0,632,6637,0.00,2.08,0.00,0.000,4,0.000,0.045,2138,3787,3624,0,0,0,0,0,0
$GC,6889,-0.53,-194.6,647.3,-9.6,643,6896,0.00,2.05,0.00,0.000,6,0.000,0.027,2138,2410,3623,0,0,0,0,0,0
$GC,7206,-0.53,-194.6,673.8,-8.3,659,7210,0.00,1.77,0.00,0.000,4,0.000,0.033,2138,1208,3621,0,0,0,0,0,0
$GC,7463,-0.53,-194.6,693.9,-7.9,670,7467,0.00,1.77,0.00,0.000,6,0.000,0.034,2138,2383,3620,0,0,0,0,0,0
$GC,7786,-0.53,-194.6,715.8,-6.7,686,7790,0.00,1.77,0.00,0.000,4,0.000,0.034,2138,1200,3619,0,0,0,0,0,0
$GC,8043,-0.53,-194.6,732.5,-6.7,697,8047,0.00,1.77,0.00,0.000,6,0.000,0.034,2138,2372,3618,0,0,0,0,0,0
$GC,8366,-0.53,-194.6,754.5,-7.4,713,8370,0.00,1.75,0.00,0.000,4,0.000,0.034,2138,1204,3617,0,0,0,0,0,0
$GC,8399,-0.53,-194.6,757.2,-7.4,714,8403,0.00,1.75,0.00,0.000,6,0.000,0.034,2138,2357,3617,0,0,0,0,0,0
$GC,8722,-0.53,-194.6,783.2,-8.2,730,8726,0.00,2.22,0.00,0.000,4,0.000,0.046,2138,3785,3616,0,0,0,0,0,0
$GC,8980,-0.53,-194.6,808.4,-9.8,741,8987,0.00,2.17,0.00,0.000,6,0.000,0.028,2138,2335,3615,0,0,0,0,0,0
$GC,9298,-0.53,-194.6,834.6,-7.9,757,9301,0.00,1.67,0.00,0.000,4,0.000,0.034,2138,1203,3614,0,0,0,0,0,0
$GC,9555,-0.53,-194.6,855.3,-8.2,768,9559,0.00,1.70,0.00,0.000,6,0.000,0.035,2138,2324,3613,0,0,0,0,0,0
$STATE,9607,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9607,begin apogee
$GC,9614,-0.13,0.0,859.2,7.9,771,9765,0.38,0.00,146.25,0.995,4,0.063,0.000,2292,2118,2869,0,0,0,0,0,0
$STATE,9765,end apogee,CONTROL_FINISHED_OK
$STATE,9765,begin climb
$GC,9769,0.53,194.6,868.3,0.0,778,9934,0.55,2.35,155.45,0.978,4,0.054,0.044,2502,3539,2075,0,0,0,0,0,0
$GC,10052,0.53,194.6,847.9,12.8,791,10059,0.00,2.15,0.00,0.000,6,0.000,0.029,2510,2145,2073,0,0,0,0,0,0
$GC,10368,0.53,194.6,809.9,11.9,807,10372,0.00,2.20,0.00,0.000,4,0.000,0.039,2522,722,2072,0,0,0,0,0,0
$GC,10434,0.54,200.4,801.8,11.6,810,10445,0.00,2.15,5.90,0.769,6,0.000,0.034,2522,2118,2051,0,0,0,0,0,0
$GC,10756,0.54,200.4,762.2,12.5,825,10760,0.00,2.20,0.00,0.000,4,0.000,0.043,2522,3544,2050,0,0,0,0,0,0
$GC,10822,0.54,200.4,752.9,13.9,828,10827,0.12,2.20,0.00,0.000,6,0.162,0.028,2495,2126,2049,0,0,0,0,0,0
$GC,11152,0.58,239.9,718.9,10.2,844,11188,0.00,2.20,31.58,0.889,4,0.000,0.038,2504,717,1891,0,0,0,0,0,0
$GC,11261,0.62,269.9,707.1,10.6,848,11292,0.00,2.17,24.38,0.852,6,0.000,0.032,2505,2122,1769,0,0,0,0,0,0
$GC,11609,0.69,321.6,671.7,9.7,865,11656,0.10,2.28,40.92,0.859,4,0.105,0.044,2552,3538,1558,0,0,0,0,0,0
$GC,11717,0.69,321.6,657.5,13.5,870,11721,0.00,2.17,0.00,0.000,6,0.000,0.029,2561,2130,1557,0,0,0,0,0,0
$GC,12045,0.69,321.6,614.1,13.1,886,12049,0.00,2.17,0.00,0.000,4,0.000,0.038,2572,717,1563,0,0,0,0,0,0
$GC,12125,0.69,321.6,603.7,13.5,889,12132,0.12,2.20,0.00,0.000,6,0.158,0.035,2540,2137,1563,0,0,0,0,0,0
$GC,12440,0.69,321.6,566.5,12.3,905,12444,0.00,2.17,0.00,0.000,4,0.000,0.044,2540,3542,1563,0,0,0,0,0,0
$GC,12496,0.69,321.6,558.8,13.9,907,12503,0.00,2.15,0.00,0.000,6,0.000,0.029,2548,2126,1562,0,0,0,0,0,0
$GC,12813,0.69,321.6,514.8,13.9,923,12817,0.00,2.15,0.00,0.000,4,0.000,0.040,2558,713,1562,0,0,0,0,0,0
$GC,12867,0.69,321.6,506.9,13.9,925,12874,0.00,2.17,0.00,0.000,6,0.000,0.034,2559,2127,1562,0,0,0,0,0,0
$GC,13195,0.69,321.6,462.2,13.1,953,13199,0.00,2.17,0.00,0.000,4,0.000,0.044,2559,3535,1562,0,0,0,0,0,0
$GC,13250,0.69,321.6,453.9,14.2,957,13257,0.00,2.15,0.00,0.000,6,0.000,0.030,2568,2127,1562,0,0,0,0,0,0
$GC,13575,0.69,321.6,412.5,12.8,988,13579,0.00,2.15,0.00,0.000,4,0.000,0.039,2579,713,1562,0,0,0,0,0,0
$GC,13660,0.69,321.6,401.2,13.4,995,13665,0.15,2.17,0.00,0.000,6,0.152,0.035,2539,2127,1562,0,0,0,0,0,0
$GC,13986,0.72,346.6,364.5,10.8,1025,14012,0.00,2.25,21.52,0.678,4,0.000,0.044,2539,3542,1456,0,0,0,0,0,0
$GC,14075,0.72,348.9,354.4,11.7,1032,14085,0.00,2.17,3.55,0.392,6,0.000,0.029,2548,2119,1446,0,0,0,0,0,0
$GC,14411,0.77,388.3,319.5,10.2,1064,14448,0.00,2.22,30.85,0.644,4,0.000,0.040,2558,724,1285,0,0,0,0,0,0
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$STATE,17013,end climb,SURFACE_DEPTH_REACHED
$STATE,17013,begin surface coast
$FINISH,1.7,1.020684
$STATE,17019,end surface coast,CONTROL_FINISHED_OK
$STATE,17019,begin surface
$SM_CCo,17098,0.00,0.000,0,0,442,595.34
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$IRIDIUM_FIX,1927.51,12635.27,060911,101018
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.90
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.6,74.736
$10V_AH,9.8,63.703
$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,16.625,185.375,623.925,0.000,0.000,91.844,100.861,143.668,0.000,0.000,15.383,3506.419,9867.085,737.706,3164.045,420.109,0.000,2277.093,0.000,2787.761,0.000,0.540,0.000
$DEVICE_MAMPS,227.970,46.665,995.265,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,998.635,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323040
$DATA_FILE_SIZE,83437,1441
$CAP_FILE_SIZE,201477,0
$CFSIZE,260165632,208531456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060911,153137,1931.378,12003.114,23,1.7,23,-2.1