version: 66.09
glider: 181
mission: 6
dive: 472
start: 9 9 111 14 31 45
data:
$ID,181
$MISSION,6
$DIVE,472
$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,0
$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,-41158.453
$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,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$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
$GPS1,090911,142430,1909.795,11959.311,35,1.4,40,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-63.9
$GPS2,090911,143050,1909.805,11959.427,15,1.7,15,-2.1
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.014,-0.312
$KALMAN_X,228.2,-29.7,35.2,1752.0,-7.5
$KALMAN_Y,5297.0,37.0,102.6,-14272.4,1238.1
$MHEAD_RNG_PITCHd_Wd,178.9,18187,-17.4,-11.786
$D_GRID,3709
$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,-62.15,0.000,2,0.000,0.000,153,2513,2211,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.2,-3.5,11,132,8.35,2.15,-31.95,0.000,4,0.228,0.039,2121,1074,3662,0,0,0,0,0,0
$GC,180,-0.53,-194.6,27.6,-22.1,27,187,0.00,2.20,0.00,0.000,6,0.000,0.036,2112,2497,3663,0,0,0,0,0,0
$GC,323,-0.53,-194.6,63.2,-22.1,52,329,0.00,1.98,0.00,0.000,4,0.000,0.041,2102,3789,3663,0,0,0,0,0,0
$GC,410,-0.53,-194.6,81.9,-20.0,67,417,0.00,1.90,0.00,0.000,6,0.000,0.024,2102,2488,3662,0,0,0,0,0,0
$GC,553,-0.53,-194.6,109.8,-18.6,92,560,0.00,2.00,0.00,0.000,4,0.000,0.039,2092,3789,3663,0,0,0,0,0,0
$GC,578,-0.53,-194.6,114.4,-18.5,96,585,0.12,1.80,0.00,0.000,6,0.157,0.024,2125,2554,3663,0,0,0,0,0,0
$GC,724,-0.53,-194.6,134.2,-12.8,121,730,0.00,1.92,0.00,0.000,4,0.000,0.040,2117,3793,3663,0,0,0,0,0,0
$GC,788,-0.53,-194.6,142.4,-12.7,132,794,0.00,1.62,0.00,0.000,6,0.000,0.024,2117,2706,3664,0,0,0,0,0,0
$GC,931,-0.53,-194.6,160.2,-12.1,157,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2706,3663,0,0,0,0,0,0
$GC,1073,-0.53,-194.6,177.6,-12.4,182,1080,0.00,2.38,0.00,0.000,4,0.000,0.028,2117,1111,3663,0,0,0,0,0,0
$GC,1127,-0.53,-194.6,184.3,-12.2,191,1133,0.00,2.53,0.00,0.000,6,0.000,0.033,2112,2760,3664,0,0,0,0,0,0
$GC,1274,-0.53,-194.6,203.4,-12.8,215,1278,0.00,1.58,0.00,0.000,4,0.000,0.044,2111,3776,3663,0,0,0,0,0,0
$GC,1320,-0.53,-194.6,209.2,-12.8,219,1324,0.00,1.58,0.00,0.000,6,0.000,0.024,2111,2726,3663,0,0,0,0,0,0
$GC,1651,-0.53,-194.6,246.2,-11.2,250,1655,0.00,1.62,0.00,0.000,4,0.000,0.042,2110,3786,3662,0,0,0,0,0,0
$GC,1754,-0.53,-194.6,257.2,-10.4,259,1757,0.00,1.70,0.00,0.000,6,0.000,0.024,2110,2606,3661,0,0,0,0,0,0
$GC,2085,-0.53,-194.6,296.7,-11.7,290,2089,0.00,2.22,0.00,0.000,4,0.000,0.029,2110,1100,3658,0,0,0,0,0,0
$GC,2169,-0.53,-194.6,305.2,-9.3,297,2173,0.00,2.22,0.00,0.000,6,0.000,0.032,2102,2558,3657,0,0,0,0,0,0
$GC,2494,-0.53,-194.6,336.9,-9.3,327,2498,0.00,1.88,0.00,0.000,4,0.000,0.044,2093,3785,3655,0,0,0,0,0,0
$GC,2555,-0.53,-194.6,342.7,-9.2,332,2562,0.12,1.73,0.00,0.000,6,0.139,0.025,2130,2602,3654,0,0,0,0,0,0
$GC,2880,-0.53,-194.6,368.8,-9.3,363,2885,0.00,2.22,0.00,0.000,4,0.000,0.030,2130,1106,3652,0,0,0,0,0,0
$GC,2932,-0.53,-194.6,373.7,-9.3,367,2936,0.00,2.33,0.00,0.000,6,0.000,0.034,2125,2619,3651,0,0,0,0,0,0
$GC,3258,-0.53,-194.6,406.4,-9.5,397,3262,0.00,2.28,0.00,0.000,4,0.000,0.030,2125,1110,3647,0,0,0,0,0,0
$GC,3290,-0.53,-194.6,409.6,-9.5,399,3297,0.00,2.28,0.00,0.000,6,0.000,0.035,2125,2571,3647,0,0,0,0,0,0
$GC,3616,-0.53,-194.6,438.7,-9.0,430,3620,0.00,2.20,0.00,0.000,4,0.000,0.030,2125,1109,3644,0,0,0,0,0,0
$GC,3645,-0.53,-194.6,441.3,-9.4,432,3649,0.00,2.20,0.00,0.000,6,0.000,0.035,2125,2533,3645,0,0,0,0,0,0
$GC,3971,-0.53,-194.6,470.0,-8.4,462,3974,0.00,1.95,0.00,0.000,4,0.000,0.047,2124,3789,3642,0,0,0,0,0,0
$GC,4043,-0.53,-194.6,476.3,-8.7,468,4049,0.00,1.83,0.00,0.000,6,0.000,0.025,2124,2550,3641,0,0,0,0,0,0
$GC,4381,-0.53,-194.6,505.9,-9.1,497,4385,0.00,2.15,0.00,0.000,4,0.000,0.031,2124,1112,3639,0,0,0,0,0,0
$GC,4425,-0.53,-194.6,510.5,-9.3,499,4429,0.00,2.17,0.00,0.000,6,0.000,0.035,2124,2518,3639,0,0,0,0,0,0
$GC,4747,-0.53,-194.6,539.7,-9.4,515,4751,0.00,1.98,0.00,0.000,4,0.000,0.048,2124,3779,3636,0,0,0,0,0,0
$GC,4803,-0.53,-194.6,545.2,-9.4,517,4807,0.00,1.83,0.00,0.000,6,0.000,0.026,2124,2545,3635,0,0,0,0,0,0
$GC,5125,-0.53,-194.6,576.2,-10.0,533,5129,0.00,2.15,0.00,0.000,4,0.000,0.031,2124,1104,3634,0,0,0,0,0,0
$GC,5169,-0.53,-194.6,580.7,-10.1,535,5174,0.00,2.22,0.00,0.000,6,0.000,0.035,2124,2539,3633,0,0,0,0,0,0
$GC,5491,-0.53,-194.6,611.7,-9.5,551,5495,0.00,1.92,0.00,0.000,4,0.000,0.047,2124,3778,3631,0,0,0,0,0,0
$GC,5553,-0.53,-194.6,617.6,-9.2,553,5560,0.00,1.83,0.00,0.000,6,0.000,0.026,2124,2547,3631,0,0,0,0,0,0
$GC,5870,-0.53,-194.6,644.9,-8.0,569,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2546,3629,0,0,0,0,0,0
$GC,6180,-0.53,-194.6,668.5,-7.5,584,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2546,3628,0,0,0,0,0,0
$GC,6489,-0.53,-194.6,692.7,-8.1,599,6490,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2546,3626,0,0,0,0,0,0
$GC,6797,-0.53,-194.6,717.5,-7.8,614,6801,0.00,1.95,0.00,0.000,4,0.000,0.047,2121,3779,3624,0,0,0,0,0,0
$GC,6836,-0.53,-194.6,720.7,-8.0,615,6843,0.00,1.77,0.00,0.000,6,0.000,0.027,2120,2575,3624,0,0,0,0,0,0
$GC,7153,-0.53,-194.6,745.0,-7.4,631,7157,0.00,2.20,0.00,0.000,4,0.000,0.033,2121,1116,3623,0,0,0,0,0,0
$GC,7180,-0.53,-194.6,747.1,-7.3,632,7184,0.00,2.28,0.00,0.000,6,0.000,0.035,2113,2577,3623,0,0,0,0,0,0
$GC,7499,-0.53,-194.6,772.1,-8.4,647,7500,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2578,3621,0,0,0,0,0,0
$GC,7806,-0.53,-194.6,798.6,-9.0,662,7809,0.00,1.88,0.00,0.000,4,0.000,0.048,2112,3777,3620,0,0,0,0,0,0
$GC,7844,-0.53,-194.6,802.3,-8.9,663,7851,0.00,1.83,0.00,0.000,6,0.000,0.027,2112,2556,3620,0,0,0,0,0,0
$GC,8162,-0.53,-194.6,831.0,-9.3,679,8166,0.00,2.17,0.00,0.000,4,0.000,0.033,2112,1115,3619,0,0,0,0,0,0
$GC,8225,-0.53,-194.6,837.1,-9.5,682,8229,0.00,2.20,0.00,0.000,6,0.000,0.036,2112,2526,3619,0,0,0,0,0,0
$GC,8559,-0.53,-194.6,870.6,-10.0,698,8563,0.00,1.98,0.00,0.000,4,0.000,0.049,2111,3776,3617,0,0,0,0,0,0
$GC,8609,-0.53,-194.6,875.6,-9.5,700,8613,0.00,1.88,0.00,0.000,6,0.000,0.027,2112,2524,3617,0,0,0,0,0,0
$GC,8937,-0.53,-194.6,907.2,-9.5,716,8941,0.00,2.15,0.00,0.000,4,0.000,0.033,2111,1103,3616,0,0,0,0,0,0
$GC,8978,-0.53,-194.6,911.0,-9.5,718,8982,0.00,2.20,0.00,0.000,6,0.000,0.037,2112,2512,3616,0,0,0,0,0,0
$GC,9305,-0.53,-194.6,941.3,-9.2,734,9309,0.00,2.00,0.00,0.000,4,0.000,0.050,2112,3780,3615,0,0,0,0,0,0
$GC,9374,-0.53,-194.6,947.2,-8.3,737,9379,0.00,1.90,0.00,0.000,6,0.000,0.028,2112,2546,3614,0,0,0,0,0,0
$STATE,9622,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9622,begin apogee
$GC,9629,-0.13,0.0,968.7,8.8,749,9784,0.43,0.00,148.95,1.063,4,0.113,0.000,2253,2107,2870,0,0,0,0,0,0
$STATE,9784,end apogee,CONTROL_FINISHED_OK
$STATE,9785,begin climb
$GC,9787,0.53,194.6,977.2,0.0,756,9956,0.62,2.40,159.00,1.044,4,0.063,0.042,2477,3548,2075,0,0,0,0,0,0
$GC,10040,0.56,217.1,962.9,10.9,768,10066,0.00,2.20,19.60,0.962,6,0.000,0.028,2487,2137,1982,0,0,0,0,0,0
$GC,10390,0.60,250.3,926.3,10.4,785,10425,0.00,2.33,27.58,0.991,4,0.000,0.039,2487,3541,1847,0,0,0,0,0,0
$GC,10493,0.60,250.3,914.5,11.8,789,10500,0.00,2.30,0.00,0.000,6,0.000,0.029,2497,2058,1847,0,0,0,0,0,0
$GC,10810,0.61,261.5,879.3,11.3,805,10825,0.00,2.08,10.18,0.890,4,0.000,0.037,2508,721,1803,0,0,0,0,0,0
$GC,10933,0.62,272.5,864.9,11.3,809,10948,0.00,2.00,10.57,0.861,6,0.000,0.032,2508,2021,1757,0,0,0,0,0,0
$GC,11273,0.65,294.7,826.6,10.9,826,11298,0.00,2.47,18.83,0.920,4,0.000,0.044,2508,3538,1666,0,0,0,0,0,0
$GC,11362,0.65,294.7,815.5,12.8,830,11366,0.00,2.28,0.00,0.000,6,0.000,0.029,2518,2065,1665,0,0,0,0,0,0
$GC,11690,0.66,302.8,778.2,11.5,846,11704,0.00,2.12,8.38,0.804,4,0.000,0.039,2528,727,1634,0,0,0,0,0,0
$GC,11756,0.68,315.8,770.5,11.3,849,11778,0.00,2.03,12.00,0.832,6,0.000,0.031,2528,2042,1581,0,0,0,0,0,0
$GC,12089,0.68,315.8,730.7,12.1,865,12093,0.00,2.35,0.00,0.000,4,0.000,0.044,2528,3539,1581,0,0,0,0,0,0
$GC,12182,0.68,315.8,717.1,14.2,869,12186,0.00,2.17,0.00,0.000,6,0.000,0.028,2538,2119,1581,0,0,0,0,0,0
$GC,12504,0.68,315.8,672.7,13.8,885,12508,0.00,2.12,0.00,0.000,4,0.000,0.037,2549,721,1581,0,0,0,0,0,0
$GC,12555,0.68,315.8,665.8,13.2,887,12560,0.12,2.12,0.00,0.000,6,0.164,0.033,2516,2103,1581,0,0,0,0,0,0
$GC,12872,0.69,323.4,629.1,11.5,902,12887,0.00,2.33,7.62,0.738,4,0.000,0.044,2516,3535,1550,0,0,0,0,0,0
$GC,12949,0.69,323.4,618.9,13.0,905,12953,0.00,2.15,0.00,0.000,6,0.000,0.029,2524,2128,1550,0,0,0,0,0,0
$GC,13265,0.70,336.6,582.4,11.2,920,13288,0.00,2.22,12.88,0.768,4,0.000,0.038,2535,723,1495,0,0,0,0,0,0
$GC,13316,0.75,376.8,576.9,10.1,922,13356,0.00,2.20,32.30,0.796,6,0.000,0.033,2535,2143,1331,0,0,0,0,0,0
$GC,13665,0.81,419.3,540.7,10.1,939,13708,0.00,2.28,33.95,0.778,4,0.000,0.044,2534,3525,1158,0,0,0,0,0,0
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$STATE,18196,end climb,SURFACE_DEPTH_REACHED
$STATE,18197,begin surface coast
$FINISH,0.4,1.019368
$STATE,18217,end surface coast,CONTROL_FINISHED_OK
$STATE,18217,begin surface
$SM_CCo,18294,0.00,0.000,0,0,440,595.83
$SM_GC,1.40,6.57,0.00,0.00,0.029,0.000,0.000,208,2515,440,-6.45,0.42,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,1900.10,11952.90,090911,090907
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.13
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.3,77.227
$10V_AH,9.8,65.124
$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,17.000,202.550,649.050,0.000,0.000,24.832,48.193,147.253,0.000,0.000,17.538,3581.899,10965.302,782.908,2907.774,419.054,32.340,2291.901,0.000,2651.854,0.000,0.539,0.000
$DEVICE_MAMPS,227.970,49.725,1063.350,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1035.912,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322272
$DATA_FILE_SIZE,86973,1490
$CAP_FILE_SIZE,206351,0
$CFSIZE,260165632,207147008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090911,193755,1907.355,11959.354,38,1.5,38,-2.0