version: 66.09
glider: 181
mission: 6
dive: 442
start: 9 3 111 8 31 20
data:
$ID,181
$MISSION,6
$DIVE,442
$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,-41120.723
$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,43
$R_STBD_OVSHOOT,39
$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
$GPS1,030911,082507,1954.515,12011.629,27,1.2,27,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-72.5
$GPS2,030911,083055,1954.482,12011.685,8,1.2,13,-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,193.7,102955,-16.3,-11.786
$D_GRID,3928
$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,-0.54,-219.0,0.0,0.0,0,81,0.00,0.00,-62.05,0.000,2,0.000,0.000,201,2617,2204,0,0,0,0,0,0
$GC,84,-0.54,-219.0,3.2,-3.5,11,137,8.07,1.85,-35.55,0.000,4,0.226,0.057,2131,3774,3763,0,0,0,0,0,0
$GC,167,-0.54,-219.0,25.8,-38.2,25,174,0.00,1.75,0.00,0.000,6,0.000,0.025,2130,2578,3764,0,0,0,0,0,0
$GC,310,-0.54,-219.0,80.5,-39.5,50,316,0.00,1.88,0.00,0.000,4,0.000,0.047,2121,3771,3763,0,0,0,0,0,0
$GC,357,-0.54,-219.0,92.8,-24.5,58,364,0.00,1.73,0.00,0.000,6,0.000,0.024,2121,2585,3763,0,0,0,0,0,0
$GC,502,-0.54,-219.0,119.5,-19.3,83,509,0.00,1.85,0.00,0.000,4,0.000,0.042,2111,3781,3763,0,0,0,0,0,0
$GC,577,-0.54,-219.0,133.3,-16.8,96,584,0.12,1.65,0.00,0.000,6,0.144,0.024,2146,2643,3764,0,0,0,0,0,0
$GC,723,-0.54,-219.0,150.4,-10.6,121,729,0.00,2.10,0.00,0.000,4,0.000,0.028,2146,1205,3764,0,0,0,0,0,0
$GC,748,-0.54,-219.0,153.3,-10.7,125,754,0.00,2.22,0.00,0.000,6,0.000,0.033,2140,2658,3764,0,0,0,0,0,0
$GC,893,-0.54,-219.0,168.5,-10.2,150,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2658,3765,0,0,0,0,0,0
$GC,1038,-0.54,-219.0,184.5,-11.1,175,1045,0.00,2.15,0.00,0.000,4,0.000,0.028,2139,1206,3765,0,0,0,0,0,0
$GC,1058,-0.54,-219.0,186.9,-10.7,178,1065,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2605,3765,0,0,0,0,0,0
$GC,1204,-0.54,-219.0,199.5,-8.5,203,1210,0.00,1.77,0.00,0.000,4,0.000,0.043,2138,3780,3765,0,0,0,0,0,0
$GC,1232,-0.54,-219.0,202.5,-9.1,206,1239,0.00,1.73,0.00,0.000,6,0.000,0.024,2138,2588,3765,0,0,0,0,0,0
$GC,1558,-0.54,-219.0,235.0,-9.0,237,1562,0.00,1.83,0.00,0.000,4,0.000,0.043,2138,3776,3764,0,0,0,0,0,0
$GC,1593,-0.54,-219.0,237.7,-8.2,240,1597,0.00,1.67,0.00,0.000,6,0.000,0.025,2138,2633,3764,0,0,0,0,0,0
$GC,1924,-0.54,-219.0,259.5,-8.3,271,1928,0.00,2.12,0.00,0.000,4,0.000,0.030,2138,1188,3762,0,0,0,0,0,0
$GC,1991,-0.54,-219.0,265.8,-9.5,276,1998,0.00,2.15,0.00,0.000,6,0.000,0.033,2138,2603,3762,0,0,0,0,0,0
$GC,2317,-0.54,-219.0,293.2,-7.3,307,2320,0.00,1.77,0.00,0.000,4,0.000,0.043,2138,3774,3759,0,0,0,0,0,0
$GC,2363,-0.54,-219.0,296.7,-7.7,311,2367,0.00,1.88,0.00,0.000,6,0.000,0.026,2138,2494,3758,0,0,0,0,0,0
$GC,2694,-0.54,-219.0,323.7,-8.1,342,2698,0.00,2.00,0.00,0.000,4,0.000,0.043,2138,3782,3755,0,0,0,0,0,0
$GC,2743,-0.54,-219.0,328.0,-8.5,346,2750,0.00,1.98,0.00,0.000,6,0.000,0.026,2138,2435,3754,0,0,0,0,0,0
$GC,3069,-0.54,-219.0,357.9,-10.4,377,3073,0.00,2.10,0.00,0.000,4,0.000,0.044,2138,3783,3751,0,0,0,0,0,0
$GC,3204,-0.54,-219.0,372.4,-10.7,388,3211,0.00,2.08,0.00,0.000,6,0.000,0.027,2138,2388,3750,0,0,0,0,0,0
$GC,3530,-0.54,-219.0,399.6,-7.0,419,3534,0.00,1.75,0.00,0.000,4,0.000,0.031,2138,1195,3748,0,0,0,0,0,0
$GC,3599,-0.54,-219.0,405.0,-7.9,425,3602,0.00,1.83,0.00,0.000,6,0.000,0.032,2137,2375,3748,0,0,0,0,0,0
$GC,3930,-0.54,-219.0,429.2,-7.6,456,3934,0.00,2.15,0.00,0.000,4,0.000,0.044,2138,3772,3744,0,0,0,0,0,0
$GC,4019,-0.54,-219.0,436.8,-9.2,463,4026,0.00,2.05,0.00,0.000,6,0.000,0.027,2138,2391,3744,0,0,0,0,0,0
$GC,4345,-0.54,-219.0,460.2,-7.4,494,4349,0.00,2.17,0.00,0.000,4,0.000,0.044,2138,3781,3741,0,0,0,0,0,0
$GC,4525,-0.54,-219.0,475.9,-9.6,509,4531,0.00,2.05,0.00,0.000,6,0.000,0.027,2143,2409,3740,0,0,0,0,0,0
$GC,4862,-0.54,-219.0,507.0,-10.0,538,4866,0.00,2.12,0.00,0.000,4,0.000,0.042,2143,3773,3738,0,0,0,0,0,0
$GC,5119,-0.54,-219.0,537.8,-12.5,549,5126,0.00,2.08,0.00,0.000,6,0.000,0.028,2143,2417,3736,0,0,0,0,0,0
$GC,5436,-0.54,-219.0,570.1,-9.7,565,5440,0.00,2.12,0.00,0.000,4,0.000,0.044,2143,3776,3735,0,0,0,0,0,0
$GC,5693,-0.54,-219.0,596.1,-9.7,576,5700,0.00,2.00,0.00,0.000,6,0.000,0.028,2143,2431,3733,0,0,0,0,0,0
$GC,6010,-0.54,-219.0,619.8,-6.8,592,6013,0.00,2.12,0.00,0.000,4,0.000,0.044,2143,3774,3731,0,0,0,0,0,0
$GC,6267,-0.54,-219.0,638.8,-8.0,603,6274,0.00,1.98,0.00,0.000,6,0.000,0.028,2143,2453,3730,0,0,0,0,0,0
$GC,6584,-0.54,-219.0,663.7,-8.7,619,6588,0.00,2.08,0.00,0.000,4,0.000,0.044,2143,3776,3729,0,0,0,0,0,0
$GC,6639,-0.54,-219.0,669.3,-9.8,621,6646,0.00,1.98,0.00,0.000,6,0.000,0.028,2143,2454,3729,0,0,0,0,0,0
$GC,6955,-0.54,-219.0,699.6,-10.0,637,6959,0.00,1.88,0.00,0.000,4,0.000,0.034,2147,1195,3727,0,0,0,0,0,0
$GC,7002,-0.54,-219.0,704.1,-10.5,639,7005,0.00,1.92,0.00,0.000,6,0.000,0.034,2148,2457,3727,0,0,0,0,0,0
$GC,7335,-0.54,-219.0,735.6,-9.0,655,7338,0.00,1.90,0.00,0.000,4,0.000,0.034,2147,1198,3725,0,0,0,0,0,0
$GC,7404,-0.54,-219.0,741.7,-9.0,658,7407,0.00,1.92,0.00,0.000,6,0.000,0.034,2147,2458,3725,0,0,0,0,0,0
$GC,7737,-0.54,-219.0,768.8,-7.9,674,7740,0.00,2.05,0.00,0.000,4,0.000,0.046,2147,3776,3723,0,0,0,0,0,0
$GC,7787,-0.54,-219.0,773.1,-8.6,676,7790,0.00,2.00,0.00,0.000,6,0.000,0.028,2147,2440,3723,0,0,0,0,0,0
$GC,8115,-0.54,-219.0,798.8,-8.2,692,8119,0.00,1.85,0.00,0.000,4,0.000,0.034,2147,1197,3722,0,0,0,0,0,0
$GC,8199,-0.54,-219.0,806.0,-8.5,695,8205,0.00,1.92,0.00,0.000,6,0.000,0.035,2147,2448,3721,0,0,0,0,0,0
$GC,8516,-0.54,-219.0,833.4,-9.2,711,8520,0.00,1.90,0.00,0.000,4,0.000,0.034,2147,1194,3721,0,0,0,0,0,0
$GC,8585,-0.54,-219.0,840.0,-9.7,714,8588,0.00,1.92,0.00,0.000,6,0.000,0.036,2147,2443,3721,0,0,0,0,0,0
$GC,8919,-0.54,-219.0,871.6,-9.5,730,8920,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2443,3720,0,0,0,0,0,0
$GC,9227,-0.54,-219.0,898.2,-8.1,745,9230,0.00,1.88,0.00,0.000,4,0.000,0.034,2147,1201,3718,0,0,0,0,0,0
$GC,9417,-0.54,-219.0,913.4,-7.6,753,9420,0.00,1.92,0.00,0.000,6,0.000,0.037,2147,2449,3718,0,0,0,0,0,0
$STATE,9612,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9612,begin apogee
$GC,9619,-0.13,0.0,928.1,7.5,763,9792,0.32,0.00,167.93,1.037,4,0.057,0.000,2289,2112,2869,0,0,0,0,0,0
$STATE,9793,end apogee,CONTROL_FINISHED_OK
$STATE,9793,begin climb
$GC,9796,0.54,219.0,937.4,0.0,771,9981,0.55,2.25,176.62,1.019,4,0.046,0.040,2510,734,1976,0,0,0,0,0,0
$GC,10132,0.61,272.2,914.3,9.9,787,10183,0.00,2.20,43.53,0.988,6,0.000,0.035,2509,2128,1759,0,0,0,0,0,0
$GC,10500,0.69,342.3,879.2,9.2,805,10565,0.10,2.25,55.85,0.984,4,0.108,0.039,2561,736,1473,0,0,0,0,0,0
$GC,10667,0.71,352.9,859.8,11.4,812,10682,0.00,2.22,10.18,0.841,6,0.000,0.037,2561,2140,1429,0,0,0,0,0,0
$GC,11012,0.71,352.9,813.9,14.3,829,11016,0.00,2.20,0.00,0.000,4,0.000,0.047,2561,3537,1428,0,0,0,0,0,0
$GC,11039,0.71,352.9,809.1,15.7,830,11043,0.00,2.12,0.00,0.000,6,0.000,0.030,2570,2145,1427,0,0,0,0,0,0
$GC,11367,0.71,352.9,755.3,17.0,846,11371,0.00,2.17,0.00,0.000,4,0.000,0.038,2582,716,1428,0,0,0,0,0,0
$GC,11410,0.71,352.9,747.5,16.0,848,11415,0.12,2.17,0.00,0.000,6,0.164,0.036,2551,2120,1428,0,0,0,0,0,0
$GC,11738,0.71,352.9,697.8,14.7,864,11742,0.00,2.22,0.00,0.000,4,0.000,0.046,2551,3543,1428,0,0,0,0,0,0
$GC,11823,0.71,352.9,684.7,15.2,868,11828,0.00,2.15,0.00,0.000,6,0.000,0.031,2559,2136,1428,0,0,0,0,0,0
$GC,12151,0.71,352.9,639.7,13.2,884,12155,0.00,2.17,0.00,0.000,4,0.000,0.039,2570,711,1427,0,0,0,0,0,0
$GC,12206,0.71,352.9,631.9,13.0,886,12214,0.00,2.22,0.00,0.000,6,0.000,0.035,2569,2148,1427,0,0,0,0,0,0
$GC,12523,0.71,352.9,588.7,13.6,902,12527,0.00,2.17,0.00,0.000,4,0.000,0.046,2569,3542,1427,0,0,0,0,0,0
$GC,12567,0.71,352.9,581.7,15.6,904,12572,0.12,2.15,0.00,0.000,6,0.173,0.031,2549,2136,1426,0,0,0,0,0,0
$GC,12888,0.71,352.9,538.9,13.8,920,12892,0.00,2.15,0.00,0.000,4,0.000,0.039,2558,719,1427,0,0,0,0,0,0
$GC,12914,0.71,352.9,535.0,13.7,921,12918,0.00,2.22,0.00,0.000,6,0.000,0.035,2558,2155,1426,0,0,0,0,0,0
$GC,13239,0.71,352.9,489.5,13.9,940,13243,0.00,2.15,0.00,0.000,4,0.000,0.046,2558,3538,1426,0,0,0,0,0,0
$GC,13290,0.71,352.9,481.8,15.2,944,13294,0.00,2.12,0.00,0.000,6,0.000,0.031,2567,2147,1427,0,0,0,0,0,0
$GC,13620,0.71,352.9,436.7,13.5,975,13624,0.00,2.17,0.00,0.000,4,0.000,0.039,2578,720,1429,0,0,0,0,0,0
$GC,13660,0.71,352.9,431.4,13.1,978,13665,0.12,2.25,0.00,0.000,6,0.155,0.036,2546,2177,1429,0,0,0,0,0,0
$GC,13985,0.71,352.9,392.6,12.4,1008,13989,0.00,2.12,0.00,0.000,4,0.000,0.046,2546,3542,1432,0,0,0,0,0,0
$GC,14036,0.71,352.9,385.7,14.2,1012,14040,0.00,2.08,0.00,0.000,6,0.000,0.030,2553,2175,1432,0,0,0,0,0,0
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$STATE,17060,end climb,SURFACE_DEPTH_REACHED
$STATE,17060,begin surface coast
$FINISH,0.4,1.020701
$STATE,17084,end surface coast,CONTROL_FINISHED_OK
$STATE,17084,begin surface
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$IRIDIUM_FIX,1948.12,12021.66,030911,030351
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.49
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,23.3,72.294
$10V_AH,9.8,62.289
$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
$DEVICE_SECS,16.725,186.675,640.675,0.000,0.000,27.696,20.928,152.207,0.000,0.000,17.509,3395.342,10045.021,770.053,2904.083,382.715,0.000,2259.533,0.000,2661.532,0.000,0.539,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,979.877,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323048
$DATA_FILE_SIZE,80329,1411
$CAP_FILE_SIZE,195028,0
$CFSIZE,260165632,209907712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030911,131837,1952.545,12011.035,38,0.8,38,-2.2