version: 66.09
glider: 181
mission: 6
dive: 434
start: 9 1 111 17 41 3
data:
$ID,181
$MISSION,6
$DIVE,434
$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,-41110.672
$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,73
$R_STBD_OVSHOOT,38
$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
$GPS1,010911,173231,2005.452,12011.919,40,1.1,40,-2.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-61.5
$GPS2,010911,174038,2005.425,12012.023,10,1.1,10,-2.3
$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,192.2,122983,-16.3,-11.786
$D_GRID,3741
$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,-219.0,0.0,0.0,0,87,0.00,0.00,-67.07,0.000,2,0.000,0.000,150,2558,2338,0,0,0,0,0,0
$GC,90,-0.54,-219.0,3.2,-3.1,12,138,8.38,0.00,-31.25,0.000,6,0.230,0.000,2135,2558,3765,0,0,0,0,0,0
$GC,273,-0.54,-219.0,58.7,-22.4,44,280,0.00,1.88,0.00,0.000,4,0.000,0.040,2127,3780,3766,0,0,0,0,0,0
$GC,349,-0.54,-219.0,72.8,-17.9,57,355,0.00,1.65,0.00,0.000,6,0.000,0.024,2127,2649,3766,0,0,0,0,0,0
$GC,492,-0.54,-219.0,105.8,-22.9,82,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2649,3765,0,0,0,0,0,0
$GC,634,-0.54,-219.0,135.3,-18.9,107,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2648,3765,0,0,0,0,0,0
$GC,777,-0.54,-219.0,157.6,-13.4,132,784,0.00,2.12,0.00,0.000,4,0.000,0.027,2127,1194,3766,0,0,0,0,0,0
$GC,853,-0.54,-219.0,166.3,-10.2,145,860,0.00,2.22,0.00,0.000,6,0.000,0.033,2125,2663,3766,0,0,0,0,0,0
$GC,999,-0.54,-219.0,178.9,-7.4,170,1005,0.00,1.67,0.00,0.000,4,0.000,0.042,2125,3776,3766,0,0,0,0,0,0
$GC,1057,-0.54,-219.0,182.2,-5.5,180,1064,0.00,1.65,0.00,0.000,6,0.000,0.024,2124,2634,3766,0,0,0,0,0,0
$GC,1203,-0.54,-219.0,189.8,-5.7,205,1210,0.00,2.10,0.00,0.000,4,0.000,0.028,2124,1203,3766,0,0,0,0,0,0
$GC,1256,-0.54,-219.0,193.5,-6.7,214,1263,0.00,2.17,0.00,0.000,6,0.000,0.032,2124,2633,3766,0,0,0,0,0,0
$GC,1401,-0.54,-219.0,210.3,-13.9,233,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2633,3766,0,0,0,0,0,0
$GC,1723,-0.54,-219.0,254.4,-7.4,263,1727,0.00,1.73,0.00,0.000,4,0.000,0.044,2125,3773,3764,0,0,0,0,0,0
$GC,1758,-0.54,-219.0,256.7,-6.3,266,1762,0.00,1.73,0.00,0.000,6,0.000,0.024,2124,2609,3764,0,0,0,0,0,0
$GC,2090,-0.54,-219.0,276.7,-9.1,297,2093,0.00,2.05,0.00,0.000,4,0.000,0.029,2124,1216,3761,0,0,0,0,0,0
$GC,2117,-0.54,-219.0,279.5,-9.5,299,2124,0.00,2.15,0.00,0.000,6,0.000,0.034,2124,2608,3762,0,0,0,0,0,0
$GC,2442,-0.54,-219.0,316.4,-13.1,330,2446,0.00,2.10,0.00,0.000,4,0.000,0.030,2124,1199,3759,0,0,0,0,0,0
$GC,2482,-0.54,-219.0,321.5,-12.6,333,2487,0.00,2.12,0.00,0.000,6,0.000,0.034,2124,2591,3758,0,0,0,0,0,0
$GC,2808,-0.54,-219.0,357.3,-11.1,363,2812,0.00,1.83,0.00,0.000,4,0.000,0.045,2124,3782,3754,0,0,0,0,0,0
$GC,2835,-0.54,-219.0,360.3,-10.9,365,2842,0.00,1.75,0.00,0.000,6,0.000,0.026,2124,2581,3754,0,0,0,0,0,0
$GC,3162,-0.54,-219.0,397.3,-11.1,396,3165,0.00,2.03,0.00,0.000,4,0.000,0.030,2124,1209,3752,0,0,0,0,0,0
$GC,3219,-0.54,-219.0,403.4,-10.4,401,3223,0.00,2.10,0.00,0.000,6,0.000,0.034,2124,2582,3752,0,0,0,0,0,0
$GC,3546,-0.54,-219.0,435.8,-10.5,431,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2583,3749,0,0,0,0,0,0
$GC,3864,-0.54,-219.0,466.3,-8.6,461,3868,0.00,2.08,0.00,0.000,4,0.000,0.031,2124,1210,3746,0,0,0,0,0,0
$GC,3909,-0.54,-219.0,470.1,-8.0,464,3915,0.00,2.08,0.00,0.000,6,0.000,0.036,2124,2560,3745,0,0,0,0,0,0
$GC,4234,-0.54,-219.0,488.1,-3.9,495,4238,0.00,1.90,0.00,0.000,4,0.000,0.047,2124,3776,3743,0,0,0,0,0,0
$GC,4281,-0.54,-219.0,489.5,-3.5,499,4285,0.00,1.77,0.00,0.000,6,0.000,0.028,2124,2568,3743,0,0,0,0,0,0
$GC,4622,-0.54,-219.0,503.9,-5.8,528,4626,0.00,2.03,0.00,0.000,4,0.000,0.033,2124,1206,3740,0,0,0,0,0,0
$GC,4646,-0.54,-219.0,505.7,-6.0,529,4650,0.00,2.12,0.00,0.000,6,0.000,0.037,2124,2566,3740,0,0,0,0,0,0
$GC,4973,-0.54,-219.0,534.0,-9.8,545,4977,0.00,1.92,0.00,0.000,4,0.000,0.049,2124,3776,3738,0,0,0,0,0,0
$GC,5019,-0.54,-219.0,538.6,-10.2,547,5024,0.00,1.83,0.00,0.000,6,0.000,0.029,2124,2573,3737,0,0,0,0,0,0
$GC,5353,-0.54,-219.0,575.9,-11.6,563,5357,0.00,2.05,0.00,0.000,4,0.000,0.034,2124,1206,3735,0,0,0,0,0,0
$GC,5399,-0.54,-219.0,581.5,-12.1,565,5403,0.00,2.10,0.00,0.000,6,0.000,0.037,2124,2561,3735,0,0,0,0,0,0
$GC,5732,-0.54,-219.0,619.2,-10.8,581,5736,0.00,1.95,0.00,0.000,4,0.000,0.050,2124,3801,3732,0,0,0,0,0,0
$GC,5761,-0.54,-219.0,622.1,-10.5,582,5764,0.00,1.88,0.00,0.000,6,0.000,0.028,2124,2548,3731,0,0,0,0,0,0
$GC,6088,-0.54,-219.0,652.4,-8.8,598,6092,0.00,2.00,0.00,0.000,4,0.000,0.034,2124,1208,3730,0,0,0,0,0,0
$GC,6115,-0.54,-219.0,655.0,-8.5,599,6119,0.00,2.08,0.00,0.000,6,0.000,0.037,2124,2551,3730,0,0,0,0,0,0
$GC,6444,-0.54,-219.0,683.0,-8.5,615,6447,0.00,1.92,0.00,0.000,4,0.000,0.050,2124,3784,3729,0,0,0,0,0,0
$GC,6477,-0.54,-219.0,686.0,-8.4,616,6481,0.00,1.85,0.00,0.000,6,0.000,0.028,2124,2545,3728,0,0,0,0,0,0
$GC,6799,-0.54,-219.0,709.8,-6.7,632,6802,0.00,2.00,0.00,0.000,4,0.000,0.034,2124,1206,3727,0,0,0,0,0,0
$GC,6845,-0.54,-219.0,712.8,-6.3,634,6849,0.00,2.08,0.00,0.000,6,0.000,0.037,2124,2548,3726,0,0,0,0,0,0
$GC,7178,-0.54,-219.0,732.1,-5.6,650,7182,0.00,1.92,0.00,0.000,4,0.000,0.049,2124,3783,3725,0,0,0,0,0,0
$GC,7436,-0.54,-219.0,750.6,-7.5,661,7440,0.00,2.00,0.00,0.000,6,0.000,0.028,2128,2451,3723,0,0,0,0,0,0
$GC,7758,-0.54,-219.0,778.1,-9.3,677,7762,0.00,1.88,0.00,0.000,4,0.000,0.037,2128,1200,3722,0,0,0,0,0,0
$GC,8016,-0.54,-219.0,804.9,-10.6,688,8020,0.00,2.03,0.00,0.000,6,0.000,0.037,2128,2513,3721,0,0,0,0,0,0
$GC,8339,-0.54,-219.0,829.5,-6.8,704,8343,0.00,2.00,0.00,0.000,4,0.000,0.037,2128,1205,3720,0,0,0,0,0,0
$GC,8597,-0.54,-219.0,845.5,-5.8,715,8601,0.00,2.12,0.00,0.000,6,0.000,0.037,2128,2577,3719,0,0,0,0,0,0
$GC,8919,-0.54,-219.0,862.4,-5.8,731,8923,0.00,1.88,0.00,0.000,4,0.000,0.048,2128,3783,3718,0,0,0,0,0,0
$GC,9178,-0.54,-219.0,878.9,-6.3,742,9182,0.00,1.70,0.00,0.000,6,0.000,0.028,2130,2638,3716,0,0,0,0,0,0
$GC,9501,-0.54,-219.0,898.7,-6.6,758,9505,0.00,2.15,0.00,0.000,4,0.000,0.034,2130,1208,3715,0,0,0,0,0,0
$GC,9541,-0.54,-219.0,901.5,-6.6,760,9545,0.00,2.30,0.00,0.000,6,0.000,0.036,2130,2688,3715,0,0,0,0,0,0
$STATE,9618,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9619,begin apogee
$GC,9626,-0.13,0.0,906.9,6.7,764,9798,0.38,0.00,166.90,1.023,4,0.055,0.000,2294,2117,2869,0,0,0,0,0,0
$STATE,9799,end apogee,CONTROL_FINISHED_OK
$STATE,9799,begin climb
$GC,9802,0.54,219.0,917.0,0.0,772,9988,0.55,2.38,176.15,1.003,4,0.047,0.044,2508,3544,1975,0,0,0,0,0,0
$GC,10029,0.54,219.0,905.0,12.2,783,10033,0.00,2.22,0.00,0.000,6,0.000,0.030,2518,2143,1975,0,0,0,0,0,0
$GC,10350,0.58,254.6,869.1,10.5,799,10385,0.00,2.30,29.25,0.960,4,0.000,0.040,2529,720,1829,0,0,0,0,0,0
$GC,10520,0.65,308.2,851.7,9.8,806,10570,0.00,2.15,42.83,0.957,6,0.000,0.034,2529,2101,1612,0,0,0,0,0,0
$GC,10879,0.71,358.7,814.5,10.0,824,10925,0.00,2.38,40.20,0.942,4,0.000,0.045,2529,3538,1406,0,0,0,0,0,0
$GC,10992,0.76,393.1,802.5,10.5,829,11030,0.00,2.22,28.52,0.909,6,0.000,0.031,2539,2116,1266,0,0,0,0,0,0
$GC,11339,0.80,428.9,766.2,10.5,846,11375,0.12,2.33,29.60,0.903,4,0.092,0.046,2595,3543,1120,0,0,0,0,0,0
$GC,11397,0.80,428.9,756.9,16.7,848,11404,0.00,2.22,0.00,0.000,6,0.000,0.031,2605,2118,1119,0,0,0,0,0,0
$GC,11714,0.80,428.9,701.0,17.7,864,11715,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2118,1118,0,0,0,0,0,0
$GC,12022,0.80,428.9,645.6,18.2,879,12026,0.00,2.25,0.00,0.000,4,0.000,0.044,2606,3541,1118,0,0,0,0,0,0
$GC,12055,0.80,428.9,638.7,19.8,880,12060,0.15,2.15,0.00,0.000,6,0.171,0.031,2577,2132,1117,0,0,0,0,0,0
$GC,12377,0.80,428.9,586.9,16.1,896,12381,0.00,2.17,0.00,0.000,4,0.000,0.040,2586,707,1117,0,0,0,0,0,0
$GC,12404,0.80,428.9,582.0,16.4,897,12408,0.00,2.22,0.00,0.000,6,0.000,0.035,2586,2152,1117,0,0,0,0,0,0
$GC,12726,0.80,428.9,530.4,15.4,913,12730,0.00,2.15,0.00,0.000,4,0.000,0.046,2586,3535,1117,0,0,0,0,0,0
$GC,12806,0.80,428.9,517.8,15.2,916,12813,0.00,2.12,0.00,0.000,6,0.000,0.031,2595,2159,1117,0,0,0,0,0,0
$GC,13129,0.80,428.9,472.4,14.0,941,13133,0.00,2.20,0.00,0.000,4,0.000,0.039,2607,714,1117,0,0,0,0,0,0
$GC,13185,0.80,428.9,464.5,12.7,945,13192,0.00,2.22,0.00,0.000,6,0.000,0.034,2607,2161,1117,0,0,0,0,0,0
$GC,13510,0.80,428.9,416.9,14.9,976,13514,0.00,2.15,0.00,0.000,4,0.000,0.046,2607,3541,1117,0,0,0,0,0,0
$GC,13574,0.80,428.9,406.7,16.4,981,13579,0.15,2.12,0.00,0.000,6,0.171,0.031,2577,2157,1117,0,0,0,0,0,0
$GC,13904,0.80,428.9,359.9,15.0,1012,13908,0.00,2.20,0.00,0.000,4,0.000,0.039,2587,711,1117,0,0,0,0,0,0
$GC,13976,0.80,428.9,348.6,15.7,1018,13983,0.00,2.20,0.00,0.000,6,0.000,0.034,2587,2145,1117,0,0,0,0,0,0
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$STATE,16634,end climb,SURFACE_DEPTH_REACHED
$STATE,16634,begin surface coast
$FINISH,0.3,1.011895
$STATE,16652,end surface coast,CONTROL_FINISHED_OK
$STATE,16652,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,47.95
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.30
$XPDR_PINGS,1
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$10V_AH,9.8,61.553
$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
$DEVICE_SECS,16.875,175.550,646.050,0.000,0.000,53.254,89.410,140.692,0.250,0.000,13.159,3378.981,9816.777,740.965,2892.518,378.193,0.000,2190.577,0.000,2575.947,0.000,0.540,0.000
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$MEM,323044
$DATA_FILE_SIZE,80452,1402
$CAP_FILE_SIZE,190624,0
$CFSIZE,260165632,210628608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010911,222107,2004.084,12013.186,36,1.0,36,-2.3