version: 66.09
glider: 181
mission: 6
dive: 437
start: 9 2 111 7 51 46
data:
$ID,181
$MISSION,6
$DIVE,437
$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,-41114.438
$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,33
$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
$GPS1,020911,074507,2001.156,12013.292,22,1.4,22,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.2
$GPS2,020911,075120,2001.125,12013.395,12,1.5,12,-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,193.9,115608,-16.3,-11.786
$D_GRID,3914
$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,-62.53,0.000,2,0.000,0.000,129,2614,2195,0,0,0,0,0,0
$GC,84,-0.54,-219.0,3.0,-3.2,11,137,8.60,1.90,-35.88,0.000,4,0.233,0.059,2133,3783,3765,0,0,0,0,0,0
$GC,262,-0.54,-219.0,60.1,-24.1,42,269,0.00,1.77,0.00,0.000,6,0.000,0.024,2133,2571,3766,0,0,0,0,0,0
$GC,405,-0.54,-219.0,87.4,-21.1,67,412,0.00,2.00,0.00,0.000,4,0.000,0.028,2133,1201,3766,0,0,0,0,0,0
$GC,492,-0.54,-219.0,105.7,-20.5,82,499,0.00,2.08,0.00,0.000,6,0.000,0.034,2125,2562,3766,0,0,0,0,0,0
$GC,635,-0.54,-219.0,138.6,-18.8,107,642,0.00,1.85,0.00,0.000,4,0.000,0.042,2116,3782,3766,0,0,0,0,0,0
$GC,693,-0.54,-219.0,148.9,-16.4,117,700,0.00,1.73,0.00,0.000,6,0.000,0.024,2116,2587,3767,0,0,0,0,0,0
$GC,838,-0.54,-219.0,165.8,-8.1,142,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2584,3768,0,0,0,0,0,0
$GC,981,-0.54,-219.0,175.0,-6.2,167,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2585,3768,0,0,0,0,0,0
$GC,1123,-0.54,-219.0,184.5,-7.6,192,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2585,3768,0,0,0,0,0,0
$GC,1265,-0.54,-219.0,200.2,-12.3,217,1269,0.00,1.88,0.00,0.000,4,0.000,0.043,2112,3774,3768,0,0,0,0,0,0
$GC,1326,-0.54,-219.0,208.1,-12.6,222,1334,0.08,1.67,0.00,0.000,6,0.111,0.024,2140,2638,3767,0,0,0,0,0,0
$GC,1653,-0.54,-219.0,245.9,-8.2,253,1657,0.00,1.75,0.00,0.000,4,0.000,0.044,2139,3780,3767,0,0,0,0,0,0
$GC,1755,-0.54,-219.0,249.0,-3.7,262,1759,0.00,1.73,0.00,0.000,6,0.000,0.026,2139,2599,3767,0,0,0,0,0,0
$GC,2087,-0.54,-219.0,249.9,-4.2,293,2090,0.00,2.05,0.00,0.000,4,0.000,0.031,2139,1204,3764,0,0,0,0,0,0
$GC,2144,-0.54,-219.0,254.9,-8.9,298,2148,0.00,2.12,0.00,0.000,6,0.000,0.034,2139,2598,3764,0,0,0,0,0,0
$GC,2470,-0.54,-219.0,299.6,-14.4,328,2474,0.00,2.10,0.00,0.000,4,0.000,0.030,2139,1201,3761,0,0,0,0,0,0
$GC,2502,-0.54,-219.0,304.1,-12.9,330,2509,0.00,2.10,0.00,0.000,6,0.000,0.034,2139,2580,3761,0,0,0,0,0,0
$GC,2828,-0.54,-219.0,334.0,-7.0,361,2832,0.00,1.85,0.00,0.000,4,0.000,0.046,2138,3783,3758,0,0,0,0,0,0
$GC,2875,-0.54,-219.0,337.1,-6.8,365,2879,0.00,1.75,0.00,0.000,6,0.000,0.027,2138,2592,3758,0,0,0,0,0,0
$GC,3206,-0.54,-219.0,363.9,-9.6,396,3209,0.00,2.05,0.00,0.000,4,0.000,0.031,2138,1210,3755,0,0,0,0,0,0
$GC,3245,-0.54,-219.0,368.1,-10.5,399,3252,0.00,2.15,0.00,0.000,6,0.000,0.036,2138,2590,3755,0,0,0,0,0,0
$GC,3571,-0.54,-219.0,401.7,-10.2,430,3575,0.00,2.10,0.00,0.000,4,0.000,0.032,2138,1194,3752,0,0,0,0,0,0
$GC,3605,-0.54,-219.0,405.3,-10.1,432,3612,0.00,2.12,0.00,0.000,6,0.000,0.036,2138,2574,3752,0,0,0,0,0,0
$GC,3930,-0.54,-219.0,431.9,-7.1,463,3934,0.00,2.05,0.00,0.000,4,0.000,0.032,2138,1209,3749,0,0,0,0,0,0
$GC,3958,-0.54,-219.0,434.1,-7.2,465,3965,0.00,2.12,0.00,0.000,6,0.000,0.036,2138,2573,3749,0,0,0,0,0,0
$GC,4284,-0.54,-219.0,458.3,-8.5,496,4288,0.00,1.88,0.00,0.000,4,0.000,0.046,2138,3786,3747,0,0,0,0,0,0
$GC,4544,-0.54,-219.0,483.2,-10.2,519,4548,0.00,1.92,0.00,0.000,6,0.000,0.028,2138,2487,3745,0,0,0,0,0,0
$GC,4872,-0.54,-219.0,514.1,-9.8,543,4875,0.00,2.03,0.00,0.000,4,0.000,0.045,2138,3777,3743,0,0,0,0,0,0
$GC,4928,-0.54,-219.0,520.4,-11.1,545,4932,0.00,1.90,0.00,0.000,6,0.000,0.028,2138,2502,3742,0,0,0,0,0,0
$GC,5250,-0.54,-219.0,552.4,-9.5,561,5254,0.00,2.00,0.00,0.000,4,0.000,0.046,2138,3777,3740,0,0,0,0,0,0
$GC,5345,-0.54,-219.0,561.8,-10.2,565,5349,0.00,1.88,0.00,0.000,6,0.000,0.028,2138,2515,3739,0,0,0,0,0,0
$GC,5673,-0.54,-219.0,591.4,-9.2,581,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2513,3738,0,0,0,0,0,0
$GC,5983,-0.54,-219.0,620.3,-8.9,596,5987,0.00,2.00,0.00,0.000,4,0.000,0.047,2138,3786,3737,0,0,0,0,0,0
$GC,6044,-0.54,-219.0,625.5,-8.1,598,6051,0.00,1.90,0.00,0.000,6,0.000,0.028,2138,2512,3736,0,0,0,0,0,0
$GC,6360,-0.54,-219.0,643.5,-5.0,614,6364,0.00,2.00,0.00,0.000,4,0.000,0.046,2138,3786,3734,0,0,0,0,0,0
$GC,6525,-0.54,-219.0,653.0,-6.1,621,6529,0.00,1.85,0.00,0.000,6,0.000,0.028,2138,2544,3733,0,0,0,0,0,0
$GC,6852,-0.54,-219.0,673.3,-6.6,637,6856,0.00,1.95,0.00,0.000,4,0.000,0.047,2138,3782,3732,0,0,0,0,0,0
$GC,6914,-0.54,-219.0,677.6,-7.1,639,6921,0.00,1.85,0.00,0.000,6,0.000,0.028,2138,2542,3731,0,0,0,0,0,0
$GC,7230,-0.54,-219.0,698.6,-7.1,655,7234,0.00,1.95,0.00,0.000,4,0.000,0.047,2139,3783,3730,0,0,0,0,0,0
$GC,7466,-0.54,-219.0,720.3,-10.4,665,7469,0.00,1.83,0.00,0.000,6,0.000,0.028,2139,2556,3729,0,0,0,0,0,0
$GC,7787,-0.54,-219.0,752.1,-10.3,681,7791,0.00,1.92,0.00,0.000,4,0.000,0.047,2139,3777,3728,0,0,0,0,0,0
$GC,7866,-0.54,-219.0,760.7,-10.9,684,7869,0.00,1.80,0.00,0.000,6,0.000,0.028,2140,2572,3727,0,0,0,0,0,0
$GC,8188,-0.54,-219.0,792.3,-9.7,700,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2569,3726,0,0,0,0,0,0
$GC,8497,-0.54,-219.0,821.2,-9.1,715,8501,0.00,2.08,0.00,0.000,4,0.000,0.035,2150,1194,3726,0,0,0,0,0,0
$GC,8542,-0.54,-219.0,825.6,-9.6,717,8546,0.00,2.12,0.00,0.000,6,0.000,0.037,2150,2563,3725,0,0,0,0,0,0
$GC,8863,-0.54,-219.0,852.4,-8.1,733,8867,0.00,2.08,0.00,0.000,4,0.000,0.035,2150,1202,3724,0,0,0,0,0,0
$GC,8929,-0.54,-219.0,857.6,-8.1,736,8933,0.00,2.12,0.00,0.000,6,0.000,0.037,2150,2572,3724,0,0,0,0,0,0
$GC,9256,-0.54,-219.0,883.9,-7.8,752,9260,0.00,2.10,0.00,0.000,4,0.000,0.034,2150,1194,3723,0,0,0,0,0,0
$GC,9342,-0.54,-219.0,890.7,-8.0,756,9346,0.00,2.15,0.00,0.000,6,0.000,0.037,2150,2569,3722,0,0,0,0,0,0
$STATE,9610,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9610,begin apogee
$GC,9617,-0.13,0.0,911.4,7.7,769,9793,0.32,0.00,168.93,1.024,4,0.060,0.000,2297,2113,2869,0,0,0,0,0,0
$STATE,9794,end apogee,CONTROL_FINISHED_OK
$STATE,9794,begin climb
$GC,9796,0.54,219.0,921.1,0.0,777,9981,0.52,2.25,176.48,1.005,4,0.047,0.040,2511,732,1976,0,0,0,0,0,0
$GC,10106,0.58,247.1,900.1,10.8,792,10136,0.00,2.20,24.42,0.944,6,0.000,0.034,2510,2127,1860,0,0,0,0,0,0
$GC,10459,0.61,276.7,861.7,10.7,809,10489,0.00,2.25,24.23,0.947,4,0.000,0.039,2520,739,1740,0,0,0,0,0,0
$GC,10602,0.64,302.4,846.0,10.8,815,10628,0.00,2.17,21.52,0.917,6,0.000,0.035,2520,2133,1636,0,0,0,0,0,0
$GC,10940,0.64,302.4,806.3,12.1,831,10944,0.00,2.20,0.00,0.000,4,0.000,0.046,2521,3535,1634,0,0,0,0,0,0
$GC,10973,0.64,302.4,801.4,13.0,832,10980,0.00,2.12,0.00,0.000,6,0.000,0.030,2530,2151,1634,0,0,0,0,0,0
$GC,11290,0.64,302.4,758.2,13.4,848,11294,0.00,2.20,0.00,0.000,4,0.000,0.041,2541,715,1634,0,0,0,0,0,0
$GC,11353,0.64,302.4,749.7,13.7,851,11357,0.00,2.20,0.00,0.000,6,0.000,0.036,2540,2134,1634,0,0,0,0,0,0
$GC,11679,0.64,302.4,705.3,13.9,867,11683,0.00,2.20,0.00,0.000,4,0.000,0.047,2540,3541,1634,0,0,0,0,0,0
$GC,11747,0.64,302.4,694.5,15.8,870,11751,0.00,2.12,0.00,0.000,6,0.000,0.031,2550,2146,1633,0,0,0,0,0,0
$GC,12068,0.64,302.4,645.2,15.1,886,12072,0.00,2.17,0.00,0.000,4,0.000,0.039,2561,720,1633,0,0,0,0,0,0
$GC,12107,0.64,302.4,639.2,14.8,887,12114,0.12,2.22,0.00,0.000,6,0.165,0.037,2529,2155,1634,0,0,0,0,0,0
$GC,12423,0.64,302.4,599.8,11.8,903,12427,0.00,2.15,0.00,0.000,4,0.000,0.046,2529,3537,1633,0,0,0,0,0,0
$GC,12485,0.64,302.4,591.9,12.9,906,12489,0.00,2.12,0.00,0.000,6,0.000,0.031,2537,2155,1633,0,0,0,0,0,0
$GC,12813,0.64,302.4,552.0,12.0,922,12817,0.00,2.20,0.00,0.000,4,0.000,0.040,2548,711,1633,0,0,0,0,0,0
$GC,12877,0.64,302.4,544.1,12.6,925,12881,0.00,2.25,0.00,0.000,6,0.000,0.036,2548,2177,1633,0,0,0,0,0,0
$GC,13204,0.64,302.4,500.9,13.3,941,13208,0.00,2.10,0.00,0.000,4,0.000,0.046,2548,3537,1633,0,0,0,0,0,0
$GC,13284,0.64,302.4,489.5,13.6,947,13290,0.00,2.05,0.00,0.000,6,0.000,0.031,2557,2185,1633,0,0,0,0,0,0
$GC,13609,0.64,302.4,443.3,14.4,978,13613,0.00,2.25,0.00,0.000,4,0.000,0.039,2568,714,1633,0,0,0,0,0,0
$GC,13705,0.64,302.4,430.0,13.4,986,13712,0.15,2.25,0.00,0.000,6,0.155,0.036,2528,2175,1633,0,0,0,0,0,0
$GC,14032,0.66,315.1,391.7,11.3,1017,14048,0.00,2.15,11.23,0.674,4,0.000,0.044,2528,3538,1584,0,0,0,0,0,0
$GC,14133,0.67,323.6,379.7,11.5,1025,14151,0.00,2.10,8.35,0.581,6,0.000,0.030,2536,2176,1548,0,0,0,0,0,0
$GC,14469,0.70,350.4,344.9,10.8,1057,14502,0.00,2.33,22.73,0.649,4,0.000,0.039,2547,724,1438,0,0,0,0,0,0
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$STATE,17131,end climb,SURFACE_DEPTH_REACHED
$STATE,17131,begin surface coast
$FINISH,0.2,1.020961
$STATE,17155,end surface coast,CONTROL_FINISHED_OK
$STATE,17155,begin surface
$SM_CCo,17231,0.00,0.000,0,0,439,596.08
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$IRIDIUM_FIX,1957.29,12013.73,020911,030306
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.32
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,23.3,71.456
$10V_AH,9.8,61.822
$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,16.750,178.675,651.625,0.000,0.000,28.877,19.033,183.056,0.250,0.000,16.401,3438.655,10129.970,761.153,2892.518,373.258,0.000,2235.494,0.000,2622.188,0.000,0.540,0.000
$DEVICE_MAMPS,233.325,58.905,1024.335,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,992.779,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323056
$DATA_FILE_SIZE,83395,1429
$CAP_FILE_SIZE,193039,0
$CFSIZE,260165632,210354176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020911,124007,1959.646,12012.867,31,1.3,31,-2.2