version: 66.09
glider: 181
mission: 6
dive: 449
start: 9 4 111 19 11 12
data:
$ID,181
$MISSION,6
$DIVE,449
$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,-41129.531
$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,46
$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
$GPS1,040911,190501,1943.618,12007.215,36,1.6,36,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-72.4
$GPS2,040911,191050,1943.620,12007.127,12,0.9,12,-2.2
$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,191.0,81743,-17.4,-11.786
$D_GRID,4041
$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,16,-0.53,-194.6,0.0,0.0,0,81,0.00,0.00,-61.92,0.000,2,0.000,0.000,199,2624,2194,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.1,-3.2,11,132,8.15,2.22,-33.97,0.000,4,0.227,0.039,2141,1182,3663,0,0,0,0,0,0
$GC,174,-0.53,-194.6,23.8,-25.0,26,181,0.00,2.22,0.00,0.000,6,0.000,0.037,2136,2601,3662,0,0,0,0,0,0
$GC,317,-0.53,-194.6,68.1,-28.1,51,324,0.00,1.80,0.00,0.000,4,0.000,0.044,2127,3782,3661,0,0,0,0,0,0
$GC,450,-0.53,-194.6,101.7,-17.9,74,456,0.00,1.65,0.00,0.000,6,0.000,0.024,2127,2645,3660,0,0,0,0,0,0
$GC,594,-0.53,-194.6,120.5,-13.2,99,601,0.00,1.75,0.00,0.000,4,0.000,0.041,2118,3789,3660,0,0,0,0,0,0
$GC,624,-0.53,-194.6,124.9,-13.9,104,631,0.00,1.55,0.00,0.000,6,0.000,0.024,2118,2741,3660,0,0,0,0,0,0
$GC,768,-0.53,-194.6,148.5,-16.5,129,775,0.12,2.28,0.00,0.000,4,0.156,0.028,2152,1206,3661,0,0,0,0,0,0
$GC,867,-0.53,-194.6,159.5,-8.7,146,874,0.00,2.28,0.00,0.000,6,0.000,0.033,2152,2688,3661,0,0,0,0,0,0
$GC,1013,-0.53,-194.6,171.4,-9.4,171,1019,0.00,1.65,0.00,0.000,4,0.000,0.043,2151,3783,3662,0,0,0,0,0,0
$GC,1037,-0.53,-194.6,174.0,-9.7,175,1044,0.00,1.62,0.00,0.000,6,0.000,0.024,2152,2687,3662,0,0,0,0,0,0
$GC,1183,-0.53,-194.6,190.0,-11.6,200,1189,0.00,2.17,0.00,0.000,4,0.000,0.028,2152,1203,3662,0,0,0,0,0,0
$GC,1207,-0.53,-194.6,193.3,-12.1,204,1214,0.00,2.28,0.00,0.000,6,0.000,0.034,2151,2698,3662,0,0,0,0,0,0
$GC,1351,-0.53,-194.6,210.5,-11.8,222,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2698,3662,0,0,0,0,0,0
$GC,1674,-0.53,-194.6,243.5,-8.8,252,1678,0.00,2.22,0.00,0.000,4,0.000,0.029,2152,1204,3662,0,0,0,0,0,0
$GC,1774,-0.53,-194.6,254.4,-11.0,260,1780,0.00,2.25,0.00,0.000,6,0.000,0.034,2152,2682,3662,0,0,0,0,0,0
$GC,2100,-0.53,-194.6,282.9,-6.3,291,2104,0.00,1.67,0.00,0.000,4,0.000,0.043,2152,3789,3660,0,0,0,0,0,0
$GC,2116,-0.53,-194.6,284.1,-6.2,292,2123,0.00,1.77,0.00,0.000,6,0.000,0.024,2151,2565,3660,0,0,0,0,0,0
$GC,2442,-0.53,-194.6,302.2,-6.7,323,2446,0.00,1.88,0.00,0.000,4,0.000,0.042,2152,3783,3658,0,0,0,0,0,0
$GC,2454,-0.53,-194.6,303.0,-6.6,324,2458,0.00,1.95,0.00,0.000,6,0.000,0.025,2152,2488,3657,0,0,0,0,0,0
$GC,2785,-0.53,-194.6,327.8,-7.9,355,2788,0.00,2.00,0.00,0.000,4,0.000,0.042,2151,3783,3655,0,0,0,0,0,0
$GC,2902,-0.53,-194.6,338.5,-9.5,365,2909,0.00,2.00,0.00,0.000,6,0.000,0.025,2152,2423,3654,0,0,0,0,0,0
$GC,3228,-0.53,-194.6,366.9,-8.2,396,3231,0.00,1.80,0.00,0.000,4,0.000,0.032,2152,1198,3650,0,0,0,0,0,0
$GC,3255,-0.53,-194.6,369.7,-8.7,398,3262,0.00,1.88,0.00,0.000,6,0.000,0.032,2152,2444,3650,0,0,0,0,0,0
$GC,3581,-0.53,-194.6,397.4,-8.7,429,3584,0.00,1.85,0.00,0.000,4,0.000,0.032,2152,1204,3647,0,0,0,0,0,0
$GC,3608,-0.53,-194.6,399.8,-8.4,431,3615,0.00,1.85,0.00,0.000,6,0.000,0.033,2152,2427,3647,0,0,0,0,0,0
$GC,3934,-0.53,-194.6,420.1,-5.4,462,3937,0.00,2.08,0.00,0.000,4,0.000,0.044,2152,3779,3645,0,0,0,0,0,0
$GC,3957,-0.53,-194.6,421.3,-5.4,464,3961,0.00,2.08,0.00,0.000,6,0.000,0.027,2152,2389,3644,0,0,0,0,0,0
$GC,4289,-0.53,-194.6,441.5,-6.8,495,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2387,3642,0,0,0,0,0,0
$GC,4608,-0.53,-194.6,465.9,-7.7,525,4612,0.00,2.17,0.00,0.000,4,0.000,0.042,2152,3783,3639,0,0,0,0,0,0
$GC,4769,-0.53,-194.6,480.3,-9.5,538,4775,0.00,2.05,0.00,0.000,6,0.000,0.027,2152,2407,3638,0,0,0,0,0,0
$GC,5104,-0.53,-194.6,507.1,-7.8,566,5108,0.00,2.15,0.00,0.000,4,0.000,0.044,2151,3780,3637,0,0,0,0,0,0
$GC,5328,-0.53,-194.6,526.8,-9.1,576,5331,0.00,2.00,0.00,0.000,6,0.000,0.027,2157,2441,3635,0,0,0,0,0,0
$GC,5655,-0.53,-194.6,555.5,-9.2,592,5659,0.00,2.10,0.00,0.000,4,0.000,0.044,2157,3779,3633,0,0,0,0,0,0
$GC,5722,-0.53,-194.6,562.3,-10.2,595,5726,0.00,1.98,0.00,0.000,6,0.000,0.027,2157,2454,3633,0,0,0,0,0,0
$GC,6050,-0.53,-194.6,593.0,-9.2,611,6053,0.00,1.85,0.00,0.000,4,0.000,0.034,2160,1208,3631,0,0,0,0,0,0
$GC,6123,-0.53,-194.6,599.9,-9.2,614,6127,0.00,1.88,0.00,0.000,6,0.000,0.034,2160,2438,3631,0,0,0,0,0,0
$GC,6451,-0.53,-194.6,625.8,-7.5,630,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2440,3629,0,0,0,0,0,0
$GC,6761,-0.53,-194.6,648.3,-7.4,645,6765,0.00,1.85,0.00,0.000,4,0.000,0.034,2160,1211,3627,0,0,0,0,0,0
$GC,6812,-0.53,-194.6,652.2,-7.4,647,6816,0.00,1.90,0.00,0.000,6,0.000,0.034,2160,2447,3627,0,0,0,0,0,0
$GC,7139,-0.53,-194.6,675.1,-7.4,663,7140,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2448,3626,0,0,0,0,0,0
$GC,7449,-0.53,-194.6,699.7,-8.1,678,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2448,3625,0,0,0,0,0,0
$GC,7758,-0.53,-194.6,727.1,-8.9,693,7761,0.00,1.88,0.00,0.000,4,0.000,0.035,2160,1212,3623,0,0,0,0,0,0
$GC,7819,-0.53,-194.6,732.7,-9.2,695,7826,0.00,1.92,0.00,0.000,6,0.000,0.035,2160,2432,3623,0,0,0,0,0,0
$GC,8136,-0.53,-194.6,758.8,-8.1,711,8140,0.00,1.90,0.00,0.000,4,0.000,0.034,2160,1207,3621,0,0,0,0,0,0
$GC,8204,-0.53,-194.6,764.6,-8.1,714,8208,0.00,1.88,0.00,0.000,6,0.000,0.034,2160,2429,3621,0,0,0,0,0,0
$GC,8538,-0.53,-194.6,789.6,-7.5,730,8542,0.00,1.85,0.00,0.000,4,0.000,0.034,2160,1203,3619,0,0,0,0,0,0
$GC,8607,-0.53,-194.6,794.9,-7.5,733,8611,0.00,1.92,0.00,0.000,6,0.000,0.036,2160,2424,3619,0,0,0,0,0,0
$GC,8940,-0.53,-194.6,820.2,-7.8,749,8944,0.00,1.88,0.00,0.000,4,0.000,0.035,2160,1217,3618,0,0,0,0,0,0
$GC,8986,-0.53,-194.6,823.8,-8.0,751,8990,0.00,1.90,0.00,0.000,6,0.000,0.036,2160,2424,3618,0,0,0,0,0,0
$GC,9319,-0.53,-194.6,850.4,-8.0,767,9320,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2424,3617,0,0,0,0,0,0
$STATE,9605,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9605,begin apogee
$GC,9612,-0.13,0.0,873.8,8.1,781,9764,0.30,0.00,147.10,1.004,4,0.070,0.000,2285,2125,2869,0,0,0,0,0,0
$STATE,9765,end apogee,CONTROL_FINISHED_OK
$STATE,9765,begin climb
$GC,9767,0.53,194.6,883.5,0.0,788,9933,0.57,2.35,155.93,0.985,4,0.049,0.044,2512,3542,2074,0,0,0,0,0,0
$GC,9961,0.53,194.6,874.9,12.1,797,9968,0.00,2.22,0.00,0.000,6,0.000,0.030,2522,2138,2074,0,0,0,0,0,0
$GC,10278,0.53,194.6,837.0,12.0,813,10283,0.12,2.22,0.00,0.000,4,0.187,0.040,2501,717,2071,0,0,0,0,0,0
$GC,10327,0.58,235.7,831.5,10.1,815,10365,0.00,2.20,32.72,0.941,6,0.000,0.034,2501,2131,1908,0,0,0,0,0,0
$GC,10687,0.60,255.9,791.6,11.0,833,10710,0.00,2.30,17.25,0.892,4,0.000,0.044,2501,3536,1824,0,0,0,0,0,0
$GC,10767,0.60,255.9,781.7,12.8,836,10771,0.00,2.17,0.00,0.000,6,0.000,0.029,2510,2130,1823,0,0,0,0,0,0
$GC,11084,0.60,255.9,743.8,11.9,851,11088,0.00,2.17,0.00,0.000,4,0.000,0.039,2522,718,1822,0,0,0,0,0,0
$GC,11116,0.60,255.9,739.6,12.2,852,11120,0.00,2.20,0.00,0.000,6,0.000,0.034,2522,2140,1822,0,0,0,0,0,0
$GC,11438,0.60,255.9,698.2,13.0,868,11442,0.00,2.17,0.00,0.000,4,0.000,0.045,2521,3539,1822,0,0,0,0,0,0
$GC,11494,0.60,255.9,689.8,15.3,870,11500,0.00,2.12,0.00,0.000,6,0.000,0.030,2531,2143,1822,0,0,0,0,0,0
$GC,11809,0.60,255.9,645.9,13.6,886,11813,0.00,2.17,0.00,0.000,4,0.000,0.039,2542,716,1821,0,0,0,0,0,0
$GC,11842,0.60,255.9,641.1,13.9,887,11849,0.00,2.22,0.00,0.000,6,0.000,0.034,2542,2160,1821,0,0,0,0,0,0
$GC,12159,0.60,255.9,598.7,13.4,903,12163,0.00,2.12,0.00,0.000,4,0.000,0.045,2542,3535,1821,0,0,0,0,0,0
$GC,12222,0.60,255.9,589.7,14.4,906,12227,0.15,2.10,0.00,0.000,6,0.168,0.030,2512,2161,1820,0,0,0,0,0,0
$GC,12559,0.64,286.3,553.3,10.5,922,12589,0.00,2.28,24.05,0.792,4,0.000,0.040,2522,729,1701,0,0,0,0,0,0
$GC,12664,0.67,312.4,541.5,10.7,926,12692,0.00,2.20,21.58,0.754,6,0.000,0.034,2522,2142,1594,0,0,0,0,0,0
$GC,13003,0.70,331.8,504.5,11.0,943,13026,0.00,2.20,16.10,0.729,4,0.000,0.044,2522,3535,1514,0,0,0,0,0,0
$GC,13106,0.70,331.8,491.8,12.4,950,13110,0.00,2.10,0.00,0.000,6,0.000,0.030,2531,2168,1514,0,0,0,0,0,0
$GC,13431,0.70,331.8,450.8,12.6,980,13435,0.00,2.22,0.00,0.000,4,0.000,0.039,2542,717,1520,0,0,0,0,0,0
$GC,13508,0.70,331.8,440.4,13.4,986,13515,0.00,2.22,0.00,0.000,6,0.000,0.034,2543,2153,1521,0,0,0,0,0,0
$GC,13834,0.70,331.8,396.6,13.1,1017,13838,0.00,2.15,0.00,0.000,4,0.000,0.045,2543,3535,1523,0,0,0,0,0,0
$GC,13907,0.70,331.8,386.4,13.9,1023,13911,0.00,2.10,0.00,0.000,6,0.000,0.030,2551,2159,1523,0,0,0,0,0,0
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$STATE,17156,end climb,SURFACE_DEPTH_REACHED
$STATE,17156,begin surface coast
$FINISH,0.4,1.008344
$STATE,17188,end surface coast,CONTROL_FINISHED_OK
$STATE,17188,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,45.51
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.6,73.482
$10V_AH,9.8,62.941
$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,16.100,178.875,627.800,0.000,0.000,25.711,22.450,152.454,0.000,0.000,16.958,3483.796,10183.882,739.137,2799.694,391.592,0.000,2179.229,0.000,2566.132,0.000,0.540,0.000
$DEVICE_MAMPS,227.205,45.135,1004.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1014.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323064
$DATA_FILE_SIZE,83508,1466
$CAP_FILE_SIZE,191766,0
$CFSIZE,260165632,209276928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050911,000007,1943.267,12007.021,32,0.8,32,-2.2