version: 66.09
glider: 181
mission: 6
dive: 452
start: 9 5 111 10 5 54
data:
$ID,181
$MISSION,6
$DIVE,452
$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,-41133.305
$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,42
$R_STBD_OVSHOOT,35
$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
$GPS1,050911,095707,1940.635,12007.498,29,1.1,29,-2.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-71.9
$GPS2,050911,100532,1940.615,12007.489,14,1.1,14,-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,192.1,76353,-17.4,-11.786
$D_GRID,4117
$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,-0.53,-194.6,0.0,0.0,0,81,0.00,0.00,-61.15,0.000,2,0.000,0.000,200,2611,2181,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.1,-3.2,11,133,8.20,2.22,-33.35,0.000,4,0.228,0.041,2141,1178,3665,0,0,0,0,0,0
$GC,180,-0.53,-194.6,27.1,-26.1,27,187,0.00,2.20,0.00,0.000,6,0.000,0.037,2136,2598,3664,0,0,0,0,0,0
$GC,324,-0.53,-194.6,63.6,-19.8,52,330,0.00,1.83,0.00,0.000,4,0.000,0.042,2126,3783,3662,0,0,0,0,0,0
$GC,362,-0.53,-194.6,70.9,-20.6,58,369,0.00,1.73,0.00,0.000,6,0.000,0.025,2126,2599,3662,0,0,0,0,0,0
$GC,505,-0.53,-194.6,102.5,-20.9,83,511,0.00,1.85,0.00,0.000,4,0.000,0.042,2117,3782,3662,0,0,0,0,0,0
$GC,546,-0.53,-194.6,110.8,-20.6,90,554,0.12,1.62,0.00,0.000,6,0.148,0.024,2151,2684,3663,0,0,0,0,0,0
$GC,692,-0.53,-194.6,130.9,-14.0,115,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2682,3663,0,0,0,0,0,0
$GC,836,-0.53,-194.6,147.3,-10.1,140,842,0.00,1.67,0.00,0.000,4,0.000,0.042,2145,3783,3663,0,0,0,0,0,0
$GC,856,-0.53,-194.6,149.0,-9.4,143,862,0.00,1.55,0.00,0.000,6,0.000,0.024,2146,2740,3663,0,0,0,0,0,0
$GC,1001,-0.53,-194.6,164.1,-11.2,168,1007,0.00,2.28,0.00,0.000,4,0.000,0.028,2146,1209,3664,0,0,0,0,0,0
$GC,1100,-0.53,-194.6,175.5,-11.2,185,1106,0.00,2.25,0.00,0.000,6,0.000,0.033,2139,2679,3664,0,0,0,0,0,0
$GC,1244,-0.53,-194.6,192.0,-10.2,210,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2680,3664,0,0,0,0,0,0
$GC,1384,-0.53,-194.6,205.3,-9.1,230,1388,0.00,2.20,0.00,0.000,4,0.000,0.028,2139,1199,3663,0,0,0,0,0,0
$GC,1425,-0.53,-194.6,208.8,-8.8,233,1429,0.00,2.22,0.00,0.000,6,0.000,0.034,2138,2662,3664,0,0,0,0,0,0
$GC,1751,-0.53,-194.6,239.9,-10.7,263,1755,0.00,1.67,0.00,0.000,4,0.000,0.044,2138,3780,3663,0,0,0,0,0,0
$GC,1801,-0.53,-194.6,245.3,-10.4,267,1808,0.00,1.65,0.00,0.000,6,0.000,0.024,2138,2670,3662,0,0,0,0,0,0
$GC,2128,-0.53,-194.6,275.2,-8.9,298,2132,0.00,2.15,0.00,0.000,4,0.000,0.030,2138,1211,3659,0,0,0,0,0,0
$GC,2205,-0.53,-194.6,282.2,-8.3,304,2212,0.00,2.17,0.00,0.000,6,0.000,0.034,2138,2640,3659,0,0,0,0,0,0
$GC,2532,-0.53,-194.6,312.7,-10.6,335,2536,0.00,2.15,0.00,0.000,4,0.000,0.030,2138,1202,3656,0,0,0,0,0,0
$GC,2553,-0.53,-194.6,315.4,-10.7,336,2560,0.00,2.17,0.00,0.000,6,0.000,0.035,2138,2629,3656,0,0,0,0,0,0
$GC,2879,-0.53,-194.6,350.7,-10.8,367,2883,0.00,2.12,0.00,0.000,4,0.000,0.031,2138,1212,3653,0,0,0,0,0,0
$GC,2909,-0.53,-194.6,353.8,-10.9,369,2913,0.00,2.15,0.00,0.000,6,0.000,0.036,2138,2612,3653,0,0,0,0,0,0
$GC,3234,-0.53,-194.6,386.6,-9.6,399,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2613,3649,0,0,0,0,0,0
$GC,3555,-0.53,-194.6,414.9,-8.0,429,3559,0.00,2.12,0.00,0.000,4,0.000,0.031,2138,1206,3645,0,0,0,0,0,0
$GC,3588,-0.53,-194.6,418.0,-8.2,431,3595,0.00,2.15,0.00,0.000,6,0.000,0.036,2138,2602,3645,0,0,0,0,0,0
$GC,3914,-0.53,-194.6,443.2,-7.6,462,3918,0.00,2.10,0.00,0.000,4,0.000,0.032,2138,1210,3644,0,0,0,0,0,0
$GC,3947,-0.53,-194.6,445.8,-7.6,464,3953,0.00,2.12,0.00,0.000,6,0.000,0.037,2138,2590,3643,0,0,0,0,0,0
$GC,4272,-0.53,-194.6,473.3,-9.4,495,4276,0.00,2.08,0.00,0.000,4,0.000,0.033,2138,1213,3640,0,0,0,0,0,0
$GC,4324,-0.53,-194.6,478.2,-9.4,499,4328,0.00,2.10,0.00,0.000,6,0.000,0.037,2138,2575,3640,0,0,0,0,0,0
$GC,4658,-0.53,-194.6,507.8,-8.5,526,4661,0.00,1.85,0.00,0.000,4,0.000,0.046,2138,3780,3637,0,0,0,0,0,0
$GC,4763,-0.53,-194.6,517.1,-8.6,530,4770,0.00,1.92,0.00,0.000,6,0.000,0.027,2137,2483,3636,0,0,0,0,0,0
$GC,5081,-0.53,-194.6,545.9,-9.5,546,5085,0.00,2.08,0.00,0.000,4,0.000,0.047,2138,3799,3635,0,0,0,0,0,0
$GC,5338,-0.53,-194.6,571.5,-10.3,557,5343,0.00,1.92,0.00,0.000,6,0.000,0.028,2138,2540,3632,0,0,0,0,0,0
$GC,5661,-0.53,-194.6,602.5,-9.3,573,5665,0.00,2.00,0.00,0.000,4,0.000,0.047,2138,3777,3630,0,0,0,0,0,0
$GC,5685,-0.53,-194.6,604.8,-9.1,574,5689,0.00,1.90,0.00,0.000,6,0.000,0.028,2137,2498,3630,0,0,0,0,0,0
$GC,6019,-0.53,-194.6,630.5,-6.9,590,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2495,3629,0,0,0,0,0,0
$GC,6327,-0.53,-194.6,650.1,-6.1,605,6331,0.00,2.03,0.00,0.000,4,0.000,0.046,2138,3784,3627,0,0,0,0,0,0
$GC,6586,-0.53,-194.6,666.6,-6.7,616,6590,0.00,2.05,0.00,0.000,6,0.000,0.026,2138,2413,3625,0,0,0,0,0,0
$GC,6908,-0.53,-194.6,688.0,-6.9,632,6912,0.00,1.77,0.00,0.000,4,0.000,0.034,2144,1211,3625,0,0,0,0,0,0
$GC,7165,-0.53,-194.6,709.1,-9.0,643,7169,0.00,1.77,0.00,0.000,6,0.000,0.034,2144,2374,3623,0,0,0,0,0,0
$GC,7487,-0.53,-194.6,736.7,-8.7,659,7491,0.00,1.75,0.00,0.000,4,0.000,0.033,2144,1209,3622,0,0,0,0,0,0
$GC,7517,-0.53,-194.6,739.1,-8.9,660,7521,0.00,1.73,0.00,0.000,6,0.000,0.033,2144,2348,3622,0,0,0,0,0,0
$GC,7845,-0.53,-194.6,766.6,-8.1,676,7849,0.00,2.25,0.00,0.000,4,0.000,0.045,2144,3790,3620,0,0,0,0,0,0
$GC,7934,-0.53,-194.6,774.8,-9.4,680,7938,0.00,2.25,0.00,0.000,6,0.000,0.027,2145,2302,3620,0,0,0,0,0,0
$GC,8256,-0.53,-194.6,800.1,-7.8,696,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2301,3618,0,0,0,0,0,0
$GC,8564,-0.53,-194.6,825.1,-8.2,711,8568,0.00,1.62,0.00,0.000,4,0.000,0.035,2148,1205,3618,0,0,0,0,0,0
$GC,8822,-0.53,-194.6,847.9,-9.1,722,8826,0.00,1.70,0.00,0.000,6,0.000,0.034,2148,2321,3617,0,0,0,0,0,0
$GC,9145,-0.53,-194.6,874.9,-8.6,738,9149,0.00,1.67,0.00,0.000,4,0.000,0.033,2148,1206,3616,0,0,0,0,0,0
$GC,9403,-0.53,-194.6,897.7,-8.6,749,9407,0.00,1.67,0.00,0.000,6,0.000,0.033,2148,2278,3616,0,0,0,0,0,0
$STATE,9619,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9619,begin apogee
$GC,9626,-0.13,0.0,915.4,8.3,760,9781,0.32,0.00,147.95,1.030,4,0.057,0.000,2288,2124,2868,0,0,0,0,0,0
$STATE,9782,end apogee,CONTROL_FINISHED_OK
$STATE,9782,begin climb
$GC,9785,0.53,194.6,925.3,0.0,767,9949,0.55,2.25,156.65,1.011,4,0.046,0.038,2510,730,2075,0,0,0,0,0,0
$GC,10039,0.56,222.7,911.2,10.6,779,10073,0.00,2.22,23.73,0.946,6,0.000,0.034,2510,2134,1961,0,0,0,0,0,0
$GC,10382,0.57,229.8,871.9,11.5,796,10391,0.00,0.00,7.18,0.823,6,0.000,0.000,2510,2134,1932,0,0,0,0,0,0
$GC,10691,0.57,229.8,836.0,11.8,811,10695,0.00,2.20,0.00,0.000,4,0.000,0.044,2510,3545,1932,0,0,0,0,0,0
$GC,10740,0.57,229.8,829.1,13.9,813,10744,0.00,2.12,0.00,0.000,6,0.000,0.029,2519,2146,1931,0,0,0,0,0,0
$GC,11061,0.57,229.8,785.8,14.0,829,11065,0.00,2.17,0.00,0.000,4,0.000,0.039,2530,721,1931,0,0,0,0,0,0
$GC,11180,0.57,229.8,769.4,13.8,834,11184,0.00,2.15,0.00,0.000,6,0.000,0.035,2530,2112,1931,0,0,0,0,0,0
$GC,11496,0.57,229.8,725.5,13.0,849,11500,0.00,2.22,0.00,0.000,4,0.000,0.046,2531,3537,1930,0,0,0,0,0,0
$GC,11557,0.57,229.8,717.2,13.6,851,11564,0.12,2.17,0.00,0.000,6,0.181,0.030,2510,2107,1930,0,0,0,0,0,0
$GC,11873,0.64,287.4,686.1,9.4,867,11924,0.00,2.20,45.42,0.882,4,0.000,0.039,2519,715,1696,0,0,0,0,0,0
$GC,11979,0.72,349.1,676.4,9.3,871,12035,0.00,2.20,48.90,0.861,6,0.000,0.034,2520,2116,1445,0,0,0,0,0,0
$GC,12358,0.77,392.1,638.4,10.0,890,12402,0.15,2.28,35.53,0.837,4,0.086,0.044,2581,3533,1268,0,0,0,0,0,0
$GC,12497,0.77,392.1,616.4,16.5,896,12501,0.00,2.15,0.00,0.000,6,0.000,0.030,2591,2138,1270,0,0,0,0,0,0
$GC,12826,0.77,392.1,561.5,16.9,912,12830,0.00,2.17,0.00,0.000,4,0.000,0.037,2602,713,1270,0,0,0,0,0,0
$GC,12843,0.77,392.1,558.2,17.0,913,12848,0.12,2.25,0.00,0.000,6,0.158,0.034,2570,2164,1269,0,0,0,0,0,0
$GC,13170,0.77,392.1,506.1,16.0,929,13174,0.00,2.15,0.00,0.000,4,0.000,0.046,2570,3543,1269,0,0,0,0,0,0
$GC,13237,0.77,392.1,494.7,16.8,933,13244,0.00,2.10,0.00,0.000,6,0.000,0.029,2577,2169,1269,0,0,0,0,0,0
$GC,13562,0.77,392.1,444.5,14.3,964,13566,0.00,2.15,0.00,0.000,4,0.000,0.045,2578,3541,1269,0,0,0,0,0,0
$GC,13613,0.77,392.1,436.6,15.5,968,13617,0.00,2.05,0.00,0.000,6,0.000,0.030,2588,2193,1269,0,0,0,0,0,0
$GC,13944,0.77,392.1,389.7,13.7,999,13948,0.00,2.12,0.00,0.000,4,0.000,0.045,2588,3544,1269,0,0,0,0,0,0
$GC,13978,0.77,392.1,384.4,14.9,1001,13984,0.00,2.03,0.00,0.000,6,0.000,0.029,2598,2207,1269,0,0,0,0,0,0
$GC,14303,0.77,392.1,337.7,14.7,1032,14307,0.00,2.25,0.00,0.000,4,0.000,0.037,2609,723,1269,0,0,0,0,0,0
$GC,14324,0.77,392.1,334.2,14.7,1033,14332,0.15,2.33,0.00,0.000,6,0.151,0.034,2568,2229,1269,0,0,0,0,0,0
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$STATE,17068,end climb,SURFACE_DEPTH_REACHED
$STATE,17068,begin surface coast
$FINISH,0.3,1.009704
$STATE,17099,end surface coast,CONTROL_FINISHED_OK
$STATE,17099,begin surface
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$IRIDIUM_FIX,1932.09,12013.08,050911,090919
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.47
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,23.5,73.956
$10V_AH,9.8,63.224
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_SECS,988.494,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83679,1426
$CAP_FILE_SIZE,196118,0
$CFSIZE,260165632,208998400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050911,145325,1938.449,12006.211,37,1.5,37,-2.2