version: 66.09
glider: 181
mission: 6
dive: 454
start: 9 5 111 19 55 48
data:
$ID,181
$MISSION,6
$DIVE,454
$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,-41135.82
$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,41
$R_STBD_OVSHOOT,34
$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
$GPS1,050911,194937,1936.747,12004.116,32,1.0,32,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-72.5
$GPS2,050911,195526,1936.773,12004.050,9,1.7,9,-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,188.1,68472,-17.4,-11.786
$D_GRID,4103
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.53,-194.6,0.0,0.0,0,83,0.00,0.00,-62.50,0.000,2,0.000,0.000,191,2613,2218,0,0,0,0,0,0
$GC,86,-0.53,-194.6,3.1,-3.3,11,134,8.10,2.15,-32.05,0.000,4,0.224,0.038,2139,1168,3662,0,0,0,0,0,0
$GC,152,-0.53,-194.6,20.3,-31.1,22,159,0.00,2.22,0.00,0.000,6,0.000,0.038,2130,2600,3662,0,0,0,0,0,0
$GC,295,-0.53,-194.6,64.7,-32.8,47,302,0.00,1.83,0.00,0.000,4,0.000,0.044,2121,3782,3661,0,0,0,0,0,0
$GC,377,-0.53,-194.6,89.1,-21.2,61,384,0.00,1.67,0.00,0.000,6,0.000,0.024,2121,2626,3661,0,0,0,0,0,0
$GC,520,-0.53,-194.6,119.1,-18.1,86,527,0.00,2.08,0.00,0.000,4,0.000,0.028,2121,1206,3661,0,0,0,0,0,0
$GC,556,-0.53,-194.6,125.3,-16.8,92,563,0.12,2.30,0.00,0.000,6,0.156,0.034,2145,2707,3661,0,0,0,0,0,0
$GC,701,-0.53,-194.6,144.5,-13.6,117,708,0.00,1.65,0.00,0.000,4,0.000,0.042,2139,3790,3661,0,0,0,0,0,0
$GC,754,-0.53,-194.6,151.9,-13.2,126,761,0.00,1.55,0.00,0.000,6,0.000,0.024,2139,2735,3662,0,0,0,0,0,0
$GC,898,-0.53,-194.6,170.2,-12.7,151,904,0.00,2.25,0.00,0.000,4,0.000,0.028,2139,1203,3662,0,0,0,0,0,0
$GC,951,-0.53,-194.6,176.4,-11.0,160,958,0.00,2.33,0.00,0.000,6,0.000,0.034,2138,2728,3662,0,0,0,0,0,0
$GC,1096,-0.53,-194.6,192.1,-10.6,185,1103,0.00,2.25,0.00,0.000,4,0.000,0.028,2138,1209,3662,0,0,0,0,0,0
$GC,1127,-0.53,-194.6,195.5,-10.0,190,1134,0.00,2.28,0.00,0.000,6,0.000,0.034,2138,2703,3662,0,0,0,0,0,0
$GC,1265,-0.53,-194.6,208.4,-9.7,207,1269,0.00,2.22,0.00,0.000,4,0.000,0.028,2138,1203,3663,0,0,0,0,0,0
$GC,1295,-0.53,-194.6,211.2,-9.9,209,1299,0.00,2.22,0.00,0.000,6,0.000,0.034,2138,2668,3662,0,0,0,0,0,0
$GC,1621,-0.53,-194.6,242.5,-10.2,239,1625,0.00,2.17,0.00,0.000,4,0.000,0.029,2138,1207,3662,0,0,0,0,0,0
$GC,1642,-0.53,-194.6,245.1,-10.3,240,1649,0.00,2.20,0.00,0.000,6,0.000,0.034,2138,2654,3661,0,0,0,0,0,0
$GC,1968,-0.53,-194.6,280.0,-10.1,271,1972,0.00,2.17,0.00,0.000,4,0.000,0.031,2138,1201,3660,0,0,0,0,0,0
$GC,2034,-0.53,-194.6,286.3,-8.7,276,2041,0.00,2.17,0.00,0.000,6,0.000,0.035,2138,2629,3659,0,0,0,0,0,0
$GC,2360,-0.53,-194.6,308.7,-6.8,307,2364,0.00,2.12,0.00,0.000,4,0.000,0.031,2138,1212,3657,0,0,0,0,0,0
$GC,2382,-0.53,-194.6,310.3,-6.9,308,2389,0.00,2.15,0.00,0.000,6,0.000,0.035,2138,2614,3657,0,0,0,0,0,0
$GC,2707,-0.53,-194.6,332.5,-7.2,339,2711,0.00,2.10,0.00,0.000,4,0.000,0.031,2138,1212,3654,0,0,0,0,0,0
$GC,2770,-0.53,-194.6,337.0,-7.4,344,2774,0.00,2.10,0.00,0.000,6,0.000,0.036,2138,2583,3654,0,0,0,0,0,0
$GC,3101,-0.53,-194.6,363.2,-8.3,375,3105,0.00,2.08,0.00,0.000,4,0.000,0.031,2138,1204,3650,0,0,0,0,0,0
$GC,3134,-0.53,-194.6,366.2,-8.6,377,3141,0.00,2.10,0.00,0.000,6,0.000,0.036,2139,2574,3650,0,0,0,0,0,0
$GC,3461,-0.53,-194.6,392.1,-8.1,408,3465,0.00,2.05,0.00,0.000,4,0.000,0.032,2138,1214,3648,0,0,0,0,0,0
$GC,3489,-0.53,-194.6,394.8,-8.6,410,3496,0.00,2.08,0.00,0.000,6,0.000,0.037,2138,2555,3647,0,0,0,0,0,0
$GC,3815,-0.53,-194.6,423.1,-8.5,441,3819,0.00,1.92,0.00,0.000,4,0.000,0.047,2138,3772,3644,0,0,0,0,0,0
$GC,3842,-0.53,-194.6,425.5,-8.7,443,3848,0.00,1.77,0.00,0.000,6,0.000,0.027,2138,2561,3644,0,0,0,0,0,0
$GC,4167,-0.53,-194.6,453.9,-9.1,474,4171,0.00,2.00,0.00,0.000,4,0.000,0.033,2138,1213,3641,0,0,0,0,0,0
$GC,4213,-0.53,-194.6,458.1,-9.1,478,4217,0.00,2.08,0.00,0.000,6,0.000,0.037,2138,2556,3641,0,0,0,0,0,0
$GC,4539,-0.53,-194.6,487.3,-9.0,508,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2556,3639,0,0,0,0,0,0
$GC,4854,-0.53,-194.6,514.7,-8.6,530,4858,0.00,2.03,0.00,0.000,4,0.000,0.033,2138,1216,3637,0,0,0,0,0,0
$GC,4887,-0.53,-194.6,518.1,-8.8,531,4891,0.00,2.10,0.00,0.000,6,0.000,0.038,2138,2566,3637,0,0,0,0,0,0
$GC,5210,-0.53,-194.6,545.4,-8.4,547,5214,0.00,2.05,0.00,0.000,4,0.000,0.034,2138,1214,3635,0,0,0,0,0,0
$GC,5243,-0.53,-194.6,548.4,-8.5,548,5247,0.00,2.05,0.00,0.000,6,0.000,0.039,2138,2536,3634,0,0,0,0,0,0
$GC,5566,-0.53,-194.6,572.8,-7.0,564,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2537,3632,0,0,0,0,0,0
$GC,5874,-0.53,-194.6,592.6,-6.2,579,5878,0.00,2.03,0.00,0.000,4,0.000,0.034,2138,1206,3630,0,0,0,0,0,0
$GC,5898,-0.53,-194.6,594.1,-6.0,580,5902,0.00,2.08,0.00,0.000,6,0.000,0.038,2138,2532,3630,0,0,0,0,0,0
$GC,6232,-0.53,-194.6,614.1,-6.1,596,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2533,3628,0,0,0,0,0,0
$GC,6540,-0.53,-194.6,632.9,-6.1,611,6541,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2533,3628,0,0,0,0,0,0
$GC,6849,-0.53,-194.6,654.2,-7.3,626,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2533,3626,0,0,0,0,0,0
$GC,7159,-0.53,-194.6,679.4,-8.4,641,7163,0.00,2.05,0.00,0.000,4,0.000,0.035,2138,1217,3625,0,0,0,0,0,0
$GC,7183,-0.53,-194.6,681.4,-8.4,642,7187,0.00,2.05,0.00,0.000,6,0.000,0.039,2138,2533,3624,0,0,0,0,0,0
$GC,7517,-0.53,-194.6,707.1,-7.3,658,7521,0.00,1.95,0.00,0.000,4,0.000,0.049,2138,3784,3623,0,0,0,0,0,0
$GC,7775,-0.53,-194.6,726.9,-8.0,669,7779,0.00,2.00,0.00,0.000,6,0.000,0.029,2138,2457,3622,0,0,0,0,0,0
$GC,8098,-0.53,-194.6,747.8,-6.6,685,8102,0.00,1.85,0.00,0.000,4,0.000,0.036,2138,1213,3620,0,0,0,0,0,0
$GC,8356,-0.53,-194.6,766.0,-7.1,696,8360,0.00,1.85,0.00,0.000,6,0.000,0.037,2138,2429,3619,0,0,0,0,0,0
$GC,8679,-0.53,-194.6,787.9,-6.7,712,8682,0.00,1.85,0.00,0.000,4,0.000,0.037,2143,1207,3618,0,0,0,0,0,0
$GC,8938,-0.53,-194.6,807.2,-7.5,723,8941,0.00,1.85,0.00,0.000,6,0.000,0.038,2143,2406,3618,0,0,0,0,0,0
$GC,9259,-0.53,-194.6,828.0,-6.2,739,9263,0.00,2.17,0.00,0.000,4,0.000,0.051,2143,3780,3616,0,0,0,0,0,0
$GC,9517,-0.53,-194.6,845.7,-6.7,750,9524,0.00,2.12,0.00,0.000,6,0.000,0.028,2152,2367,3616,0,0,0,0,0,0
$STATE,9624,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9624,begin apogee
$GC,9630,-0.13,0.0,852.2,6.1,756,9782,0.32,0.00,146.77,0.990,4,0.057,0.000,2292,2132,2868,0,0,0,0,0,0
$STATE,9782,end apogee,CONTROL_FINISHED_OK
$STATE,9783,begin climb
$GC,9785,0.53,194.6,858.2,0.0,763,9948,0.55,2.30,155.23,0.969,4,0.050,0.044,2509,3540,2074,0,0,0,0,0,0
$GC,9983,0.53,194.6,845.0,15.4,773,9987,0.00,2.20,0.00,0.000,6,0.000,0.030,2518,2131,2074,0,0,0,0,0,0
$GC,10311,0.53,194.6,800.3,13.2,789,10315,0.00,2.15,0.00,0.000,4,0.000,0.041,2529,721,2071,0,0,0,0,0,0
$GC,10411,0.53,194.6,787.2,12.4,793,10419,0.15,2.15,0.00,0.000,6,0.162,0.035,2490,2125,2071,0,0,0,0,0,0
$GC,10727,0.60,250.7,755.5,9.5,809,10778,0.00,2.33,43.75,0.914,4,0.000,0.046,2490,3541,1847,0,0,0,0,0,0
$GC,10836,0.61,257.8,744.2,11.5,814,10850,0.00,2.17,7.32,0.721,6,0.000,0.030,2498,2124,1817,0,0,0,0,0,0
$GC,11170,0.67,307.1,711.8,9.8,830,11216,0.10,2.25,39.12,0.881,4,0.103,0.041,2557,726,1616,0,0,0,0,0,0
$GC,11266,0.67,307.1,698.9,12.8,834,11270,0.00,2.22,0.00,0.000,6,0.000,0.037,2556,2119,1615,0,0,0,0,0,0
$GC,11589,0.67,307.1,652.8,14.9,850,11593,0.00,2.22,0.00,0.000,4,0.000,0.047,2556,3548,1613,0,0,0,0,0,0
$GC,11649,0.67,307.1,642.6,16.7,852,11657,0.12,2.17,0.00,0.000,6,0.172,0.031,2535,2121,1614,0,0,0,0,0,0
$GC,11965,0.67,307.1,598.4,14.1,868,11969,0.00,2.15,0.00,0.000,4,0.000,0.042,2545,710,1614,0,0,0,0,0,0
$GC,12000,0.67,307.1,593.5,14.0,869,12007,0.00,2.20,0.00,0.000,6,0.000,0.037,2545,2136,1614,0,0,0,0,0,0
$GC,12316,0.67,307.1,547.8,14.0,885,12320,0.00,2.17,0.00,0.000,4,0.000,0.048,2545,3541,1613,0,0,0,0,0,0
$GC,12423,0.67,307.1,532.6,13.5,889,12430,0.00,2.10,0.00,0.000,6,0.000,0.031,2554,2152,1614,0,0,0,0,0,0
$GC,12741,0.67,307.1,490.4,13.5,908,12745,0.00,2.17,0.00,0.000,4,0.000,0.041,2565,721,1613,0,0,0,0,0,0
$GC,12814,0.67,307.1,480.5,13.5,914,12818,0.00,2.20,0.00,0.000,6,0.000,0.037,2565,2154,1613,0,0,0,0,0,0
$GC,13139,0.67,307.1,434.3,14.4,944,13143,0.00,2.15,0.00,0.000,4,0.000,0.047,2565,3537,1614,0,0,0,0,0,0
$GC,13230,0.67,307.1,419.8,16.4,952,13235,0.15,2.08,0.00,0.000,6,0.171,0.031,2536,2165,1613,0,0,0,0,0,0
$GC,13561,0.67,307.1,376.5,12.4,983,13565,0.00,2.20,0.00,0.000,4,0.000,0.041,2546,724,1613,0,0,0,0,0,0
$GC,13621,0.67,307.1,368.8,12.3,988,13628,0.00,2.20,0.00,0.000,6,0.000,0.036,2546,2160,1614,0,0,0,0,0,0
$GC,13947,0.67,307.1,327.4,12.9,1019,13951,0.00,2.12,0.00,0.000,4,0.000,0.046,2546,3541,1614,0,0,0,0,0,0
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$STATE,16759,end climb,SURFACE_DEPTH_REACHED
$STATE,16759,begin surface coast
$FINISH,0.3,1.013433
$STATE,16790,end surface coast,CONTROL_FINISHED_OK
$STATE,16790,begin surface
$SM_CCo,16867,0.00,0.000,0,0,441,595.59
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$IRIDIUM_FIX,1927.51,12038.60,050911,141436
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.51
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.6,74.271
$10V_AH,9.8,63.410
$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
$DEVICE_SECS,16.525,182.375,621.775,0.000,0.000,30.295,22.448,149.844,0.000,0.000,13.813,3404.091,9865.098,737.833,2800.705,392.537,0.000,2186.255,0.000,2573.972,0.000,0.539,0.000
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$SENSOR_SECS,987.226,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323040
$DATA_FILE_SIZE,83540,1426
$CAP_FILE_SIZE,192018,0
$CFSIZE,260165632,208822272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060911,003807,1935.858,12003.354,34,0.9,34,-2.1