version: 66.09
glider: 181
mission: 6
dive: 463
start: 9 7 111 16 24 6
data:
$ID,181
$MISSION,6
$DIVE,463
$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,-41147.137
$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,2300
$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,2500
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,57
$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
$GPS1,070911,161737,1926.096,12000.687,33,0.9,33,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-65.4
$GPS2,070911,162344,1925.973,12000.682,12,1.5,12,-2.1
$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,183.5,48117,-17.4,-11.786
$D_GRID,4222
$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,-62.00,0.000,2,0.000,0.000,182,2653,2184,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.1,-3.4,11,132,8.10,2.42,-33.58,0.000,4,0.225,0.039,2120,1088,3665,0,0,0,0,0,0
$GC,186,-0.53,-194.6,28.6,-22.9,28,193,0.00,2.15,0.00,0.000,6,0.000,0.037,2111,2477,3666,0,0,0,0,0,0
$GC,329,-0.53,-194.6,76.2,-27.3,53,335,0.00,2.00,0.00,0.000,4,0.000,0.042,2101,3783,3665,0,0,0,0,0,0
$GC,433,-0.53,-194.6,97.2,-20.3,71,440,0.00,1.85,0.00,0.000,6,0.000,0.024,2101,2516,3665,0,0,0,0,0,0
$GC,577,-0.53,-194.6,126.5,-21.4,96,584,0.00,2.00,0.00,0.000,4,0.000,0.043,2091,3790,3665,0,0,0,0,0,0
$GC,636,-0.53,-194.6,137.6,-16.6,106,643,0.12,1.77,0.00,0.000,6,0.155,0.024,2125,2583,3666,0,0,0,0,0,0
$GC,782,-0.53,-194.6,156.7,-13.5,131,789,0.00,2.17,0.00,0.000,4,0.000,0.028,2125,1101,3666,0,0,0,0,0,0
$GC,808,-0.53,-194.6,160.4,-13.7,135,815,0.00,2.25,0.00,0.000,6,0.000,0.034,2125,2572,3667,0,0,0,0,0,0
$GC,954,-0.53,-194.6,176.8,-11.2,160,961,0.00,1.85,0.00,0.000,4,0.000,0.043,2124,3789,3667,0,0,0,0,0,0
$GC,1024,-0.53,-194.6,184.8,-10.8,172,1031,0.00,1.77,0.00,0.000,6,0.000,0.024,2124,2590,3667,0,0,0,0,0,0
$GC,1172,-0.53,-194.6,202.8,-12.8,196,1176,0.00,2.17,0.00,0.000,4,0.000,0.028,2124,1107,3667,0,0,0,0,0,0
$GC,1201,-0.53,-194.6,206.3,-12.2,198,1206,0.00,2.33,0.00,0.000,6,0.000,0.034,2124,2632,3667,0,0,0,0,0,0
$GC,1528,-0.53,-194.6,241.4,-9.9,228,1532,0.00,2.28,0.00,0.000,4,0.000,0.028,2124,1109,3666,0,0,0,0,0,0
$GC,1549,-0.53,-194.6,243.8,-10.0,229,1556,0.00,2.30,0.00,0.000,6,0.000,0.034,2124,2615,3666,0,0,0,0,0,0
$GC,1874,-0.53,-194.6,280.2,-12.7,260,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2615,3664,0,0,0,0,0,0
$GC,2198,-0.53,-194.6,316.5,-11.3,290,2202,0.00,2.25,0.00,0.000,4,0.000,0.029,2124,1113,3661,0,0,0,0,0,0
$GC,2253,-0.53,-194.6,323.0,-9.9,294,2260,0.00,2.28,0.00,0.000,6,0.000,0.034,2124,2598,3661,0,0,0,0,0,0
$GC,2579,-0.53,-194.6,353.4,-9.5,325,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2599,3658,0,0,0,0,0,0
$GC,2899,-0.53,-194.6,388.0,-11.3,355,2904,0.00,2.25,0.00,0.000,4,0.000,0.031,2124,1110,3655,0,0,0,0,0,0
$GC,2932,-0.53,-194.6,392.3,-11.3,357,2939,0.00,2.30,0.00,0.000,6,0.000,0.036,2124,2601,3655,0,0,0,0,0,0
$GC,3258,-0.53,-194.6,429.2,-11.1,388,3262,0.00,1.83,0.00,0.000,4,0.000,0.047,2116,3789,3652,0,0,0,0,0,0
$GC,3298,-0.53,-194.6,433.7,-11.2,391,3304,0.00,1.77,0.00,0.000,6,0.000,0.026,2116,2577,3652,0,0,0,0,0,0
$GC,3623,-0.53,-194.6,468.9,-10.9,422,3627,0.00,2.20,0.00,0.000,4,0.000,0.032,2116,1106,3648,0,0,0,0,0,0
$GC,3676,-0.53,-194.6,474.0,-10.1,426,3680,0.00,2.30,0.00,0.000,6,0.000,0.037,2112,2589,3648,0,0,0,0,0,0
$GC,4013,-0.53,-194.6,508.3,-9.6,453,4014,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2590,3646,0,0,0,0,0,0
$GC,4319,-0.53,-194.6,535.4,-8.4,468,4323,0.00,2.25,0.00,0.000,4,0.000,0.033,2112,1111,3644,0,0,0,0,0,0
$GC,4340,-0.53,-194.6,537.4,-8.5,469,4344,0.00,2.30,0.00,0.000,6,0.000,0.038,2111,2585,3644,0,0,0,0,0,0
$GC,4662,-0.53,-194.6,565.0,-8.8,485,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2586,3641,0,0,0,0,0,0
$GC,4972,-0.53,-194.6,594.7,-10.0,500,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2586,3639,0,0,0,0,0,0
$GC,5281,-0.53,-194.6,625.0,-9.5,515,5285,0.00,2.25,0.00,0.000,4,0.000,0.034,2111,1111,3637,0,0,0,0,0,0
$GC,5307,-0.53,-194.6,627.8,-9.4,516,5312,0.00,2.30,0.00,0.000,6,0.000,0.038,2111,2585,3637,0,0,0,0,0,0
$GC,5625,-0.53,-194.6,657.5,-9.5,531,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2586,3635,0,0,0,0,0,0
$GC,5933,-0.53,-194.6,687.9,-10.1,546,5937,0.00,2.25,0.00,0.000,4,0.000,0.034,2111,1115,3634,0,0,0,0,0,0
$GC,5974,-0.53,-194.6,692.0,-10.3,548,5978,0.00,2.28,0.00,0.000,6,0.000,0.038,2111,2569,3633,0,0,0,0,0,0
$GC,6301,-0.53,-194.6,726.2,-10.6,564,6305,0.00,1.90,0.00,0.000,4,0.000,0.050,2111,3784,3632,0,0,0,0,0,0
$GC,6325,-0.53,-194.6,728.5,-10.7,565,6328,0.00,1.83,0.00,0.000,6,0.000,0.028,2111,2561,3631,0,0,0,0,0,0
$GC,6659,-0.53,-194.6,762.2,-9.8,581,6663,0.00,2.17,0.00,0.000,4,0.000,0.035,2112,1120,3630,0,0,0,0,0,0
$GC,6708,-0.53,-194.6,767.3,-9.5,583,6712,0.00,2.22,0.00,0.000,6,0.000,0.039,2111,2543,3629,0,0,0,0,0,0
$GC,7025,-0.53,-194.6,794.8,-8.4,598,7029,0.00,1.95,0.00,0.000,4,0.000,0.050,2111,3788,3628,0,0,0,0,0,0
$GC,7064,-0.53,-194.6,798.2,-8.5,599,7071,0.00,1.83,0.00,0.000,6,0.000,0.028,2111,2562,3628,0,0,0,0,0,0
$GC,7380,-0.53,-194.6,821.1,-7.1,615,7384,0.00,2.20,0.00,0.000,4,0.000,0.035,2111,1108,3626,0,0,0,0,0,0
$GC,7448,-0.53,-194.6,825.6,-6.8,618,7452,0.00,2.25,0.00,0.000,6,0.000,0.039,2112,2545,3626,0,0,0,0,0,0
$GC,7775,-0.53,-194.6,845.5,-6.0,634,7779,0.00,1.98,0.00,0.000,4,0.000,0.051,2111,3774,3625,0,0,0,0,0,0
$GC,7807,-0.53,-194.6,847.7,-6.0,635,7811,0.00,1.85,0.00,0.000,6,0.000,0.028,2111,2535,3625,0,0,0,0,0,0
$GC,8130,-0.53,-194.6,869.7,-7.5,651,8134,0.00,2.17,0.00,0.000,4,0.000,0.036,2111,1102,3624,0,0,0,0,0,0
$GC,8158,-0.53,-194.6,872.2,-7.6,652,8162,0.00,2.25,0.00,0.000,6,0.000,0.039,2111,2535,3624,0,0,0,0,0,0
$GC,8475,-0.53,-194.6,897.8,-8.3,667,8479,0.00,1.95,0.00,0.000,4,0.000,0.051,2111,3779,3622,0,0,0,0,0,0
$GC,8547,-0.53,-194.6,903.8,-7.7,670,8552,0.00,1.90,0.00,0.000,6,0.000,0.029,2111,2546,3622,0,0,0,0,0,0
$GC,8875,-0.53,-194.6,929.7,-8.0,686,8879,0.00,2.22,0.00,0.000,4,0.000,0.036,2112,1093,3620,0,0,0,0,0,0
$GC,8926,-0.53,-194.6,933.8,-8.4,688,8930,0.00,2.28,0.00,0.000,6,0.000,0.039,2111,2541,3620,0,0,0,0,0,0
$GC,9247,-0.53,-194.6,959.0,-7.6,704,9251,0.00,1.95,0.00,0.000,4,0.000,0.051,2111,3777,3619,0,0,0,0,0,0
$GC,9294,-0.53,-194.6,962.4,-7.5,706,9298,0.00,1.88,0.00,0.000,6,0.000,0.030,2111,2531,3619,0,0,0,0,0,0
$STATE,9624,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9624,begin apogee
$GC,9630,-0.13,0.0,987.4,7.7,722,9786,0.43,0.00,150.10,1.075,4,0.113,0.000,2253,2120,2868,0,0,0,0,0,0
$STATE,9786,end apogee,CONTROL_FINISHED_OK
$STATE,9787,begin climb
$GC,9789,0.53,194.6,995.2,0.0,729,9953,0.57,0.00,158.62,1.055,6,0.056,0.000,2481,2120,2075,0,0,0,0,0,0
$GC,10284,0.58,232.5,955.1,10.2,753,10320,0.00,2.33,31.08,1.011,4,0.000,0.044,2481,3543,1920,0,0,0,0,0,0
$GC,10373,0.59,243.6,945.0,11.3,756,10390,0.00,2.20,10.70,0.888,6,0.000,0.029,2491,2135,1875,0,0,0,0,0,0
$GC,10700,0.61,261.0,909.0,11.1,772,10723,0.00,2.22,15.23,0.943,4,0.000,0.039,2502,713,1803,0,0,0,0,0,0
$GC,10774,0.64,280.9,900.6,11.0,775,10798,0.00,2.22,17.27,0.934,6,0.000,0.034,2502,2133,1723,0,0,0,0,0,0
$GC,11121,0.67,306.4,863.2,10.7,792,11148,0.00,2.25,21.77,0.949,4,0.000,0.044,2502,3537,1619,0,0,0,0,0,0
$GC,11210,0.67,306.4,852.5,12.0,796,11214,0.00,2.17,0.00,0.000,6,0.000,0.030,2511,2128,1618,0,0,0,0,0,0
$GC,11531,0.68,317.2,815.8,11.3,812,11546,0.00,2.20,10.23,0.857,4,0.000,0.039,2523,716,1575,0,0,0,0,0,0
$GC,11597,0.68,317.2,807.9,11.8,814,11601,0.00,2.22,0.00,0.000,6,0.000,0.034,2522,2129,1574,0,0,0,0,0,0
$GC,11924,0.68,317.2,768.5,12.0,830,11928,0.00,2.22,0.00,0.000,4,0.000,0.047,2522,3538,1574,0,0,0,0,0,0
$GC,11984,0.68,317.2,760.2,13.6,832,11991,0.00,2.15,0.00,0.000,6,0.000,0.030,2532,2134,1575,0,0,0,0,0,0
$GC,12302,0.68,317.2,720.8,12.3,848,12306,0.00,2.17,0.00,0.000,4,0.000,0.040,2542,711,1574,0,0,0,0,0,0
$GC,12374,0.68,317.2,711.8,12.3,851,12378,0.00,2.20,0.00,0.000,6,0.000,0.034,2543,2135,1574,0,0,0,0,0,0
$GC,12696,0.68,317.2,668.6,13.8,867,12701,0.00,2.20,0.00,0.000,4,0.000,0.047,2543,3543,1574,0,0,0,0,0,0
$GC,12763,0.68,317.2,658.1,15.1,870,12768,0.12,2.12,0.00,0.000,6,0.166,0.028,2520,2137,1573,0,0,0,0,0,0
$GC,13085,0.68,317.2,618.5,12.4,886,13089,0.00,2.15,0.00,0.000,4,0.000,0.038,2530,723,1574,0,0,0,0,0,0
$GC,13129,0.68,317.2,612.9,12.5,888,13133,0.00,2.20,0.00,0.000,6,0.000,0.034,2530,2154,1574,0,0,0,0,0,0
$GC,13451,0.68,317.2,570.1,13.6,904,13455,0.00,2.17,0.00,0.000,4,0.000,0.045,2529,3545,1574,0,0,0,0,0,0
$GC,13530,0.68,317.2,558.1,15.8,907,13537,0.00,2.10,0.00,0.000,6,0.000,0.030,2539,2163,1573,0,0,0,0,0,0
$GC,13846,0.68,317.2,511.7,14.1,923,13850,0.00,2.20,0.00,0.000,4,0.000,0.040,2549,724,1574,0,0,0,0,0,0
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$STATE,18128,end climb,SURFACE_DEPTH_REACHED
$STATE,18129,begin surface coast
$FINISH,0.4,1.009476
$STATE,18152,end surface coast,CONTROL_FINISHED_OK
$STATE,18153,begin surface
$SM_CCo,18230,0.00,0.000,0,0,440,595.59
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$TT8_MAMPS,0.025466,0.025466
$HUMID,44.40
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.3,75.683
$10V_AH,9.8,64.277
$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
$DEVICE_SECS,16.675,202.750,641.525,0.000,0.000,27.727,38.025,145.563,0.000,0.000,15.109,3488.706,11142.130,757.753,2779.062,412.128,0.000,2210.932,0.000,2535.744,0.000,0.540,0.000
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$SENSOR_SECS,1012.918,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83534,1457
$CAP_FILE_SIZE,201325,0
$CFSIZE,260165632,207974400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070911,212907,1923.017,11959.152,32,1.4,32,-2.1