version: 66.09
glider: 181
mission: 6
dive: 464
start: 9 7 111 21 35 11
data:
$ID,181
$MISSION,6
$DIVE,464
$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,-41148.395
$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,48
$R_STBD_OVSHOOT,62
$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
$GPS1,070911,212907,1923.017,11959.152,32,1.4,32,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-65.6
$GPS2,070911,213449,1923.002,11959.056,9,1.9,14,-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,179.9,42632,-17.4,-11.786
$D_GRID,4186
$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,17,-0.53,-194.6,0.0,0.0,0,82,0.00,0.00,-62.10,0.000,2,0.000,0.000,195,2540,2185,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.1,-3.3,11,133,8.02,2.25,-33.53,0.000,4,0.224,0.041,2123,1091,3664,0,0,0,0,0,0
$GC,175,-0.53,-194.6,26.0,-26.7,26,182,0.00,2.12,0.00,0.000,6,0.000,0.036,2114,2471,3664,0,0,0,0,0,0
$GC,318,-0.53,-194.6,73.2,-31.6,51,325,0.00,2.03,0.00,0.000,4,0.000,0.047,2111,3778,3663,0,0,0,0,0,0
$GC,406,-0.53,-194.6,96.8,-19.4,66,413,0.00,1.83,0.00,0.000,6,0.000,0.023,2111,2519,3663,0,0,0,0,0,0
$GC,550,-0.53,-194.6,128.6,-18.5,91,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2516,3663,0,0,0,0,0,0
$GC,692,-0.53,-194.6,152.5,-14.5,116,699,0.00,2.05,0.00,0.000,4,0.000,0.028,2111,1116,3664,0,0,0,0,0,0
$GC,723,-0.53,-194.6,156.9,-14.4,121,729,0.00,2.28,0.00,0.000,6,0.000,0.034,2111,2606,3664,0,0,0,0,0,0
$GC,866,-0.53,-194.6,178.6,-15.4,146,872,0.00,1.80,0.00,0.000,4,0.000,0.041,2102,3789,3665,0,0,0,0,0,0
$GC,925,-0.53,-194.6,186.8,-13.7,156,931,0.00,1.65,0.00,0.000,6,0.000,0.023,2102,2634,3665,0,0,0,0,0,0
$GC,1065,-0.53,-194.6,204.5,-11.9,178,1069,0.00,2.22,0.00,0.000,4,0.000,0.028,2102,1118,3665,0,0,0,0,0,0
$GC,1151,-0.53,-194.6,214.2,-10.9,185,1156,0.10,2.28,0.00,0.000,6,0.161,0.034,2125,2609,3665,0,0,0,0,0,0
$GC,1478,-0.53,-194.6,249.5,-11.0,215,1482,0.00,1.77,0.00,0.000,4,0.000,0.043,2124,3783,3665,0,0,0,0,0,0
$GC,1528,-0.53,-194.6,255.1,-10.3,219,1535,0.00,1.73,0.00,0.000,6,0.000,0.024,2125,2584,3665,0,0,0,0,0,0
$GC,1854,-0.53,-194.6,287.3,-10.4,250,1858,0.00,2.17,0.00,0.000,4,0.000,0.029,2125,1111,3662,0,0,0,0,0,0
$GC,1894,-0.53,-194.6,291.7,-10.8,253,1898,0.00,2.28,0.00,0.000,6,0.000,0.033,2125,2605,3662,0,0,0,0,0,0
$GC,2220,-0.53,-194.6,325.3,-10.3,283,2223,0.00,1.80,0.00,0.000,4,0.000,0.044,2116,3789,3659,0,0,0,0,0,0
$GC,2255,-0.53,-194.6,329.1,-10.7,286,2259,0.00,1.75,0.00,0.000,6,0.000,0.024,2116,2584,3658,0,0,0,0,0,0
$GC,2586,-0.53,-194.6,363.3,-9.6,317,2590,0.00,2.17,0.00,0.000,4,0.000,0.031,2116,1116,3656,0,0,0,0,0,0
$GC,2620,-0.53,-194.6,366.6,-9.6,320,2625,0.00,2.28,0.00,0.000,6,0.000,0.034,2112,2599,3655,0,0,0,0,0,0
$GC,2946,-0.53,-194.6,397.9,-9.1,350,2950,0.00,1.80,0.00,0.000,4,0.000,0.046,2111,3778,3653,0,0,0,0,0,0
$GC,3015,-0.53,-194.6,404.0,-8.6,356,3019,0.00,1.70,0.00,0.000,6,0.000,0.025,2111,2611,3651,0,0,0,0,0,0
$GC,3346,-0.53,-194.6,435.3,-10.0,387,3350,0.00,2.22,0.00,0.000,4,0.000,0.031,2112,1116,3648,0,0,0,0,0,0
$GC,3407,-0.53,-194.6,441.7,-10.0,392,3414,0.00,2.28,0.00,0.000,6,0.000,0.034,2111,2601,3648,0,0,0,0,0,0
$GC,3733,-0.53,-194.6,478.1,-11.7,423,3737,0.00,1.83,0.00,0.000,4,0.000,0.047,2111,3784,3646,0,0,0,0,0,0
$GC,3772,-0.53,-194.6,482.9,-11.7,426,3779,0.00,1.73,0.00,0.000,6,0.000,0.025,2111,2600,3645,0,0,0,0,0,0
$GC,4093,-0.53,-194.6,521.3,-12.1,449,4097,0.00,2.22,0.00,0.000,4,0.000,0.031,2111,1110,3642,0,0,0,0,0,0
$GC,4142,-0.53,-194.6,527.8,-11.7,451,4147,0.00,2.33,0.00,0.000,6,0.000,0.037,2111,2609,3642,0,0,0,0,0,0
$GC,4459,-0.53,-194.6,563.3,-11.2,466,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2611,3639,0,0,0,0,0,0
$GC,4769,-0.53,-194.6,596.9,-10.4,481,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2611,3638,0,0,0,0,0,0
$GC,5077,-0.53,-194.6,626.7,-9.0,496,5081,0.00,2.28,0.00,0.000,4,0.000,0.033,2111,1118,3635,0,0,0,0,0,0
$GC,5111,-0.53,-194.6,629.4,-8.7,497,5118,0.00,2.33,0.00,0.000,6,0.000,0.038,2111,2605,3635,0,0,0,0,0,0
$GC,5428,-0.53,-194.6,662.1,-11.5,513,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2606,3633,0,0,0,0,0,0
$GC,5737,-0.53,-194.6,695.1,-10.7,528,5741,0.00,2.28,0.00,0.000,4,0.000,0.034,2111,1119,3631,0,0,0,0,0,0
$GC,5771,-0.53,-194.6,698.8,-10.5,529,5775,0.00,2.30,0.00,0.000,6,0.000,0.038,2111,2591,3631,0,0,0,0,0,0
$GC,6087,-0.53,-194.6,730.0,-9.8,544,6091,0.00,1.85,0.00,0.000,4,0.000,0.050,2111,3779,3629,0,0,0,0,0,0
$GC,6111,-0.53,-194.6,732.3,-9.8,545,6114,0.00,1.75,0.00,0.000,6,0.000,0.027,2111,2593,3629,0,0,0,0,0,0
$GC,6445,-0.53,-194.6,761.8,-8.5,561,6449,0.00,2.22,0.00,0.000,4,0.000,0.034,2111,1119,3627,0,0,0,0,0,0
$GC,6508,-0.53,-194.6,767.2,-8.3,564,6512,0.00,2.28,0.00,0.000,6,0.000,0.037,2111,2578,3627,0,0,0,0,0,0
$GC,6837,-0.53,-194.6,793.8,-8.4,580,6840,0.00,1.88,0.00,0.000,4,0.000,0.050,2111,3778,3625,0,0,0,0,0,0
$GC,6864,-0.53,-194.6,796.3,-8.4,581,6868,0.00,1.77,0.00,0.000,6,0.000,0.028,2111,2582,3624,0,0,0,0,0,0
$GC,7192,-0.53,-194.6,822.2,-8.0,597,7196,0.00,2.20,0.00,0.000,4,0.000,0.034,2111,1123,3623,0,0,0,0,0,0
$GC,7259,-0.53,-194.6,827.6,-7.8,600,7263,0.00,2.25,0.00,0.000,6,0.000,0.038,2111,2562,3623,0,0,0,0,0,0
$GC,7586,-0.53,-194.6,854.4,-8.6,616,7590,0.00,1.95,0.00,0.000,4,0.000,0.050,2111,3774,3622,0,0,0,0,0,0
$GC,7613,-0.53,-194.6,856.8,-8.6,617,7616,0.00,1.80,0.00,0.000,6,0.000,0.028,2111,2565,3621,0,0,0,0,0,0
$GC,7941,-0.53,-194.6,883.7,-8.1,633,7945,0.00,2.17,0.00,0.000,4,0.000,0.034,2111,1124,3620,0,0,0,0,0,0
$GC,7991,-0.53,-194.6,888.1,-8.4,635,7995,0.00,2.22,0.00,0.000,6,0.000,0.038,2111,2545,3620,0,0,0,0,0,0
$GC,8308,-0.53,-194.6,913.6,-8.2,650,8312,0.00,1.95,0.00,0.000,4,0.000,0.050,2111,3785,3619,0,0,0,0,0,0
$GC,8358,-0.53,-194.6,917.7,-7.8,652,8362,0.00,1.83,0.00,0.000,6,0.000,0.028,2111,2565,3618,0,0,0,0,0,0
$GC,8686,-0.53,-194.6,944.8,-8.7,668,8690,0.00,2.20,0.00,0.000,4,0.000,0.035,2111,1116,3618,0,0,0,0,0,0
$GC,8736,-0.53,-194.6,949.5,-9.2,670,8740,0.00,2.25,0.00,0.000,6,0.000,0.037,2111,2549,3617,0,0,0,0,0,0
$GC,9058,-0.53,-194.6,979.5,-9.6,686,9062,0.00,1.92,0.00,0.000,4,0.000,0.050,2111,3778,3616,0,0,0,0,0,0
$GC,9105,-0.53,-194.6,983.8,-9.5,688,9109,0.00,1.83,0.00,0.000,6,0.000,0.027,2111,2555,3616,0,0,0,0,0,0
$STATE,9168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9168,begin apogee
$GC,9174,-0.13,0.0,990.0,9.5,691,9329,0.43,0.00,149.65,1.076,4,0.112,0.000,2253,2123,2869,0,0,0,0,0,0
$STATE,9330,end apogee,CONTROL_FINISHED_OK
$STATE,9330,begin climb
$GC,9332,0.53,194.6,999.9,0.0,698,9496,0.57,0.00,158.75,1.058,6,0.057,0.000,2481,2123,2075,0,0,0,0,0,0
$GC,9820,0.58,236.0,965.2,10.1,722,9861,0.00,2.35,34.45,1.015,4,0.000,0.044,2481,3534,1905,0,0,0,0,0,0
$GC,9881,0.61,256.6,958.4,10.9,725,9904,0.00,2.17,17.90,0.952,6,0.000,0.028,2490,2135,1822,0,0,0,0,0,0
$GC,10214,0.62,270.1,921.0,11.2,741,10236,0.00,2.28,12.10,0.926,4,0.000,0.038,2501,721,1767,0,0,0,0,0,0
$GC,10322,0.63,278.3,908.6,11.4,745,10337,0.00,2.17,8.50,0.837,6,0.000,0.034,2501,2118,1734,0,0,0,0,0,0
$GC,10662,0.67,310.0,872.1,10.5,762,10693,0.00,2.28,26.00,0.965,4,0.000,0.044,2501,3538,1605,0,0,0,0,0,0
$GC,10756,0.67,312.0,861.1,11.7,766,10760,0.00,2.20,0.00,0.000,6,0.000,0.028,2510,2116,1604,0,0,0,0,0,0
$GC,11073,0.69,328.9,826.5,11.1,781,11096,0.00,2.25,16.50,0.911,4,0.000,0.038,2522,717,1528,0,0,0,0,0,0
$GC,11158,0.71,342.5,816.8,11.2,784,11177,0.00,2.17,12.77,0.862,6,0.000,0.033,2522,2117,1472,0,0,0,0,0,0
$GC,11496,0.71,342.5,774.3,12.7,801,11500,0.00,2.22,0.00,0.000,4,0.000,0.045,2522,3537,1475,0,0,0,0,0,0
$GC,11604,0.71,342.5,758.7,14.4,806,11608,0.00,2.12,0.00,0.000,6,0.000,0.029,2531,2144,1476,0,0,0,0,0,0
$GC,11931,0.71,342.5,714.4,13.3,822,11935,0.00,2.17,0.00,0.000,4,0.000,0.038,2542,721,1475,0,0,0,0,0,0
$GC,11986,0.71,342.5,706.9,12.5,824,11991,0.00,2.20,0.00,0.000,6,0.000,0.034,2542,2147,1475,0,0,0,0,0,0
$GC,12309,0.71,342.5,664.5,13.2,840,12313,0.00,2.17,0.00,0.000,4,0.000,0.046,2542,3539,1475,0,0,0,0,0,0
$GC,12396,0.71,342.5,651.6,14.8,844,12400,0.00,2.10,0.00,0.000,6,0.000,0.028,2551,2153,1476,0,0,0,0,0,0
$GC,12723,0.71,342.5,604.0,14.4,860,12727,0.00,2.20,0.00,0.000,4,0.000,0.038,2562,723,1476,0,0,0,0,0,0
$GC,12785,0.71,342.5,595.4,13.2,863,12790,0.12,2.22,0.00,0.000,6,0.161,0.034,2530,2169,1475,0,0,0,0,0,0
$GC,13114,0.72,349.8,556.2,11.5,879,13128,0.00,2.20,8.40,0.728,4,0.000,0.044,2530,3531,1442,0,0,0,0,0,0
$GC,13196,0.72,349.8,545.3,13.3,882,13203,0.00,2.05,0.00,0.000,6,0.000,0.028,2537,2180,1441,0,0,0,0,0,0
$GC,13512,0.72,349.8,505.3,13.0,898,13516,0.00,2.22,0.00,0.000,4,0.000,0.039,2548,724,1440,0,0,0,0,0,0
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$STATE,17712,end climb,SURFACE_DEPTH_REACHED
$STATE,17712,begin surface coast
$FINISH,0.3,1.020775
$STATE,17735,end surface coast,CONTROL_FINISHED_OK
$STATE,17735,begin surface
$SM_CCo,17813,0.00,0.000,0,0,441,595.59
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$IRIDIUM_FIX,1913.80,12006.51,070911,161647
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.71
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,23.3,75.850
$10V_AH,9.8,64.369
$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,16.725,202.775,638.950,0.000,0.000,30.343,18.923,143.401,0.000,0.000,18.502,3422.938,10805.768,763.248,2748.663,397.887,0.000,2204.240,0.000,2521.677,0.000,0.539,0.000
$DEVICE_MAMPS,224.145,50.490,1075.590,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,994.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83612,1429
$CAP_FILE_SIZE,199713,0
$CFSIZE,260165632,207888384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080911,023324,1921.452,11958.691,25,1.0,42,-2.1