version: 66.09
glider: 181
mission: 6
dive: 471
start: 9 9 111 9 19 19
data:
$ID,181
$MISSION,6
$DIVE,471
$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,0
$FERRY_MAX,45
$KALMAN_USE,1
$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,-41157.195
$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,43
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$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
$GPS1,090911,090437,1911.544,11959.215,41,0.9,41,-2.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-66.6
$GPS2,090911,091825,1911.696,11959.157,11,1.0,22,-2.1
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.024,-0.311
$KALMAN_X,144.8,39.4,-23.7,1352.8,47.6
$KALMAN_Y,2551.7,683.4,716.4,-9301.9,-1287.6
$MHEAD_RNG_PITCHd_Wd,178.2,21711,-17.4,-11.786
$D_GRID,4092
$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,-62.28,0.000,2,0.000,0.000,181,2539,2210,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.2,-3.2,11,133,8.07,2.20,-32.75,0.000,4,0.223,0.036,2121,1068,3662,0,0,0,0,0,0
$GC,180,-0.53,-194.6,26.1,-22.6,27,187,0.00,2.17,0.00,0.000,6,0.000,0.033,2112,2486,3662,0,0,0,0,0,0
$GC,323,-0.53,-194.6,68.6,-26.4,52,330,0.00,1.98,0.00,0.000,4,0.000,0.039,2102,3790,3660,0,0,0,0,0,0
$GC,394,-0.53,-194.6,86.2,-22.2,64,401,0.00,1.55,0.00,0.000,6,0.000,0.024,2102,2760,3660,0,0,0,0,0,0
$GC,537,-0.53,-194.6,118.6,-22.7,89,544,0.00,2.47,0.00,0.000,4,0.000,0.028,2102,1087,3660,0,0,0,0,0,0
$GC,590,-0.53,-194.6,128.1,-15.4,98,597,0.12,2.35,0.00,0.000,6,0.161,0.032,2125,2637,3660,0,0,0,0,0,0
$GC,737,-0.53,-194.6,149.3,-14.0,123,744,0.00,1.73,0.00,0.000,4,0.000,0.041,2117,3785,3660,0,0,0,0,0,0
$GC,784,-0.53,-194.6,156.2,-13.6,131,791,0.00,1.73,0.00,0.000,6,0.000,0.023,2117,2595,3661,0,0,0,0,0,0
$GC,928,-0.53,-194.6,175.4,-13.3,156,935,0.00,2.22,0.00,0.000,4,0.000,0.028,2117,1084,3661,0,0,0,0,0,0
$GC,947,-0.53,-194.6,178.0,-12.8,159,954,0.00,2.15,0.00,0.000,6,0.000,0.031,2112,2504,3660,0,0,0,0,0,0
$GC,1092,-0.53,-194.6,197.9,-15.1,184,1099,0.00,1.95,0.00,0.000,4,0.000,0.042,2111,3777,3661,0,0,0,0,0,0
$GC,1152,-0.53,-194.6,206.9,-13.9,190,1156,0.00,1.75,0.00,0.000,6,0.000,0.023,2111,2567,3661,0,0,0,0,0,0
$GC,1483,-0.53,-194.6,248.8,-11.3,221,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2565,3659,0,0,0,0,0,0
$GC,1804,-0.53,-194.6,281.8,-9.8,251,1808,0.00,1.88,0.00,0.000,4,0.000,0.041,2111,3783,3657,0,0,0,0,0,0
$GC,1854,-0.53,-194.6,287.2,-9.8,255,1861,0.00,1.77,0.00,0.000,6,0.000,0.024,2111,2562,3656,0,0,0,0,0,0
$GC,2179,-0.53,-194.6,323.0,-12.1,286,2183,0.00,1.88,0.00,0.000,4,0.000,0.043,2111,3777,3653,0,0,0,0,0,0
$GC,2207,-0.53,-194.6,326.4,-12.1,288,2215,0.00,1.73,0.00,0.000,6,0.000,0.025,2111,2591,3652,0,0,0,0,0,0
$GC,2533,-0.53,-194.6,363.6,-10.7,319,2537,0.00,2.25,0.00,0.000,4,0.000,0.030,2111,1082,3648,0,0,0,0,0,0
$GC,2571,-0.53,-194.6,367.7,-10.2,322,2578,0.00,2.40,0.00,0.000,6,0.000,0.034,2111,2646,3648,0,0,0,0,0,0
$GC,2897,-0.53,-194.6,401.8,-10.2,353,2901,0.00,2.35,0.00,0.000,4,0.000,0.029,2111,1088,3644,0,0,0,0,0,0
$GC,2959,-0.53,-194.6,407.7,-9.3,358,2964,0.00,2.25,0.00,0.000,6,0.000,0.034,2111,2548,3643,0,0,0,0,0,0
$GC,3285,-0.53,-194.6,440.2,-10.2,388,3289,0.00,1.92,0.00,0.000,4,0.000,0.045,2107,3773,3639,0,0,0,0,0,0
$GC,3353,-0.53,-194.6,447.1,-10.1,394,3357,0.00,1.75,0.00,0.000,6,0.000,0.025,2107,2581,3639,0,0,0,0,0,0
$GC,3684,-0.53,-194.6,484.6,-11.1,425,3685,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2579,3636,0,0,0,0,0,0
$GC,3998,-0.53,-194.6,519.0,-11.0,447,4001,0.00,1.88,0.00,0.000,4,0.000,0.044,2098,3783,3632,0,0,0,0,0,0
$GC,4025,-0.53,-194.6,522.6,-11.4,448,4030,0.10,1.73,0.00,0.000,6,0.148,0.026,2126,2606,3632,0,0,0,0,0,0
$GC,4354,-0.53,-194.6,556.0,-10.5,464,4358,0.00,2.28,0.00,0.000,4,0.000,0.031,2126,1085,3629,0,0,0,0,0,0
$GC,4416,-0.53,-194.6,562.6,-10.1,467,4420,0.00,2.33,0.00,0.000,6,0.000,0.034,2125,2583,3629,0,0,0,0,0,0
$GC,4749,-0.53,-194.6,594.8,-9.1,483,4753,0.00,1.88,0.00,0.000,4,0.000,0.047,2124,3770,3625,0,0,0,0,0,0
$GC,4782,-0.53,-194.6,598.0,-8.8,484,4786,0.00,1.80,0.00,0.000,6,0.000,0.026,2125,2557,3625,0,0,0,0,0,0
$GC,5105,-0.53,-194.6,624.1,-7.6,500,5109,0.00,2.20,0.00,0.000,4,0.000,0.032,2124,1093,3623,0,0,0,0,0,0
$GC,5127,-0.53,-194.6,626.0,-7.6,501,5131,0.00,2.33,0.00,0.000,6,0.000,0.035,2124,2585,3623,0,0,0,0,0,0
$GC,5449,-0.53,-194.6,649.3,-7.4,517,5453,0.00,1.88,0.00,0.000,4,0.000,0.048,2124,3777,3620,0,0,0,0,0,0
$GC,5489,-0.53,-194.6,652.4,-7.6,518,5495,0.00,1.77,0.00,0.000,6,0.000,0.027,2125,2580,3620,0,0,0,0,0,0
$GC,5805,-0.53,-194.6,677.0,-8.3,534,5809,0.00,2.25,0.00,0.000,4,0.000,0.032,2125,1088,3618,0,0,0,0,0,0
$GC,5860,-0.53,-194.6,682.0,-8.6,536,5867,0.00,2.30,0.00,0.000,6,0.000,0.036,2124,2564,3618,0,0,0,0,0,0
$GC,6177,-0.53,-194.6,708.7,-8.7,552,6181,0.00,1.92,0.00,0.000,4,0.000,0.049,2124,3785,3616,0,0,0,0,0,0
$GC,6205,-0.53,-194.6,711.4,-8.5,553,6209,0.00,1.85,0.00,0.000,6,0.000,0.026,2125,2545,3616,0,0,0,0,0,0
$GC,6533,-0.53,-194.6,739.6,-9.2,569,6537,0.00,2.17,0.00,0.000,4,0.000,0.032,2125,1098,3614,0,0,0,0,0,0
$GC,6568,-0.53,-194.6,742.9,-8.8,570,6575,0.00,2.25,0.00,0.000,6,0.000,0.035,2124,2545,3613,0,0,0,0,0,0
$GC,6886,-0.53,-194.6,771.8,-8.8,586,6889,0.00,1.92,0.00,0.000,4,0.000,0.048,2124,3776,3612,0,0,0,0,0,0
$GC,6937,-0.53,-194.6,776.5,-9.0,588,6940,0.00,1.85,0.00,0.000,6,0.000,0.027,2124,2538,3611,0,0,0,0,0,0
$GC,7264,-0.53,-194.6,805.8,-9.2,604,7268,0.00,2.15,0.00,0.000,4,0.000,0.032,2124,1106,3610,0,0,0,0,0,0
$GC,7285,-0.53,-194.6,808.1,-9.3,605,7289,0.00,2.30,0.00,0.000,6,0.000,0.037,2124,2570,3610,0,0,0,0,0,0
$GC,7614,-0.53,-194.6,837.0,-9.0,621,7618,0.00,1.92,0.00,0.000,4,0.000,0.048,2124,3773,3609,0,0,0,0,0,0
$GC,7659,-0.53,-194.6,841.0,-8.5,623,7663,0.00,1.83,0.00,0.000,6,0.000,0.028,2124,2574,3608,0,0,0,0,0,0
$GC,7993,-0.53,-194.6,869.0,-8.2,639,7997,0.00,2.22,0.00,0.000,4,0.000,0.033,2124,1105,3606,0,0,0,0,0,0
$GC,8040,-0.53,-194.6,872.9,-8.1,641,8044,0.00,2.30,0.00,0.000,6,0.000,0.037,2124,2566,3606,0,0,0,0,0,0
$GC,8373,-0.53,-194.6,898.4,-7.5,657,8377,0.00,1.95,0.00,0.000,4,0.000,0.050,2124,3777,3605,0,0,0,0,0,0
$GC,8406,-0.53,-194.6,900.9,-7.4,658,8410,0.00,1.83,0.00,0.000,6,0.000,0.027,2124,2559,3605,0,0,0,0,0,0
$GC,8728,-0.53,-194.6,922.1,-6.2,674,8732,0.00,2.20,0.00,0.000,4,0.000,0.034,2124,1104,3604,0,0,0,0,0,0
$GC,8792,-0.53,-194.6,926.1,-6.3,677,8796,0.00,2.22,0.00,0.000,6,0.000,0.037,2124,2530,3604,0,0,0,0,0,0
$GC,9120,-0.53,-194.6,946.2,-6.4,693,9124,0.00,1.98,0.00,0.000,4,0.000,0.049,2124,3786,3603,0,0,0,0,0,0
$GC,9176,-0.53,-194.6,949.7,-6.0,695,9179,0.00,1.83,0.00,0.000,6,0.000,0.028,2124,2563,3602,0,0,0,0,0,0
$GC,9499,-0.53,-194.6,969.4,-6.2,711,9502,0.00,1.95,0.00,0.000,4,0.000,0.048,2124,3789,3602,0,0,0,0,0,0
$GC,9522,-0.53,-194.6,971.0,-6.3,712,9526,0.00,2.30,0.00,0.000,6,0.000,0.028,2125,2277,3601,0,0,0,0,0,0
$STATE,9620,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9620,begin apogee
$GC,9626,-0.13,0.0,977.6,6.6,717,9777,0.38,0.00,146.85,1.070,4,0.091,0.000,2259,2112,2869,0,0,0,0,0,0
$STATE,9778,end apogee,CONTROL_FINISHED_OK
$STATE,9778,begin climb
$GC,9780,0.53,194.6,986.9,0.0,724,9947,0.60,2.22,158.55,1.050,4,0.059,0.037,2478,733,2075,0,0,0,0,0,0
$GC,10087,0.60,249.4,970.0,9.6,738,10139,0.00,2.20,45.10,1.017,6,0.000,0.034,2478,2138,1852,0,0,0,0,0,0
$GC,10467,0.67,311.0,934.1,9.3,757,10524,0.12,2.30,49.53,1.017,4,0.090,0.037,2541,742,1601,0,0,0,0,0,0
$GC,10613,0.67,311.0,915.4,12.9,763,10621,0.00,2.25,0.00,0.000,6,0.000,0.035,2541,2171,1600,0,0,0,0,0,0
$GC,10930,0.67,311.0,873.6,13.2,779,10934,0.00,2.15,0.00,0.000,4,0.000,0.045,2541,3542,1600,0,0,0,0,0,0
$GC,10952,0.67,311.0,870.4,13.6,780,10957,0.12,2.08,0.00,0.000,6,0.177,0.028,2520,2181,1600,0,0,0,0,0,0
$GC,11273,0.67,311.0,830.0,12.6,796,11277,0.00,2.20,0.00,0.000,4,0.000,0.037,2529,737,1600,0,0,0,0,0,0
$GC,11316,0.67,311.0,824.4,12.7,798,11320,0.00,2.17,0.00,0.000,6,0.000,0.033,2529,2148,1600,0,0,0,0,0,0
$GC,11645,0.67,311.0,780.5,13.6,814,11649,0.00,2.17,0.00,0.000,4,0.000,0.045,2530,3545,1599,0,0,0,0,0,0
$GC,11716,0.67,311.0,769.4,15.3,817,11721,0.00,2.08,0.00,0.000,6,0.000,0.028,2538,2207,1599,0,0,0,0,0,0
$GC,12039,0.67,311.0,725.1,13.9,833,12043,0.00,2.22,0.00,0.000,4,0.000,0.037,2550,743,1598,0,0,0,0,0,0
$GC,12111,0.67,311.0,714.8,13.6,836,12115,0.12,2.17,0.00,0.000,6,0.166,0.034,2517,2161,1598,0,0,0,0,0,0
$GC,12439,0.68,320.7,676.7,11.4,852,12454,0.00,2.22,9.02,0.785,4,0.000,0.045,2517,3535,1561,0,0,0,0,0,0
$GC,12522,0.68,320.7,665.9,12.8,855,12528,0.00,2.03,0.00,0.000,6,0.000,0.028,2525,2202,1561,0,0,0,0,0,0
$GC,12838,0.70,337.1,629.5,11.1,871,12860,0.00,2.28,14.38,0.799,4,0.000,0.038,2536,733,1494,0,0,0,0,0,0
$GC,12889,0.74,369.2,623.7,10.5,873,12920,0.00,2.25,26.38,0.815,6,0.000,0.034,2536,2188,1363,0,0,0,0,0,0
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$STATE,18139,end climb,SURFACE_DEPTH_REACHED
$STATE,18139,begin surface coast
$FINISH,0.2,1.020896
$STATE,18155,end surface coast,CONTROL_FINISHED_OK
$STATE,18155,begin surface
$SM_CCo,18232,0.00,0.000,0,0,439,595.83
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$IRIDIUM_FIX,1902.38,11956.01,090911,090912
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.30
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,23.3,77.054
$10V_AH,9.7,65.027
$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
$DEVICE_SECS,16.975,210.425,640.500,0.000,0.000,113.910,93.283,258.823,0.000,0.000,25.462,3498.812,11246.291,772.249,3095.788,431.368,31.423,2256.360,0.000,2584.662,0.000,0.541,0.000
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$SENSOR_SECS,1012.888,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322264
$DATA_FILE_SIZE,83586,1454
$CAP_FILE_SIZE,208460,0
$CFSIZE,260165632,207241216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090911,142430,1909.795,11959.311,35,1.4,40,-2.1