version: 66.09
glider: 181
mission: 6
dive: 514
start: 9 17 111 23 5 12
data:
$ID,181
$MISSION,6
$DIVE,514
$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,2
$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,-41232.969
$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,15
$C_ROLL_DIVE,2610
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,170911,225837,1848.958,12021.812,38,1.4,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-66.4
$GPS2,170911,230414,1849.065,12021.918,13,1.5,13,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W3A
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.309,0.044
$KALMAN_X,46617.0,229.1,318.1,-5867.0,2795.3
$KALMAN_Y,85412.5,110.8,729.2,-133499.0,530.4
$MHEAD_RNG_PITCHd_Wd,259.6,43396,-17.4,-11.786
$D_GRID,2510
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.53,-194.6,0.0,0.0,0,79,0.00,0.00,-60.17,0.000,2,0.000,0.000,172,2633,2140,0,0,0,0,0,0
$GC,82,-0.53,-194.6,3.0,-3.2,10,132,8.18,0.75,-35.40,0.000,4,0.223,0.058,2121,2040,3664,0,0,0,0,0,0
$GC,201,-0.53,-194.6,35.5,-31.3,30,209,0.00,0.85,0.00,0.000,6,0.000,0.040,2119,2593,3664,0,0,0,0,0,0
$GC,345,-0.53,-194.6,75.6,-27.1,55,352,0.00,0.80,0.00,0.000,4,0.000,0.037,2115,3139,3663,0,0,0,0,0,0
$GC,399,-0.53,-194.6,88.3,-22.8,64,405,0.00,0.75,0.00,0.000,6,0.000,0.024,2115,2589,3663,0,0,0,0,0,0
$GC,540,-0.53,-194.6,115.6,-17.2,89,546,0.00,0.82,0.00,0.000,4,0.000,0.037,2111,3138,3663,0,0,0,0,0,0
$GC,586,-0.53,-194.6,122.6,-14.8,97,593,0.00,0.73,0.00,0.000,6,0.000,0.025,2111,2603,3664,0,0,0,0,0,0
$GC,729,-0.53,-194.6,143.7,-16.1,122,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2602,3664,0,0,0,0,0,0
$GC,872,-0.53,-194.6,164.4,-13.5,147,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2602,3665,0,0,0,0,0,0
$GC,1013,-0.53,-194.6,182.9,-13.0,172,1020,0.00,0.80,0.00,0.000,4,0.000,0.037,2108,3138,3665,0,0,0,0,0,0
$GC,1060,-0.53,-194.6,189.7,-14.5,180,1067,0.00,0.73,0.00,0.000,6,0.000,0.025,2108,2603,3665,0,0,0,0,0,0
$GC,1205,-0.53,-194.6,209.3,-13.7,200,1209,0.00,0.65,0.00,0.000,4,0.000,0.024,2108,2088,3665,0,0,0,0,0,0
$GC,1319,-0.53,-194.6,224.8,-13.4,210,1322,0.00,0.77,0.00,0.000,6,0.000,0.035,2103,2611,3665,0,0,0,0,0,0
$GC,1650,-0.53,-194.6,266.5,-12.1,241,1654,0.00,0.70,0.00,0.000,4,0.000,0.024,2104,2086,3664,0,0,0,0,0,0
$GC,1724,-0.53,-194.6,275.5,-11.6,247,1731,0.00,0.77,0.00,0.000,6,0.000,0.035,2099,2607,3664,0,0,0,0,0,0
$GC,2050,-0.53,-194.6,315.1,-12.3,278,2054,0.00,0.70,0.00,0.000,4,0.000,0.025,2100,2085,3661,0,0,0,0,0,0
$GC,2129,-0.53,-194.6,324.3,-11.1,285,2133,0.08,0.80,0.00,0.000,6,0.129,0.037,2123,2619,3661,0,0,0,0,0,0
$GC,2460,-0.53,-194.6,354.9,-8.8,316,2464,0.00,0.70,0.00,0.000,4,0.000,0.024,2123,2093,3657,0,0,0,0,0,0
$GC,2510,-0.53,-194.6,359.5,-8.6,320,2517,0.00,0.77,0.00,0.000,6,0.000,0.037,2122,2611,3658,0,0,0,0,0,0
$GC,2837,-0.53,-194.6,385.2,-7.4,351,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2611,3654,0,0,0,0,0,0
$GC,3155,-0.53,-194.6,410.0,-7.9,381,3159,0.00,0.70,0.00,0.000,4,0.000,0.027,2122,2098,3651,0,0,0,0,0,0
$GC,3262,-0.53,-194.6,418.9,-8.4,390,3269,0.00,0.77,0.00,0.000,6,0.000,0.039,2118,2607,3650,0,0,0,0,0,0
$GC,3587,-0.53,-194.6,448.8,-9.6,421,3591,0.00,0.70,0.00,0.000,4,0.000,0.027,2118,2096,3648,0,0,0,0,0,0
$GC,3636,-0.53,-194.6,453.8,-10.1,425,3643,0.00,0.77,0.00,0.000,6,0.000,0.039,2115,2607,3647,0,0,0,0,0,0
$GC,3962,-0.53,-194.6,485.8,-9.8,456,3966,0.00,0.70,0.00,0.000,4,0.000,0.027,2114,2091,3645,0,0,0,0,0,0
$GC,4045,-0.53,-194.6,494.2,-9.9,463,4052,0.00,0.80,0.00,0.000,6,0.000,0.040,2112,2612,3644,0,0,0,0,0,0
$GC,4364,-0.53,-194.6,524.4,-9.5,482,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2613,3641,0,0,0,0,0,0
$GC,4672,-0.53,-194.6,551.4,-8.6,497,4676,0.00,0.70,0.00,0.000,4,0.000,0.028,2112,2103,3639,0,0,0,0,0,0
$GC,4774,-0.53,-194.6,560.3,-8.8,501,4777,0.00,0.77,0.00,0.000,6,0.000,0.041,2109,2608,3639,0,0,0,0,0,0
$GC,5096,-0.53,-194.6,587.2,-8.3,517,5099,0.00,0.70,0.00,0.000,4,0.000,0.028,2109,2101,3637,0,0,0,0,0,0
$GC,5144,-0.53,-194.6,591.0,-8.1,519,5147,0.00,0.77,0.00,0.000,6,0.000,0.041,2105,2608,3637,0,0,0,0,0,0
$GC,5477,-0.53,-194.6,617.3,-7.9,535,5481,0.00,0.70,0.00,0.000,4,0.000,0.028,2105,2101,3634,0,0,0,0,0,0
$GC,5569,-0.53,-194.6,624.7,-7.9,539,5573,0.00,0.77,0.00,0.000,6,0.000,0.041,2101,2606,3634,0,0,0,0,0,0
$GC,5903,-0.53,-194.6,654.2,-8.9,555,5907,0.00,0.70,0.00,0.000,4,0.000,0.028,2101,2100,3632,0,0,0,0,0,0
$GC,5987,-0.53,-194.6,662.3,-9.1,558,5996,0.08,0.80,0.00,0.000,6,0.131,0.041,2124,2617,3632,0,0,0,0,0,0
$GC,6304,-0.53,-194.6,687.1,-8.0,574,6308,0.00,0.70,0.00,0.000,4,0.000,0.028,2124,2109,3630,0,0,0,0,0,0
$GC,6410,-0.53,-194.6,695.9,-8.0,578,6417,0.00,0.77,0.00,0.000,6,0.000,0.041,2124,2615,3629,0,0,0,0,0,0
$GC,6727,-0.53,-194.6,722.4,-8.4,594,6731,0.00,0.73,0.00,0.000,4,0.000,0.028,2124,2096,3629,0,0,0,0,0,0
$GC,6799,-0.53,-194.6,728.8,-8.4,597,6803,0.00,0.80,0.00,0.000,6,0.000,0.042,2122,2612,3628,0,0,0,0,0,0
$GC,7126,-0.53,-194.6,759.6,-9.6,613,7130,0.00,0.73,0.00,0.000,4,0.000,0.029,2122,2095,3626,0,0,0,0,0,0
$GC,7228,-0.53,-194.6,769.5,-9.2,617,7231,0.00,0.80,0.00,0.000,6,0.000,0.042,2118,2612,3626,0,0,0,0,0,0
$GC,7549,-0.53,-194.6,800.4,-9.6,633,7553,0.00,0.73,0.00,0.000,4,0.000,0.030,2118,2109,3624,0,0,0,0,0,0
$GC,7664,-0.53,-194.6,810.6,-9.0,638,7668,0.00,0.77,0.00,0.000,6,0.000,0.041,2114,2611,3624,0,0,0,0,0,0
$GC,7997,-0.53,-194.6,837.8,-7.7,654,8001,0.00,0.70,0.00,0.000,4,0.000,0.030,2114,2110,3622,0,0,0,0,0,0
$GC,8081,-0.53,-194.6,844.2,-7.5,657,8088,0.00,0.77,0.00,0.000,6,0.000,0.043,2112,2609,3622,0,0,0,0,0,0
$GC,8397,-0.53,-194.6,866.8,-7.2,673,8401,0.00,0.73,0.00,0.000,4,0.000,0.031,2112,2111,3620,0,0,0,0,0,0
$GC,8503,-0.53,-194.6,874.6,-7.5,677,8510,0.00,0.77,0.00,0.000,6,0.000,0.044,2112,2609,3620,0,0,0,0,0,0
$GC,8820,-0.53,-194.6,898.8,-7.7,693,8824,0.00,0.73,0.00,0.000,4,0.000,0.031,2112,2110,3619,0,0,0,0,0,0
$GC,8957,-0.53,-194.6,909.3,-7.6,699,8960,0.00,0.77,0.00,0.000,6,0.000,0.044,2111,2607,3619,0,0,0,0,0,0
$GC,9291,-0.53,-194.6,936.7,-8.8,715,9295,0.00,0.70,0.00,0.000,4,0.000,0.029,2112,2111,3618,0,0,0,0,0,0
$GC,9341,-0.53,-194.6,941.6,-9.1,717,9345,0.00,0.77,0.00,0.000,6,0.000,0.044,2112,2611,3618,0,0,0,0,0,0
$STATE,9604,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9604,begin apogee
$GC,9611,-0.13,0.0,966.6,9.5,730,9768,0.43,0.00,149.77,1.059,6,0.113,0.000,2253,2178,2869,0,0,0,0,0,0
$STATE,9769,end apogee,CONTROL_FINISHED_OK
$STATE,9769,begin climb
$GC,9771,0.53,194.6,977.1,0.0,737,9934,0.57,0.00,159.25,1.040,6,0.050,0.000,2486,2178,2075,0,0,0,0,0,0
$GC,10233,0.62,270.3,948.6,8.7,760,10296,0.00,0.00,61.30,1.020,6,0.000,0.000,2486,2178,1767,0,0,0,0,0,0
$GC,10606,0.67,311.0,912.4,10.1,778,10644,0.00,0.85,33.67,0.988,4,0.000,0.041,2486,2697,1600,0,0,0,0,0,0
$GC,10696,0.69,322.2,902.7,11.3,781,10713,0.00,0.82,10.48,0.859,6,0.000,0.029,2489,2147,1554,0,0,0,0,0,0
$GC,11024,0.72,349.8,868.0,10.7,797,11051,0.12,0.90,22.92,0.946,4,0.092,0.038,2544,2699,1443,0,0,0,0,0,0
$GC,11154,0.72,349.8,848.3,15.8,803,11158,0.00,0.80,0.00,0.000,6,0.000,0.028,2547,2151,1442,0,0,0,0,0,0
$GC,11488,0.72,349.8,798.1,15.0,819,11492,0.00,0.82,0.00,0.000,4,0.000,0.038,2548,2695,1444,0,0,0,0,0,0
$GC,11527,0.72,349.8,791.6,16.1,820,11534,0.00,0.77,0.00,0.000,6,0.000,0.028,2551,2157,1444,0,0,0,0,0,0
$GC,11844,0.72,349.8,744.8,14.6,836,11847,0.00,0.82,0.00,0.000,4,0.000,0.040,2551,2698,1446,0,0,0,0,0,0
$GC,11899,0.72,349.8,736.0,15.3,838,11903,0.00,0.77,0.00,0.000,6,0.000,0.028,2555,2162,1447,0,0,0,0,0,0
$GC,12221,0.72,349.8,688.5,14.5,854,12222,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2162,1447,0,0,0,0,0,0
$GC,12530,0.72,349.8,644.9,13.8,869,12534,0.00,0.73,0.00,0.000,4,0.000,0.034,2558,1649,1446,0,0,0,0,0,0
$GC,12621,0.72,349.8,632.5,13.9,873,12625,0.00,0.80,0.00,0.000,6,0.000,0.034,2558,2184,1446,0,0,0,0,0,0
$GC,12954,0.72,349.8,586.6,14.0,889,12958,0.00,0.73,0.00,0.000,4,0.000,0.041,2558,2683,1446,0,0,0,0,0,0
$GC,13015,0.72,349.8,577.6,14.8,891,13022,0.00,0.75,0.00,0.000,6,0.000,0.028,2562,2161,1447,0,0,0,0,0,0
$GC,13332,0.72,349.8,532.5,14.5,907,13333,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2161,1446,0,0,0,0,0,0
$GC,13643,0.72,349.8,487.8,13.9,926,13647,0.00,0.73,0.00,0.000,4,0.000,0.034,2565,1646,1446,0,0,0,0,0,0
$GC,13759,0.72,349.8,471.7,13.5,936,13767,0.10,0.77,0.00,0.000,6,0.135,0.033,2533,2167,1446,0,0,0,0,0,0
$GC,14087,0.75,370.7,435.8,10.9,967,14110,0.00,0.82,18.73,0.710,4,0.000,0.038,2533,2692,1357,0,0,0,0,0,0
$GC,14209,0.75,377.0,422.0,11.5,977,14219,0.00,0.75,6.45,0.568,6,0.000,0.029,2534,2173,1333,0,0,0,0,0,0
$GC,14545,0.76,378.8,384.5,11.7,1009,14557,0.00,0.80,4.10,0.515,4,0.000,0.034,2538,1645,1324,0,0,0,0,0,0
$GC,14615,0.76,378.8,376.3,11.8,1015,14619,0.00,0.77,0.00,0.000,6,0.000,0.034,2538,2164,1324,0,0,0,0,0,0
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$STATE,17957,end climb,SURFACE_DEPTH_REACHED
$STATE,17960,begin surface coast
$FINISH,0.4,1.009650
$STATE,17982,end surface coast,CONTROL_FINISHED_OK
$STATE,17982,begin surface
$SM_CCo,18060,0.00,0.000,0,0,441,595.34
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$IRIDIUM_FIX,1839.59,12026.20,170911,181808
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.55
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.5,84.213
$10V_AH,9.8,68.841
$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,16.600,63.825,644.875,0.000,0.000,26.280,20.993,139.908,0.000,0.000,16.715,3719.753,10637.968,783.810,2854.899,387.012,33.353,2231.018,0.000,2640.441,0.000,0.540,0.000
$DEVICE_MAMPS,223.380,58.140,1058.760,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1024.269,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322248
$DATA_FILE_SIZE,83629,1474
$CAP_FILE_SIZE,191713,0
$CFSIZE,260165632,203558912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.178, 43.0,1
$GPS,180911,040730,1849.316,12020.746,35,1.6,40,-2.0