version: 66.09
glider: 181
mission: 6
dive: 542
start: 9 23 111 22 14 22
data:
$ID,181
$MISSION,6
$DIVE,542
$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,-41268.18
$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,10
$C_ROLL_DIVE,2590
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,82
$R_STBD_OVSHOOT,40
$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
$GPS1,230911,220737,1923.965,11958.989,27,1.2,27,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-60.1
$GPS2,230911,221325,1923.930,11958.957,8,1.3,13,-2.1
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.309,0.047
$KALMAN_X,96184.3,-2848.5,-1718.2,-90438.8,5200.9
$KALMAN_Y,63343.3,-1599.5,-83.7,-44319.8,1777.6
$MHEAD_RNG_PITCHd_Wd,20.1,261268,-17.4,-11.786
$D_GRID,4194
$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,-194.6,0.0,0.0,0,83,0.00,0.00,-63.83,0.000,2,0.000,0.000,157,2576,2248,0,0,0,0,0,0
$GC,86,-0.53,-194.6,3.1,-3.3,10,136,8.25,0.57,-32.47,0.000,4,0.223,0.094,2119,2948,3664,0,0,0,0,0,0
$GC,185,-0.53,-194.6,31.6,-39.7,26,192,0.00,0.47,0.00,0.000,6,0.000,0.027,2119,2577,3665,0,0,0,0,0,0
$GC,327,-0.53,-194.6,73.5,-24.2,51,334,0.00,0.55,0.00,0.000,4,0.000,0.041,2116,2950,3665,0,0,0,0,0,0
$GC,486,-0.53,-194.6,106.0,-18.8,79,492,0.00,0.47,0.00,0.000,6,0.000,0.028,2116,2570,3664,0,0,0,0,0,0
$GC,628,-0.53,-194.6,130.3,-15.5,104,635,0.00,0.55,0.00,0.000,4,0.000,0.039,2113,2951,3664,0,0,0,0,0,0
$GC,647,-0.53,-194.6,133.3,-15.4,107,654,0.00,0.45,0.00,0.000,6,0.000,0.028,2113,2590,3664,0,0,0,0,0,0
$GC,793,-0.53,-194.6,151.6,-11.4,132,799,0.00,0.52,0.00,0.000,4,0.000,0.041,2111,2942,3665,0,0,0,0,0,0
$GC,840,-0.53,-194.6,157.5,-12.1,140,846,0.00,0.43,0.00,0.000,6,0.000,0.029,2112,2594,3665,0,0,0,0,0,0
$GC,983,-0.53,-194.6,176.1,-13.4,165,990,0.00,0.50,0.00,0.000,4,0.000,0.041,2112,2942,3666,0,0,0,0,0,0
$GC,1053,-0.53,-194.6,185.0,-12.7,177,1061,0.00,0.43,0.00,0.000,6,0.000,0.030,2112,2595,3666,0,0,0,0,0,0
$GC,1199,-0.53,-194.6,201.5,-11.7,201,1202,0.00,0.40,0.00,0.000,4,0.000,0.028,2112,2247,3666,0,0,0,0,0,0
$GC,1289,-0.53,-194.6,212.2,-11.6,209,1293,0.00,0.52,0.00,0.000,6,0.000,0.039,2112,2603,3666,0,0,0,0,0,0
$GC,1620,-0.53,-194.6,251.1,-11.1,240,1624,0.00,0.47,0.00,0.000,4,0.000,0.042,2110,2947,3665,0,0,0,0,0,0
$GC,1669,-0.53,-194.6,256.8,-11.1,244,1676,0.00,0.45,0.00,0.000,6,0.000,0.029,2110,2587,3665,0,0,0,0,0,0
$GC,1995,-0.53,-194.6,290.5,-10.2,275,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2588,3663,0,0,0,0,0,0
$GC,2315,-0.53,-194.6,322.3,-10.0,305,2319,0.00,0.52,0.00,0.000,4,0.000,0.041,2107,2950,3660,0,0,0,0,0,0
$GC,2365,-0.53,-194.6,327.9,-10.5,309,2373,0.00,0.45,0.00,0.000,6,0.000,0.028,2107,2593,3659,0,0,0,0,0,0
$GC,2691,-0.53,-194.6,365.1,-11.5,340,2694,0.00,0.43,0.00,0.000,4,0.000,0.028,2107,2230,3656,0,0,0,0,0,0
$GC,2806,-0.53,-194.6,377.6,-10.7,350,2810,0.00,0.52,0.00,0.000,6,0.000,0.039,2104,2587,3655,0,0,0,0,0,0
$GC,3137,-0.53,-194.6,414.0,-10.9,381,3141,0.00,0.43,0.00,0.000,4,0.000,0.028,2105,2249,3652,0,0,0,0,0,0
$GC,3199,-0.53,-194.6,421.3,-11.4,386,3206,0.00,0.50,0.00,0.000,6,0.000,0.041,2102,2583,3651,0,0,0,0,0,0
$GC,3525,-0.53,-194.6,457.7,-10.7,417,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2583,3648,0,0,0,0,0,0
$GC,3847,-0.53,-194.6,490.1,-10.2,447,3851,0.00,0.43,0.00,0.000,4,0.000,0.028,2102,2249,3645,0,0,0,0,0,0
$GC,3954,-0.53,-194.6,501.5,-10.1,456,3960,0.00,0.50,0.00,0.000,6,0.000,0.040,2099,2585,3645,0,0,0,0,0,0
$GC,4271,-0.53,-194.6,533.3,-10.1,472,4274,0.00,0.43,0.00,0.000,4,0.000,0.028,2100,2248,3642,0,0,0,0,0,0
$GC,4339,-0.53,-194.6,540.3,-10.0,475,4342,0.00,0.52,0.00,0.000,6,0.000,0.041,2098,2595,3641,0,0,0,0,0,0
$GC,4672,-0.53,-194.6,575.1,-10.8,491,4676,0.10,0.45,0.00,0.000,4,0.164,0.029,2125,2254,3639,0,0,0,0,0,0
$GC,4722,-0.53,-194.6,580.1,-9.3,493,4726,0.00,0.50,0.00,0.000,6,0.000,0.041,2125,2586,3639,0,0,0,0,0,0
$GC,5050,-0.53,-194.6,609.6,-8.9,509,5053,0.00,0.43,0.00,0.000,4,0.000,0.029,2125,2249,3637,0,0,0,0,0,0
$GC,5105,-0.53,-194.6,614.5,-8.4,511,5109,0.00,0.50,0.00,0.000,6,0.000,0.041,2125,2581,3636,0,0,0,0,0,0
$GC,5427,-0.53,-194.6,639.9,-7.6,527,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2581,3634,0,0,0,0,0,0
$GC,5737,-0.53,-194.6,663.6,-8.0,542,5740,0.00,0.43,0.00,0.000,4,0.000,0.028,2125,2239,3632,0,0,0,0,0,0
$GC,5793,-0.53,-194.6,668.2,-7.7,544,5797,0.00,0.52,0.00,0.000,6,0.000,0.042,2125,2583,3632,0,0,0,0,0,0
$GC,6115,-0.53,-194.6,696.5,-9.2,560,6119,0.00,0.43,0.00,0.000,4,0.000,0.028,2125,2249,3630,0,0,0,0,0,0
$GC,6176,-0.53,-194.6,702.7,-10.0,562,6183,0.00,0.52,0.00,0.000,6,0.000,0.041,2125,2595,3630,0,0,0,0,0,0
$GC,6494,-0.53,-194.6,730.8,-8.3,578,6498,0.00,0.43,0.00,0.000,4,0.000,0.029,2125,2246,3628,0,0,0,0,0,0
$GC,6607,-0.53,-194.6,740.2,-8.0,583,6611,0.00,0.52,0.00,0.000,6,0.000,0.042,2125,2593,3628,0,0,0,0,0,0
$GC,6941,-0.53,-194.6,764.3,-7.1,599,6945,0.00,0.43,0.00,0.000,4,0.000,0.028,2125,2256,3626,0,0,0,0,0,0
$GC,6987,-0.53,-194.6,767.7,-7.3,601,6991,0.00,0.50,0.00,0.000,6,0.000,0.041,2125,2586,3626,0,0,0,0,0,0
$GC,7320,-0.53,-194.6,792.8,-8.0,617,7321,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2586,3624,0,0,0,0,0,0
$GC,7630,-0.53,-194.6,818.6,-8.2,632,7634,0.00,0.43,0.00,0.000,4,0.000,0.029,2125,2251,3623,0,0,0,0,0,0
$GC,7714,-0.53,-194.6,825.8,-8.4,635,7721,0.00,0.50,0.00,0.000,6,0.000,0.044,2125,2581,3623,0,0,0,0,0,0
$GC,8031,-0.53,-194.6,851.0,-7.9,651,8035,0.00,0.43,0.00,0.000,4,0.000,0.029,2125,2244,3621,0,0,0,0,0,0
$GC,8092,-0.53,-194.6,856.1,-7.8,653,8100,0.00,0.52,0.00,0.000,6,0.000,0.043,2125,2586,3621,0,0,0,0,0,0
$GC,8409,-0.53,-194.6,880.9,-7.9,669,8412,0.00,0.43,0.00,0.000,4,0.000,0.029,2125,2251,3620,0,0,0,0,0,0
$GC,8501,-0.53,-194.6,888.4,-8.3,673,8505,0.00,0.52,0.00,0.000,6,0.000,0.043,2125,2594,3619,0,0,0,0,0,0
$GC,8834,-0.53,-194.6,913.8,-7.5,689,8835,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2593,3619,0,0,0,0,0,0
$GC,9144,-0.53,-194.6,936.3,-7.3,704,9148,0.00,0.45,0.00,0.000,4,0.000,0.029,2125,2243,3617,0,0,0,0,0,0
$GC,9239,-0.53,-194.6,943.3,-7.1,708,9243,0.00,0.52,0.00,0.000,6,0.000,0.042,2125,2585,3617,0,0,0,0,0,0
$GC,9567,-0.53,-194.6,967.6,-7.6,724,9571,0.00,0.43,0.00,0.000,4,0.000,0.028,2125,2246,3616,0,0,0,0,0,0
$STATE,9604,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9604,begin apogee
$GC,9609,-0.13,0.0,970.9,8.0,725,9764,0.38,0.00,150.23,1.060,6,0.106,0.000,2252,2245,2869,0,0,0,0,0,0
$STATE,9765,end apogee,CONTROL_FINISHED_OK
$STATE,9765,begin climb
$GC,9768,0.53,194.6,979.5,0.0,733,9935,0.62,0.43,158.80,1.037,4,0.053,0.032,2490,2524,2076,0,0,0,0,0,0
$GC,10003,0.54,207.3,967.3,11.3,744,10020,0.00,0.47,12.25,0.900,6,0.000,0.028,2492,2165,2022,0,0,0,0,0,0
$GC,10328,0.54,207.3,929.5,11.8,760,10330,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2164,2021,0,0,0,0,0,0
$GC,10638,0.56,219.8,893.6,11.3,775,10652,0.00,0.00,11.20,0.901,6,0.000,0.000,2492,2164,1973,0,0,0,0,0,0
$GC,10948,0.60,248.3,859.5,10.6,790,10976,0.00,0.57,24.33,0.944,4,0.000,0.036,2492,2531,1856,0,0,0,0,0,0
$GC,11026,0.62,270.2,850.8,10.9,793,11048,0.00,0.47,18.80,0.906,6,0.000,0.029,2494,2170,1767,0,0,0,0,0,0
$GC,11360,0.69,323.8,817.8,9.6,809,11407,0.00,0.43,43.20,0.942,4,0.000,0.028,2496,1820,1548,0,0,0,0,0,0
$GC,11460,0.76,381.9,808.2,9.4,813,11516,0.10,0.52,47.58,0.926,6,0.060,0.031,2553,2186,1311,0,0,0,0,0,0
$GC,11824,0.76,381.9,760.7,13.5,831,11828,0.00,0.43,0.00,0.000,4,0.000,0.041,2553,2499,1316,0,0,0,0,0,0
$GC,12059,0.76,381.9,726.5,14.2,841,12063,0.00,0.45,0.00,0.000,6,0.000,0.031,2554,2163,1315,0,0,0,0,0,0
$GC,12381,0.76,381.9,678.9,14.8,857,12382,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2162,1315,0,0,0,0,0,0
$GC,12691,0.76,381.9,636.3,13.4,872,12695,0.00,0.50,0.00,0.000,4,0.000,0.038,2555,2511,1315,0,0,0,0,0,0
$GC,12805,0.76,381.9,620.8,14.1,877,12808,0.00,0.45,0.00,0.000,6,0.000,0.031,2556,2162,1315,0,0,0,0,0,0
$GC,13137,0.76,381.9,576.9,13.3,893,13138,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2162,1314,0,0,0,0,0,0
$GC,13447,0.76,381.9,536.1,13.6,908,13449,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2162,1314,0,0,0,0,0,0
$GC,13757,0.76,381.9,491.1,14.4,925,13761,0.00,0.40,0.00,0.000,4,0.000,0.035,2560,1830,1314,0,0,0,0,0,0
$GC,13827,0.76,381.9,481.3,14.5,931,13830,0.00,0.47,0.00,0.000,6,0.000,0.034,2559,2169,1315,0,0,0,0,0,0
$GC,14157,0.76,381.9,436.5,12.7,962,14161,0.00,0.45,0.00,0.000,4,0.000,0.039,2559,2503,1315,0,0,0,0,0,0
$GC,14286,0.76,381.9,419.6,13.5,973,14293,0.00,0.45,0.00,0.000,6,0.000,0.030,2561,2158,1315,0,0,0,0,0,0
$GC,14611,0.76,381.9,377.7,13.6,1004,14615,0.00,0.40,0.00,0.000,4,0.000,0.034,2564,1823,1315,0,0,0,0,0,0
$GC,14696,0.76,381.9,366.0,13.6,1011,14702,0.00,0.47,0.00,0.000,6,0.000,0.034,2564,2166,1315,0,0,0,0,0,0
$GC,15021,0.76,381.9,322.7,12.7,1042,15024,0.00,0.50,0.00,0.000,4,0.000,0.041,2563,2512,1315,0,0,0,0,0,0
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$STATE,17797,end climb,SURFACE_DEPTH_REACHED
$STATE,17797,begin surface coast
$FINISH,0.3,1.019691
$STATE,17827,end surface coast,CONTROL_FINISHED_OK
$STATE,17827,begin surface
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$IRIDIUM_FIX,1916.08,11951.21,230911,161650
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.66
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.4,89.046
$10V_AH,9.8,71.450
$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
$DEVICE_SECS,16.350,36.775,640.300,0.000,0.000,29.888,19.576,146.216,0.000,0.000,16.147,3641.670,10674.920,739.322,2799.638,382.269,33.359,2154.696,0.000,2572.452,0.000,0.540,0.000
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$SENSOR_SECS,1011.844,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322224
$DATA_FILE_SIZE,83527,1454
$CAP_FILE_SIZE,184500,0
$CFSIZE,260165632,201105408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035,357.9,1
$GPS,240911,031401,1926.579,11959.381,37,1.3,37,-2.1