version: 66.09
glider: 181
mission: 6
dive: 546
start: 9 24 111 18 54 42
data:
$ID,181
$MISSION,6
$DIVE,546
$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,-41273.211
$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,76
$R_STBD_OVSHOOT,36
$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
$GPS1,240911,184801,1933.919,11958.395,39,1.6,39,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-64.3
$GPS2,240911,185344,1933.915,11958.407,12,1.5,12,-2.1
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.288,0.121
$KALMAN_X,95349.7,-1986.5,1632.8,-94783.7,-4814.4
$KALMAN_Y,65509.9,-1894.0,275.9,-28055.9,-225.6
$MHEAD_RNG_PITCHd_Wd,12.7,242785,-17.4,-11.786
$D_GRID,4008
$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,-194.6,0.0,0.0,0,86,0.00,0.00,-67.45,0.000,2,0.000,0.000,125,2568,2353,0,0,0,0,0,0
$GC,89,-0.53,-194.6,3.3,-3.3,11,134,8.40,0.60,-28.70,0.000,4,0.223,0.093,2120,2950,3664,0,0,0,0,0,0
$GC,187,-0.53,-194.6,34.6,-41.4,27,194,0.00,0.50,0.00,0.000,6,0.000,0.031,2120,2584,3665,0,0,0,0,0,0
$GC,329,-0.53,-194.6,73.9,-23.0,52,336,0.00,0.43,0.00,0.000,4,0.000,0.029,2120,2219,3664,0,0,0,0,0,0
$GC,399,-0.53,-194.6,89.1,-21.9,64,406,0.00,0.55,0.00,0.000,6,0.000,0.039,2117,2594,3664,0,0,0,0,0,0
$GC,541,-0.53,-194.6,116.4,-17.4,89,548,0.00,0.47,0.00,0.000,4,0.000,0.040,2115,2941,3664,0,0,0,0,0,0
$GC,723,-0.53,-194.6,142.8,-13.4,121,731,0.00,0.47,0.00,0.000,6,0.000,0.029,2115,2566,3664,0,0,0,0,0,0
$GC,867,-0.53,-194.6,160.9,-12.7,146,874,0.00,0.38,0.00,0.000,4,0.000,0.029,2114,2228,3664,0,0,0,0,0,0
$GC,903,-0.53,-194.6,165.8,-13.2,152,910,0.00,0.52,0.00,0.000,6,0.000,0.038,2112,2591,3664,0,0,0,0,0,0
$GC,1047,-0.53,-194.6,184.1,-12.9,177,1054,0.00,0.43,0.00,0.000,4,0.000,0.028,2112,2234,3665,0,0,0,0,0,0
$GC,1124,-0.53,-194.6,193.9,-12.2,190,1130,0.00,0.52,0.00,0.000,6,0.000,0.040,2111,2592,3665,0,0,0,0,0,0
$GC,1263,-0.53,-194.6,210.6,-11.7,207,1267,0.00,0.47,0.00,0.000,4,0.000,0.041,2109,2941,3665,0,0,0,0,0,0
$GC,1313,-0.53,-194.6,216.9,-11.6,211,1319,0.00,0.45,0.00,0.000,6,0.000,0.030,2109,2586,3665,0,0,0,0,0,0
$GC,1638,-0.53,-194.6,253.4,-12.0,242,1642,0.00,0.52,0.00,0.000,4,0.000,0.040,2106,2951,3664,0,0,0,0,0,0
$GC,1721,-0.53,-194.6,264.6,-12.8,249,1729,0.00,0.47,0.00,0.000,6,0.000,0.028,2106,2586,3663,0,0,0,0,0,0
$GC,2047,-0.53,-194.6,303.4,-10.3,280,2051,0.00,0.52,0.00,0.000,4,0.000,0.039,2103,2950,3661,0,0,0,0,0,0
$GC,2072,-0.53,-194.6,305.8,-9.8,282,2076,0.00,0.45,0.00,0.000,6,0.000,0.029,2104,2595,3661,0,0,0,0,0,0
$GC,2404,-0.53,-194.6,341.1,-11.0,313,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2595,3658,0,0,0,0,0,0
$GC,2722,-0.53,-194.6,379.4,-12.3,343,2726,0.00,0.43,0.00,0.000,4,0.000,0.028,2103,2239,3655,0,0,0,0,0,0
$GC,2814,-0.53,-194.6,390.5,-11.6,351,2817,0.00,0.52,0.00,0.000,6,0.000,0.040,2101,2592,3654,0,0,0,0,0,0
$GC,3145,-0.53,-194.6,428.0,-10.9,382,3149,0.00,0.45,0.00,0.000,4,0.000,0.028,2101,2237,3650,0,0,0,0,0,0
$GC,3180,-0.53,-194.6,431.7,-10.5,385,3184,0.00,0.52,0.00,0.000,6,0.000,0.041,2098,2588,3650,0,0,0,0,0,0
$GC,3511,-0.53,-194.6,466.5,-10.9,416,3516,0.10,0.45,0.00,0.000,4,0.162,0.029,2125,2251,3647,0,0,0,0,0,0
$GC,3580,-0.53,-194.6,473.0,-8.9,422,3584,0.00,0.50,0.00,0.000,6,0.000,0.041,2125,2586,3646,0,0,0,0,0,0
$GC,3920,-0.53,-194.6,503.8,-8.8,452,3924,0.00,0.43,0.00,0.000,4,0.000,0.029,2125,2246,3644,0,0,0,0,0,0
$GC,4016,-0.53,-194.6,512.8,-9.0,456,4019,0.00,0.52,0.00,0.000,6,0.000,0.041,2125,2593,3643,0,0,0,0,0,0
$GC,4344,-0.53,-194.6,541.3,-8.5,472,4348,0.00,0.45,0.00,0.000,4,0.000,0.028,2125,2241,3640,0,0,0,0,0,0
$GC,4473,-0.53,-194.6,552.1,-8.3,477,4480,0.00,0.52,0.00,0.000,6,0.000,0.041,2125,2589,3639,0,0,0,0,0,0
$GC,4790,-0.53,-194.6,579.3,-8.9,493,4794,0.00,0.43,0.00,0.000,4,0.000,0.030,2125,2241,3637,0,0,0,0,0,0
$GC,4890,-0.53,-194.6,588.7,-9.2,497,4894,0.00,0.52,0.00,0.000,6,0.000,0.041,2125,2590,3636,0,0,0,0,0,0
$GC,5213,-0.53,-194.6,616.8,-8.5,513,5217,0.00,0.45,0.00,0.000,4,0.000,0.030,2125,2243,3634,0,0,0,0,0,0
$GC,5308,-0.53,-194.6,624.8,-7.9,517,5312,0.00,0.52,0.00,0.000,6,0.000,0.041,2125,2590,3633,0,0,0,0,0,0
$GC,5636,-0.53,-194.6,649.5,-7.6,533,5639,0.00,0.45,0.00,0.000,4,0.000,0.029,2125,2244,3631,0,0,0,0,0,0
$GC,5727,-0.53,-194.6,656.2,-7.3,537,5731,0.00,0.52,0.00,0.000,6,0.000,0.042,2125,2589,3631,0,0,0,0,0,0
$GC,6060,-0.53,-194.6,680.8,-7.7,553,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2589,3629,0,0,0,0,0,0
$GC,6371,-0.53,-194.6,706.2,-8.4,568,6374,0.00,0.45,0.00,0.000,4,0.000,0.028,2125,2245,3627,0,0,0,0,0,0
$GC,6471,-0.53,-194.6,715.5,-8.9,572,6474,0.00,0.52,0.00,0.000,6,0.000,0.041,2125,2588,3627,0,0,0,0,0,0
$GC,6794,-0.53,-194.6,745.1,-8.9,588,6797,0.00,0.45,0.00,0.000,4,0.000,0.029,2125,2237,3625,0,0,0,0,0,0
$GC,6907,-0.53,-194.6,754.7,-8.7,593,6910,0.00,0.55,0.00,0.000,6,0.000,0.042,2125,2595,3624,0,0,0,0,0,0
$GC,7240,-0.53,-194.6,781.8,-7.8,609,7243,0.00,0.45,0.00,0.000,4,0.000,0.028,2125,2250,3623,0,0,0,0,0,0
$GC,7296,-0.53,-194.6,786.4,-8.0,611,7299,0.00,0.52,0.00,0.000,6,0.000,0.041,2125,2592,3623,0,0,0,0,0,0
$GC,7617,-0.53,-194.6,810.9,-7.6,627,7620,0.00,0.45,0.00,0.000,4,0.000,0.028,2125,2247,3621,0,0,0,0,0,0
$GC,7747,-0.53,-194.6,820.4,-7.1,632,7754,0.00,0.52,0.00,0.000,6,0.000,0.042,2125,2589,3620,0,0,0,0,0,0
$GC,8065,-0.53,-194.6,844.2,-7.7,648,8068,0.00,0.45,0.00,0.000,4,0.000,0.028,2125,2237,3619,0,0,0,0,0,0
$GC,8150,-0.53,-194.6,851.0,-7.9,651,8156,0.00,0.55,0.00,0.000,6,0.000,0.044,2125,2594,3619,0,0,0,0,0,0
$GC,8466,-0.53,-194.6,874.5,-7.2,667,8469,0.00,0.45,0.00,0.000,4,0.000,0.029,2125,2243,3618,0,0,0,0,0,0
$GC,8512,-0.53,-194.6,877.9,-6.7,669,8516,0.00,0.52,0.00,0.000,6,0.000,0.043,2124,2587,3618,0,0,0,0,0,0
$GC,8846,-0.53,-194.6,902.0,-7.4,685,8850,0.00,0.45,0.00,0.000,4,0.000,0.029,2125,2236,3617,0,0,0,0,0,0
$GC,8973,-0.53,-194.6,911.9,-7.5,690,8980,0.00,0.55,0.00,0.000,6,0.000,0.043,2125,2594,3616,0,0,0,0,0,0
$GC,9291,-0.53,-194.6,935.1,-7.3,706,9295,0.00,0.45,0.00,0.000,4,0.000,0.029,2125,2249,3615,0,0,0,0,0,0
$GC,9383,-0.53,-194.6,941.8,-7.1,710,9386,0.00,0.52,0.00,0.000,6,0.000,0.043,2125,2592,3615,0,0,0,0,0,0
$STATE,9610,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9610,begin apogee
$GC,9617,-0.13,0.0,957.7,6.8,721,9773,0.40,0.00,149.43,1.050,6,0.106,0.000,2261,2158,2869,0,0,0,0,0,0
$STATE,9774,end apogee,CONTROL_FINISHED_OK
$STATE,9774,begin climb
$GC,9777,0.53,194.6,965.1,0.0,728,9943,0.55,0.60,159.02,1.030,4,0.052,0.037,2483,2525,2075,0,0,0,0,0,0
$GC,10019,0.55,214.1,952.1,11.0,740,10042,0.00,0.52,17.02,0.938,6,0.000,0.028,2486,2146,1996,0,0,0,0,0,0
$GC,10353,0.61,260.3,918.3,9.9,756,10393,0.00,0.00,38.03,0.990,6,0.000,0.000,2486,2146,1807,0,0,0,0,0,0
$GC,10700,0.67,306.3,883.5,9.9,773,10740,0.00,0.00,37.83,0.974,6,0.000,0.000,2485,2146,1620,0,0,0,0,0,0
$GC,11050,0.72,352.2,848.9,9.9,790,11094,0.15,0.60,37.25,0.952,4,0.083,0.036,2553,2522,1433,0,0,0,0,0,0
$GC,11240,0.72,352.2,821.6,14.3,798,11244,0.00,0.50,0.00,0.000,6,0.000,0.029,2555,2159,1433,0,0,0,0,0,0
$GC,11563,0.72,352.2,777.9,13.4,814,11566,0.00,0.43,0.00,0.000,4,0.000,0.034,2557,1815,1434,0,0,0,0,0,0
$GC,11612,0.72,352.2,771.3,13.0,816,11616,0.00,0.55,0.00,0.000,6,0.000,0.032,2558,2192,1433,0,0,0,0,0,0
$GC,11940,0.72,352.2,729.4,12.5,832,11941,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2192,1433,0,0,0,0,0,0
$GC,12250,0.72,352.2,689.8,13.1,847,12253,0.00,0.43,0.00,0.000,4,0.000,0.042,2557,2505,1433,0,0,0,0,0,0
$GC,12341,0.72,352.2,677.2,13.9,851,12344,0.00,0.45,0.00,0.000,6,0.000,0.031,2560,2156,1433,0,0,0,0,0,0
$GC,12675,0.72,352.2,631.6,13.8,867,12678,0.00,0.40,0.00,0.000,4,0.000,0.034,2562,1821,1432,0,0,0,0,0,0
$GC,12792,0.72,352.2,614.5,14.0,872,12796,0.00,0.50,0.00,0.000,6,0.000,0.033,2562,2166,1432,0,0,0,0,0,0
$GC,13119,0.72,352.2,568.4,13.7,888,13123,0.00,0.45,0.00,0.000,4,0.000,0.041,2561,2498,1432,0,0,0,0,0,0
$GC,13175,0.72,352.2,560.1,14.8,890,13179,0.08,0.43,0.00,0.000,6,0.144,0.031,2539,2166,1432,0,0,0,0,0,0
$GC,13496,0.72,352.2,521.0,12.0,906,13500,0.00,0.43,0.00,0.000,4,0.000,0.034,2540,1819,1432,0,0,0,0,0,0
$GC,13553,0.73,355.2,514.1,11.7,908,13565,0.00,0.50,4.30,0.584,6,0.000,0.034,2540,2173,1421,0,0,0,0,0,0
$GC,13880,0.74,366.2,476.1,11.3,933,13893,0.00,0.50,10.50,0.681,4,0.000,0.040,2540,2508,1376,0,0,0,0,0,0
$GC,14013,0.74,366.2,460.4,11.8,944,14020,0.00,0.45,0.00,0.000,6,0.000,0.030,2541,2167,1377,0,0,0,0,0,0
$GC,14338,0.74,366.2,421.7,11.9,975,14342,0.00,0.43,0.00,0.000,4,0.000,0.037,2543,1828,1381,0,0,0,0,0,0
$GC,14408,0.74,366.2,413.3,12.3,981,14411,0.00,0.47,0.00,0.000,6,0.000,0.034,2543,2168,1381,0,0,0,0,0,0
$GC,14739,0.75,373.6,374.0,11.5,1012,14751,0.00,0.52,8.62,0.634,4,0.000,0.040,2543,2516,1345,0,0,0,0,0,0
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$STATE,18049,end climb,SURFACE_DEPTH_REACHED
$STATE,18049,begin surface coast
$FINISH,0.4,1.008291
$STATE,18078,end surface coast,CONTROL_FINISHED_OK
$STATE,18078,begin surface
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$IRIDIUM_FIX,1920.65,11946.11,240911,131313
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.26
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.4,89.716
$10V_AH,9.8,71.830
$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
$DEVICE_SECS,16.525,43.725,645.125,0.000,0.000,27.292,17.957,148.554,0.000,0.000,14.713,3726.518,10671.461,778.905,2903.408,405.840,33.364,2248.537,0.000,2687.920,0.000,0.541,0.000
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$SENSOR_SECS,1020.791,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83529,1468
$CAP_FILE_SIZE,193918,0
$CFSIZE,260165632,200744960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106,270.9,1
$GPS,240911,235837,1936.210,11957.260,41,0.9,41,-2.1