version: 66.09
glider: 181
mission: 6
dive: 547
start: 9 25 111 0 5 18
data:
$ID,181
$MISSION,6
$DIVE,547
$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,-41274.469
$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,81
$R_STBD_OVSHOOT,34
$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
$GPS1,240911,235837,1936.210,11957.260,41,0.9,41,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-67.8
$GPS2,250911,000420,1936.242,11957.185,11,1.6,11,-2.1
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.003,0.312
$KALMAN_X,93765.3,-3100.2,-2581.0,-90003.3,7205.5
$KALMAN_Y,67163.1,-1104.9,30.4,-25962.5,3416.3
$MHEAD_RNG_PITCHd_Wd,23.1,238508,-17.4,-11.786
$D_GRID,3948
$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,-194.6,0.0,0.0,0,84,0.00,0.00,-65.80,0.000,2,0.000,0.000,134,2576,2316,0,0,0,0,0,0
$GC,87,-0.53,-194.6,3.5,-3.4,11,132,8.32,0.60,-29.60,0.000,4,0.223,0.093,2117,2951,3664,0,0,0,0,0,0
$GC,251,-0.53,-194.6,62.9,-44.2,39,258,0.00,0.47,0.00,0.000,6,0.000,0.030,2117,2580,3663,0,0,0,0,0,0
$GC,394,-0.53,-194.6,97.2,-18.9,64,401,0.00,0.55,0.00,0.000,4,0.000,0.038,2115,2962,3663,0,0,0,0,0,0
$GC,547,-0.53,-194.6,122.4,-15.3,91,554,0.00,0.47,0.00,0.000,6,0.000,0.028,2115,2585,3663,0,0,0,0,0,0
$GC,689,-0.53,-194.6,141.3,-12.1,116,696,0.00,0.52,0.00,0.000,4,0.000,0.038,2112,2955,3664,0,0,0,0,0,0
$GC,776,-0.53,-194.6,152.1,-13.6,131,782,0.00,0.45,0.00,0.000,6,0.000,0.028,2112,2591,3664,0,0,0,0,0,0
$GC,918,-0.53,-194.6,171.4,-13.0,156,925,0.00,0.40,0.00,0.000,4,0.000,0.028,2112,2239,3665,0,0,0,0,0,0
$GC,1012,-0.53,-194.6,181.7,-11.2,172,1019,0.00,0.52,0.00,0.000,6,0.000,0.040,2111,2596,3664,0,0,0,0,0,0
$GC,1155,-0.53,-194.6,197.4,-11.2,197,1162,0.00,0.47,0.00,0.000,4,0.000,0.041,2109,2945,3665,0,0,0,0,0,0
$GC,1238,-0.53,-194.6,206.9,-11.0,206,1242,0.00,0.45,0.00,0.000,6,0.000,0.030,2109,2587,3664,0,0,0,0,0,0
$GC,1569,-0.53,-194.6,244.6,-11.6,237,1572,0.00,0.52,0.00,0.000,4,0.000,0.040,2106,2953,3663,0,0,0,0,0,0
$GC,1664,-0.53,-194.6,255.0,-10.4,245,1672,0.00,0.45,0.00,0.000,6,0.000,0.028,2106,2593,3663,0,0,0,0,0,0
$GC,1990,-0.53,-194.6,288.7,-11.4,276,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2593,3661,0,0,0,0,0,0
$GC,2313,-0.53,-194.6,325.6,-11.4,306,2317,0.00,0.43,0.00,0.000,4,0.000,0.028,2106,2230,3657,0,0,0,0,0,0
$GC,2352,-0.53,-194.6,330.7,-11.4,309,2360,0.00,0.55,0.00,0.000,6,0.000,0.038,2103,2599,3657,0,0,0,0,0,0
$GC,2678,-0.53,-194.6,365.8,-10.8,340,2681,0.00,0.47,0.00,0.000,4,0.000,0.041,2101,2938,3654,0,0,0,0,0,0
$GC,2724,-0.53,-194.6,370.9,-11.4,344,2727,0.00,0.45,0.00,0.000,6,0.000,0.028,2100,2586,3653,0,0,0,0,0,0
$GC,3055,-0.53,-194.6,407.7,-11.1,375,3058,0.00,0.40,0.00,0.000,4,0.000,0.030,2101,2249,3650,0,0,0,0,0,0
$GC,3127,-0.53,-194.6,416.0,-11.3,381,3134,0.00,0.50,0.00,0.000,6,0.000,0.040,2098,2585,3649,0,0,0,0,0,0
$GC,3452,-0.53,-194.6,453.3,-11.3,412,3454,0.10,0.00,0.00,0.000,6,0.161,0.000,2125,2585,3647,0,0,0,0,0,0
$GC,3772,-0.53,-194.6,484.0,-9.3,442,3775,0.00,0.43,0.00,0.000,4,0.000,0.028,2125,2249,3644,0,0,0,0,0,0
$GC,3822,-0.53,-194.6,488.8,-9.3,446,3829,0.00,0.50,0.00,0.000,6,0.000,0.040,2125,2583,3644,0,0,0,0,0,0
$GC,4153,-0.53,-194.6,519.4,-9.2,468,4157,0.00,0.43,0.00,0.000,4,0.000,0.029,2125,2241,3640,0,0,0,0,0,0
$GC,4222,-0.53,-194.6,525.7,-9.0,471,4225,0.00,0.52,0.00,0.000,6,0.000,0.041,2125,2587,3640,0,0,0,0,0,0
$GC,4556,-0.53,-194.6,556.1,-9.1,487,4560,0.00,0.43,0.00,0.000,4,0.000,0.028,2125,2249,3638,0,0,0,0,0,0
$GC,4647,-0.53,-194.6,564.3,-9.0,491,4650,0.00,0.52,0.00,0.000,6,0.000,0.041,2125,2596,3637,0,0,0,0,0,0
$GC,4981,-0.53,-194.6,595.3,-9.4,507,4985,0.00,0.45,0.00,0.000,4,0.000,0.028,2125,2240,3635,0,0,0,0,0,0
$GC,5094,-0.53,-194.6,605.5,-8.9,512,5098,0.00,0.52,0.00,0.000,6,0.000,0.041,2125,2587,3634,0,0,0,0,0,0
$GC,5428,-0.53,-194.6,633.3,-7.9,528,5432,0.00,0.43,0.00,0.000,4,0.000,0.028,2125,2253,3632,0,0,0,0,0,0
$GC,5542,-0.53,-194.6,642.2,-7.8,533,5545,0.00,0.50,0.00,0.000,6,0.000,0.042,2125,2583,3631,0,0,0,0,0,0
$GC,5876,-0.53,-194.6,669.0,-8.3,549,5879,0.00,0.43,0.00,0.000,4,0.000,0.028,2125,2243,3630,0,0,0,0,0,0
$GC,5993,-0.53,-194.6,679.8,-9.0,554,5997,0.00,0.52,0.00,0.000,6,0.000,0.042,2125,2587,3629,0,0,0,0,0,0
$GC,6321,-0.53,-194.6,710.5,-9.4,570,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2587,3628,0,0,0,0,0,0
$GC,6630,-0.53,-194.6,738.6,-8.8,585,6634,0.00,0.43,0.00,0.000,4,0.000,0.029,2125,2256,3626,0,0,0,0,0,0
$GC,6737,-0.53,-194.6,747.6,-8.0,589,6745,0.00,0.50,0.00,0.000,6,0.000,0.043,2125,2583,3626,0,0,0,0,0,0
$GC,7054,-0.53,-194.6,773.1,-8.0,605,7058,0.00,0.43,0.00,0.000,4,0.000,0.029,2125,2245,3624,0,0,0,0,0,0
$GC,7196,-0.53,-194.6,785.0,-8.7,611,7200,0.00,0.52,0.00,0.000,6,0.000,0.043,2125,2588,3623,0,0,0,0,0,0
$GC,7524,-0.53,-194.6,812.9,-8.5,627,7528,0.00,0.43,0.00,0.000,4,0.000,0.028,2125,2254,3622,0,0,0,0,0,0
$GC,7632,-0.53,-194.6,822.0,-8.3,631,7639,0.00,0.52,0.00,0.000,6,0.000,0.041,2125,2596,3621,0,0,0,0,0,0
$GC,7950,-0.53,-194.6,847.4,-7.9,647,7954,0.00,0.45,0.00,0.000,4,0.000,0.028,2125,2234,3620,0,0,0,0,0,0
$GC,8028,-0.53,-194.6,853.7,-7.7,650,8032,0.00,0.55,0.00,0.000,6,0.000,0.041,2125,2591,3620,0,0,0,0,0,0
$GC,8351,-0.53,-194.6,876.8,-7.0,666,8354,0.00,0.45,0.00,0.000,4,0.000,0.030,2125,2242,3619,0,0,0,0,0,0
$GC,8443,-0.53,-194.6,883.1,-6.8,670,8447,0.00,0.52,0.00,0.000,6,0.000,0.043,2125,2583,3619,0,0,0,0,0,0
$GC,8777,-0.53,-194.6,906.7,-7.3,686,8780,0.00,0.43,0.00,0.000,4,0.000,0.029,2125,2245,3618,0,0,0,0,0,0
$GC,8846,-0.53,-194.6,911.9,-7.4,689,8851,0.00,0.52,0.00,0.000,6,0.000,0.042,2125,2590,3617,0,0,0,0,0,0
$GC,9179,-0.53,-194.6,936.9,-7.5,705,9183,0.00,0.47,0.00,0.000,4,0.000,0.031,2125,2232,3616,0,0,0,0,0,0
$GC,9257,-0.53,-194.6,942.9,-7.5,708,9261,0.00,0.55,0.00,0.000,6,0.000,0.043,2125,2591,3616,0,0,0,0,0,0
$GC,9580,-0.53,-194.6,964.9,-6.7,724,9584,0.00,0.45,0.00,0.000,4,0.000,0.029,2125,2236,3615,0,0,0,0,0,0
$STATE,9605,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9605,begin apogee
$GC,9611,-0.13,0.0,966.9,6.8,725,9766,0.38,0.00,149.73,1.056,6,0.107,0.000,2252,2236,2869,0,0,0,0,0,0
$STATE,9767,end apogee,CONTROL_FINISHED_OK
$STATE,9767,begin climb
$GC,9770,0.53,194.6,973.9,0.0,732,9933,0.57,0.00,159.85,1.034,6,0.051,0.000,2484,2236,2075,0,0,0,0,0,0
$GC,10232,0.58,237.1,937.7,10.1,755,10276,0.00,0.57,34.83,0.991,4,0.000,0.031,2486,1833,1902,0,0,0,0,0,0
$GC,10335,0.61,262.7,926.7,10.7,759,10361,0.00,0.50,21.80,0.949,6,0.000,0.032,2486,2184,1797,0,0,0,0,0,0
$GC,10679,0.68,319.0,892.5,9.5,776,10731,0.10,0.50,46.03,0.984,4,0.105,0.041,2532,2505,1568,0,0,0,0,0,0
$GC,10860,0.68,319.0,869.1,12.8,784,10864,0.00,0.45,0.00,0.000,6,0.000,0.030,2534,2169,1567,0,0,0,0,0,0
$GC,11188,0.68,319.0,829.0,12.5,800,11191,0.00,0.47,0.00,0.000,4,0.000,0.038,2534,2501,1570,0,0,0,0,0,0
$GC,11256,0.68,319.0,819.7,13.7,803,11260,0.00,0.43,0.00,0.000,6,0.000,0.031,2537,2168,1571,0,0,0,0,0,0
$GC,11589,0.68,319.0,776.0,13.2,819,11593,0.00,0.47,0.00,0.000,4,0.000,0.039,2537,2500,1570,0,0,0,0,0,0
$GC,11628,0.68,319.0,770.4,13.6,820,11635,0.00,0.45,0.00,0.000,6,0.000,0.029,2539,2159,1570,0,0,0,0,0,0
$GC,11944,0.68,319.0,728.3,13.4,836,11945,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2159,1570,0,0,0,0,0,0
$GC,12254,0.68,319.0,686.4,13.3,851,12258,0.00,0.50,0.00,0.000,4,0.000,0.036,2539,2509,1570,0,0,0,0,0,0
$GC,12371,0.68,319.0,670.4,13.6,856,12375,0.00,0.45,0.00,0.000,6,0.000,0.029,2540,2164,1569,0,0,0,0,0,0
$GC,12699,0.68,319.0,629.0,12.5,872,12703,0.00,0.40,0.00,0.000,4,0.000,0.034,2543,1829,1569,0,0,0,0,0,0
$GC,12828,0.68,319.0,612.4,12.9,877,12835,0.00,0.47,0.00,0.000,6,0.000,0.034,2543,2168,1569,0,0,0,0,0,0
$GC,13144,0.68,319.0,569.8,13.8,893,13147,0.00,0.47,0.00,0.000,4,0.000,0.039,2543,2514,1569,0,0,0,0,0,0
$GC,13235,0.68,319.0,556.8,14.5,897,13239,0.00,0.45,0.00,0.000,6,0.000,0.031,2545,2164,1569,0,0,0,0,0,0
$GC,13568,0.68,319.0,510.1,13.7,913,13571,0.00,0.40,0.00,0.000,4,0.000,0.035,2547,1832,1569,0,0,0,0,0,0
$GC,13740,0.68,319.0,487.0,13.4,924,13748,0.00,0.47,0.00,0.000,6,0.000,0.032,2546,2168,1569,0,0,0,0,0,0
$GC,14066,0.68,319.0,444.7,13.0,955,14069,0.00,0.45,0.00,0.000,4,0.000,0.039,2547,2502,1569,0,0,0,0,0,0
$GC,14161,0.68,319.0,432.2,13.1,963,14167,0.00,0.43,0.00,0.000,6,0.000,0.031,2549,2164,1569,0,0,0,0,0,0
$GC,14487,0.68,319.0,390.8,12.8,994,14491,0.00,0.40,0.00,0.000,4,0.000,0.034,2551,1832,1570,0,0,0,0,0,0
$GC,14561,0.68,319.0,381.3,12.8,1000,14568,0.08,0.45,0.00,0.000,6,0.144,0.033,2526,2165,1569,0,0,0,0,0,0
$GC,14889,0.71,345.1,346.0,10.7,1031,14915,0.00,0.47,22.17,0.654,4,0.000,0.032,2526,2500,1461,0,0,0,0,0,0
$GC,15045,0.75,374.1,329.3,10.6,1045,15072,0.00,0.43,23.83,0.624,6,0.000,0.031,2526,2166,1343,0,0,0,0,0,0
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$GC,17857,1.32,836.9,17.1,11.0,1448,17865,0.00,0.47,2.47,0.202,4,0.000,0.034,2722,1826,439,0,0,0,0,0,0
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$STATE,17993,end climb,SURFACE_DEPTH_REACHED
$STATE,17993,begin surface coast
$FINISH,0.3,1.020794
$STATE,18022,end surface coast,CONTROL_FINISHED_OK
$STATE,18022,begin surface
$SM_CCo,18100,0.00,0.000,0,0,440,595.83
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$IRIDIUM_FIX,1929.80,12001.72,240911,181812
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.95
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.50
$XPDR_PINGS,4
$24V_AH,23.4,89.880
$10V_AH,9.8,71.926
$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
$DEVICE_SECS,16.600,39.550,640.175,0.000,0.000,30.941,19.578,142.218,1.000,0.000,14.280,3738.852,10600.106,751.482,2954.152,384.192,33.363,2234.119,0.000,2723.930,0.000,0.540,0.000
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$SENSOR_SECS,1027.967,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322236
$DATA_FILE_SIZE,83469,1476
$CAP_FILE_SIZE,191061,0
$CFSIZE,260165632,200658944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.038,333.5,1
$GPS,250911,050807,1939.136,11957.677,31,1.0,31,-2.2