version: 66.09
glider: 181
mission: 6
dive: 280
start: 8 2 111 11 54 7
data:
$ID,181
$MISSION,6
$DIVE,280
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,-40871.867
$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,2320
$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,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$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,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,020811,114736,2030.375,12002.002,38,0.9,38,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-73.0
$GPS2,020811,115343,2030.476,12002.109,9,1.2,14,-2.3
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,WS
$TGT_LATLONG,2030.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,258.8,3764,-25.1,-11.786
$D_GRID,3379
$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,-0.54,-96.4,0.0,0.0,0,68,0.00,0.00,-49.78,0.000,2,0.000,0.000,209,2610,2343,0,0,0,0,0,0
$GC,71,-0.64,-181.1,3.1,-4.9,7,110,7.82,1.88,-26.02,0.000,4,0.230,0.057,2096,3777,3609,0,0,0,0,0,0
$GC,198,-0.64,-181.1,51.9,-41.2,28,206,0.00,1.83,0.00,0.000,6,0.000,0.024,2096,2579,3609,0,0,0,0,0,0
$GC,332,-0.64,-181.1,98.2,-34.3,53,340,0.00,2.05,0.00,0.000,4,0.000,0.024,2095,1189,3609,0,0,0,0,0,0
$GC,415,-0.64,-181.1,119.1,-21.5,68,423,0.00,2.12,0.00,0.000,6,0.000,0.036,2086,2548,3609,0,0,0,0,0,0
$GC,549,-0.64,-181.1,158.0,-31.3,93,557,0.00,1.92,0.00,0.000,4,0.000,0.044,2076,3777,3610,0,0,0,0,0,0
$GC,647,-0.64,-181.1,188.3,-23.9,111,656,0.10,1.80,0.00,0.000,6,0.146,0.024,2108,2571,3611,0,0,0,0,0,0
$GC,785,-0.64,-181.1,210.5,-12.2,129,788,0.00,2.00,0.00,0.000,4,0.000,0.028,2109,1196,3612,0,0,0,0,0,0
$GC,810,-0.65,-189.7,213.4,-11.1,131,814,0.00,2.15,0.00,0.000,6,0.000,0.035,2101,2606,3612,0,0,0,0,0,0
$GC,1137,-0.65,-189.7,273.5,-26.0,161,1140,0.00,1.77,0.00,0.000,4,0.000,0.043,2091,3781,3613,0,0,0,0,0,0
$GC,1193,-0.65,-189.7,288.4,-23.7,166,1197,0.00,1.67,0.00,0.000,6,0.000,0.024,2091,2615,3612,0,0,0,0,0,0
$GC,1524,-0.65,-189.7,341.6,-14.2,197,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2611,3612,0,0,0,0,0,0
$GC,1844,-0.65,-189.7,393.4,-16.3,227,1848,0.00,1.83,0.00,0.000,4,0.000,0.044,2082,3768,3609,0,0,0,0,0,0
$GC,1894,-0.65,-189.7,401.5,-14.2,231,1900,0.00,1.67,0.00,0.000,6,0.000,0.026,2082,2613,3608,0,0,0,0,0,0
$GC,2219,-0.65,-189.7,451.0,-14.1,262,2223,0.00,2.08,0.00,0.000,4,0.000,0.030,2082,1212,3605,0,0,0,0,0,0
$GC,2314,-0.66,-193.2,462.5,-11.5,270,2321,0.12,2.15,0.00,0.000,6,0.162,0.037,2106,2603,3604,0,0,0,0,0,0
$GC,2638,-0.66,-193.2,507.7,-15.6,299,2642,0.00,2.10,0.00,0.000,4,0.000,0.031,2106,1202,3602,0,0,0,0,0,0
$GC,2670,-0.66,-193.2,513.3,-16.2,300,2678,0.00,2.20,0.00,0.000,6,0.000,0.037,2098,2599,3601,0,0,0,0,0,0
$GC,2987,-0.66,-193.2,565.2,-16.1,316,2991,0.00,1.83,0.00,0.000,4,0.000,0.047,2087,3789,3598,0,0,0,0,0,0
$GC,3059,-0.66,-193.2,576.1,-13.3,319,3063,0.00,1.75,0.00,0.000,6,0.000,0.026,2089,2614,3597,0,0,0,0,0,0
$GC,3388,-0.66,-193.2,620.7,-11.9,335,3391,0.00,2.08,0.00,0.000,4,0.000,0.031,2089,1213,3595,0,0,0,0,0,0
$GC,3444,-0.68,-210.0,626.9,-10.4,337,3451,0.00,2.17,0.00,0.000,6,0.000,0.039,2084,2616,3594,0,0,0,0,0,0
$GC,3760,-0.68,-210.0,664.7,-12.6,353,3764,0.00,1.80,0.00,0.000,4,0.000,0.047,2075,3791,3591,0,0,0,0,0,0
$GC,3799,-0.68,-210.0,670.1,-13.1,354,3806,0.00,1.75,0.00,0.000,6,0.000,0.026,2075,2620,3591,0,0,0,0,0,0
$GC,4115,-0.68,-210.0,721.6,-18.5,370,4119,0.00,2.10,0.00,0.000,4,0.000,0.030,2075,1204,3588,0,0,0,0,0,0
$GC,4183,-0.68,-210.0,733.9,-17.1,373,4188,0.12,2.17,0.00,0.000,6,0.172,0.039,2099,2613,3588,0,0,0,0,0,0
$GC,4510,-0.68,-210.0,790.9,-18.1,389,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2615,3584,0,0,0,0,0,0
$GC,4819,-0.68,-210.0,849.0,-18.6,404,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2614,3583,0,0,0,0,0,0
$GC,5129,-0.68,-210.0,899.0,-15.0,419,5133,0.00,1.85,0.00,0.000,4,0.000,0.048,2091,3776,3580,0,0,0,0,0,0
$GC,5152,-0.68,-210.0,902.3,-14.1,420,5155,0.00,1.73,0.00,0.000,6,0.000,0.026,2091,2601,3580,0,0,0,0,0,0
$GC,5484,-0.68,-210.0,950.5,-14.2,436,5488,0.00,2.08,0.00,0.000,4,0.000,0.031,2091,1210,3578,0,0,0,0,0,0
$GC,5563,-0.68,-210.0,960.7,-11.8,439,5569,0.00,2.17,0.00,0.000,6,0.000,0.038,2084,2597,3577,0,0,0,0,0,0
$STATE,5794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5794,begin apogee
$GC,5800,-0.13,0.0,990.4,13.0,451,5942,0.60,0.00,137.10,1.089,4,0.133,0.000,2272,2112,2869,0,0,0,0,0,0
$STATE,5943,end apogee,CONTROL_FINISHED_OK
$STATE,5943,begin climb
$GC,5945,0.68,210.0,997.3,0.0,457,6122,0.75,2.22,167.40,1.061,4,0.053,0.037,2553,739,2014,0,0,0,0,0,0
$GC,6315,0.68,210.0,956.3,15.9,474,6319,0.00,2.20,0.00,0.000,6,0.000,0.034,2553,2127,2012,0,0,0,0,0,0
$GC,6648,0.68,210.0,898.0,17.7,490,6652,0.00,2.20,0.00,0.000,4,0.000,0.044,2553,3538,2010,0,0,0,0,0,0
$GC,6856,0.68,210.0,857.6,19.3,499,6860,0.00,2.12,0.00,0.000,6,0.000,0.027,2561,2139,2009,0,0,0,0,0,0
$GC,7172,0.68,210.0,800.2,18.3,514,7176,0.00,2.15,0.00,0.000,4,0.000,0.035,2572,716,2009,0,0,0,0,0,0
$GC,7305,0.68,210.0,776.6,17.0,520,7310,0.15,2.12,0.00,0.000,6,0.184,0.034,2537,2107,2009,0,0,0,0,0,0
$GC,7633,0.68,210.0,727.4,14.8,536,7637,0.00,2.22,0.00,0.000,4,0.000,0.044,2537,3538,2007,0,0,0,0,0,0
$GC,7656,0.68,210.0,723.8,14.1,537,7661,0.00,2.17,0.00,0.000,6,0.000,0.028,2545,2098,2007,0,0,0,0,0,0
$GC,7984,0.68,210.0,678.5,13.1,553,7988,0.00,2.10,0.00,0.000,4,0.000,0.037,2556,710,2005,0,0,0,0,0,0
$GC,8069,0.68,210.0,667.9,12.4,557,8074,0.00,2.12,0.00,0.000,6,0.000,0.034,2556,2100,2005,0,0,0,0,0,0
$GC,8397,0.68,210.0,627.9,12.0,573,8401,0.00,2.25,0.00,0.000,4,0.000,0.044,2558,3542,2005,0,0,0,0,0,0
$GC,8469,0.68,210.0,618.1,13.3,576,8473,0.00,2.17,0.00,0.000,6,0.000,0.028,2565,2102,2002,0,0,0,0,0,0
$GC,8785,0.68,210.0,578.0,12.9,591,8789,0.00,2.08,0.00,0.000,4,0.000,0.036,2576,722,2005,0,0,0,0,0,0
$GC,8893,0.68,210.6,564.9,11.7,596,8898,0.15,2.12,0.00,0.000,6,0.177,0.034,2539,2111,2004,0,0,0,0,0,0
$GC,9227,0.70,228.5,530.8,10.3,612,9250,0.00,2.28,14.23,0.779,4,0.000,0.044,2539,3537,1937,0,0,0,0,0,0
$GC,9296,0.70,228.5,522.0,13.3,615,9301,0.00,2.20,0.00,0.000,6,0.000,0.028,2547,2099,1936,0,0,0,0,0,0
$GC,9625,0.70,228.5,476.0,14.9,638,9629,0.00,2.10,0.00,0.000,4,0.000,0.036,2557,713,1935,0,0,0,0,0,0
$GC,9812,0.70,228.5,448.2,15.4,654,9816,0.00,2.08,0.00,0.000,6,0.000,0.032,2558,2074,1935,0,0,0,0,0,0
$GC,10137,0.70,228.5,401.6,13.0,684,10141,0.00,2.25,0.00,0.000,4,0.000,0.043,2558,3535,1933,0,0,0,0,0,0
$GC,10170,0.70,228.5,397.0,13.1,686,10177,0.00,2.22,0.00,0.000,6,0.000,0.027,2568,2069,1933,0,0,0,0,0,0
$GC,10496,0.73,254.0,363.4,9.7,717,10522,0.00,2.12,20.20,0.694,4,0.000,0.037,2578,716,1833,0,0,0,0,0,0
$GC,10544,0.76,276.7,358.5,9.9,721,10567,0.00,2.12,18.25,0.643,6,0.000,0.032,2578,2088,1740,0,0,0,0,0,0
$GC,10886,0.76,276.7,307.2,16.3,753,10890,0.00,2.25,0.00,0.000,4,0.000,0.042,2578,3538,1740,0,0,0,0,0,0
$GC,10941,0.76,276.7,298.0,16.1,757,10948,0.00,2.20,0.00,0.000,6,0.000,0.026,2588,2086,1740,0,0,0,0,0,0
$GC,11266,0.76,276.7,253.9,12.7,788,11270,0.00,2.08,0.00,0.000,4,0.000,0.035,2599,711,1740,0,0,0,0,0,0
$GC,11329,0.77,285.8,246.5,11.0,793,11343,0.15,2.10,7.80,0.606,6,0.169,0.031,2561,2094,1703,0,0,0,0,0,0
$GC,11660,0.77,285.8,204.4,15.1,824,11664,0.00,2.22,0.00,0.000,4,0.000,0.043,2560,3535,1706,0,0,0,0,0,0
$GC,11737,0.77,285.8,192.7,15.6,834,11745,0.00,2.20,0.00,0.000,6,0.000,0.027,2568,2107,1706,0,0,0,0,0,0
$GC,11875,0.78,290.7,175.1,11.4,859,11891,0.00,2.15,6.15,0.525,4,0.000,0.036,2579,721,1683,0,0,0,0,0,0
$GC,11962,0.82,325.1,166.6,9.0,874,11993,0.00,2.10,26.35,0.555,6,0.000,0.031,2579,2075,1540,0,0,0,0,0,0
$GC,12121,0.82,325.5,149.4,11.8,902,12129,0.00,2.30,0.00,0.000,4,0.000,0.041,2579,3529,1541,0,0,0,0,0,0
$GC,12158,0.82,325.5,144.0,14.3,908,12166,0.00,2.20,0.00,0.000,6,0.000,0.026,2588,2106,1545,0,0,0,0,0,0
$GC,12294,0.82,325.5,124.8,12.9,933,12301,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2106,1542,0,0,0,0,0,0
$GC,12429,0.86,358.9,110.5,9.0,958,12460,0.00,2.20,25.70,0.529,4,0.000,0.035,2599,716,1405,0,0,0,0,0,0
$GC,12524,0.90,396.2,101.8,8.7,974,12561,0.00,2.15,28.55,0.488,6,0.000,0.031,2600,2092,1251,0,0,0,0,0,0
$GC,12692,0.90,396.2,84.1,12.7,1003,12700,0.00,2.28,0.00,0.000,4,0.000,0.041,2600,3532,1254,0,0,0,0,0,0
$GC,12790,0.97,451.4,74.9,7.3,1021,12842,0.00,2.15,41.00,0.486,6,0.000,0.026,2610,2140,1026,0,0,0,0,0,0
$GC,12972,1.07,532.5,66.3,5.1,1052,13041,0.15,2.25,58.92,0.463,4,0.075,0.033,2691,720,697,0,0,0,0,0,0
$GC,13112,1.07,532.5,49.2,13.6,1074,13120,0.00,2.22,0.00,0.000,6,0.000,0.031,2694,2132,702,0,0,0,0,0,0
$GC,13249,1.07,532.5,28.3,12.4,1099,13257,0.00,2.20,0.00,0.000,4,0.000,0.040,2695,3534,703,0,0,0,0,0,0
$GC,13342,1.07,532.5,15.5,14.1,1116,13351,0.10,2.08,0.00,0.000,6,0.132,0.025,2670,2181,703,0,0,0,0,0,0
$STATE,13473,end climb,SURFACE_DEPTH_REACHED
$STATE,13473,begin surface coast
$FINISH,0.2,1.018955
$STATE,13505,end surface coast,CONTROL_FINISHED_OK
$STATE,13506,begin surface
$SM_CCo,13582,0.00,0.000,0,0,703,531.07
$SM_GC,1.17,6.38,0.00,0.00,0.034,0.000,0.000,204,2604,703,-6.52,0.20,531.07,0,0,0,0,0,0
$IRIDIUM_FIX,2024.87,12019.53,020811,080808
$TT8_MAMPS,0.027713,0.027713
$HUMID,42.51
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.5,44.600
$10V_AH,9.9,42.871
$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,16.600,143.025,551.650,0.000,0.000,25.844,45.295,158.806,0.000,0.000,17.105,2768.786,7229.402,580.943,3047.260,315.092,0.000,1828.168,0.000,2076.637,0.000,0.541,0.000
$DEVICE_MAMPS,229.500,57.375,1089.360,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,794.953,1209.895,1397.766,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323052
$DATA_FILE_SIZE,77211,1146
$CAP_FILE_SIZE,152576,0
$CFSIZE,260165632,224964608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020811,154137,2029.609,12001.084,29,1.1,30,-2.3