version: 66.09
glider: 181
mission: 6
dive: 281
start: 8 2 111 15 50 56
data:
$ID,181
$MISSION,6
$DIVE,281
$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,-40873.125
$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,46
$R_STBD_OVSHOOT,35
$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
$GPS1,020811,154137,2029.609,12001.084,29,1.1,30,-2.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-73.2
$GPS2,020811,155032,2029.672,12001.134,11,1.4,11,-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,289.5,2059,-27.5,-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,-0.56,-80.5,0.0,0.0,0,75,0.00,0.00,-56.97,0.000,2,0.000,0.000,201,2609,2322,0,0,0,0,0,0
$GC,78,-0.65,-159.3,3.2,-4.1,8,116,7.85,1.90,-25.27,0.000,4,0.229,0.057,2089,3790,3520,0,0,0,0,0,0
$GC,204,-0.65,-159.3,55.9,-41.6,29,212,0.00,1.83,0.00,0.000,6,0.000,0.024,2092,2583,3519,0,0,0,0,0,0
$GC,338,-0.65,-159.3,99.8,-25.2,54,347,0.00,2.05,0.00,0.000,4,0.000,0.024,2092,1194,3519,0,0,0,0,0,0
$GC,427,-0.66,-163.1,112.1,-11.4,70,436,0.00,2.20,-0.12,0.000,6,0.000,0.037,2082,2592,3540,0,0,0,0,0,0
$GC,565,-0.66,-163.1,139.4,-24.0,95,573,0.00,1.85,0.00,0.000,4,0.000,0.043,2073,3786,3540,0,0,0,0,0,0
$GC,672,-0.66,-163.1,171.3,-24.3,115,681,0.10,1.70,0.00,0.000,6,0.146,0.024,2106,2631,3542,0,0,0,0,0,0
$GC,815,-0.66,-163.1,206.2,-24.4,139,819,0.00,2.05,0.00,0.000,4,0.000,0.026,2105,1213,3541,0,0,0,0,0,0
$GC,870,-0.66,-163.1,220.0,-21.1,143,877,0.00,2.17,0.00,0.000,6,0.000,0.035,2096,2654,3542,0,0,0,0,0,0
$GC,1195,-0.66,-163.1,277.9,-14.5,174,1199,0.00,2.12,0.00,0.000,4,0.000,0.028,2096,1216,3541,0,0,0,0,0,0
$GC,1259,-0.69,-187.9,283.9,-9.4,179,1263,0.00,2.15,0.00,0.000,6,0.000,0.034,2088,2635,3541,0,0,0,0,0,0
$GC,1584,-0.69,-187.9,330.5,-18.0,209,1588,0.00,1.73,0.00,0.000,4,0.000,0.043,2078,3783,3540,0,0,0,0,0,0
$GC,1668,-0.69,-187.9,346.1,-18.2,216,1675,0.00,1.70,0.00,0.000,6,0.000,0.025,2080,2635,3540,0,0,0,0,0,0
$GC,1993,-0.69,-187.9,404.3,-14.8,247,1997,0.00,2.10,0.00,0.000,4,0.000,0.031,2079,1204,3536,0,0,0,0,0,0
$GC,2037,-0.69,-187.9,410.2,-12.2,250,2045,0.00,2.20,0.00,0.000,6,0.000,0.037,2070,2615,3536,0,0,0,0,0,0
$GC,2363,-0.69,-187.9,453.7,-13.1,281,2367,0.00,2.10,0.00,0.000,4,0.000,0.030,2069,1205,3532,0,0,0,0,0,0
$GC,2383,-0.69,-187.9,456.4,-13.1,282,2388,0.15,2.17,0.00,0.000,6,0.171,0.038,2099,2621,3532,0,0,0,0,0,0
$GC,2708,-0.69,-187.9,498.1,-15.2,312,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2622,3529,0,0,0,0,0,0
$GC,3018,-0.69,-187.9,551.4,-18.3,328,3022,0.00,1.77,0.00,0.000,4,0.000,0.047,2091,3778,3526,0,0,0,0,0,0
$GC,3051,-0.69,-187.9,558.1,-19.1,329,3055,0.00,1.77,0.00,0.000,6,0.000,0.027,2091,2604,3525,0,0,0,0,0,0
$GC,3373,-0.69,-187.9,622.3,-20.1,345,3377,0.00,2.10,0.00,0.000,4,0.000,0.033,2088,1200,3522,0,0,0,0,0,0
$GC,3513,-0.69,-187.9,650.9,-20.1,351,3517,0.00,2.15,0.00,0.000,6,0.000,0.039,2085,2578,3521,0,0,0,0,0,0
$GC,3840,-0.69,-187.9,718.3,-19.9,367,3844,0.00,1.85,0.00,0.000,4,0.000,0.048,2074,3783,3518,0,0,0,0,0,0
$GC,3879,-0.69,-187.9,725.9,-18.8,368,3886,0.00,1.80,0.00,0.000,6,0.000,0.028,2074,2573,3517,0,0,0,0,0,0
$GC,4195,-0.69,-187.9,782.6,-16.9,384,4198,0.00,2.03,0.00,0.000,4,0.000,0.032,2074,1209,3515,0,0,0,0,0,0
$GC,4300,-0.69,-187.9,796.7,-12.4,388,4308,0.00,2.12,0.00,0.000,6,0.000,0.040,2067,2572,3514,0,0,0,0,0,0
$GC,4616,-0.69,-187.9,837.5,-12.4,404,4621,0.12,1.90,0.00,0.000,4,0.187,0.050,2090,3786,3512,0,0,0,0,0,0
$GC,4650,-0.70,-197.7,841.3,-10.8,405,4653,0.00,1.83,0.00,0.000,6,0.000,0.027,2090,2555,3512,0,0,0,0,0,0
$GC,4972,-0.73,-219.8,871.7,-9.6,421,4976,0.00,2.03,0.00,0.000,4,0.000,0.033,2090,1196,3508,0,0,0,0,0,0
$GC,5063,-0.76,-243.3,879.8,-8.5,425,5068,0.00,2.12,0.00,0.000,6,0.000,0.040,2083,2562,3508,0,0,0,0,0,0
$GC,5391,-0.76,-243.3,916.0,-11.8,441,5395,0.00,1.90,0.00,0.000,4,0.000,0.049,2074,3789,3506,0,0,0,0,0,0
$GC,5441,-0.76,-243.3,922.0,-11.3,443,5445,0.00,1.83,0.00,0.000,6,0.000,0.027,2073,2556,3505,0,0,0,0,0,0
$GC,5769,-0.76,-243.3,965.4,-14.3,459,5773,0.00,2.05,0.00,0.000,4,0.000,0.034,2074,1196,3504,0,0,0,0,0,0
$GC,5824,-0.76,-243.3,973.5,-13.8,461,5829,0.00,2.12,0.00,0.000,6,0.000,0.040,2067,2557,3504,0,0,0,0,0,0
$STATE,5952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5953,begin apogee
$GC,5958,-0.13,0.0,992.7,15.4,467,6088,0.65,0.00,122.62,1.086,4,0.142,0.000,2266,2112,2870,0,0,0,0,0,0
$STATE,6089,end apogee,CONTROL_FINISHED_OK
$STATE,6089,begin climb
$GC,6091,0.76,243.3,1000.1,0.0,473,6294,0.85,2.25,193.77,1.064,4,0.058,0.037,2572,720,1877,0,0,0,0,0,0
$GC,6518,0.76,243.3,956.6,14.6,492,6525,0.00,2.25,0.00,0.000,6,0.000,0.036,2571,2141,1876,0,0,0,0,0,0
$GC,6835,0.76,243.3,903.2,17.7,508,6839,0.00,2.17,0.00,0.000,4,0.000,0.044,2571,3538,1875,0,0,0,0,0,0
$GC,6998,0.76,243.3,870.1,20.0,515,7002,0.00,2.17,0.00,0.000,6,0.000,0.027,2581,2104,1874,0,0,0,0,0,0
$GC,7319,0.76,243.3,806.4,19.9,531,7323,0.00,2.10,0.00,0.000,4,0.000,0.036,2593,716,1872,0,0,0,0,0,0
$GC,7408,0.76,243.3,789.0,18.3,535,7412,0.00,2.12,0.00,0.000,6,0.000,0.034,2593,2105,1872,0,0,0,0,0,0
$GC,7736,0.76,243.3,724.0,19.7,551,7740,0.00,2.12,0.00,0.000,4,0.000,0.036,2602,717,1871,0,0,0,0,0,0
$GC,7769,0.76,243.3,717.2,18.5,552,7777,0.15,2.12,0.00,0.000,6,0.187,0.034,2566,2098,1871,0,0,0,0,0,0
$GC,8086,0.76,243.3,660.8,17.5,568,8090,0.00,2.22,0.00,0.000,4,0.000,0.044,2566,3536,1872,0,0,0,0,0,0
$GC,8119,0.76,243.3,654.3,18.8,569,8125,0.00,2.17,0.00,0.000,6,0.000,0.028,2574,2097,1870,0,0,0,0,0,0
$GC,8435,0.76,243.3,592.8,19.9,585,8439,0.00,2.08,0.00,0.000,4,0.000,0.035,2585,720,1870,0,0,0,0,0,0
$GC,8512,0.76,243.3,577.7,18.6,588,8519,0.00,2.15,0.00,0.000,6,0.000,0.034,2585,2099,1869,0,0,0,0,0,0
$GC,8829,0.76,243.3,513.9,19.9,604,8833,0.00,2.10,0.00,0.000,4,0.000,0.035,2595,719,1869,0,0,0,0,0,0
$GC,8895,0.76,243.3,501.1,18.5,607,8899,0.00,2.12,0.00,0.000,6,0.000,0.034,2595,2109,1869,0,0,0,0,0,0
$GC,9221,0.76,243.3,440.1,17.8,637,9225,0.00,2.20,0.00,0.000,4,0.000,0.043,2595,3538,1869,0,0,0,0,0,0
$GC,9253,0.76,243.3,433.7,19.2,639,9261,0.15,2.20,0.00,0.000,6,0.196,0.028,2569,2094,1869,0,0,0,0,0,0
$GC,9579,0.76,243.3,387.9,12.4,670,9583,0.00,2.08,0.00,0.000,4,0.000,0.037,2577,717,1869,0,0,0,0,0,0
$GC,9746,0.76,243.3,367.6,12.2,684,9753,0.00,2.08,0.00,0.000,6,0.000,0.033,2577,2068,1869,0,0,0,0,0,0
$GC,10072,0.76,243.3,325.5,14.2,715,10076,0.00,2.28,0.00,0.000,4,0.000,0.042,2577,3543,1869,0,0,0,0,0,0
$GC,10126,0.76,243.3,316.1,16.8,719,10133,0.00,2.25,0.00,0.000,6,0.000,0.028,2585,2062,1869,0,0,0,0,0,0
$GC,10452,0.76,243.3,257.9,18.9,750,10455,0.00,2.03,0.00,0.000,4,0.000,0.037,2596,718,1869,0,0,0,0,0,0
$GC,10611,0.76,243.3,228.9,17.6,764,10620,0.10,2.05,0.00,0.000,6,0.159,0.032,2566,2044,1869,0,0,0,0,0,0
$GC,10935,0.76,249.6,187.3,11.2,806,10952,0.00,2.38,5.43,0.520,4,0.000,0.042,2566,3542,1851,0,0,0,0,0,0
$GC,10965,0.78,259.6,184.1,10.8,810,10981,0.00,2.30,9.25,0.558,6,0.000,0.028,2574,2047,1809,0,0,0,0,0,0
$GC,11109,0.81,283.5,169.5,9.4,836,11133,0.00,2.10,18.70,0.547,4,0.000,0.037,2584,716,1712,0,0,0,0,0,0
$GC,11203,0.85,322.8,161.6,7.9,852,11240,0.00,2.03,29.17,0.534,6,0.000,0.031,2584,2017,1554,0,0,0,0,0,0
$GC,11369,0.90,360.8,147.8,8.1,881,11406,0.00,2.45,28.77,0.532,4,0.000,0.041,2584,3536,1399,0,0,0,0,0,0
$GC,11451,0.91,364.8,139.5,11.4,894,11467,0.00,2.35,5.12,0.405,6,0.000,0.027,2595,2037,1381,0,0,0,0,0,0
$GC,11595,0.91,364.8,120.8,15.1,920,11603,0.00,2.05,0.00,0.000,4,0.000,0.036,2605,720,1383,0,0,0,0,0,0
$GC,11658,0.91,364.8,111.2,15.3,931,11666,0.00,2.00,0.00,0.000,6,0.000,0.032,2605,2003,1385,0,0,0,0,0,0
$GC,11796,0.91,364.8,90.6,14.4,956,11804,0.00,2.42,0.00,0.000,4,0.000,0.042,2605,3538,1386,0,0,0,0,0,0
$GC,11899,0.91,364.8,75.0,15.0,975,11907,0.00,2.30,0.00,0.000,6,0.000,0.027,2615,2049,1386,0,0,0,0,0,0
$GC,12035,0.91,370.4,57.9,11.2,1000,12051,0.00,2.08,6.82,0.457,4,0.000,0.037,2625,720,1358,0,0,0,0,0,0
$GC,12133,0.95,400.9,48.8,8.8,1017,12164,0.00,2.03,23.52,0.495,6,0.000,0.029,2626,2035,1233,0,0,0,0,0,0
$GC,12292,0.97,420.4,34.9,9.9,1045,12315,0.00,2.35,15.45,0.463,4,0.000,0.040,2626,3544,1154,0,0,0,0,0,0
$GC,12386,1.01,446.7,25.7,9.2,1061,12416,0.00,2.25,20.50,0.443,6,0.000,0.028,2635,2090,1045,0,0,0,0,0,0
$GC,12544,1.06,492.1,13.4,7.3,1089,12582,0.00,2.17,33.20,0.441,4,0.000,0.036,2646,720,862,0,0,0,0,0,0
$GC,12665,1.11,529.9,4.7,8.1,1109,12690,0.00,2.10,19.62,0.434,2,0.000,0.029,2645,2074,765,0,0,0,0,0,0
$STATE,12691,end climb,SURFACE_DEPTH_REACHED
$STATE,12691,begin surface coast
$FINISH,0.3,1.006575
$STATE,12728,end surface coast,CONTROL_FINISHED_OK
$STATE,12728,begin surface
$SM_CCo,12805,0.00,0.000,0,0,764,516.36
$SM_GC,1.08,6.38,0.00,0.00,0.034,0.000,0.000,205,2605,764,-6.52,0.14,516.36,0,0,0,0,0,0
$IRIDIUM_FIX,2022.56,11953.54,020811,151546
$TT8_MAMPS,0.028462,0.028462
$HUMID,41.69
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.5,44.743
$10V_AH,9.9,43.007
$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,16.500,147.550,531.975,0.000,0.000,56.156,47.482,215.663,0.000,0.000,13.700,2690.644,6604.322,584.235,3119.413,330.094,0.000,1809.241,0.000,2029.013,0.000,0.541,0.000
$DEVICE_MAMPS,228.735,56.610,1086.300,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,774.100,1210.093,1467.196,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323040
$DATA_FILE_SIZE,77051,1119
$CAP_FILE_SIZE,152228,0
$CFSIZE,260165632,224878592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020811,192537,2029.813,12000.430,38,1.0,39,-2.3