version: 66.09
glider: 181
mission: 6
dive: 307
start: 8 7 111 4 37 35
data:
$ID,181
$MISSION,6
$DIVE,307
$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,-40905.816
$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,45
$R_STBD_OVSHOOT,49
$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,1
$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,27.0
$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
$GPS1,070811,043030,2036.040,12002.237,37,1.6,37,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.8
$GPS2,070811,043707,2036.144,12002.339,8,1.3,13,-2.4
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,WN
$TGT_LATLONG,2036.000,12000.000
$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,268.6,4063,-23.2,-11.786
$D_GRID,3522
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.52,-112.6,0.0,0.0,0,87,0.00,0.00,-61.97,0.000,2,0.000,0.000,191,2634,2251,0,0,0,0,0,0
$GC,90,-0.67,-231.8,3.1,-3.4,10,142,7.78,2.15,-33.45,0.000,4,0.226,0.035,2099,1178,3816,0,0,0,0,0,0
$GC,176,-0.67,-231.8,30.6,-34.2,24,184,0.00,2.22,0.00,0.000,6,0.000,0.041,2091,2577,3817,0,0,0,0,0,0
$GC,319,-0.67,-231.8,77.1,-26.2,49,326,0.00,2.08,0.00,0.000,4,0.000,0.024,2091,1164,3816,0,0,0,0,0,0
$GC,416,-0.67,-231.8,99.6,-19.8,66,424,0.00,2.45,0.00,0.000,6,0.000,0.036,2080,2731,3816,0,0,0,0,0,0
$GC,559,-0.67,-231.8,139.7,-27.0,91,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2732,3816,0,0,0,0,0,0
$GC,697,-0.67,-231.8,170.6,-18.2,116,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2732,3817,0,0,0,0,0,0
$GC,838,-0.67,-231.8,197.7,-21.5,141,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2733,3817,0,0,0,0,0,0
$GC,987,-0.67,-231.8,232.3,-23.5,155,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2732,3818,0,0,0,0,0,0
$GC,1315,-0.67,-231.8,309.7,-23.8,186,1319,0.00,1.62,0.00,0.000,4,0.000,0.044,2072,3813,3817,0,0,0,0,0,0
$GC,1376,-0.67,-231.8,324.8,-21.4,191,1384,0.08,1.62,0.00,0.000,6,0.147,0.024,2096,2718,3816,0,0,0,0,0,0
$GC,1702,-0.67,-231.8,381.3,-17.2,222,1706,0.00,2.25,0.00,0.000,4,0.000,0.028,2096,1181,3814,0,0,0,0,0,0
$GC,1775,-0.67,-231.8,391.4,-12.0,228,1779,0.00,2.38,0.00,0.000,6,0.000,0.035,2089,2738,3813,0,0,0,0,0,0
$GC,2100,-0.67,-231.8,449.6,-19.3,258,2104,0.00,2.33,0.00,0.000,4,0.000,0.028,2089,1182,3809,0,0,0,0,0,0
$GC,2127,-0.67,-231.8,454.8,-17.9,260,2135,0.00,2.40,0.00,0.000,6,0.000,0.038,2083,2740,3809,0,0,0,0,0,0
$GC,2463,-0.67,-231.8,517.0,-18.7,288,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2740,3806,0,0,0,0,0,0
$GC,2770,-0.67,-231.8,566.9,-14.6,303,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2740,3802,0,0,0,0,0,0
$GC,3080,-0.67,-231.8,608.7,-13.6,318,3085,0.00,2.33,0.00,0.000,4,0.000,0.031,2083,1187,3799,0,0,0,0,0,0
$GC,3130,-0.68,-239.1,614.9,-11.3,320,3134,0.00,2.40,0.00,0.000,6,0.000,0.039,2073,2739,3799,0,0,0,0,0,0
$GC,3446,-0.68,-239.1,660.5,-15.8,335,3451,0.00,2.33,0.00,0.000,4,0.000,0.031,2073,1191,3795,0,0,0,0,0,0
$GC,3466,-0.68,-239.1,663.3,-15.7,336,3471,0.12,2.40,0.00,0.000,6,0.168,0.041,2097,2730,3795,0,0,0,0,0,0
$GC,3793,-0.68,-239.1,705.0,-12.5,352,3798,0.00,2.33,0.00,0.000,4,0.000,0.031,2097,1188,3792,0,0,0,0,0,0
$GC,3843,-0.69,-243.3,710.5,-10.0,354,3847,0.00,2.35,0.00,0.000,6,0.000,0.039,2097,2703,3791,0,0,0,0,0,0
$GC,4160,-0.69,-243.3,745.2,-11.2,369,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2703,3788,0,0,0,0,0,0
$GC,4469,-0.69,-243.3,780.7,-11.9,384,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2704,3785,0,0,0,0,0,0
$GC,4778,-0.69,-243.3,818.4,-11.8,399,4783,0.00,2.28,0.00,0.000,4,0.000,0.034,2097,1196,3783,0,0,0,0,0,0
$GC,4819,-0.69,-243.3,823.2,-11.4,401,4823,0.00,2.40,0.00,0.000,6,0.000,0.041,2098,2717,3783,0,0,0,0,0,0
$GC,5146,-0.69,-243.3,860.3,-11.4,417,5150,0.00,2.30,0.00,0.000,4,0.000,0.033,2097,1196,3779,0,0,0,0,0,0
$GC,5202,-0.69,-243.3,865.8,-9.6,419,5208,0.00,2.35,0.00,0.000,6,0.000,0.041,2097,2686,3779,0,0,0,0,0,0
$GC,5518,-0.69,-243.3,897.3,-10.0,435,5522,0.00,2.28,0.00,0.000,4,0.000,0.033,2097,1185,3777,0,0,0,0,0,0
$GC,5545,-0.69,-243.3,900.3,-9.7,436,5549,0.00,2.35,0.00,0.000,6,0.000,0.041,2097,2683,3777,0,0,0,0,0,0
$GC,5862,-0.69,-243.3,929.5,-9.3,451,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2685,3775,0,0,0,0,0,0
$GC,6170,-0.69,-243.3,960.8,-11.0,466,6174,0.00,2.28,0.00,0.000,4,0.000,0.033,2097,1196,3773,0,0,0,0,0,0
$GC,6227,-0.69,-243.3,966.3,-8.8,468,6233,0.00,2.33,0.00,0.000,6,0.000,0.041,2097,2679,3773,0,0,0,0,0,0
$STATE,6478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6478,begin apogee
$GC,6485,-0.13,0.0,992.0,10.6,481,6666,0.55,0.00,174.45,1.089,4,0.124,0.000,2274,2109,2869,0,0,0,0,0,0
$STATE,6667,end apogee,CONTROL_FINISHED_OK
$STATE,6667,begin climb
$GC,6669,0.69,243.3,1001.2,0.0,489,6874,0.75,2.25,195.77,1.060,4,0.050,0.039,2557,726,1877,0,0,0,0,0,0
$GC,6896,0.69,243.3,985.2,13.0,500,6904,0.00,2.33,0.00,0.000,6,0.000,0.035,2557,2133,1876,0,0,0,0,0,0
$GC,7213,0.69,243.3,938.7,14.9,516,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2133,1875,0,0,0,0,0,0
$GC,7523,0.69,243.3,891.3,15.8,531,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2133,1873,0,0,0,0,0,0
$GC,7831,0.69,243.3,841.6,16.2,546,7835,0.00,2.15,0.00,0.000,4,0.000,0.037,2567,728,1872,0,0,0,0,0,0
$GC,7940,0.69,243.3,824.8,15.2,551,7944,0.00,2.15,0.00,0.000,6,0.000,0.035,2567,2124,1872,0,0,0,0,0,0
$GC,8267,0.69,243.3,771.0,16.5,567,8271,0.00,2.20,0.00,0.000,4,0.000,0.045,2567,3541,1871,0,0,0,0,0,0
$GC,8339,0.69,243.3,758.2,17.2,570,8344,0.15,2.12,0.00,0.000,6,0.196,0.028,2542,2132,1871,0,0,0,0,0,0
$GC,8661,0.69,243.3,714.3,12.8,586,8665,0.00,2.15,0.00,0.000,4,0.000,0.038,2551,711,1871,0,0,0,0,0,0
$GC,8804,0.69,249.7,697.9,11.3,592,8817,0.00,2.15,5.80,0.741,6,0.000,0.035,2551,2115,1851,0,0,0,0,0,0
$GC,9126,0.69,249.7,656.4,12.8,608,9130,0.00,2.20,0.00,0.000,4,0.000,0.045,2551,3536,1849,0,0,0,0,0,0
$GC,9175,0.69,249.7,648.9,14.7,610,9179,0.00,2.12,0.00,0.000,6,0.000,0.028,2560,2126,1849,0,0,0,0,0,0
$GC,9497,0.69,249.7,600.2,15.4,626,9501,0.00,2.15,0.00,0.000,4,0.000,0.037,2571,714,1849,0,0,0,0,0,0
$GC,9575,0.69,249.7,588.1,15.1,629,9582,0.00,2.12,0.00,0.000,6,0.000,0.034,2571,2114,1849,0,0,0,0,0,0
$GC,9891,0.69,249.7,530.1,19.2,645,9895,0.00,2.12,0.00,0.000,4,0.000,0.037,2581,716,1849,0,0,0,0,0,0
$GC,9941,0.69,249.7,520.5,18.6,647,9946,0.15,2.12,0.00,0.000,6,0.168,0.034,2543,2102,1849,0,0,0,0,0,0
$GC,10263,0.69,249.7,469.8,15.3,671,10264,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2103,1848,0,0,0,0,0,0
$GC,10584,0.69,249.7,424.0,13.3,701,10588,0.00,2.22,0.00,0.000,4,0.000,0.044,2543,3541,1848,0,0,0,0,0,0
$GC,10613,0.69,249.7,419.7,13.8,703,10617,0.00,2.20,0.00,0.000,6,0.000,0.028,2551,2078,1848,0,0,0,0,0,0
$GC,10938,0.69,249.7,378.5,12.3,733,10941,0.00,2.05,0.00,0.000,4,0.000,0.038,2561,719,1848,0,0,0,0,0,0
$GC,11017,0.69,249.7,368.5,12.6,740,11021,0.00,2.08,0.00,0.000,6,0.000,0.033,2561,2082,1848,0,0,0,0,0,0
$GC,11342,0.69,249.7,324.1,13.2,770,11347,0.00,2.25,0.00,0.000,4,0.000,0.044,2561,3539,1849,0,0,0,0,0,0
$GC,11386,0.69,249.7,317.7,13.7,773,11394,0.00,2.20,0.00,0.000,6,0.000,0.028,2571,2075,1849,0,0,0,0,0,0
$GC,11712,0.73,276.9,281.7,9.9,804,11739,0.00,2.12,21.38,0.644,4,0.000,0.038,2582,716,1739,0,0,0,0,0,0
$GC,11825,0.75,296.2,270.5,10.4,814,11849,0.00,2.10,15.80,0.585,6,0.000,0.034,2582,2087,1660,0,0,0,0,0,0
$GC,12166,0.75,296.2,217.7,17.3,846,12171,0.00,2.25,0.00,0.000,4,0.000,0.044,2582,3538,1660,0,0,0,0,0,0
$GC,12207,0.75,296.2,210.2,19.0,849,12211,0.00,2.22,0.00,0.000,6,0.000,0.028,2592,2064,1660,0,0,0,0,0,0
$GC,12542,0.75,296.2,153.2,13.0,904,12550,0.00,2.33,0.00,0.000,4,0.000,0.040,2592,3538,1661,0,0,0,0,0,0
$GC,12564,0.75,296.2,150.7,12.7,907,12571,0.15,2.25,0.00,0.000,6,0.175,0.029,2565,2047,1661,0,0,0,0,0,0
$GC,12704,0.79,325.3,137.2,9.7,932,12737,0.00,2.10,22.98,0.550,4,0.000,0.037,2573,713,1541,0,0,0,0,0,0
$GC,12832,0.79,325.3,122.2,13.7,953,12838,0.00,2.03,0.00,0.000,6,0.000,0.031,2573,2044,1541,0,0,0,0,0,0
$GC,12973,0.79,325.3,99.4,15.2,978,12981,0.00,2.35,0.00,0.000,4,0.000,0.042,2574,3535,1541,0,0,0,0,0,0
$GC,13087,0.79,325.3,83.7,12.9,998,13095,0.00,2.22,0.00,0.000,6,0.000,0.028,2583,2088,1542,0,0,0,0,0,0
$GC,13231,0.88,397.9,72.3,6.7,1023,13288,0.00,0.00,53.15,0.490,6,0.000,0.000,2583,2087,1245,0,0,0,0,0,0
$GC,13421,0.97,478.1,60.2,6.2,1056,13485,0.15,2.20,58.22,0.464,4,0.073,0.036,2669,712,918,0,0,0,0,0,0
$GC,13573,1.03,525.4,47.2,8.5,1081,13617,0.00,2.17,35.22,0.448,6,0.000,0.031,2669,2128,728,0,0,0,0,0,0
$GC,13749,1.07,559.9,31.1,9.4,1112,13782,0.00,2.22,26.75,0.444,4,0.000,0.038,2669,3545,584,0,0,0,0,0,0
$GC,13830,1.07,559.9,22.6,12.0,1125,13837,0.00,2.15,0.00,0.000,6,0.000,0.025,2679,2125,587,0,0,0,0,0,0
$GC,13972,1.11,591.8,7.1,9.5,1150,14005,0.00,2.20,24.62,0.444,4,0.000,0.037,2689,723,454,0,0,0,0,0,0
$STATE,14016,end climb,SURFACE_DEPTH_REACHED
$STATE,14016,begin surface coast
$FINISH,0.2,1.002457
$STATE,14053,end surface coast,CONTROL_FINISHED_OK
$STATE,14054,begin surface
$SM_CCo,14133,0.00,0.000,0,0,457,591.66
$SM_GC,1.12,6.53,0.00,0.00,0.037,0.000,0.000,205,2617,457,-6.52,0.48,591.66,0,0,0,0,0,0
$IRIDIUM_FIX,2029.47,11958.97,070811,000007
$TT8_MAMPS,0.025466,0.025466
$HUMID,43.18
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.50
$XPDR_PINGS,1
$24V_AH,23.3,49.065
$10V_AH,10.0,46.300
$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,16.400,134.250,634.150,0.000,0.000,30.326,39.029,160.132,0.250,0.000,16.363,2725.379,8277.796,687.304,2509.977,326.750,0.000,1865.665,0.000,2223.176,0.000,0.543,0.000
$DEVICE_MAMPS,226.440,45.135,1088.595,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,806.164,0.000,588.530,0.000,0.000,0.000,901.177,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,100.000,0.000,0.000,0.000
$MEM,322976
$DATA_FILE_SIZE,70333,1163
$CAP_FILE_SIZE,149979,0
$CFSIZE,260165632,222593024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070811,083430,2036.082,12001.139,37,0.9,43,-2.4