version: 66.09
glider: 181
mission: 6
dive: 311
start: 8 7 111 21 51 27
data:
$ID,181
$MISSION,6
$DIVE,311
$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,-40910.848
$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,51
$R_STBD_OVSHOOT,43
$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,3
$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,31.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,13.0
$GPS1,070811,214336,2032.167,12000.226,30,1.0,31,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-69.9
$GPS2,070811,215055,2032.238,12000.289,10,1.1,15,-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,189.2,4175,-22.5,-11.786
$D_GRID,3372
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.52,-119.1,0.0,0.0,0,96,0.00,0.00,-69.20,0.000,2,0.000,0.000,182,2639,2437,0,0,0,0,0,0
$GC,99,-0.67,-238.7,3.6,-3.8,11,144,7.85,2.15,-26.95,0.000,4,0.226,0.034,2102,1178,3845,0,0,0,0,0,0
$GC,152,-0.67,-238.7,24.2,-43.2,19,159,0.00,2.22,0.00,0.000,6,0.000,0.042,2094,2586,3847,0,0,0,0,0,0
$GC,291,-0.67,-238.7,78.0,-28.6,44,299,0.00,1.88,0.00,0.000,4,0.000,0.044,2084,3783,3847,0,0,0,0,0,0
$GC,416,-0.67,-238.7,114.4,-30.7,66,423,0.00,1.62,0.00,0.000,6,0.000,0.024,2084,2690,3847,0,0,0,0,0,0
$GC,558,-0.67,-238.7,154.9,-27.0,91,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2687,3847,0,0,0,0,0,0
$GC,695,-0.67,-238.7,185.8,-19.9,116,702,0.00,1.73,0.00,0.000,4,0.000,0.042,2076,3786,3848,0,0,0,0,0,0
$GC,750,-0.67,-238.7,199.1,-24.9,125,769,0.00,1.65,0.00,0.000,6,0.000,0.023,2075,2643,3849,0,0,0,0,0,0
$GC,894,-0.67,-238.7,231.9,-23.1,138,897,0.00,1.75,0.00,0.000,4,0.000,0.041,2066,3790,3849,0,0,0,0,0,0
$GC,929,-0.67,-238.7,240.0,-23.1,141,933,0.10,1.58,0.00,0.000,6,0.147,0.023,2107,2734,3848,0,0,0,0,0,0
$GC,1259,-0.67,-238.7,296.5,-19.8,172,1263,0.00,2.25,0.00,0.000,4,0.000,0.028,2107,1194,3848,0,0,0,0,0,0
$GC,1345,-0.67,-238.7,310.2,-14.3,179,1349,0.00,2.30,0.00,0.000,6,0.000,0.033,2099,2698,3848,0,0,0,0,0,0
$GC,1675,-0.67,-238.7,369.5,-16.2,210,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2699,3845,0,0,0,0,0,0
$GC,1996,-0.67,-238.7,409.3,-13.6,240,2000,0.00,2.22,0.00,0.000,4,0.000,0.027,2100,1196,3839,0,0,0,0,0,0
$GC,2028,-0.67,-238.7,414.4,-14.3,242,2035,0.00,2.28,0.00,0.000,6,0.000,0.035,2098,2683,3841,0,0,0,0,0,0
$GC,2354,-0.67,-238.7,472.8,-21.1,273,2357,0.00,1.67,0.00,0.000,4,0.000,0.044,2089,3790,3839,0,0,0,0,0,0
$GC,2414,-0.67,-238.7,484.7,-17.9,278,2421,0.00,1.65,0.00,0.000,6,0.000,0.024,2090,2679,3838,0,0,0,0,0,0
$GC,2743,-0.67,-238.7,546.6,-16.8,298,2747,0.00,2.17,0.00,0.000,4,0.000,0.028,2090,1204,3834,0,0,0,0,0,0
$GC,2799,-0.67,-243.3,553.5,-10.7,300,2803,0.00,2.28,0.00,0.000,6,0.000,0.034,2084,2688,3834,0,0,0,0,0,0
$GC,3115,-0.67,-243.3,594.5,-13.2,315,3119,0.00,1.70,0.00,0.000,4,0.000,0.045,2075,3776,3831,0,0,0,0,0,0
$GC,3184,-0.67,-243.3,602.6,-10.7,318,3187,0.00,1.62,0.00,0.000,6,0.000,0.024,2075,2694,3830,0,0,0,0,0,0
$GC,3517,-0.67,-243.3,647.8,-15.2,334,3521,0.00,2.20,0.00,0.000,4,0.000,0.029,2075,1207,3827,0,0,0,0,0,0
$GC,3561,-0.67,-243.3,654.5,-14.2,336,3566,0.12,2.30,0.00,0.000,6,0.161,0.037,2103,2699,3827,0,0,0,0,0,0
$GC,3882,-0.67,-243.3,693.6,-13.0,352,3887,0.00,2.25,0.00,0.000,4,0.000,0.030,2103,1200,3824,0,0,0,0,0,0
$GC,3909,-0.67,-243.3,697.4,-13.0,353,3914,0.00,2.30,0.00,0.000,6,0.000,0.037,2103,2688,3824,0,0,0,0,0,0
$GC,4233,-0.67,-243.3,736.3,-11.6,369,4237,0.00,2.22,0.00,0.000,4,0.000,0.031,2099,1207,3824,0,0,0,0,0,0
$GC,4260,-0.67,-243.3,739.7,-11.3,370,4264,0.00,2.30,0.00,0.000,6,0.000,0.038,2098,2686,3820,0,0,0,0,0,0
$GC,4581,-0.67,-243.3,775.7,-11.8,386,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2686,3817,0,0,0,0,0,0
$GC,4892,-0.67,-243.3,810.0,-10.7,401,4896,0.00,2.22,0.00,0.000,4,0.000,0.031,2098,1209,3814,0,0,0,0,0,0
$GC,4936,-0.67,-243.3,814.4,-9.5,403,4940,0.00,2.28,0.00,0.000,6,0.000,0.038,2096,2674,3814,0,0,0,0,0,0
$GC,5258,-0.67,-243.3,849.1,-11.2,419,5262,0.00,2.20,0.00,0.000,4,0.000,0.031,2097,1211,3812,0,0,0,0,0,0
$GC,5290,-0.67,-243.3,853.0,-11.2,420,5297,0.00,2.28,0.00,0.000,6,0.000,0.039,2088,2675,3812,0,0,0,0,0,0
$GC,5606,-0.67,-243.3,893.8,-13.4,436,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2671,3809,0,0,0,0,0,0
$GC,5916,-0.67,-243.3,933.6,-12.9,451,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2672,3808,0,0,0,0,0,0
$GC,6225,-0.67,-243.3,975.6,-13.8,466,6226,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2672,3805,0,0,0,0,0,0
$STATE,6346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6346,begin apogee
$GC,6353,-0.13,0.0,992.6,13.6,472,6542,0.57,0.00,181.45,1.084,4,0.125,0.000,2273,2109,2868,0,0,0,0,0,0
$STATE,6543,end apogee,CONTROL_FINISHED_OK
$STATE,6543,begin climb
$GC,6545,0.67,243.3,1004.5,0.0,481,6747,0.70,0.00,196.40,1.060,6,0.050,0.000,2540,2109,1876,0,0,0,0,0,0
$GC,7058,0.67,243.3,940.9,17.1,505,7063,0.00,2.28,0.00,0.000,4,0.000,0.043,2541,3544,1874,0,0,0,0,0,0
$GC,7188,0.67,243.3,917.0,18.5,511,7193,0.00,2.15,0.00,0.000,6,0.000,0.027,2550,2131,1873,0,0,0,0,0,0
$GC,7515,0.67,243.3,859.0,17.4,527,7519,0.00,2.17,0.00,0.000,4,0.000,0.036,2561,710,1872,0,0,0,0,0,0
$GC,7604,0.67,243.3,844.0,15.9,531,7608,0.00,2.17,0.00,0.000,6,0.000,0.032,2561,2127,1869,0,0,0,0,0,0
$GC,7925,0.67,243.3,789.2,16.8,547,7929,0.00,2.15,0.00,0.000,4,0.000,0.036,2571,719,1868,0,0,0,0,0,0
$GC,7952,0.67,243.3,784.4,16.6,548,7957,0.12,2.15,0.00,0.000,6,0.180,0.033,2542,2108,1871,0,0,0,0,0,0
$GC,8273,0.67,243.3,737.8,14.5,564,8274,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2108,1870,0,0,0,0,0,0
$GC,8582,0.67,243.3,689.3,16.5,579,8586,0.00,2.22,0.00,0.000,4,0.000,0.044,2542,3544,1871,0,0,0,0,0,0
$GC,8623,0.67,243.3,682.1,18.6,581,8627,0.00,2.17,0.00,0.000,6,0.000,0.028,2550,2101,1869,0,0,0,0,0,0
$GC,8950,0.67,243.3,628.1,15.9,597,8953,0.00,2.10,0.00,0.000,4,0.000,0.038,2560,713,1869,0,0,0,0,0,0
$GC,9082,0.67,243.3,608.4,14.6,603,9086,0.00,2.12,0.00,0.000,6,0.000,0.034,2561,2100,1869,0,0,0,0,0,0
$GC,9408,0.67,243.3,558.7,14.6,619,9412,0.00,2.22,0.00,0.000,4,0.000,0.044,2561,3541,1869,0,0,0,0,0,0
$GC,9448,0.67,243.3,552.2,16.7,621,9453,0.12,2.20,0.00,0.000,6,0.187,0.028,2541,2082,1867,0,0,0,0,0,0
$GC,9776,0.67,243.3,506.5,13.9,637,9779,0.00,2.05,0.00,0.000,4,0.000,0.038,2549,726,1868,0,0,0,0,0,0
$GC,9814,0.67,243.3,500.8,14.1,638,9821,0.00,2.10,0.00,0.000,6,0.000,0.034,2549,2099,1868,0,0,0,0,0,0
$GC,10140,0.67,243.3,448.3,16.0,669,10141,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2100,1868,0,0,0,0,0,0
$GC,10460,0.67,243.3,398.9,14.2,699,10464,0.00,2.10,0.00,0.000,4,0.000,0.037,2559,721,1868,0,0,0,0,0,0
$GC,10477,0.67,243.3,396.5,13.6,700,10481,0.00,2.08,0.00,0.000,6,0.000,0.034,2559,2080,1868,0,0,0,0,0,0
$GC,10808,0.67,243.3,348.1,16.4,731,10812,0.00,2.28,0.00,0.000,4,0.000,0.044,2558,3541,1868,0,0,0,0,0,0
$GC,10868,0.67,243.3,337.5,17.1,736,10876,0.12,2.20,0.00,0.000,6,0.184,0.028,2539,2078,1868,0,0,0,0,0,0
$GC,11194,0.76,315.4,308.7,7.0,767,11252,0.00,2.15,52.28,0.658,4,0.000,0.038,2548,724,1582,0,0,0,0,0,0
$GC,11316,0.81,350.6,298.7,9.4,778,11352,0.00,2.08,27.02,0.612,6,0.000,0.033,2548,2061,1440,0,0,0,0,0,0
$GC,11671,0.81,350.6,255.4,11.8,811,11675,0.00,2.33,0.00,0.000,4,0.000,0.044,2548,3544,1442,0,0,0,0,0,0
$GC,11791,0.81,350.6,239.8,11.8,821,11798,0.00,2.20,0.00,0.000,6,0.000,0.028,2558,2097,1442,0,0,0,0,0,0
$GC,12117,0.81,350.6,201.7,15.5,852,12118,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2095,1446,0,0,0,0,0,0
$GC,12448,0.93,448.3,169.4,5.3,910,12531,0.17,2.35,71.95,0.552,4,0.075,0.042,2636,3538,1039,0,0,0,0,0,0
$GC,12572,0.93,448.3,150.9,18.4,930,12580,0.00,2.25,0.00,0.000,6,0.000,0.027,2646,2100,1043,0,0,0,0,0,0
$GC,12716,0.93,448.3,129.6,13.9,955,12723,0.00,2.25,0.00,0.000,4,0.000,0.041,2647,3536,1048,0,0,0,0,0,0
$GC,12796,0.93,448.3,116.4,16.5,969,12804,0.15,2.05,0.00,0.000,6,0.164,0.027,2618,2175,1047,0,0,0,0,0,0
$GC,12936,0.93,448.3,100.0,12.9,994,12943,0.00,2.25,0.00,0.000,4,0.000,0.036,2626,720,1047,0,0,0,0,0,0
$GC,13034,0.93,448.3,87.0,14.4,1011,13041,0.00,2.15,0.00,0.000,6,0.000,0.030,2626,2138,1047,0,0,0,0,0,0
$GC,13175,0.97,485.9,69.2,9.3,1036,13215,0.00,2.20,29.73,0.498,4,0.000,0.034,2636,718,886,0,0,0,0,0,0
$GC,13240,1.08,569.9,65.1,6.2,1046,13311,0.00,2.17,60.72,0.453,6,0.000,0.031,2636,2112,545,0,0,0,0,0,0
$GC,13446,1.19,661.0,53.8,5.7,1081,13473,0.17,2.30,21.27,0.464,4,0.068,0.041,2726,3536,441,0,0,0,0,0,0
$GC,13531,1.19,661.0,42.7,14.6,1095,13538,0.12,2.08,0.00,0.000,6,0.151,0.026,2701,2166,442,0,0,0,0,0,0
$GC,13673,1.19,661.0,23.2,14.3,1120,13682,0.00,2.28,2.47,0.203,4,0.000,0.036,2710,720,439,0,0,0,0,0,0
$GC,13732,1.19,661.0,15.0,13.2,1130,13740,0.00,2.25,0.00,0.000,6,0.000,0.031,2710,2169,440,0,0,0,0,0,0
$STATE,13831,end climb,SURFACE_DEPTH_REACHED
$STATE,13831,begin surface coast
$FINISH,0.2,1.008663
$STATE,13863,end surface coast,CONTROL_FINISHED_OK
$STATE,13863,begin surface
$SM_CCo,13940,0.00,0.000,0,0,440,595.83
$SM_GC,1.27,6.47,0.00,0.00,0.034,0.000,0.000,212,2597,440,-6.52,-0.08,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2024.87,12002.96,070811,171704
$TT8_MAMPS,0.030709,0.030709
$HUMID,43.10
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.50
$XPDR_PINGS,2
$24V_AH,23.2,49.722
$10V_AH,9.9,46.850
$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,16.825,133.000,643.300,0.000,0.000,29.986,51.884,174.955,0.500,0.000,17.703,2705.083,8105.946,682.781,2551.440,333.077,0.000,1878.719,0.000,2227.529,0.000,0.542,0.000
$DEVICE_MAMPS,226.440,45.135,1084.005,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,798.309,0.000,577.958,0.000,0.000,0.000,811.401,15761.486,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,100.000,10.000,0.000,0.000
$MEM,323004
$DATA_FILE_SIZE,70284,1153
$CAP_FILE_SIZE,150396,0
$CFSIZE,260165632,222240768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080811,014506,2031.765,12001.099,35,0.9,41,-2.3