version: 66.09
glider: 181
mission: 6
dive: 314
start: 8 8 111 10 0 59
data:
$ID,181
$MISSION,6
$DIVE,314
$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,-40923.555
$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,47
$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,34.0
$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,16.0
$GPS1,080811,095006,2031.306,12001.653,39,1.1,39,-2.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.4
$GPS2,080811,100026,2031.390,12001.899,11,1.4,11,-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,234.3,4181,-22.5,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.52,-119.4,0.0,0.0,0,95,0.00,0.00,-69.10,0.000,2,0.000,0.000,204,2621,2440,0,0,0,0,0,0
$GC,98,-0.66,-236.0,3.7,-4.1,11,138,7.70,2.17,-26.70,0.000,4,0.224,0.037,2101,1159,3834,0,0,0,0,0,0
$GC,178,-0.66,-236.0,33.4,-35.1,24,186,0.00,2.28,0.00,0.000,6,0.000,0.045,2095,2573,3835,0,0,0,0,0,0
$GC,320,-0.66,-236.0,74.6,-32.2,49,327,0.00,1.85,0.00,0.000,4,0.000,0.044,2086,3787,3832,0,0,0,0,0,0
$GC,410,-0.66,-236.0,107.3,-29.5,65,417,0.00,1.65,0.00,0.000,6,0.000,0.023,2087,2670,3835,0,0,0,0,0,0
$GC,551,-0.66,-236.0,152.4,-30.1,90,559,0.00,1.75,0.00,0.000,4,0.000,0.041,2077,3789,3835,0,0,0,0,0,0
$GC,609,-0.66,-236.0,169.2,-27.6,100,617,0.00,1.58,0.00,0.000,6,0.000,0.024,2077,2714,3835,0,0,0,0,0,0
$GC,766,-0.66,-236.0,200.8,-23.0,125,770,0.00,2.22,0.00,0.000,4,0.000,0.026,2077,1184,3836,0,0,0,0,0,0
$GC,805,-0.66,-236.0,210.3,-15.0,128,810,0.15,2.40,0.00,0.000,6,0.155,0.034,2107,2757,3836,0,0,0,0,0,0
$GC,1131,-0.66,-236.0,266.6,-20.8,158,1135,0.00,2.33,0.00,0.000,4,0.000,0.027,2108,1184,3836,0,0,0,0,0,0
$GC,1173,-0.66,-236.0,273.3,-13.3,161,1180,0.00,2.38,0.00,0.000,6,0.000,0.034,2099,2744,3836,0,0,0,0,0,0
$GC,1499,-0.66,-236.0,321.3,-15.1,192,1503,0.00,1.60,0.00,0.000,4,0.000,0.044,2097,3782,3833,0,0,0,0,0,0
$GC,1533,-0.66,-236.0,326.4,-14.9,195,1537,0.00,1.58,0.00,0.000,6,0.000,0.024,2091,2725,3833,0,0,0,0,0,0
$GC,1864,-0.66,-236.0,379.7,-16.9,226,1868,0.00,2.28,0.00,0.000,4,0.000,0.029,2091,1180,3830,0,0,0,0,0,0
$GC,1908,-0.66,-236.0,387.1,-15.2,229,1915,0.00,2.40,0.00,0.000,6,0.000,0.036,2084,2743,3829,0,0,0,0,0,0
$GC,2234,-0.66,-236.0,447.2,-19.1,260,2239,0.00,2.33,0.00,0.000,4,0.000,0.029,2084,1186,3826,0,0,0,0,0,0
$GC,2286,-0.66,-236.0,455.8,-14.9,264,2291,0.12,2.38,0.00,0.000,6,0.152,0.037,2107,2729,3826,0,0,0,0,0,0
$GC,2611,-0.66,-236.0,498.3,-13.0,294,2615,0.00,2.33,0.00,0.000,4,0.000,0.030,2107,1180,3821,0,0,0,0,0,0
$GC,2661,-0.67,-243.3,504.4,-11.3,296,2665,0.00,2.38,0.00,0.000,6,0.000,0.036,2100,2722,3821,0,0,0,0,0,0
$GC,2977,-0.67,-243.3,549.5,-15.4,311,2981,0.00,2.30,0.00,0.000,4,0.000,0.030,2100,1189,3818,0,0,0,0,0,0
$GC,2996,-0.67,-243.3,552.0,-15.5,312,3000,0.00,2.38,0.00,0.000,6,0.000,0.040,2096,2718,3818,0,0,0,0,0,0
$GC,3323,-0.67,-243.3,599.0,-13.1,328,3326,0.00,1.62,0.00,0.000,4,0.000,0.047,2088,3787,3814,0,0,0,0,0,0
$GC,3384,-0.67,-243.3,606.2,-10.7,330,3390,0.00,1.60,0.00,0.000,6,0.000,0.025,2088,2718,3814,0,0,0,0,0,0
$GC,3701,-0.67,-243.3,645.1,-13.2,346,3705,0.00,2.28,0.00,0.000,4,0.000,0.031,2088,1188,3811,0,0,0,0,0,0
$GC,3750,-0.67,-243.3,651.8,-12.1,348,3754,0.00,2.40,0.00,0.000,6,0.000,0.038,2084,2739,3810,0,0,0,0,0,0
$GC,4072,-0.67,-243.3,700.8,-16.5,364,4076,0.00,2.35,0.00,0.000,4,0.000,0.031,2085,1183,3807,0,0,0,0,0,0
$GC,4135,-0.67,-243.3,710.0,-13.6,367,4139,0.00,2.40,0.00,0.000,6,0.000,0.039,2083,2723,3807,0,0,0,0,0,0
$GC,4461,-0.67,-243.3,760.9,-16.1,383,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2723,3804,0,0,0,0,0,0
$GC,4771,-0.67,-243.3,811.7,-16.6,398,4776,0.00,2.33,0.00,0.000,4,0.000,0.032,2083,1189,3801,0,0,0,0,0,0
$GC,4821,-0.67,-243.3,819.8,-14.3,400,4825,0.00,2.38,0.00,0.000,6,0.000,0.040,2083,2709,3801,0,0,0,0,0,0
$GC,5143,-0.67,-243.3,870.3,-15.7,416,5147,0.00,2.30,0.00,0.000,4,0.000,0.032,2083,1193,3798,0,0,0,0,0,0
$GC,5183,-0.67,-243.3,876.0,-13.8,418,5187,0.00,2.35,0.00,0.000,6,0.000,0.041,2083,2694,3798,0,0,0,0,0,0
$GC,5510,-0.67,-243.3,925.7,-15.4,434,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2695,3795,0,0,0,0,0,0
$GC,5819,-0.67,-243.3,971.3,-14.1,449,5823,0.00,2.28,0.00,0.000,4,0.000,0.033,2083,1194,3793,0,0,0,0,0,0
$GC,5863,-0.67,-243.3,977.4,-12.6,451,5867,0.00,2.35,0.00,0.000,6,0.000,0.041,2085,2687,3793,0,0,0,0,0,0
$STATE,5975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5975,begin apogee
$GC,5982,-0.13,0.0,992.0,13.1,457,6171,0.57,0.00,178.70,1.078,4,0.125,0.000,2268,2096,2868,0,0,0,0,0,0
$STATE,6172,end apogee,CONTROL_FINISHED_OK
$STATE,6172,begin climb
$GC,6174,0.67,243.3,1001.7,0.0,466,6378,0.77,2.20,195.43,1.053,4,0.052,0.037,2553,734,1877,0,0,0,0,0,0
$GC,6569,0.67,243.3,955.6,16.0,483,6574,0.00,2.20,0.00,0.000,6,0.000,0.034,2553,2134,1875,0,0,0,0,0,0
$GC,6885,0.67,243.3,902.4,16.9,498,6889,0.00,2.15,0.00,0.000,4,0.000,0.036,2562,732,1874,0,0,0,0,0,0
$GC,7114,0.67,243.3,864.9,15.8,508,7118,0.00,2.17,0.00,0.000,6,0.000,0.034,2562,2137,1872,0,0,0,0,0,0
$GC,7436,0.67,243.3,811.7,16.2,524,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2138,1871,0,0,0,0,0,0
$GC,7745,0.67,243.3,762.1,15.7,539,7749,0.00,2.17,0.00,0.000,4,0.000,0.045,2562,3541,1870,0,0,0,0,0,0
$GC,7773,0.67,243.3,757.4,16.2,540,7778,0.15,2.10,0.00,0.000,6,0.190,0.028,2536,2146,1870,0,0,0,0,0,0
$GC,8090,0.67,243.3,713.1,13.6,555,8094,0.00,2.15,0.00,0.000,4,0.000,0.036,2546,721,1869,0,0,0,0,0,0
$GC,8140,0.67,243.3,705.5,14.1,557,8144,0.00,2.17,0.00,0.000,6,0.000,0.034,2546,2135,1869,0,0,0,0,0,0
$GC,8463,0.67,243.3,650.8,18.3,573,8467,0.00,2.15,0.00,0.000,4,0.000,0.036,2551,724,1868,0,0,0,0,0,0
$GC,8480,0.67,243.3,647.3,18.6,574,8484,0.00,2.15,0.00,0.000,6,0.000,0.034,2561,2129,1868,0,0,0,0,0,0
$GC,8808,0.67,243.3,583.4,18.9,590,8809,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2130,1868,0,0,0,0,0,0
$GC,9117,0.67,243.3,530.1,16.1,605,9118,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2130,1867,0,0,0,0,0,0
$GC,9429,0.67,243.3,481.8,15.0,625,9433,0.00,2.17,0.00,0.000,4,0.000,0.044,2555,3537,1867,0,0,0,0,0,0
$GC,9450,0.67,243.3,478.3,14.9,626,9457,0.00,2.12,0.00,0.000,6,0.000,0.028,2564,2120,1867,0,0,0,0,0,0
$GC,9776,0.68,245.4,434.6,11.6,657,9780,0.00,2.12,0.00,0.000,4,0.000,0.037,2575,713,1867,0,0,0,0,0,0
$GC,9977,0.71,272.7,413.3,10.0,674,10006,0.00,2.15,21.80,0.718,6,0.000,0.034,2575,2109,1756,0,0,0,0,0,0
$GC,10325,0.71,272.7,368.9,13.7,707,10326,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2108,1756,0,0,0,0,0,0
$GC,10645,0.71,272.7,318.6,16.4,737,10650,0.00,2.22,0.00,0.000,4,0.000,0.044,2575,3541,1756,0,0,0,0,0,0
$GC,10689,0.71,272.7,310.4,17.6,740,10697,0.15,2.15,0.00,0.000,6,0.177,0.027,2544,2112,1755,0,0,0,0,0,0
$GC,11016,0.73,286.4,271.5,10.9,771,11036,0.00,0.00,11.73,0.629,6,0.000,0.000,2548,2111,1700,0,0,0,0,0,0
$GC,11354,0.75,308.0,236.7,10.4,803,11378,0.00,2.15,17.15,0.594,4,0.000,0.034,2557,713,1614,0,0,0,0,0,0
$GC,11491,0.77,320.6,222.3,11.0,815,11507,0.00,2.17,11.40,0.545,6,0.000,0.033,2556,2128,1561,0,0,0,0,0,0
$GC,11833,0.78,332.6,182.2,11.0,859,11853,0.00,2.22,10.38,0.562,4,0.000,0.041,2557,3529,1513,0,0,0,0,0,0
$GC,11987,0.80,348.9,163.8,10.7,886,12008,0.00,2.17,14.12,0.530,6,0.000,0.026,2566,2114,1446,0,0,0,0,0,0
$GC,12147,0.83,367.6,147.7,10.5,913,12167,0.00,2.20,15.48,0.519,4,0.000,0.036,2577,720,1369,0,0,0,0,0,0
$GC,12236,0.88,408.1,138.7,9.1,928,12275,0.00,2.17,30.75,0.507,6,0.000,0.031,2577,2106,1204,0,0,0,0,0,0
$GC,12410,0.93,455.5,123.9,8.6,958,12455,0.12,2.33,35.78,0.503,4,0.083,0.042,2638,3539,1010,0,0,0,0,0,0
$GC,12523,0.93,455.5,105.1,19.8,977,12537,0.00,2.22,4.47,0.405,6,0.000,0.027,2648,2097,1013,0,0,0,0,0,0
$GC,12671,0.93,455.5,81.7,13.8,1003,12678,0.00,2.08,0.00,0.000,4,0.000,0.034,2659,718,1014,0,0,0,0,0,0
$GC,12834,0.96,474.2,61.6,10.5,1032,12862,0.08,2.08,17.88,0.496,6,0.126,0.031,2632,2048,935,0,0,0,0,0,0
$GC,12997,1.03,529.0,49.6,8.2,1060,13048,0.00,2.33,42.33,0.457,4,0.000,0.040,2632,3535,713,0,0,0,0,0,0
$GC,13117,1.13,614.5,41.3,6.1,1080,13177,0.10,2.28,48.80,0.438,6,0.050,0.026,2705,2065,440,0,0,0,0,0,0
$GC,13310,1.17,647.0,25.1,9.6,1113,13317,0.00,2.05,0.00,0.000,4,0.000,0.035,2715,708,439,0,0,0,0,0,0
$GC,13336,1.20,671.3,22.2,10.2,1117,13343,0.00,2.10,0.00,0.000,6,0.000,0.029,2715,2077,439,0,0,0,0,0,0
$GC,13478,1.20,673.3,5.9,11.7,1142,13485,0.00,2.28,0.00,0.000,4,0.000,0.039,2715,3532,440,0,0,0,0,0,0
$STATE,13501,end climb,SURFACE_DEPTH_REACHED
$STATE,13501,begin surface coast
$FINISH,0.3,1.020752
$STATE,13523,end surface coast,CONTROL_FINISHED_OK
$STATE,13523,begin surface
$SM_CCo,13601,0.00,0.000,0,0,440,595.83
$SM_GC,1.12,6.43,0.00,0.00,0.027,0.000,0.000,197,2565,440,-6.52,-0.99,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2022.56,12001.81,080811,090943
$TT8_MAMPS,0.02996,0.02996
$HUMID,43.30
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.00
$XPDR_PINGS,2
$24V_AH,23.3,50.217
$10V_AH,9.9,47.324
$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,16.350,138.875,656.175,0.000,0.000,46.153,88.723,233.809,0.500,0.000,15.845,2703.485,7770.973,700.455,2697.031,350.017,0.000,1892.902,0.000,2264.271,0.000,0.541,0.000
$DEVICE_MAMPS,224.145,47.430,1077.885,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,795.021,0.000,611.516,0.000,0.000,0.000,800.743,14907.161,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,100.000,10.000,0.000,0.000
$MEM,322964
$DATA_FILE_SIZE,70245,1150
$CAP_FILE_SIZE,154047,0
$CFSIZE,260165632,221982720
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080811,134900,2030.482,12001.504,36,0.9,42,-2.3