version: 66.09
glider: 181
mission: 6
dive: 315
start: 8 8 111 13 55 52
data:
$ID,181
$MISSION,6
$DIVE,315
$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,-40924.812
$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,62
$R_STBD_OVSHOOT,38
$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,35.0
$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,17.0
$GPS1,080811,134900,2030.482,12001.504,36,0.9,42,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.6
$GPS2,080811,135520,2030.482,12001.614,12,1.5,12,-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,254.6,2939,-27.5,-11.786
$D_GRID,3370
$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,-0.56,-80.5,0.0,0.0,0,95,0.00,0.00,-68.60,0.000,2,0.000,0.000,190,2562,2417,0,0,0,0,0,0
$GC,98,-0.66,-163.9,3.4,-3.6,11,137,7.68,2.03,-23.48,0.000,4,0.223,0.037,2093,1196,3534,0,0,0,0,0,0
$GC,201,-0.66,-163.9,40.9,-33.7,28,209,0.00,2.22,0.00,0.000,6,0.000,0.042,2084,2591,3530,0,0,0,0,0,0
$GC,343,-0.66,-163.9,87.9,-35.9,53,350,0.00,1.83,-0.12,0.000,4,0.000,0.055,2075,3790,3544,0,0,0,0,0,0
$GC,369,-0.66,-163.9,95.0,-27.4,57,377,0.12,1.75,0.00,0.000,6,0.179,0.024,2107,2584,3542,0,0,0,0,0,0
$GC,513,-0.66,-163.9,128.1,-23.7,82,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2582,3545,0,0,0,0,0,0
$GC,651,-0.66,-163.9,160.0,-21.7,107,658,0.00,1.83,0.00,0.000,4,0.000,0.038,2099,3790,3542,0,0,0,0,0,0
$GC,705,-0.66,-163.9,172.2,-22.0,116,712,0.00,1.73,0.00,0.000,6,0.000,0.024,2099,2624,3545,0,0,0,0,0,0
$GC,847,-0.66,-163.9,195.1,-14.5,141,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2621,3546,0,0,0,0,0,0
$GC,996,-0.66,-163.9,219.0,-15.8,157,1000,0.00,2.05,0.00,0.000,4,0.000,0.026,2099,1213,3546,0,0,0,0,0,0
$GC,1020,-0.66,-163.9,222.8,-15.8,159,1024,0.00,2.22,0.00,0.000,6,0.000,0.033,2089,2676,3545,0,0,0,0,0,0
$GC,1346,-0.66,-163.9,281.3,-19.5,189,1350,0.00,2.17,0.00,0.000,4,0.000,0.027,2090,1198,3545,0,0,0,0,0,0
$GC,1397,-0.66,-163.9,289.9,-15.0,193,1401,0.00,2.20,0.00,0.000,6,0.000,0.034,2081,2651,3545,0,0,0,0,0,0
$GC,1722,-0.66,-163.9,344.3,-16.3,223,1726,0.00,1.70,0.00,0.000,4,0.000,0.042,2071,3787,3543,0,0,0,0,0,0
$GC,1805,-0.66,-163.9,357.6,-14.3,230,1813,0.10,1.70,0.00,0.000,6,0.145,0.024,2103,2632,3542,0,0,0,0,0,0
$GC,2131,-0.68,-179.0,393.9,-10.3,261,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2628,3540,0,0,0,0,0,0
$GC,2453,-0.73,-224.9,421.2,-7.3,291,2457,0.00,2.08,0.00,0.000,4,0.000,0.029,2104,1212,3537,0,0,0,0,0,0
$GC,2542,-0.76,-243.3,427.8,-6.5,298,2549,0.00,2.15,0.00,0.000,6,0.000,0.034,2098,2625,3536,0,0,0,0,0,0
$GC,2867,-0.76,-243.3,463.1,-12.4,329,2871,0.00,2.10,0.00,0.000,4,0.000,0.029,2098,1210,3533,0,0,0,0,0,0
$GC,2897,-0.76,-243.3,466.8,-12.9,331,2901,0.00,2.15,0.00,0.000,6,0.000,0.037,2089,2614,3533,0,0,0,0,0,0
$GC,3236,-0.76,-243.3,516.4,-15.7,358,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2615,3530,0,0,0,0,0,0
$GC,3544,-0.76,-243.3,568.3,-16.7,373,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2615,3527,0,0,0,0,0,0
$GC,3854,-0.76,-243.3,617.6,-15.2,388,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2615,3524,0,0,0,0,0,0
$GC,4163,-0.76,-243.3,658.1,-12.0,403,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2616,3521,0,0,0,0,0,0
$GC,4473,-0.76,-243.3,690.4,-10.1,418,4477,0.00,2.12,0.00,0.000,4,0.000,0.031,2089,1215,3519,0,0,0,0,0,0
$GC,4524,-0.76,-243.3,695.2,-9.3,420,4528,0.00,2.17,0.00,0.000,6,0.000,0.037,2084,2614,3518,0,0,0,0,0,0
$GC,4845,-0.76,-243.3,726.7,-9.9,436,4849,0.00,1.80,0.00,0.000,4,0.000,0.047,2075,3784,3516,0,0,0,0,0,0
$GC,4870,-0.76,-243.3,729.1,-10.1,437,4873,0.00,1.75,0.00,0.000,6,0.000,0.025,2075,2602,3516,0,0,0,0,0,0
$GC,5203,-0.76,-243.3,766.4,-11.6,453,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2599,3514,0,0,0,0,0,0
$GC,5512,-0.76,-243.3,802.1,-11.1,468,5516,0.00,2.08,0.00,0.000,4,0.000,0.031,2075,1210,3512,0,0,0,0,0,0
$GC,5590,-0.76,-243.3,810.4,-9.7,471,5597,0.00,2.17,0.00,0.000,6,0.000,0.038,2067,2609,3511,0,0,0,0,0,0
$GC,5906,-0.76,-243.3,847.7,-12.6,487,5910,0.00,1.85,0.00,0.000,4,0.000,0.047,2058,3775,3509,0,0,0,0,0,0
$GC,5930,-0.76,-243.3,850.5,-12.6,488,5934,0.00,1.75,0.00,0.000,6,0.000,0.026,2057,2592,3508,0,0,0,0,0,0
$GC,6263,-0.76,-243.3,896.5,-14.5,504,6267,0.00,2.08,0.00,0.000,4,0.000,0.031,2058,1195,3507,0,0,0,0,0,0
$GC,6339,-0.76,-243.3,907.4,-13.6,507,6347,0.00,2.17,0.00,0.000,6,0.000,0.039,2049,2578,3506,0,0,0,0,0,0
$GC,6656,-0.76,-243.3,954.7,-15.5,523,6660,0.00,1.88,0.00,0.000,4,0.000,0.048,2040,3786,3505,0,0,0,0,0,0
$GC,6691,-0.76,-243.3,960.4,-16.4,524,6695,0.12,1.77,0.00,0.000,6,0.172,0.026,2070,2579,3504,0,0,0,0,0,0
$STATE,6906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6906,begin apogee
$GC,6913,-0.13,0.0,992.3,14.8,535,7044,0.62,0.00,123.57,1.084,4,0.135,0.000,2268,2106,2871,0,0,0,0,0,0
$STATE,7044,end apogee,CONTROL_FINISHED_OK
$STATE,7045,begin climb
$GC,7047,0.76,243.3,1000.2,0.0,541,7252,0.82,2.25,195.18,1.060,4,0.052,0.037,2572,713,1876,0,0,0,0,0,0
$GC,7416,0.76,243.3,968.8,13.0,558,7421,0.00,2.22,0.00,0.000,6,0.000,0.034,2572,2130,1875,0,0,0,0,0,0
$GC,7738,0.76,243.3,918.3,17.6,574,7742,0.00,2.20,0.00,0.000,4,0.000,0.042,2572,3543,1873,0,0,0,0,0,0
$GC,7872,0.76,243.3,891.1,20.2,580,7876,0.00,2.20,0.00,0.000,6,0.000,0.027,2582,2104,1872,0,0,0,0,0,0
$GC,8199,0.76,243.3,820.9,21.8,596,8203,0.00,2.10,0.00,0.000,4,0.000,0.035,2593,711,1872,0,0,0,0,0,0
$GC,8351,0.76,243.3,787.9,21.9,602,8358,0.00,2.12,0.00,0.000,6,0.000,0.032,2593,2099,1871,0,0,0,0,0,0
$GC,8667,0.76,243.3,716.9,22.6,618,8671,0.00,2.25,0.00,0.000,4,0.000,0.043,2593,3545,1870,0,0,0,0,0,0
$GC,8693,0.76,243.3,710.6,21.9,619,8698,0.15,2.20,0.00,0.000,6,0.206,0.027,2569,2082,1870,0,0,0,0,0,0
$GC,9021,0.76,243.3,650.3,17.5,635,9025,0.00,2.05,0.00,0.000,4,0.000,0.037,2577,726,1869,0,0,0,0,0,0
$GC,9149,0.76,243.3,628.5,15.8,640,9157,0.00,2.12,0.00,0.000,6,0.000,0.032,2578,2122,1869,0,0,0,0,0,0
$GC,9466,0.76,243.3,578.6,15.0,656,9467,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2121,1869,0,0,0,0,0,0
$GC,9775,0.76,243.3,528.7,16.9,671,9779,0.00,2.12,0.00,0.000,4,0.000,0.035,2587,720,1869,0,0,0,0,0,0
$GC,9801,0.76,243.3,523.7,17.5,672,9805,0.00,2.12,0.00,0.000,6,0.000,0.032,2587,2116,1869,0,0,0,0,0,0
$GC,10131,0.76,243.3,465.1,17.4,697,10135,0.00,2.12,0.00,0.000,4,0.000,0.036,2597,722,1869,0,0,0,0,0,0
$GC,10328,0.76,243.3,432.5,16.8,714,10332,0.12,2.03,0.00,0.000,6,0.181,0.032,2567,2050,1868,0,0,0,0,0,0
$GC,10653,0.76,243.3,384.7,14.6,744,10656,0.00,2.03,0.00,0.000,4,0.000,0.036,2574,721,1869,0,0,0,0,0,0
$GC,10702,0.76,243.3,376.9,15.3,748,10709,0.00,2.03,0.00,0.000,6,0.000,0.032,2574,2028,1869,0,0,0,0,0,0
$GC,11028,0.76,243.3,328.1,15.2,779,11032,0.00,2.35,0.00,0.000,4,0.000,0.043,2574,3537,1869,0,0,0,0,0,0
$GC,11060,0.76,243.3,322.4,16.7,781,11068,0.00,2.28,0.00,0.000,6,0.000,0.027,2585,2025,1869,0,0,0,0,0,0
$GC,11386,0.76,243.3,270.8,14.9,812,11389,0.00,1.95,0.00,0.000,4,0.000,0.035,2595,720,1869,0,0,0,0,0,0
$GC,11585,0.76,243.3,242.7,13.5,830,11589,0.12,1.92,0.00,0.000,6,0.177,0.032,2562,2003,1869,0,0,0,0,0,0
$GC,11912,0.76,243.3,195.0,17.2,863,11918,0.00,1.92,0.00,0.000,4,0.000,0.035,2571,720,1869,0,0,0,0,0,0
$GC,12019,0.76,243.3,179.6,12.5,882,12026,0.00,1.92,0.00,0.000,6,0.000,0.031,2572,1976,1869,0,0,0,0,0,0
$GC,12163,0.81,284.0,166.6,7.8,907,12202,0.00,2.47,29.75,0.565,4,0.000,0.041,2572,3537,1710,0,0,0,0,0,0
$GC,12250,0.89,348.3,161.6,5.5,921,12307,0.00,2.33,47.45,0.529,6,0.000,0.027,2582,2000,1447,0,0,0,0,0,0
$GC,12440,0.96,404.7,150.2,6.3,954,12491,0.12,2.47,42.17,0.520,4,0.087,0.040,2642,3534,1218,0,0,0,0,0,0
$GC,12544,0.96,404.7,138.3,13.7,971,12551,0.00,2.33,0.00,0.000,6,0.000,0.028,2652,2022,1221,0,0,0,0,0,0
$GC,12684,0.96,404.7,117.9,15.8,996,12692,0.00,2.00,0.00,0.000,4,0.000,0.036,2662,727,1223,0,0,0,0,0,0
$GC,12924,1.01,446.9,81.2,7.6,1039,12970,0.00,1.85,36.60,0.490,6,0.000,0.029,2662,1962,1052,0,0,0,0,0,0
$GC,13105,1.06,492.8,73.1,7.3,1070,13150,0.00,2.55,39.55,0.464,4,0.000,0.038,2663,3541,859,0,0,0,0,0,0
$GC,13208,1.06,492.8,56.7,21.0,1087,13215,0.00,2.42,0.00,0.000,6,0.000,0.026,2674,1953,860,0,0,0,0,0,0
$GC,13350,1.06,492.8,30.0,14.9,1112,13358,0.00,1.90,0.00,0.000,4,0.000,0.035,2683,717,858,0,0,0,0,0,0
$GC,13381,1.06,492.8,25.2,13.7,1117,13388,0.00,1.90,0.00,0.000,6,0.000,0.028,2683,1986,859,0,0,0,0,0,0
$GC,13526,1.09,516.7,10.3,9.4,1142,13552,0.00,2.40,18.77,0.475,4,0.000,0.039,2683,3536,762,0,0,0,0,0,0
$STATE,13591,end climb,SURFACE_DEPTH_REACHED
$STATE,13591,begin surface coast
$FINISH,1.8,1.020729
$STATE,13596,end surface coast,CONTROL_FINISHED_OK
$STATE,13598,begin surface
$SM_CCo,13676,0.00,0.000,0,0,761,517.09
$SM_GC,0.96,6.53,0.00,0.00,0.040,0.000,0.000,204,2563,761,-6.52,-1.07,517.09,0,0,0,0,0,0
$IRIDIUM_FIX,2020.26,11954.68,080811,090954
$TT8_MAMPS,0.02996,0.02996
$HUMID,43.54
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,23.4,50.355
$10V_AH,9.9,47.484
$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,16.525,128.750,533.050,0.000,0.000,30.099,17.661,157.469,0.000,0.000,15.369,2730.932,7844.465,609.315,2541.179,331.653,0.000,1780.936,0.000,2261.143,0.000,0.541,0.000
$DEVICE_MAMPS,223.380,55.080,1084.005,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,796.928,0.000,588.413,0.000,0.000,0.000,935.544,13776.491,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,100.000,10.000,0.000,0.000
$MEM,323016
$DATA_FILE_SIZE,70438,1154
$CAP_FILE_SIZE,148105,0
$CFSIZE,260165632,221904896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080811,174507,2029.740,12000.497,40,0.9,41,-2.3