version: 66.09
glider: 181
mission: 6
dive: 279
start: 8 2 111 8 27 4
data:
$ID,181
$MISSION,6
$DIVE,279
$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,-40870.609
$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,47
$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,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
$GPS1,020811,081956,2028.433,11959.740,24,3.4,44,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-70.6
$GPS2,020811,082640,2028.485,11959.766,10,3.2,29,-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,10.5,2836,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.56,-80.5,0.0,0.0,0,89,0.00,0.00,-70.95,0.000,2,0.000,0.000,201,2619,2463,0,0,0,0,0,0
$GC,92,-0.65,-159.6,3.6,-4.0,10,130,7.85,1.80,-21.10,0.000,4,0.229,0.053,2092,3768,3520,0,0,0,0,0,0
$GC,149,-0.65,-159.6,27.7,-49.4,18,157,0.00,1.77,0.00,0.000,6,0.000,0.024,2092,2577,3519,0,0,0,0,0,0
$GC,283,-0.65,-159.6,89.1,-41.5,43,291,0.00,1.90,0.00,0.000,4,0.000,0.042,2083,3774,3519,0,0,0,0,0,0
$GC,330,-0.65,-159.6,105.7,-34.9,51,338,0.00,1.60,0.00,0.000,6,0.000,0.024,2085,2694,3520,0,0,0,0,0,0
$GC,464,-0.65,-159.6,150.8,-33.9,76,472,0.00,2.20,0.00,0.000,4,0.000,0.026,2090,1215,3520,0,0,0,0,0,0
$GC,527,-0.65,-159.6,167.1,-22.1,87,535,0.00,2.25,0.00,0.000,6,0.000,0.035,2082,2657,3520,0,0,0,0,0,0
$GC,661,-0.65,-159.6,197.2,-18.0,112,670,0.00,1.73,0.00,0.000,4,0.000,0.041,2073,3773,3521,0,0,0,0,0,0
$GC,735,-0.70,-193.9,206.0,-8.4,119,742,0.00,1.55,0.00,0.000,6,0.000,0.024,2073,2721,3520,0,0,0,0,0,0
$GC,1062,-0.70,-193.9,262.4,-23.9,150,1066,0.00,2.20,0.00,0.000,4,0.000,0.026,2074,1210,3521,0,0,0,0,0,0
$GC,1160,-0.70,-193.9,283.7,-18.0,158,1169,0.00,2.25,0.00,0.000,6,0.000,0.034,2065,2659,3521,0,0,0,0,0,0
$GC,1486,-0.70,-193.9,331.8,-15.4,189,1491,0.12,2.17,0.00,0.000,4,0.193,0.028,2092,1205,3520,0,0,0,0,0,0
$GC,1610,-0.70,-193.9,350.6,-15.6,199,1617,0.00,2.15,0.00,0.000,6,0.000,0.034,2088,2617,3519,0,0,0,0,0,0
$GC,1935,-0.70,-193.9,422.4,-25.2,230,1938,0.00,1.77,0.00,0.000,4,0.000,0.044,2079,3787,3516,0,0,0,0,0,0
$GC,1962,-0.70,-193.9,430.1,-26.7,232,1969,0.00,1.70,0.00,0.000,6,0.000,0.024,2079,2637,3515,0,0,0,0,0,0
$GC,2286,-0.70,-193.9,510.8,-22.5,261,2290,0.00,2.10,0.00,0.000,4,0.000,0.028,2079,1206,3512,0,0,0,0,0,0
$GC,2403,-0.70,-193.9,532.7,-16.0,266,2407,0.00,2.17,0.00,0.000,6,0.000,0.035,2069,2625,3511,0,0,0,0,0,0
$GC,2725,-0.70,-193.9,584.3,-14.3,282,2729,0.00,2.12,0.00,0.000,4,0.000,0.029,2069,1205,3506,0,0,0,0,0,0
$GC,2752,-0.70,-193.9,588.0,-12.6,283,2758,0.10,2.17,0.00,0.000,6,0.150,0.038,2091,2583,3506,0,0,0,0,0,0
$GC,3074,-0.71,-208.4,623.0,-10.4,299,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2584,3503,0,0,0,0,0,0
$GC,3384,-0.76,-243.3,647.0,-7.1,314,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2584,3500,0,0,0,0,0,0
$GC,3693,-0.76,-243.3,671.1,-8.4,329,3697,0.00,1.85,0.00,0.000,4,0.000,0.047,2084,3781,3497,0,0,0,0,0,0
$GC,3709,-0.76,-243.3,672.8,-8.8,329,3716,0.00,1.77,0.00,0.000,6,0.000,0.027,2083,2575,3497,0,0,0,0,0,0
$GC,4026,-0.76,-243.3,710.6,-13.5,345,4030,0.00,2.05,0.00,0.000,4,0.000,0.031,2084,1212,3494,0,0,0,0,0,0
$GC,4117,-0.76,-243.3,722.5,-12.4,349,4121,0.00,2.12,0.00,0.000,6,0.000,0.038,2075,2577,3493,0,0,0,0,0,0
$GC,4444,-0.76,-243.3,777.9,-18.2,365,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2577,3490,0,0,0,0,0,0
$GC,4753,-0.76,-243.3,836.1,-19.0,380,4757,0.00,2.08,0.00,0.000,4,0.000,0.032,2075,1206,3488,0,0,0,0,0,0
$GC,4780,-0.76,-243.3,841.6,-18.8,381,4785,0.00,2.12,0.00,0.000,6,0.000,0.039,2067,2577,3488,0,0,0,0,0,0
$GC,5103,-0.76,-243.3,905.8,-19.7,397,5107,0.00,1.90,0.00,0.000,4,0.000,0.049,2058,3773,3485,0,0,0,0,0,0
$GC,5148,-0.76,-243.3,914.6,-18.8,399,5152,0.00,1.83,0.00,0.000,6,0.000,0.027,2058,2575,3485,0,0,0,0,0,0
$GC,5481,-0.76,-243.3,970.8,-15.8,415,5485,0.00,2.05,0.00,0.000,4,0.000,0.032,2058,1206,3483,0,0,0,0,0,0
$GC,5573,-0.76,-243.3,983.1,-11.9,419,5577,0.00,2.12,0.00,0.000,6,0.000,0.041,2050,2562,3482,0,0,0,0,0,0
$STATE,5629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5630,begin apogee
$GC,5636,-0.13,0.0,991.0,13.4,422,5766,0.73,0.00,118.62,1.086,4,0.150,0.000,2268,2100,2867,0,0,0,0,0,0
$STATE,5767,end apogee,CONTROL_FINISHED_OK
$STATE,5767,begin climb
$GC,5769,0.76,243.3,992.5,0.0,428,5972,0.85,2.20,193.60,1.053,4,0.056,0.037,2575,740,1877,0,0,0,0,0,0
$GC,6168,0.76,243.3,917.4,25.3,446,6173,0.00,2.25,0.00,0.000,6,0.000,0.034,2575,2131,1875,0,0,0,0,0,0
$GC,6491,0.76,243.3,831.2,26.8,462,6495,0.00,2.15,0.00,0.000,4,0.000,0.035,2585,739,1873,0,0,0,0,0,0
$GC,6726,0.76,243.3,774.3,22.5,472,6733,0.00,2.20,0.00,0.000,6,0.000,0.034,2584,2128,1874,0,0,0,0,0,0
$GC,7043,0.76,243.3,705.8,20.6,488,7047,0.00,2.15,0.00,0.000,4,0.000,0.036,2594,727,1872,0,0,0,0,0,0
$GC,7075,0.76,243.3,699.0,19.6,489,7083,0.00,2.17,0.00,0.000,6,0.000,0.034,2594,2144,1872,0,0,0,0,0,0
$GC,7392,0.76,243.3,640.5,17.9,505,7396,0.00,2.17,0.00,0.000,4,0.000,0.035,2604,730,1871,0,0,0,0,0,0
$GC,7442,0.76,243.3,631.9,16.3,507,7447,0.15,2.12,0.00,0.000,6,0.185,0.034,2568,2116,1871,0,0,0,0,0,0
$GC,7763,0.76,243.3,583.2,15.9,523,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2117,1870,0,0,0,0,0,0
$GC,8073,0.76,243.3,531.9,16.9,538,8077,0.00,2.20,0.00,0.000,4,0.000,0.045,2568,3538,1869,0,0,0,0,0,0
$GC,8116,0.76,243.3,523.3,19.1,540,8121,0.00,2.17,0.00,0.000,6,0.000,0.028,2576,2098,1869,0,0,0,0,0,0
$GC,8441,0.76,243.3,471.2,14.4,564,8444,0.00,2.08,0.00,0.000,4,0.000,0.037,2586,722,1869,0,0,0,0,0,0
$GC,8485,0.76,243.3,464.5,14.1,567,8492,0.00,2.15,0.00,0.000,6,0.000,0.034,2587,2125,1866,0,0,0,0,0,0
$GC,8810,0.76,243.3,419.6,13.8,598,8811,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2125,1869,0,0,0,0,0,0
$GC,9131,0.76,243.3,362.3,21.3,628,9135,0.00,2.15,0.00,0.000,4,0.000,0.037,2596,718,1868,0,0,0,0,0,0
$GC,9216,0.76,243.3,345.1,18.5,635,9221,0.12,2.15,0.00,0.000,6,0.183,0.034,2567,2121,1868,0,0,0,0,0,0
$GC,9542,0.76,243.3,291.5,16.9,665,9546,0.00,2.20,0.00,0.000,4,0.000,0.044,2567,3542,1868,0,0,0,0,0,0
$GC,9564,0.76,243.3,287.2,17.2,666,9573,0.00,2.17,0.00,0.000,6,0.000,0.026,2574,2122,1869,0,0,0,0,0,0
$GC,9891,0.76,243.3,254.0,12.0,697,9895,0.00,2.12,0.00,0.000,4,0.000,0.036,2585,710,1869,0,0,0,0,0,0
$GC,10001,0.76,243.3,229.6,24.7,706,10009,0.00,2.17,0.00,0.000,6,0.000,0.032,2585,2106,1869,0,0,0,0,0,0
$GC,10324,0.79,268.0,185.8,9.4,753,10346,0.00,0.00,18.60,0.593,6,0.000,0.000,2585,2107,1775,0,0,0,0,0,0
$GC,10475,0.79,268.0,165.9,15.2,780,10483,0.00,2.25,0.00,0.000,4,0.000,0.043,2585,3538,1775,0,0,0,0,0,0
$GC,10543,0.79,268.0,154.1,17.2,792,10551,0.00,2.17,0.00,0.000,6,0.000,0.028,2595,2129,1775,0,0,0,0,0,0
$GC,10680,0.79,268.0,132.6,14.7,817,10688,0.00,2.17,0.00,0.000,4,0.000,0.037,2607,720,1774,0,0,0,0,0,0
$GC,10856,0.79,268.0,107.2,14.2,850,10864,0.10,2.12,0.00,0.000,6,0.149,0.031,2575,2095,1775,0,0,0,0,0,0
$GC,10994,0.83,306.1,94.2,8.0,875,11032,0.00,2.17,28.50,0.523,4,0.000,0.037,2583,718,1624,0,0,0,0,0,0
$GC,11061,0.90,359.1,89.6,6.6,885,11106,0.00,2.08,39.08,0.480,6,0.000,0.031,2582,2056,1403,0,0,0,0,0,0
$GC,11235,0.92,377.0,75.8,10.0,915,11259,0.10,2.35,14.60,0.474,4,0.094,0.041,2637,3526,1332,0,0,0,0,0,0
$GC,11330,0.92,377.0,62.1,15.2,931,11339,0.08,2.25,0.00,0.000,6,0.153,0.028,2623,2079,1332,0,0,0,0,0,0
$GC,11470,0.93,383.3,44.5,11.2,956,11486,0.00,2.12,6.75,0.443,4,0.000,0.037,2632,727,1305,0,0,0,0,0,0
$GC,11494,0.95,399.1,41.7,10.2,959,11517,0.00,2.12,12.57,0.474,6,0.000,0.031,2632,2093,1243,0,0,0,0,0,0
$GC,11645,0.97,414.2,26.8,10.3,986,11661,0.00,0.00,13.35,0.461,6,0.000,0.000,2632,2093,1182,0,0,0,0,0,0
$GC,11791,0.99,436.6,11.9,9.6,1012,11815,0.00,2.33,17.62,0.452,4,0.000,0.041,2632,3545,1087,0,0,0,0,0,0
$GC,11854,1.03,461.8,5.8,9.3,1022,11878,0.00,2.28,19.42,0.411,6,0.000,0.027,2642,2076,986,0,0,0,0,0,0
$STATE,11889,end climb,SURFACE_DEPTH_REACHED
$STATE,11890,begin surface coast
$FINISH,0.2,1.020597
$STATE,11927,end surface coast,CONTROL_FINISHED_OK
$STATE,11929,begin surface
$SM_CCo,11945,7.00,0.063,0,0,932,475.15
$SM_GC,2.15,0.00,0.00,7.00,0.000,0.000,0.063,212,2610,932,-6.59,0.28,475.15,0,0,0,0,0,0
$IRIDIUM_FIX,2022.56,11959.82,020811,030306
$TT8_MAMPS,0.028462,0.028462
$HUMID,43.03
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.5,44.457
$10V_AH,9.9,42.737
$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,16.550,122.450,482.725,7.000,0.000,30.589,21.194,187.423,0.000,0.000,33.500,2477.962,6211.369,549.897,2795.997,311.764,0.000,1669.585,0.000,1838.996,0.000,0.541,0.000
$DEVICE_MAMPS,228.735,52.785,1085.535,63.495,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,716.059,1113.760,1350.366,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323036
$DATA_FILE_SIZE,70323,1034
$CAP_FILE_SIZE,135715,0
$CFSIZE,260165632,225062912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020811,114736,2030.375,12002.002,38,0.9,38,-2.3