version: 66.09
glider: 181
mission: 6
dive: 285
start: 8 3 111 8 34 6
data:
$ID,181
$MISSION,6
$DIVE,285
$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,-40878.156
$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,46
$R_STBD_OVSHOOT,31
$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,5.0
$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
$GPS1,030811,082707,2033.842,11959.428,36,0.9,36,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-68.4
$GPS2,030811,083338,2033.746,11959.438,10,2.0,10,-2.3
$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,15.4,4286,-21.9,-11.786
$D_GRID,3440
$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,-125.7,0.0,0.0,0,90,0.00,0.00,-65.47,0.000,2,0.000,0.000,202,2604,2304,0,0,0,0,0,0
$GC,94,-0.66,-243.3,3.1,-3.5,10,142,7.93,2.15,-32.25,0.000,4,0.235,0.041,2101,1184,3863,0,0,0,0,0,0
$GC,186,-0.66,-243.3,34.9,-33.9,25,194,0.00,2.28,0.00,0.000,6,0.000,0.044,2092,2601,3864,0,0,0,0,0,0
$GC,319,-0.66,-243.3,86.6,-38.3,50,327,0.00,1.85,0.00,0.000,4,0.000,0.045,2083,3776,3863,0,0,0,0,0,0
$GC,448,-0.66,-243.3,137.9,-39.1,74,455,0.00,1.75,0.00,0.000,6,0.000,0.024,2083,2605,3863,0,0,0,0,0,0
$GC,582,-0.66,-243.3,172.6,-25.1,99,590,0.00,2.08,0.00,0.000,4,0.000,0.025,2083,1200,3864,0,0,0,0,0,0
$GC,603,-0.66,-243.3,178.1,-25.2,102,611,0.08,2.30,0.00,0.000,6,0.143,0.040,2097,2658,3864,0,0,0,0,0,0
$GC,744,-0.66,-243.3,206.5,-20.9,125,748,0.00,1.73,0.00,0.000,4,0.000,0.043,2090,3796,3865,0,0,0,0,0,0
$GC,782,-0.66,-243.3,215.2,-20.4,128,790,0.00,1.70,0.00,0.000,6,0.000,0.024,2090,2665,3865,0,0,0,0,0,0
$GC,1112,-0.66,-243.3,284.1,-22.7,159,1116,0.00,1.73,0.00,0.000,4,0.000,0.045,2081,3787,3865,0,0,0,0,0,0
$GC,1139,-0.66,-243.3,291.6,-22.6,161,1146,0.00,1.73,0.00,0.000,6,0.000,0.024,2081,2637,3865,0,0,0,0,0,0
$GC,1464,-0.66,-243.3,353.8,-18.7,192,1468,0.00,1.77,0.00,0.000,4,0.000,0.044,2072,3789,3864,0,0,0,0,0,0
$GC,1514,-0.66,-243.3,364.0,-20.3,196,1522,0.08,1.73,0.00,0.000,6,0.138,0.024,2097,2640,3864,0,0,0,0,0,0
$GC,1840,-0.66,-243.3,413.5,-13.7,227,1844,0.00,2.12,0.00,0.000,4,0.000,0.029,2098,1194,3861,0,0,0,0,0,0
$GC,1884,-0.66,-243.3,418.9,-11.4,230,1891,0.00,2.25,0.00,0.000,6,0.000,0.037,2096,2661,3861,0,0,0,0,0,0
$GC,2209,-0.66,-243.3,470.9,-18.8,261,2213,0.00,1.73,0.00,0.000,4,0.000,0.046,2087,3789,3858,0,0,0,0,0,0
$GC,2283,-0.66,-243.3,484.2,-16.5,267,2290,0.00,1.70,0.00,0.000,6,0.000,0.024,2087,2623,3857,0,0,0,0,0,0
$GC,2602,-0.66,-243.3,547.4,-19.9,287,2605,0.00,1.80,0.00,0.000,4,0.000,0.046,2079,3786,3854,0,0,0,0,0,0
$GC,2640,-0.66,-243.3,555.2,-18.8,288,2648,0.08,1.70,0.00,0.000,6,0.137,0.025,2105,2660,3854,0,0,0,0,0,0
$GC,2956,-0.66,-243.3,605.1,-15.8,304,2960,0.00,2.17,0.00,0.000,4,0.000,0.030,2105,1196,3851,0,0,0,0,0,0
$GC,2997,-0.66,-243.3,610.7,-13.4,306,3001,0.00,2.28,0.00,0.000,6,0.000,0.037,2098,2672,3850,0,0,0,0,0,0
$GC,3324,-0.66,-243.3,659.9,-14.7,322,3328,0.00,1.73,0.00,0.000,4,0.000,0.047,2091,3793,3847,0,0,0,0,0,0
$GC,3351,-0.66,-243.3,664.0,-14.3,323,3355,0.00,1.70,0.00,0.000,6,0.000,0.024,2091,2666,3847,0,0,0,0,0,0
$GC,3680,-0.66,-243.3,708.3,-13.3,339,3684,0.00,2.17,0.00,0.000,4,0.000,0.029,2092,1199,3843,0,0,0,0,0,0
$GC,3735,-0.66,-243.3,714.6,-9.9,341,3742,0.00,2.25,0.00,0.000,6,0.000,0.037,2084,2657,3843,0,0,0,0,0,0
$GC,4051,-0.66,-243.3,755.6,-13.7,357,4055,0.00,1.75,0.00,0.000,4,0.000,0.048,2076,3789,3839,0,0,0,0,0,0
$GC,4106,-0.66,-243.3,762.9,-11.9,359,4111,0.10,1.67,0.00,0.000,6,0.158,0.027,2102,2662,3839,0,0,0,0,0,0
$GC,4428,-0.66,-243.3,801.8,-12.5,375,4432,0.00,2.17,0.00,0.000,4,0.000,0.031,2102,1204,3836,0,0,0,0,0,0
$GC,4495,-0.66,-243.3,809.0,-9.2,378,4499,0.00,2.25,0.00,0.000,6,0.000,0.037,2099,2658,3836,0,0,0,0,0,0
$GC,4816,-0.66,-243.3,847.2,-12.2,394,4820,0.00,1.75,0.00,0.000,4,0.000,0.050,2091,3785,3833,0,0,0,0,0,0
$GC,4866,-0.66,-243.3,852.9,-10.9,396,4870,0.00,1.70,0.00,0.000,6,0.000,0.027,2091,2667,3833,0,0,0,0,0,0
$GC,5194,-0.66,-243.3,892.3,-12.4,412,5198,0.00,2.20,0.00,0.000,4,0.000,0.032,2091,1198,3830,0,0,0,0,0,0
$GC,5273,-0.66,-243.3,900.6,-9.2,415,5280,0.00,2.28,0.00,0.000,6,0.000,0.040,2084,2646,3829,0,0,0,0,0,0
$GC,5589,-0.66,-243.3,940.3,-13.1,431,5593,0.00,1.80,0.00,0.000,4,0.000,0.052,2077,3773,3827,0,0,0,0,0,0
$GC,5667,-0.66,-243.3,950.1,-11.2,434,5671,0.00,1.70,0.00,0.000,6,0.000,0.026,2077,2659,3827,0,0,0,0,0,0
$STATE,5945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5946,begin apogee
$GC,5952,-0.13,0.0,990.8,15.7,448,6142,0.60,0.00,184.75,1.089,4,0.134,0.000,2267,2108,2869,0,0,0,0,0,0
$STATE,6143,end apogee,CONTROL_FINISHED_OK
$STATE,6143,begin climb
$GC,6146,0.66,243.3,1002.6,0.0,457,6356,0.75,2.25,196.65,1.064,4,0.053,0.037,2543,738,1877,0,0,0,0,0,0
$GC,6547,0.66,243.3,963.7,13.7,475,6551,0.00,2.20,0.00,0.000,6,0.000,0.034,2543,2124,1875,0,0,0,0,0,0
$GC,6863,0.66,243.3,918.4,13.8,490,6867,0.00,2.17,0.00,0.000,4,0.000,0.035,2552,732,1872,0,0,0,0,0,0
$GC,7026,0.66,243.3,897.5,12.0,497,7030,0.00,2.17,0.00,0.000,6,0.000,0.034,2551,2137,1873,0,0,0,0,0,0
$GC,7342,0.66,243.3,853.0,14.3,512,7343,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2137,1873,0,0,0,0,0,0
$GC,7652,0.66,243.3,806.9,15.4,527,7656,0.00,2.15,0.00,0.000,4,0.000,0.037,2561,735,1872,0,0,0,0,0,0
$GC,7695,0.66,243.3,799.9,15.1,529,7700,0.00,2.15,0.00,0.000,6,0.000,0.034,2561,2137,1872,0,0,0,0,0,0
$GC,8023,0.66,243.3,745.8,17.1,545,8024,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2137,1871,0,0,0,0,0,0
$GC,8335,0.66,243.3,690.2,18.4,560,8339,0.00,2.12,0.00,0.000,4,0.000,0.036,2570,742,1870,0,0,0,0,0,0
$GC,8375,0.66,243.3,682.7,17.8,562,8380,0.15,2.15,0.00,0.000,6,0.171,0.034,2533,2142,1870,0,0,0,0,0,0
$GC,8702,0.66,243.3,632.8,14.4,578,8706,0.00,2.15,0.00,0.000,4,0.000,0.044,2532,3536,1869,0,0,0,0,0,0
$GC,8769,0.66,243.3,622.5,14.9,581,8773,0.00,2.08,0.00,0.000,6,0.000,0.027,2541,2160,1869,0,0,0,0,0,0
$GC,9090,0.66,243.3,578.9,12.9,597,9094,0.00,2.17,0.00,0.000,4,0.000,0.037,2551,724,1869,0,0,0,0,0,0
$GC,9213,0.67,246.5,564.5,11.6,602,9220,0.00,2.17,0.00,0.000,6,0.000,0.034,2551,2143,1869,0,0,0,0,0,0
$GC,9531,0.67,246.5,524.1,12.9,618,9535,0.00,2.15,0.00,0.000,4,0.000,0.044,2552,3537,1869,0,0,0,0,0,0
$GC,9563,0.67,246.5,519.1,14.3,619,9570,0.00,2.17,0.00,0.000,6,0.000,0.027,2561,2094,1869,0,0,0,0,0,0
$GC,9887,0.67,246.5,466.4,18.3,644,9891,0.00,2.10,0.00,0.000,4,0.000,0.037,2572,713,1869,0,0,0,0,0,0
$GC,9983,0.67,246.5,448.1,18.7,652,9991,0.15,2.15,0.00,0.000,6,0.164,0.033,2533,2121,1869,0,0,0,0,0,0
$GC,10310,0.67,246.5,395.2,14.1,683,10314,0.00,2.17,0.00,0.000,4,0.000,0.044,2533,3534,1869,0,0,0,0,0,0
$GC,10365,0.67,246.5,386.5,15.4,687,10372,0.00,2.12,0.00,0.000,6,0.000,0.027,2541,2120,1868,0,0,0,0,0,0
$GC,10690,0.67,246.5,342.0,14.2,718,10694,0.00,2.12,0.00,0.000,4,0.000,0.037,2552,713,1869,0,0,0,0,0,0
$GC,10814,0.67,246.5,323.2,15.4,728,10821,0.00,2.12,0.00,0.000,6,0.000,0.032,2552,2108,1869,0,0,0,0,0,0
$GC,11140,0.67,246.5,275.1,12.4,759,11144,0.00,2.20,0.00,0.000,4,0.000,0.043,2552,3535,1869,0,0,0,0,0,0
$GC,11267,0.67,246.5,258.8,12.8,770,11271,0.00,2.12,0.00,0.000,6,0.000,0.026,2561,2119,1869,0,0,0,0,0,0
$GC,11592,0.67,246.5,214.2,17.6,800,11596,0.00,2.10,0.00,0.000,4,0.000,0.036,2572,722,1870,0,0,0,0,0,0
$GC,11755,0.67,246.5,182.2,18.1,823,11763,0.10,2.12,0.00,0.000,6,0.147,0.031,2541,2093,1870,0,0,0,0,0,0
$GC,11891,0.74,304.6,166.6,8.1,848,11946,0.00,2.17,44.50,0.574,4,0.000,0.036,2549,724,1626,0,0,0,0,0,0
$GC,11969,0.88,420.8,163.3,4.5,860,12063,0.12,2.12,84.30,0.543,6,0.054,0.032,2615,2073,1151,0,0,0,0,0,0
$GC,12192,0.88,420.8,142.5,13.4,898,12200,0.00,2.35,0.00,0.000,4,0.000,0.042,2615,3532,1157,0,0,0,0,0,0
$GC,12223,0.88,420.8,137.1,16.8,903,12230,0.00,2.30,0.00,0.000,6,0.000,0.027,2625,2069,1158,0,0,0,0,0,0
$GC,12357,0.88,420.8,108.5,22.4,928,12364,0.00,2.10,0.00,0.000,4,0.000,0.037,2635,725,1159,0,0,0,0,0,0
$GC,12419,0.88,420.8,94.8,20.7,939,12427,0.08,2.12,0.00,0.000,6,0.143,0.031,2610,2078,1159,0,0,0,0,0,0
$GC,12555,0.88,422.8,75.1,11.7,964,12570,0.00,2.33,4.62,0.419,4,0.000,0.041,2610,3532,1144,0,0,0,0,0,0
$GC,12589,0.90,431.6,71.1,11.2,969,12605,0.00,2.25,8.10,0.499,6,0.000,0.028,2619,2084,1109,0,0,0,0,0,0
$GC,12733,0.99,510.8,59.8,6.8,995,12800,0.00,2.17,57.62,0.478,4,0.000,0.037,2629,720,785,0,0,0,0,0,0
$GC,12809,1.09,591.4,54.8,6.7,1006,12876,0.10,2.20,58.75,0.453,6,0.050,0.032,2690,2103,457,0,0,0,0,0,0
$GC,13003,1.09,591.4,28.5,14.8,1040,13011,0.00,2.28,0.00,0.000,4,0.000,0.041,2690,3531,463,0,0,0,0,0,0
$GC,13075,1.09,591.4,17.1,14.9,1053,13083,0.00,2.15,0.00,0.000,6,0.000,0.026,2700,2149,465,0,0,0,0,0,0
$STATE,13181,end climb,SURFACE_DEPTH_REACHED
$STATE,13181,begin surface coast
$FINISH,0.0,1.007991
$STATE,13210,end surface coast,CONTROL_FINISHED_OK
$STATE,13211,begin surface
$SM_CCo,13288,0.00,0.000,0,0,465,589.70
$SM_GC,1.01,6.57,0.00,0.00,0.040,0.000,0.000,207,2641,465,-6.51,1.16,589.70,0,0,0,0,0,0
$IRIDIUM_FIX,2027.17,12331.83,030811,040417
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.78
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.2,45.440
$10V_AH,10.0,43.544
$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,16.875,145.325,639.300,0.000,0.000,30.660,22.999,172.553,0.000,0.000,13.187,2549.944,7476.101,688.790,2631.178,328.921,0.000,1892.191,0.000,2364.558,0.000,0.540,0.000
$DEVICE_MAMPS,234.855,52.020,1089.360,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,749.544,0.000,939.255,0.000,0.000,0.000,763.433,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,100.000,0.000,0.000,0.000
$MEM,323012
$DATA_FILE_SIZE,63615,1078
$CAP_FILE_SIZE,149160,0
$CFSIZE,260165632,224538624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030811,121637,2035.778,12001.639,24,1.3,24,-2.4