version: 66.09
glider: 181
mission: 6
dive: 271
start: 7 31 111 22 9 56
data:
$ID,181
$MISSION,6
$DIVE,271
$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,-40860.371
$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,62
$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
$GPS1,310711,220306,2010.201,11958.192,34,0.9,35,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-68.2
$GPS2,310711,220932,2010.179,11958.281,10,1.7,10,-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,6.9,36829,-15.4,-11.786
$D_GRID,3425
$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,-243.3,0.0,0.0,0,89,0.00,0.00,-70.88,0.000,2,0.000,0.000,206,2634,2446,0,0,0,0,0,0
$GC,92,-0.56,-243.3,3.4,-3.7,10,137,7.85,1.77,-28.17,0.000,4,0.225,0.052,2125,3762,3866,0,0,0,0,0,0
$GC,151,-0.56,-243.3,22.2,-34.5,18,159,0.00,1.77,0.00,0.000,6,0.000,0.024,2125,2590,3867,0,0,0,0,0,0
$GC,285,-0.56,-243.3,64.7,-24.4,43,293,0.00,2.08,0.00,0.000,4,0.000,0.025,2126,1196,3867,0,0,0,0,0,0
$GC,347,-0.56,-243.3,75.7,-16.0,54,355,0.00,2.20,0.00,0.000,6,0.000,0.037,2124,2594,3867,0,0,0,0,0,0
$GC,481,-0.56,-243.3,103.0,-22.8,79,489,0.00,1.85,0.00,0.000,4,0.000,0.045,2115,3774,3867,0,0,0,0,0,0
$GC,558,-0.56,-243.3,120.5,-16.9,93,566,0.00,1.62,0.00,0.000,6,0.000,0.023,2115,2679,3867,0,0,0,0,0,0
$GC,693,-0.56,-243.3,144.5,-21.2,118,701,0.00,2.20,0.00,0.000,4,0.000,0.026,2115,1200,3867,0,0,0,0,0,0
$GC,740,-0.56,-243.3,153.5,-16.4,126,748,0.00,2.33,0.00,0.000,6,0.000,0.037,2112,2682,3867,0,0,0,0,0,0
$GC,874,-0.56,-243.3,179.2,-19.8,151,883,0.00,1.70,0.00,0.000,4,0.000,0.045,2105,3774,3867,0,0,0,0,0,0
$GC,957,-0.56,-243.3,194.2,-13.7,166,966,0.10,1.58,0.00,0.000,6,0.138,0.024,2138,2701,3868,0,0,0,0,0,0
$GC,1097,-0.56,-243.3,213.2,-15.5,183,1101,0.00,2.20,0.00,0.000,4,0.000,0.026,2138,1194,3868,0,0,0,0,0,0
$GC,1172,-0.56,-243.3,222.1,-9.4,189,1176,0.00,2.25,0.00,0.000,6,0.000,0.033,2139,2679,3868,0,0,0,0,0,0
$GC,1499,-0.56,-243.3,263.3,-16.5,219,1502,0.00,1.67,0.00,0.000,4,0.000,0.043,2130,3789,3866,0,0,0,0,0,0
$GC,1556,-0.56,-243.3,272.3,-14.9,224,1559,0.00,1.65,0.00,0.000,6,0.000,0.023,2131,2651,3866,0,0,0,0,0,0
$GC,1887,-0.56,-243.3,319.3,-7.8,255,1891,0.00,1.77,0.00,0.000,4,0.000,0.042,2125,3777,3864,0,0,0,0,0,0
$GC,1948,-0.56,-243.3,322.6,-5.6,260,1955,0.00,1.60,0.00,0.000,6,0.000,0.024,2125,2696,3864,0,0,0,0,0,0
$GC,2274,-0.56,-243.3,349.4,-9.6,291,2278,0.00,2.20,0.00,0.000,4,0.000,0.028,2125,1198,3861,0,0,0,0,0,0
$GC,2337,-0.56,-243.3,354.7,-8.0,296,2341,0.00,2.28,0.00,0.000,6,0.000,0.033,2125,2694,3861,0,0,0,0,0,0
$GC,2662,-0.56,-243.3,399.2,-16.9,326,2665,0.00,1.65,0.00,0.000,4,0.000,0.044,2125,3784,3859,0,0,0,0,0,0
$GC,2686,-0.56,-243.3,403.5,-17.7,328,2689,0.00,1.65,0.00,0.000,6,0.000,0.024,2124,2684,3858,0,0,0,0,0,0
$GC,3017,-0.56,-243.3,464.7,-17.2,359,3021,0.00,2.17,0.00,0.000,4,0.000,0.028,2125,1202,3854,0,0,0,0,0,0
$GC,3034,-0.56,-243.3,467.7,-16.9,360,3038,0.00,2.30,0.00,0.000,6,0.000,0.035,2124,2699,3856,0,0,0,0,0,0
$GC,3375,-0.56,-243.3,507.8,-9.2,388,3378,0.00,1.65,0.00,0.000,4,0.000,0.045,2124,3786,3853,0,0,0,0,0,0
$GC,3399,-0.56,-243.3,509.9,-8.9,389,3403,0.00,1.65,0.00,0.000,6,0.000,0.025,2124,2682,3853,0,0,0,0,0,0
$GC,3732,-0.56,-243.3,543.2,-12.3,405,3736,0.00,2.20,0.00,0.000,4,0.000,0.029,2124,1194,3851,0,0,0,0,0,0
$GC,3786,-0.56,-243.3,550.4,-12.2,407,3794,0.00,2.30,0.00,0.000,6,0.000,0.034,2124,2691,3850,0,0,0,0,0,0
$GC,4103,-0.56,-243.3,598.1,-15.3,423,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2692,3848,0,0,0,0,0,0
$GC,4413,-0.56,-243.3,636.2,-10.7,438,4417,0.00,2.25,0.00,0.000,4,0.000,0.030,2124,1201,3844,0,0,0,0,0,0
$GC,4463,-0.56,-243.3,640.2,-7.9,440,4467,0.00,2.28,0.00,0.000,6,0.000,0.035,2124,2681,3844,0,0,0,0,0,0
$GC,4785,-0.56,-243.3,654.5,-3.6,456,4789,0.00,2.22,0.00,0.000,4,0.000,0.030,2124,1206,3841,0,0,0,0,0,0
$GC,4829,-0.56,-243.3,655.9,-3.6,458,4833,0.00,2.25,0.00,0.000,6,0.000,0.036,2124,2667,3841,0,0,0,0,0,0
$GC,5151,-0.56,-243.3,672.7,-7.2,474,5155,0.00,2.22,0.00,0.000,4,0.000,0.031,2125,1196,3837,0,0,0,0,0,0
$GC,5179,-0.56,-243.3,674.8,-7.4,475,5183,0.00,2.28,0.00,0.000,6,0.000,0.038,2124,2659,3838,0,0,0,0,0,0
$GC,5501,-0.56,-243.3,702.0,-8.9,491,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2660,3835,0,0,0,0,0,0
$GC,5810,-0.56,-243.3,729.7,-8.8,506,5814,0.00,2.22,0.00,0.000,4,0.000,0.031,2125,1200,3833,0,0,0,0,0,0
$GC,5843,-0.56,-243.3,732.7,-8.5,507,5850,0.00,2.25,0.00,0.000,6,0.000,0.037,2124,2653,3833,0,0,0,0,0,0
$GC,6160,-0.56,-243.3,759.8,-8.9,523,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2658,3830,0,0,0,0,0,0
$GC,6469,-0.56,-243.3,789.6,-10.0,538,6473,0.00,2.20,0.00,0.000,4,0.000,0.032,2124,1203,3829,0,0,0,0,0,0
$GC,6518,-0.56,-243.3,794.5,-9.4,540,6523,0.00,2.22,0.00,0.000,6,0.000,0.037,2124,2643,3829,0,0,0,0,0,0
$GC,6840,-0.56,-243.3,831.2,-12.3,556,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2644,3827,0,0,0,0,0,0
$GC,7150,-0.56,-243.3,870.8,-12.7,571,7154,0.00,2.20,0.00,0.000,4,0.000,0.033,2127,1199,3825,0,0,0,0,0,0
$GC,7182,-0.56,-243.3,875.3,-12.9,572,7189,0.00,2.25,0.00,0.000,6,0.000,0.039,2124,2637,3825,0,0,0,0,0,0
$GC,7499,-0.56,-243.3,911.4,-10.8,588,7500,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2638,3824,0,0,0,0,0,0
$GC,7809,-0.56,-243.3,939.0,-7.8,603,7813,0.00,2.17,0.00,0.000,4,0.000,0.032,2124,1206,3823,0,0,0,0,0,0
$GC,7836,-0.56,-243.3,941.1,-7.6,604,7840,0.00,2.20,0.00,0.000,6,0.000,0.037,2124,2623,3822,0,0,0,0,0,0
$GC,8153,-0.56,-243.3,958.3,-5.4,619,8157,0.00,1.80,0.00,0.000,4,0.000,0.050,2125,3775,3820,0,0,0,0,0,0
$GC,8177,-0.56,-243.3,959.5,-5.3,620,8181,0.00,1.73,0.00,0.000,6,0.000,0.026,2124,2619,3818,0,0,0,0,0,0
$GC,8510,-0.56,-243.3,980.2,-7.1,636,8514,0.00,2.12,0.00,0.000,4,0.000,0.031,2124,1203,3819,0,0,0,0,0,0
$GC,8556,-0.56,-243.3,984.0,-8.1,638,8560,0.00,2.20,0.00,0.000,6,0.000,0.037,2124,2617,3819,0,0,0,0,0,0
$STATE,8638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8639,begin apogee
$GC,8645,-0.13,0.0,991.9,9.4,642,8835,0.43,0.00,183.62,1.099,4,0.105,0.000,2270,2108,2871,0,0,0,0,0,0
$STATE,8835,end apogee,CONTROL_FINISHED_OK
$STATE,8835,begin climb
$GC,8838,0.56,243.3,1010.2,0.0,651,9050,0.65,2.40,198.15,1.079,4,0.057,0.042,2506,3540,1877,0,0,0,0,0,0
$GC,9178,0.88,505.5,1008.6,3.2,666,9401,0.25,2.22,213.05,1.067,6,0.076,0.028,2609,2138,808,0,0,0,0,0,0
$GC,9724,1.11,694.4,969.1,5.6,693,9809,0.20,2.30,74.47,1.052,4,0.088,0.030,2690,717,442,0,0,0,0,0,0
$GC,9902,1.32,865.7,952.3,6.2,701,9913,0.15,2.28,3.65,0.581,6,0.095,0.037,2747,2146,439,0,0,0,0,0,0
$GC,10237,1.32,865.7,871.9,29.2,717,10241,0.00,2.17,0.00,0.000,4,0.000,0.029,2756,705,439,0,0,0,0,0,0
$GC,10359,1.32,865.7,839.5,25.6,722,10366,0.00,2.33,0.00,0.000,6,0.000,0.039,2756,2190,438,0,0,0,0,0,0
$GC,10676,1.32,865.7,711.6,43.6,738,10680,0.00,2.10,0.00,0.000,4,0.000,0.048,2756,3538,438,0,0,0,0,0,0
$GC,10760,1.32,865.7,671.9,44.0,742,10764,0.00,2.00,0.00,0.000,6,0.000,0.027,2765,2209,438,0,0,0,0,0,0
$GC,11094,1.32,865.7,519.1,44.8,758,11098,0.00,2.10,0.00,0.000,4,0.000,0.047,2766,3541,439,0,0,0,0,0,0
$GC,11143,1.32,865.7,495.3,45.2,760,11150,0.00,1.98,0.00,0.000,6,0.000,0.026,2775,2234,439,0,0,0,0,0,0
$GC,11469,1.32,865.7,369.8,35.8,791,11474,0.12,2.08,0.00,0.000,4,0.207,0.049,2749,3536,437,0,0,0,0,0,0
$GC,11542,1.32,865.7,343.4,34.2,797,11546,0.00,1.90,0.00,0.000,6,0.000,0.025,2756,2263,438,0,0,0,0,0,0
$GC,11873,1.32,865.7,233.5,35.7,828,11877,0.00,2.00,0.00,0.000,4,0.000,0.047,2757,3540,437,0,0,0,0,0,0
$GC,11934,1.32,865.7,211.5,33.4,833,11941,0.00,1.88,0.00,0.000,6,0.000,0.025,2765,2279,437,0,0,0,0,0,0
$GC,12252,1.32,865.7,110.3,25.3,891,12260,0.00,2.38,0.00,0.000,4,0.000,0.032,2777,718,437,0,0,0,0,0,0
$GC,12273,1.32,865.7,105.8,22.1,894,12282,0.10,2.47,0.00,0.000,6,0.154,0.034,2748,2312,437,0,0,0,0,0,0
$GC,12411,1.32,868.6,86.3,11.7,919,12419,0.00,1.92,0.00,0.000,4,0.000,0.044,2748,3546,437,0,0,0,0,0,0
$GC,12433,1.34,880.4,83.6,11.4,922,12441,0.00,1.92,0.00,0.000,6,0.000,0.024,2754,2276,438,0,0,0,0,0,0
$GC,12569,1.34,880.4,60.5,22.7,947,12577,0.00,2.35,0.00,0.000,4,0.000,0.031,2766,718,438,0,0,0,0,0,0
$GC,12642,1.34,880.4,45.3,18.7,960,12651,0.00,2.33,0.03,0.203,6,0.000,0.034,2766,2223,439,0,0,0,0,0,0
$GC,12778,1.34,880.4,16.4,20.6,985,12787,0.00,2.05,0.08,0.210,4,0.000,0.043,2766,3535,441,0,0,0,0,0,0
$GC,12806,1.34,880.4,10.5,19.9,989,12815,0.00,2.00,1.50,0.076,6,0.000,0.025,2775,2216,441,0,0,0,0,0,0
$STATE,12841,end climb,SURFACE_DEPTH_REACHED
$STATE,12842,begin surface coast
$FINISH,0.9,1.020740
$STATE,12854,end surface coast,CONTROL_FINISHED_OK
$STATE,12854,begin surface
$SM_CCo,12930,0.00,0.000,0,0,441,595.34
$SM_GC,0.90,6.57,0.00,0.00,0.031,0.000,0.000,211,2609,441,-6.51,0.25,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,1959.59,11955.23,310711,171743
$TT8_MAMPS,0.028462,0.028462
$HUMID,47.28
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.2,43.040
$10V_AH,9.9,41.686
$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,16.425,137.875,674.550,0.000,0.000,25.138,31.520,184.547,0.000,0.000,12.581,2422.967,7223.053,700.791,2649.948,307.839,0.000,1848.359,0.000,1839.324,0.000,0.540,0.000
$DEVICE_MAMPS,224.910,52.020,1098.540,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,693.140,1015.046,1062.685,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323032
$DATA_FILE_SIZE,67120,997
$CAP_FILE_SIZE,143367,0
$CFSIZE,260165632,225759232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010811,014613,2011.164,11957.428,8,2.0,9,-2.3