version: 66.09
glider: 181
mission: 6
dive: 306
start: 8 7 111 0 45 47
data:
$ID,181
$MISSION,6
$DIVE,306
$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,-40904.559
$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,45
$R_STBD_OVSHOOT,87
$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,26.0
$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
$GPS1,070811,003831,2034.375,12001.236,40,1.2,40,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-67.9
$GPS2,070811,004519,2034.441,12001.292,12,1.1,12,-2.4
$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,324.6,3654,-25.8,-11.786
$D_GRID,3522
$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,-0.54,-91.0,0.0,0.0,0,94,0.00,0.00,-68.72,0.000,2,0.000,0.000,188,2650,2414,0,0,0,0,0,0
$GC,97,-0.65,-179.2,3.8,-4.1,11,136,7.85,2.20,-23.15,0.000,4,0.228,0.037,2103,1173,3601,0,0,0,0,0,0
$GC,249,-0.65,-179.2,50.0,-23.7,37,256,0.00,2.12,0.00,0.000,6,0.000,0.039,2095,2548,3602,0,0,0,0,0,0
$GC,389,-0.65,-179.2,88.3,-30.4,62,397,0.00,1.85,0.00,0.000,4,0.000,0.044,2086,3732,3602,0,0,0,0,0,0
$GC,454,-0.65,-179.2,113.1,-34.7,73,461,0.00,1.67,0.00,0.000,6,0.000,0.024,2086,2571,3602,0,0,0,0,0,0
$GC,595,-0.65,-179.2,159.3,-33.6,98,602,0.00,2.03,0.00,0.000,4,0.000,0.028,2086,1206,3602,0,0,0,0,0,0
$GC,675,-0.65,-179.2,177.4,-16.8,112,683,0.08,1.98,0.00,0.000,6,0.138,0.035,2102,2484,3602,0,0,0,0,0,0
$GC,833,-0.65,-179.2,200.6,-13.9,137,836,0.00,1.88,0.00,0.000,4,0.000,0.041,2094,3730,3602,0,0,0,0,0,0
$GC,860,-0.65,-179.2,206.3,-12.9,139,867,0.00,1.65,0.00,0.000,6,0.000,0.024,2094,2573,3603,0,0,0,0,0,0
$GC,1186,-0.65,-179.2,260.1,-21.5,170,1189,0.00,1.98,0.00,0.000,4,0.000,0.028,2095,1203,3603,0,0,0,0,0,0
$GC,1213,-0.65,-179.2,266.5,-22.0,172,1220,0.00,2.08,0.00,0.000,6,0.000,0.036,2086,2548,3604,0,0,0,0,0,0
$GC,1538,-0.65,-179.2,335.8,-17.2,203,1542,0.00,1.83,0.00,0.000,4,0.000,0.043,2076,3728,3601,0,0,0,0,0,0
$GC,1634,-0.65,-179.2,349.8,-13.2,211,1642,0.12,1.62,0.00,0.000,6,0.156,0.024,2109,2634,3601,0,0,0,0,0,0
$GC,1961,-0.65,-179.9,388.7,-11.7,242,1965,0.00,2.10,0.00,0.000,4,0.000,0.030,2110,1199,3598,0,0,0,0,0,0
$GC,2017,-0.68,-201.2,394.8,-9.9,246,2024,0.00,2.08,0.00,0.000,6,0.000,0.037,2110,2568,3598,0,0,0,0,0,0
$GC,2342,-0.68,-201.2,438.3,-16.6,277,2346,0.00,1.85,0.00,0.000,4,0.000,0.045,2102,3782,3595,0,0,0,0,0,0
$GC,2392,-0.68,-201.2,447.1,-16.6,281,2399,0.00,1.73,0.00,0.000,6,0.000,0.026,2103,2617,3594,0,0,0,0,0,0
$GC,2716,-0.68,-201.2,507.5,-17.9,310,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2617,3591,0,0,0,0,0,0
$GC,3026,-0.69,-213.8,548.5,-10.7,325,3029,0.00,1.80,0.00,0.000,4,0.000,0.047,2094,3783,3587,0,0,0,0,0,0
$GC,3050,-0.72,-234.9,550.9,-10.0,326,3054,0.00,1.67,0.00,0.000,6,0.000,0.027,2094,2628,3587,0,0,0,0,0,0
$GC,3383,-0.73,-243.3,583.6,-10.5,342,3387,0.00,2.10,0.00,0.000,4,0.000,0.033,2094,1206,3584,0,0,0,0,0,0
$GC,3457,-0.73,-243.3,591.1,-9.8,345,3461,0.00,2.17,0.00,0.000,6,0.000,0.038,2085,2619,3583,0,0,0,0,0,0
$GC,3774,-0.73,-243.3,638.8,-16.7,360,3778,0.00,2.12,0.00,0.000,4,0.000,0.032,2085,1205,3580,0,0,0,0,0,0
$GC,3825,-0.73,-243.3,647.3,-16.4,362,3829,0.00,2.17,0.00,0.000,6,0.000,0.039,2075,2613,3580,0,0,0,0,0,0
$GC,4146,-0.73,-243.3,708.2,-19.0,378,4150,0.00,1.80,0.00,0.000,4,0.000,0.049,2067,3783,3577,0,0,0,0,0,0
$GC,4181,-0.73,-243.3,714.7,-18.6,379,4184,0.00,1.73,0.00,0.000,6,0.000,0.028,2067,2609,3577,0,0,0,0,0,0
$GC,4502,-0.73,-243.3,772.6,-17.8,395,4506,0.00,2.10,0.00,0.000,4,0.000,0.034,2067,1206,3574,0,0,0,0,0,0
$GC,4616,-0.73,-243.3,790.9,-15.0,400,4620,0.00,2.17,0.00,0.000,6,0.000,0.041,2058,2606,3573,0,0,0,0,0,0
$GC,4943,-0.73,-243.3,846.4,-16.7,416,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2607,3570,0,0,0,0,0,0
$GC,5252,-0.73,-243.3,895.2,-16.1,431,5256,0.00,2.12,0.00,0.000,4,0.000,0.034,2058,1203,3568,0,0,0,0,0,0
$GC,5285,-0.73,-243.3,900.3,-15.2,432,5289,0.12,2.17,0.00,0.000,6,0.181,0.042,2080,2596,3568,0,0,0,0,0,0
$GC,5601,-0.73,-243.3,937.3,-11.3,447,5605,0.00,1.85,0.00,0.000,4,0.000,0.050,2073,3786,3565,0,0,0,0,0,0
$GC,5648,-0.73,-243.3,942.5,-10.9,449,5652,0.00,1.77,0.00,0.000,6,0.000,0.028,2073,2584,3565,0,0,0,0,0,0
$GC,5981,-0.73,-243.3,983.1,-12.5,465,5984,0.00,2.05,0.00,0.000,4,0.000,0.034,2073,1212,3563,0,0,0,0,0,0
$STATE,6041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6041,begin apogee
$GC,6049,-0.13,0.0,990.1,10.5,467,6192,0.62,0.00,134.40,1.084,4,0.132,0.000,2267,2137,2868,0,0,0,0,0,0
$STATE,6192,end apogee,CONTROL_FINISHED_OK
$STATE,6193,begin climb
$GC,6195,0.73,243.3,993.9,0.0,474,6397,0.80,2.30,194.15,1.053,4,0.051,0.038,2563,733,1877,0,0,0,0,0,0
$GC,6534,0.73,243.3,952.6,16.6,490,6538,0.00,2.22,0.00,0.000,6,0.000,0.035,2563,2125,1876,0,0,0,0,0,0
$GC,6860,0.73,243.3,896.3,17.1,506,6864,0.00,2.22,0.00,0.000,4,0.000,0.045,2563,3537,1874,0,0,0,0,0,0
$GC,7036,0.73,243.3,865.0,17.9,514,7040,0.00,2.15,0.00,0.000,6,0.000,0.029,2572,2120,1872,0,0,0,0,0,0
$GC,7363,0.73,243.3,810.9,16.1,530,7367,0.00,2.12,0.00,0.000,4,0.000,0.037,2583,713,1871,0,0,0,0,0,0
$GC,7463,0.73,243.3,794.2,16.0,534,7470,0.00,2.12,0.00,0.000,6,0.000,0.034,2583,2106,1871,0,0,0,0,0,0
$GC,7780,0.73,243.3,738.6,17.7,550,7784,0.00,2.12,0.00,0.000,4,0.000,0.037,2593,711,1870,0,0,0,0,0,0
$GC,7859,0.73,243.3,724.7,17.0,553,7867,0.15,2.10,0.00,0.000,6,0.184,0.034,2557,2086,1870,0,0,0,0,0,0
$GC,8175,0.73,243.3,672.9,16.7,569,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2086,1869,0,0,0,0,0,0
$GC,8484,0.73,243.3,614.5,19.6,584,8488,0.00,2.08,0.00,0.000,4,0.000,0.038,2564,723,1869,0,0,0,0,0,0
$GC,8548,0.73,243.3,602.5,18.9,587,8552,0.00,2.08,0.00,0.000,6,0.000,0.034,2565,2079,1868,0,0,0,0,0,0
$GC,8875,0.73,243.3,544.1,16.6,603,8877,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2080,1868,0,0,0,0,0,0
$GC,9184,0.73,243.3,497.9,14.7,618,9188,0.00,2.28,0.00,0.000,4,0.000,0.044,2564,3541,1867,0,0,0,0,0,0
$GC,9284,0.73,243.3,481.9,15.8,626,9291,0.00,2.22,0.00,0.000,6,0.000,0.028,2575,2063,1867,0,0,0,0,0,0
$GC,9609,0.73,243.3,432.9,14.8,657,9613,0.00,2.03,0.00,0.000,4,0.000,0.038,2585,720,1867,0,0,0,0,0,0
$GC,9727,0.73,243.3,415.5,14.9,667,9734,0.00,2.05,0.00,0.000,6,0.000,0.034,2585,2059,1867,0,0,0,0,0,0
$GC,10052,0.73,243.3,367.0,14.9,698,10056,0.00,2.30,0.00,0.000,4,0.000,0.043,2585,3542,1867,0,0,0,0,0,0
$GC,10104,0.73,243.3,359.0,16.1,702,10108,0.15,2.22,0.00,0.000,6,0.187,0.028,2559,2063,1867,0,0,0,0,0,0
$GC,10429,0.73,243.3,315.1,13.8,732,10432,0.00,2.03,0.00,0.000,4,0.000,0.038,2567,722,1867,0,0,0,0,0,0
$GC,10509,0.73,243.3,303.6,14.7,739,10513,0.00,2.05,0.00,0.000,6,0.000,0.034,2567,2071,1867,0,0,0,0,0,0
$GC,10835,0.73,243.3,258.4,12.6,769,10836,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2071,1867,0,0,0,0,0,0
$GC,11156,0.76,264.1,225.1,10.0,799,11180,0.00,2.30,15.68,0.610,4,0.000,0.042,2567,3541,1791,0,0,0,0,0,0
$GC,11236,0.76,264.1,215.9,11.9,806,11240,0.00,2.25,0.00,0.000,6,0.000,0.028,2578,2049,1791,0,0,0,0,0,0
$GC,11569,0.76,264.1,170.8,14.3,854,11576,0.00,2.05,0.00,0.000,4,0.000,0.037,2588,713,1791,0,0,0,0,0,0
$GC,11732,0.76,269.9,149.7,11.3,883,11747,0.00,2.00,6.25,0.515,6,0.000,0.032,2588,2034,1769,0,0,0,0,0,0
$GC,11881,0.76,269.9,132.5,12.3,909,11887,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2034,1769,0,0,0,0,0,0
$GC,12020,0.78,288.4,118.1,10.2,934,12041,0.00,2.08,15.10,0.543,4,0.000,0.036,2598,720,1692,0,0,0,0,0,0
$GC,12103,0.78,288.4,108.6,12.1,948,12111,0.00,1.98,0.00,0.000,6,0.000,0.032,2597,1995,1691,0,0,0,0,0,0
$GC,12248,0.83,326.1,93.1,8.5,973,12281,0.00,2.05,28.38,0.503,4,0.000,0.037,2606,708,1538,0,0,0,0,0,0
$GC,12356,0.91,389.4,87.9,6.3,991,12407,0.00,1.90,46.33,0.480,6,0.000,0.032,2606,1958,1280,0,0,0,0,0,0
$GC,12545,0.92,394.6,64.5,11.3,1023,12559,0.00,2.47,6.22,0.448,4,0.000,0.039,2606,3538,1259,0,0,0,0,0,0
$GC,12607,0.97,435.7,59.3,8.2,1033,12647,0.00,2.40,30.77,0.467,6,0.000,0.027,2617,1958,1092,0,0,0,0,0,0
$GC,12782,1.10,545.1,55.2,2.3,1063,12873,0.15,2.58,78.80,0.454,4,0.074,0.037,2692,3538,646,0,0,0,0,0,0
$GC,12903,1.12,564.9,46.0,10.1,1082,12925,0.00,2.38,16.40,0.419,6,0.000,0.028,2703,2021,566,0,0,0,0,0,0
$GC,13061,1.12,564.9,27.2,12.7,1109,13067,0.00,1.98,0.00,0.000,4,0.000,0.035,2714,709,568,0,0,0,0,0,0
$GC,13130,1.12,564.9,18.1,12.6,1121,13138,0.12,1.95,0.00,0.000,6,0.133,0.028,2678,2007,568,0,0,0,0,0,0
$GC,13270,1.16,593.5,4.6,9.3,1146,13291,0.00,0.00,18.60,0.470,2,0.000,0.000,2677,2007,472,0,0,0,0,0,0
$STATE,13291,end climb,SURFACE_DEPTH_REACHED
$STATE,13292,begin surface coast
$FINISH,0.4,1.020640
$STATE,13330,end surface coast,CONTROL_FINISHED_OK
$STATE,13330,begin surface
$SM_CCo,13407,0.00,0.000,0,0,475,587.25
$SM_GC,1.13,6.43,0.00,0.00,0.033,0.000,0.000,200,2630,475,-6.53,0.65,587.25,0,0,0,0,0,0
$IRIDIUM_FIX,2020.26,11956.68,060811,202054
$TT8_MAMPS,0.025466,0.025466
$HUMID,42.12
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.4,48.903
$10V_AH,10.0,46.180
$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,16.600,131.875,591.075,0.000,0.000,31.019,38.355,163.788,0.000,0.000,14.973,2731.110,7512.896,643.464,2577.058,345.111,0.000,1832.796,0.000,2292.267,0.000,0.542,0.000
$DEVICE_MAMPS,227.970,50.490,1084.005,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,798.695,0.000,632.686,0.000,0.000,0.000,866.771,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,100.000,0.000,0.000,0.000
$MEM,322968
$DATA_FILE_SIZE,70289,1156
$CAP_FILE_SIZE,149552,0
$CFSIZE,260165632,222679040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070811,043030,2036.040,12002.237,37,1.6,37,-2.4