version: 66.09
glider: 181
mission: 6
dive: 27
start: 6 15 111 22 26 15
data:
$ID,181
$MISSION,6
$DIVE,27
$N_DIVES,30
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,300
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,2
$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,500
$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,-39544.016
$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,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$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,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$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
$GPS1,150611,221931,2142.900,11959.995,34,1.6,35,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-68.9
$GPS2,150611,222550,2142.886,12000.082,13,1.0,13,-2.6
$SPEED_LIMITS,0.191,0.287
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,183.2,301664,-17.6,-11.000
$D_GRID,2747
$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,-0.65,-170.3,0.0,0.0,0,88,0.00,0.00,-69.38,0.000,2,0.000,0.000,188,2617,2737,0,0,0,0,0,0
$GC,91,-0.65,-170.3,4.1,-9.3,9,123,7.88,2.20,-14.77,0.000,4,0.240,0.044,2108,1185,3568,0,0,0,0,0,0
$GC,169,-0.65,-170.3,35.1,-32.5,21,178,0.00,2.25,0.00,0.000,6,0.000,0.046,2098,2586,3567,0,0,0,0,0,0
$GC,370,-0.65,-170.3,100.7,-30.4,58,378,0.00,1.90,0.00,0.000,4,0.000,0.047,2089,3791,3569,0,0,0,0,0,0
$GC,424,-0.65,-170.3,117.9,-32.8,67,433,0.08,1.83,0.00,0.000,6,0.173,0.028,2110,2587,3570,0,0,0,0,0,0
$GC,627,-0.65,-170.3,178.2,-19.1,104,635,0.00,1.90,0.00,0.000,4,0.000,0.046,2106,3787,3571,0,0,0,0,0,0
$GC,643,-0.65,-170.3,181.3,-18.2,106,651,0.00,1.73,0.00,0.000,6,0.000,0.029,2106,2642,3572,0,0,0,0,0,0
$GC,845,-0.65,-170.3,225.5,-28.0,143,854,0.00,2.15,0.00,0.000,4,0.000,0.032,2106,1201,3572,0,0,0,0,0,0
$GC,968,-0.65,-170.3,256.1,-24.1,163,972,0.00,2.22,0.00,0.000,6,0.000,0.043,2098,2648,3573,0,0,0,0,0,0
$GC,1293,-0.65,-170.3,328.6,-18.5,193,1297,0.00,1.73,0.00,0.000,4,0.000,0.047,2089,3787,3573,0,0,0,0,0,0
$GC,1338,-0.65,-170.3,335.7,-14.7,197,1343,0.08,1.73,0.00,0.000,6,0.145,0.030,2114,2636,3572,0,0,0,0,0,0
$GC,1669,-0.65,-170.3,385.1,-15.5,228,1673,0.00,2.10,0.00,0.000,4,0.000,0.035,2114,1209,3571,0,0,0,0,0,0
$GC,1789,-0.65,-170.3,399.6,-10.4,238,1793,0.00,2.20,0.00,0.000,6,0.000,0.041,2112,2644,3570,0,0,0,0,0,0
$GC,2116,-0.65,-170.3,440.9,-13.3,268,2120,0.00,2.15,0.00,0.000,4,0.000,0.036,2112,1209,3567,0,0,0,0,0,0
$GC,2160,-0.65,-170.3,447.2,-13.4,271,2168,0.00,2.20,0.00,0.000,6,0.000,0.044,2112,2637,3567,0,0,0,0,0,0
$GC,2487,-0.65,-170.3,487.7,-12.0,302,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2637,3564,0,0,0,0,0,0
$GC,2806,-0.65,-170.3,531.5,-15.2,332,2810,0.00,2.15,0.00,0.000,4,0.000,0.037,2112,1203,3562,0,0,0,0,0,0
$GC,2872,-0.65,-170.3,541.8,-13.1,337,2879,0.00,2.20,0.00,0.000,6,0.000,0.044,2112,2626,3562,0,0,0,0,0,0
$GC,3198,-0.65,-170.3,587.8,-14.0,368,3202,0.00,2.15,0.00,0.000,4,0.000,0.038,2111,1194,3559,0,0,0,0,0,0
$GC,3227,-0.65,-170.3,592.0,-14.3,370,3231,0.00,2.20,0.00,0.000,6,0.000,0.045,2110,2622,3559,0,0,0,0,0,0
$GC,3545,-0.65,-170.3,633.7,-12.7,388,3549,0.00,2.15,0.00,0.000,4,0.000,0.039,2111,1198,3556,0,0,0,0,0,0
$GC,3577,-0.65,-170.3,637.8,-11.7,389,3584,0.00,2.20,0.00,0.000,6,0.000,0.045,2111,2618,3553,0,0,0,0,0,0
$GC,3894,-0.65,-170.3,666.0,-8.3,405,3898,0.00,2.12,0.00,0.000,4,0.000,0.040,2111,1210,3553,0,0,0,0,0,0
$GC,3949,-0.65,-170.3,670.5,-7.9,407,3957,0.00,2.17,0.00,0.000,6,0.000,0.046,2111,2609,3553,0,0,0,0,0,0
$GC,4265,-0.65,-170.3,698.9,-9.7,423,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2609,3550,0,0,0,0,0,0
$GC,4574,-0.65,-170.3,730.4,-9.9,438,4578,0.00,2.12,0.00,0.000,4,0.000,0.041,2111,1202,3548,0,0,0,0,0,0
$GC,4616,-0.65,-170.3,734.5,-10.1,440,4620,0.00,2.17,0.00,0.000,6,0.000,0.047,2111,2609,3547,0,0,0,0,0,0
$GC,4943,-0.65,-170.3,769.9,-11.1,456,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2609,3546,0,0,0,0,0,0
$GC,5252,-0.65,-170.3,804.1,-10.6,471,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2609,3543,0,0,0,0,0,0
$GC,5562,-0.65,-170.3,834.5,-8.7,486,5566,0.00,2.12,0.00,0.000,4,0.000,0.042,2111,1209,3541,0,0,0,0,0,0
$GC,5628,-0.65,-170.3,840.3,-8.0,489,5632,0.00,2.17,0.00,0.000,6,0.000,0.047,2111,2609,3541,0,0,0,0,0,0
$GC,5956,-0.65,-170.3,867.5,-8.6,505,5960,0.00,2.12,0.00,0.000,4,0.000,0.041,2111,1209,3538,0,0,0,0,0,0
$GC,6001,-0.65,-170.3,871.5,-8.5,507,6004,0.00,2.17,0.00,0.000,6,0.000,0.048,2111,2608,3538,0,0,0,0,0,0
$GC,6328,-0.65,-170.3,898.6,-8.4,523,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2608,3537,0,0,0,0,0,0
$GC,6638,-0.65,-170.3,924.7,-8.7,538,6642,0.00,2.12,0.00,0.000,4,0.000,0.043,2111,1211,3536,0,0,0,0,0,0
$GC,6715,-0.65,-170.3,931.5,-8.2,541,6722,0.00,2.17,0.00,0.000,6,0.000,0.048,2111,2599,3533,0,0,0,0,0,0
$GC,7032,-0.65,-170.3,959.6,-9.4,557,7036,0.00,2.12,0.00,0.000,4,0.000,0.043,2111,1201,3534,0,0,0,0,0,0
$GC,7072,-0.65,-170.3,963.8,-10.2,559,7076,0.00,2.15,0.00,0.000,6,0.000,0.048,2111,2581,3534,0,0,0,0,0,0
$STATE,7335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7335,begin apogee
$GC,7341,-0.12,0.0,991.5,10.9,572,7479,0.52,0.00,131.77,1.140,4,0.129,0.000,2285,2270,2868,0,0,0,0,0,0
$STATE,7480,end apogee,CONTROL_FINISHED_OK
$STATE,7480,begin climb
$GC,7482,0.65,170.3,998.4,0.0,578,7634,0.70,2.33,142.10,1.106,4,0.046,0.046,2555,869,2174,0,0,0,0,0,0
$GC,7639,0.65,170.3,989.6,15.2,585,7647,0.00,2.35,0.00,0.000,6,0.000,0.043,2555,2274,2172,0,0,0,0,0,0
$GC,7956,0.65,170.3,928.4,19.9,601,7960,0.00,2.22,0.00,0.000,4,0.000,0.044,2565,863,2163,0,0,0,0,0,0
$GC,8146,0.65,170.3,891.3,19.5,609,8151,0.00,2.20,0.00,0.000,6,0.000,0.044,2565,2255,2161,0,0,0,0,0,0
$GC,8462,0.65,170.3,823.9,21.9,624,8466,0.00,2.15,0.00,0.000,4,0.000,0.044,2574,868,2161,0,0,0,0,0,0
$GC,8620,0.65,170.3,790.1,20.5,631,8624,0.15,2.15,0.00,0.000,6,0.189,0.042,2540,2243,2160,0,0,0,0,0,0
$GC,8941,0.65,170.3,732.7,16.6,647,8945,0.00,2.12,0.00,0.000,4,0.000,0.044,2547,867,2158,0,0,0,0,0,0
$GC,9071,0.65,170.3,712.9,14.6,653,9075,0.00,2.12,0.00,0.000,6,0.000,0.043,2547,2232,2158,0,0,0,0,0,0
$GC,9400,0.65,170.3,665.7,14.5,669,9403,0.00,2.12,0.00,0.000,4,0.000,0.044,2556,867,2159,0,0,0,0,0,0
$GC,9557,0.65,170.3,642.8,14.6,676,9561,0.00,2.10,0.00,0.000,6,0.000,0.042,2556,2221,2161,0,0,0,0,0,0
$GC,9880,0.65,170.3,590.6,16.2,694,9884,0.00,2.08,0.00,0.000,4,0.000,0.044,2566,871,2157,0,0,0,0,0,0
$GC,9986,0.65,170.3,573.7,15.9,703,9993,0.00,2.10,0.00,0.000,6,0.000,0.042,2566,2204,2157,0,0,0,0,0,0
$GC,10312,0.65,170.3,516.7,19.1,734,10315,0.00,2.05,0.00,0.000,4,0.000,0.044,2575,864,2157,0,0,0,0,0,0
$GC,10517,0.65,170.3,474.9,21.1,752,10526,0.10,2.10,0.00,0.000,6,0.164,0.042,2546,2198,2156,0,0,0,0,0,0
$GC,10843,0.65,170.3,412.9,16.4,783,10847,0.00,2.03,0.00,0.000,4,0.000,0.043,2553,871,2155,0,0,0,0,0,0
$GC,10912,0.65,170.3,403.1,14.8,789,10915,0.00,2.03,0.00,0.000,6,0.000,0.041,2553,2191,2156,0,0,0,0,0,0
$GC,11242,0.65,170.3,355.8,14.5,820,11246,0.00,2.03,0.00,0.000,4,0.000,0.043,2562,861,2156,0,0,0,0,0,0
$GC,11434,0.65,170.3,328.5,14.4,837,11438,0.00,2.00,0.00,0.000,6,0.000,0.041,2562,2170,2156,0,0,0,0,0,0
$GC,11765,0.65,170.3,282.3,13.2,868,11769,0.00,2.35,0.00,0.000,4,0.000,0.049,2562,3691,2156,0,0,0,0,0,0
$GC,11815,0.65,170.3,275.3,14.5,872,11820,0.15,2.28,0.00,0.000,6,0.198,0.035,2537,2182,2154,0,0,0,0,0,0
$GC,12141,0.67,188.0,241.9,10.2,909,12157,0.00,0.00,12.18,0.682,6,0.000,0.000,2537,2183,2102,0,0,0,0,0,0
$GC,12350,0.67,188.0,214.1,13.7,947,12358,0.00,2.38,0.00,0.000,4,0.000,0.047,2538,3682,2101,0,0,0,0,0,0
$GC,12372,0.67,188.0,211.1,13.2,950,12380,0.00,2.33,0.00,0.000,6,0.000,0.034,2545,2180,2101,0,0,0,0,0,0
$GC,12574,0.74,242.1,191.9,8.6,987,12622,0.00,2.10,42.03,0.614,4,0.000,0.044,2556,873,1881,0,0,0,0,0,0
$GC,12636,0.75,250.7,185.2,10.6,995,12653,0.00,2.00,8.23,0.500,6,0.000,0.037,2556,2130,1845,0,0,0,0,0,0
$GC,12846,0.75,250.9,164.1,11.0,1033,12854,0.00,2.47,0.00,0.000,4,0.000,0.047,2557,3682,1840,0,0,0,0,0,0
$GC,12910,0.75,250.9,156.1,12.6,1044,12919,0.00,2.45,0.00,0.000,6,0.000,0.034,2566,2118,1839,0,0,0,0,0,0
$GC,13112,0.75,250.9,130.5,13.0,1081,13120,0.00,1.92,0.00,0.000,4,0.000,0.042,2576,877,1838,0,0,0,0,0,0
$GC,13324,0.75,250.9,100.9,12.0,1120,13332,0.00,1.90,0.00,0.000,6,0.000,0.036,2577,2094,1837,0,0,0,0,0,0
$GC,13527,0.86,343.3,83.9,7.0,1157,13602,0.00,2.60,68.78,0.532,4,0.000,0.045,2576,3682,1467,0,0,0,0,0,0
$GC,13639,0.86,343.3,72.0,14.3,1173,13647,0.00,2.50,0.00,0.000,6,0.000,0.033,2584,2103,1465,0,0,0,0,0,0
$GC,13840,0.86,343.3,41.5,14.3,1210,13848,0.00,1.92,0.00,0.000,4,0.000,0.041,2597,868,1462,0,0,0,0,0,0
$GC,13957,0.91,383.9,28.4,9.2,1231,13996,0.00,1.90,31.05,0.522,6,0.000,0.035,2597,2082,1301,0,0,0,0,0,0
$GC,14190,1.02,472.5,10.1,7.1,1272,14262,0.17,2.40,65.22,0.474,3,0.070,0.043,2678,3553,942,0,0,0,0,0,0
$STATE,14263,end climb,SURFACE_DEPTH_REACHED
$STATE,14263,begin surface coast
$FINISH,-0.2,1.020733
$STATE,14289,end surface coast,CONTROL_FINISHED_OK
$STATE,14289,begin surface
$SM_CCo,14307,13.75,0.062,0,0,830,500.17
$SM_GC,0.77,0.00,0.00,13.75,0.000,0.000,0.062,209,2581,830,-6.63,-0.42,500.17,0,0,0,0,0,0
$IRIDIUM_FIX,2134.17,12036.75,150611,181840
$TT8_MAMPS,0.028462,0.028462
$HUMID,39.91
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,24.0,4.866
$10V_AH,10.3,5.107
$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,16.400,140.850,501.350,13.750,0.000,30.602,45.853,162.739,0.250,0.000,16.984,3241.995,7195.695,574.458,3378.101,302.188,0.000,1876.443,0.000,2237.893,0.000,0.541,0.000
$DEVICE_MAMPS,240.210,48.960,1139.850,61.965,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,893.819,1957.950,1617.320,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323240
$DATA_FILE_SIZE,86906,1285
$CAP_FILE_SIZE,157095,0
$CFSIZE,260165632,248508416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096,123.6,1
$GPS,160611,022606,2140.762,12000.642,29,1.4,30,-2.6