version: 66.09
glider: 181
mission: 6
dive: 31
start: 6 16 111 13 47 15
data:
$ID,181
$MISSION,6
$DIVE,31
$N_DIVES,35
$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,-8
$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,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,-39549.039
$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,2315
$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,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,160611,134037,2137.256,12002.292,40,1.0,41,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-64.5
$GPS2,160611,134650,2137.177,12002.473,14,1.0,14,-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,228.5,291123,-17.6,-11.000
$D_GRID,2673
$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,-170.3,0.0,0.0,0,79,0.00,0.00,-60.67,0.000,2,0.000,0.000,173,2612,2555,0,0,0,0,0,0
$GC,82,-0.65,-170.3,3.1,-4.5,8,121,7.90,2.20,-20.27,0.000,4,0.240,0.047,2089,1195,3567,0,0,0,0,0,0
$GC,277,-0.65,-170.3,69.3,-27.1,42,286,0.00,2.22,0.00,0.000,6,0.000,0.047,2085,2581,3569,0,0,0,0,0,0
$GC,480,-0.65,-170.3,131.4,-29.4,79,488,0.00,1.90,0.00,0.000,4,0.000,0.044,2075,3794,3569,0,0,0,0,0,0
$GC,530,-0.65,-170.3,144.6,-23.9,87,538,0.08,1.83,0.00,0.000,6,0.170,0.029,2096,2589,3568,0,0,0,0,0,0
$GC,732,-0.65,-170.3,196.5,-20.9,124,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2586,3571,0,0,0,0,0,0
$GC,932,-0.65,-170.3,239.9,-22.4,161,941,0.00,2.10,0.00,0.000,4,0.000,0.032,2096,1189,3572,0,0,0,0,0,0
$GC,961,-0.65,-170.3,245.2,-19.5,165,970,0.00,2.22,0.00,0.000,6,0.000,0.041,2089,2608,3572,0,0,0,0,0,0
$GC,1168,-0.65,-170.3,289.1,-23.1,186,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2608,3572,0,0,0,0,0,0
$GC,1488,-0.65,-170.3,365.1,-23.6,216,1492,0.00,1.83,0.00,0.000,4,0.000,0.049,2079,3773,3572,0,0,0,0,0,0
$GC,1526,-0.65,-170.3,373.4,-19.9,219,1533,0.00,1.77,0.00,0.000,6,0.000,0.031,2080,2595,3572,0,0,0,0,0,0
$GC,1852,-0.65,-170.3,431.3,-16.7,250,1856,0.00,1.83,0.00,0.000,4,0.000,0.050,2070,3780,3570,0,0,0,0,0,0
$GC,1887,-0.65,-170.3,437.8,-18.5,253,1891,0.12,1.75,0.00,0.000,6,0.170,0.031,2102,2603,3569,0,0,0,0,0,0
$GC,2217,-0.65,-170.3,482.2,-14.3,284,2221,0.00,2.10,0.00,0.000,4,0.000,0.037,2102,1201,3567,0,0,0,0,0,0
$GC,2262,-0.65,-170.3,488.5,-13.8,288,2266,0.00,2.15,0.00,0.000,6,0.000,0.043,2098,2601,3567,0,0,0,0,0,0
$GC,2589,-0.65,-170.3,541.9,-18.2,318,2593,0.00,1.80,0.00,0.000,4,0.000,0.053,2089,3780,3563,0,0,0,0,0,0
$GC,2613,-0.65,-170.3,546.6,-18.3,320,2617,0.00,1.77,0.00,0.000,6,0.000,0.033,2089,2607,3562,0,0,0,0,0,0
$GC,2942,-0.65,-170.3,608.0,-18.2,349,2946,0.00,2.10,0.00,0.000,4,0.000,0.038,2089,1192,3560,0,0,0,0,0,0
$GC,2986,-0.65,-170.3,615.7,-15.9,351,2990,0.00,2.20,0.00,0.000,6,0.000,0.046,2083,2614,3559,0,0,0,0,0,0
$GC,3314,-0.65,-170.3,667.7,-14.9,367,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2617,3556,0,0,0,0,0,0
$GC,3624,-0.65,-170.3,712.3,-14.3,382,3628,0.00,2.12,0.00,0.000,4,0.000,0.039,2083,1203,3553,0,0,0,0,0,0
$GC,3651,-0.65,-170.3,716.9,-15.6,383,3655,0.12,2.20,0.00,0.000,6,0.166,0.047,2107,2625,3553,0,0,0,0,0,0
$GC,3972,-0.65,-170.3,762.2,-14.2,399,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2625,3550,0,0,0,0,0,0
$GC,4282,-0.65,-170.3,806.0,-13.3,414,4286,0.00,2.15,0.00,0.000,4,0.000,0.041,2108,1205,3548,0,0,0,0,0,0
$GC,4332,-0.65,-170.3,811.7,-10.9,416,4336,0.00,2.20,0.00,0.000,6,0.000,0.047,2100,2622,3548,0,0,0,0,0,0
$GC,4654,-0.65,-170.3,843.0,-8.7,432,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2623,3545,0,0,0,0,0,0
$GC,4963,-0.65,-170.3,866.0,-7.2,447,4967,0.00,2.15,0.00,0.000,4,0.000,0.041,2101,1202,3542,0,0,0,0,0,0
$GC,4991,-0.65,-170.3,868.0,-7.4,448,4995,0.00,2.17,0.00,0.000,6,0.000,0.048,2098,2600,3542,0,0,0,0,0,0
$GC,5308,-0.65,-170.3,890.9,-8.0,463,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2601,3540,0,0,0,0,0,0
$GC,5617,-0.65,-170.3,921.6,-11.0,478,5621,0.00,1.83,0.00,0.000,4,0.000,0.058,2089,3780,3538,0,0,0,0,0,0
$GC,5645,-0.65,-170.3,925.3,-11.1,479,5649,0.00,1.77,0.00,0.000,6,0.000,0.037,2089,2595,3538,0,0,0,0,0,0
$GC,5972,-0.65,-170.3,972.1,-15.5,495,5976,0.00,2.10,0.00,0.000,4,0.000,0.043,2089,1201,3536,0,0,0,0,0,0
$GC,6032,-0.65,-170.3,981.4,-14.6,497,6041,0.00,2.22,0.00,0.000,6,0.000,0.049,2084,2620,3535,0,0,0,0,0,0
$STATE,6099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6099,begin apogee
$GC,6105,-0.20,0.0,991.6,15.3,501,6243,0.50,0.00,131.98,1.134,6,0.140,0.000,2244,2258,2870,0,0,0,0,0,0
$STATE,6244,end apogee,CONTROL_FINISHED_OK
$STATE,6244,begin climb
$GC,6247,0.65,170.3,1001.9,0.0,507,6398,0.77,2.38,141.68,1.107,4,0.067,0.045,2530,871,2172,0,0,0,0,0,0
$GC,6515,0.65,170.3,983.7,11.5,519,6523,0.00,2.30,0.00,0.000,6,0.000,0.042,2531,2265,2165,0,0,0,0,0,0
$GC,6832,0.65,170.3,943.3,13.0,535,6836,0.00,2.20,0.00,0.000,4,0.000,0.044,2541,862,2160,0,0,0,0,0,0
$GC,6931,0.65,170.3,931.5,11.3,539,6939,0.00,2.28,0.00,0.000,6,0.000,0.044,2541,2277,2164,0,0,0,0,0,0
$GC,7248,0.65,170.3,888.2,14.5,555,7252,0.00,2.17,0.00,0.000,4,0.000,0.044,2551,872,2159,0,0,0,0,0,0
$GC,7422,0.65,170.3,861.8,15.3,563,7427,0.00,2.20,0.00,0.000,6,0.000,0.043,2550,2282,2158,0,0,0,0,0,0
$GC,7749,0.65,170.3,804.8,17.8,579,7753,0.00,2.17,0.00,0.000,4,0.000,0.045,2560,873,2156,0,0,0,0,0,0
$GC,7896,0.65,170.3,777.8,18.3,585,7904,0.15,2.20,0.00,0.000,6,0.189,0.043,2524,2280,2156,0,0,0,0,0,0
$GC,8212,0.65,170.3,723.6,17.5,601,8216,0.00,2.17,0.00,0.000,4,0.000,0.044,2532,864,2155,0,0,0,0,0,0
$GC,8311,0.65,170.3,706.4,17.1,605,8319,0.00,2.22,0.00,0.000,6,0.000,0.043,2532,2273,2153,0,0,0,0,0,0
$GC,8628,0.65,170.3,651.1,17.1,621,8632,0.00,2.15,0.00,0.000,4,0.000,0.044,2542,870,2154,0,0,0,0,0,0
$GC,8649,0.65,170.3,647.1,17.1,622,8654,0.00,2.17,0.00,0.000,6,0.000,0.041,2542,2282,2153,0,0,0,0,0,0
$GC,8973,0.65,170.3,595.5,15.2,639,8977,0.00,2.17,0.00,0.000,4,0.000,0.044,2552,862,2154,0,0,0,0,0,0
$GC,9136,0.65,170.3,570.0,15.2,653,9140,0.00,2.17,0.00,0.000,6,0.000,0.041,2552,2278,2154,0,0,0,0,0,0
$GC,9461,0.65,170.3,522.3,15.1,683,9465,0.12,2.15,0.00,0.000,4,0.199,0.043,2531,862,2154,0,0,0,0,0,0
$GC,9515,0.65,170.3,514.9,13.1,687,9522,0.00,2.17,0.00,0.000,6,0.000,0.041,2531,2276,2153,0,0,0,0,0,0
$GC,9841,0.65,170.3,470.3,13.2,718,9845,0.00,2.15,0.00,0.000,4,0.000,0.044,2541,862,2154,0,0,0,0,0,0
$GC,9881,0.65,170.3,465.1,12.5,721,9885,0.00,2.17,0.00,0.000,6,0.000,0.042,2541,2281,2154,0,0,0,0,0,0
$GC,10207,0.65,170.3,416.3,16.3,751,10211,0.00,2.15,0.00,0.000,4,0.000,0.044,2551,869,2153,0,0,0,0,0,0
$GC,10296,0.65,170.3,400.2,17.5,758,10303,0.00,2.15,0.00,0.000,6,0.000,0.041,2550,2269,2153,0,0,0,0,0,0
$GC,10623,0.65,170.3,345.8,14.4,789,10627,0.00,2.15,0.00,0.000,4,0.000,0.043,2560,856,2154,0,0,0,0,0,0
$GC,10686,0.65,170.3,337.1,14.0,794,10690,0.15,2.17,0.00,0.000,6,0.181,0.039,2523,2270,2153,0,0,0,0,0,0
$GC,11011,0.68,195.1,305.5,9.9,824,11036,0.00,2.17,16.83,0.706,4,0.000,0.042,2531,877,2074,0,0,0,0,0,0
$GC,11237,0.68,195.1,279.1,13.1,844,11241,0.00,2.15,0.00,0.000,6,0.000,0.040,2531,2272,2070,0,0,0,0,0,0
$GC,11563,0.68,195.1,232.5,14.1,885,11572,0.00,2.17,0.00,0.000,4,0.000,0.041,2540,874,2070,0,0,0,0,0,0
$GC,11654,0.68,195.1,220.8,12.5,901,11663,0.00,2.17,0.00,0.000,6,0.000,0.039,2540,2266,2069,0,0,0,0,0,0
$GC,11856,0.68,195.1,197.0,12.9,938,11865,0.00,2.22,0.00,0.000,4,0.000,0.048,2540,3682,2070,0,0,0,0,0,0
$GC,11941,0.68,195.1,185.2,13.0,953,11950,0.00,2.17,0.00,0.000,6,0.000,0.034,2550,2273,2069,0,0,0,0,0,0
$GC,12144,0.71,220.2,165.2,9.9,990,12175,0.00,2.20,20.10,0.625,4,0.000,0.043,2561,871,1971,0,0,0,0,0,0
$GC,12226,0.71,223.3,156.8,10.9,1003,12235,0.00,2.17,4.20,0.451,6,0.000,0.037,2561,2267,1961,0,0,0,0,0,0
$GC,12429,0.76,260.0,136.1,9.4,1040,12467,0.00,2.28,29.15,0.571,4,0.000,0.047,2561,3680,1807,0,0,0,0,0,0
$GC,12589,0.76,264.0,117.9,10.8,1067,12598,0.00,2.20,4.10,0.416,6,0.000,0.032,2571,2270,1791,0,0,0,0,0,0
$GC,12793,0.85,333.8,100.0,8.0,1104,12853,0.00,2.28,53.42,0.535,4,0.000,0.043,2571,3680,1507,0,0,0,0,0,0
$GC,12873,0.86,340.2,92.1,10.7,1115,12889,0.00,2.22,6.68,0.435,6,0.000,0.031,2580,2275,1480,0,0,0,0,0,0
$GC,13082,0.86,340.2,67.3,12.3,1153,13091,0.00,2.20,0.00,0.000,4,0.000,0.040,2591,864,1475,0,0,0,0,0,0
$GC,13265,0.87,353.0,48.2,10.4,1186,13281,0.00,2.20,10.45,0.502,6,0.000,0.035,2592,2270,1429,0,0,0,0,0,0
$GC,13475,0.98,436.3,29.6,7.4,1224,13543,0.10,0.00,61.95,0.490,6,0.094,0.000,2645,2270,1092,0,0,0,0,0,0
$STATE,13693,end climb,SURFACE_DEPTH_REACHED
$STATE,13693,begin surface coast
$FINISH,0.2,1.021440
$STATE,13716,end surface coast,CONTROL_FINISHED_OK
$STATE,13716,begin surface
$SM_CCo,13732,19.50,0.062,0,0,932,475.64
$SM_GC,0.27,0.00,0.00,19.50,0.000,0.000,0.062,201,2617,932,-6.60,0.48,475.64,0,0,0,0,0,0
$IRIDIUM_FIX,2131.85,11959.36,160611,090905
$TT8_MAMPS,0.027713,0.027713
$HUMID,39.32
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.0,5.397
$10V_AH,10.2,5.695
$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,16.400,132.825,480.525,19.500,0.000,26.556,17.136,181.836,0.000,0.000,19.194,3185.947,6749.052,567.693,3316.395,297.253,0.000,1827.101,0.000,2169.127,0.000,0.542,0.000
$DEVICE_MAMPS,240.210,58.140,1134.495,61.965,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,878.365,1926.782,1669.992,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323176
$DATA_FILE_SIZE,83712,1265
$CAP_FILE_SIZE,151760,0
$CFSIZE,260165632,248176640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.166,141.6,1
$GPS,160611,173737,2135.094,12001.733,29,1.2,30,-2.6