version: 66.09
glider: 181
mission: 6
dive: 32
start: 6 16 111 17 44 29
data:
$ID,181
$MISSION,6
$DIVE,32
$N_DIVES,40
$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,200
$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,-39550.301
$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,2310
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,46
$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,2560
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,36
$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
$GPS1,160611,173737,2135.094,12001.733,29,1.2,30,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-65.2
$GPS2,160611,174402,2135.039,12001.805,14,1.4,14,-2.6
$SPEED_LIMITS,0.191,0.305
$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,203.3,287149,-16.3,-11.000
$D_GRID,2733
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.59,-194.6,0.0,0.0,0,81,0.00,0.00,-62.22,0.000,2,0.000,0.000,142,2618,2594,0,0,0,0,0,0
$GC,84,-0.59,-194.6,3.2,-4.3,8,123,8.10,2.28,-20.73,0.000,4,0.241,0.047,2106,1152,3665,0,0,0,0,0,0
$GC,207,-0.59,-194.6,46.9,-29.7,28,215,0.00,2.25,0.00,0.000,6,0.000,0.049,2098,2545,3667,0,0,0,0,0,0
$GC,409,-0.59,-194.6,120.4,-34.0,65,417,0.00,1.98,0.00,0.000,4,0.000,0.050,2088,3792,3668,0,0,0,0,0,0
$GC,478,-0.59,-194.6,146.6,-38.8,77,486,0.00,1.88,0.00,0.000,6,0.000,0.028,2088,2544,3668,0,0,0,0,0,0
$GC,679,-0.59,-194.6,206.4,-22.9,114,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2539,3670,0,0,0,0,0,0
$GC,880,-0.59,-194.6,243.9,-19.0,151,888,0.00,1.98,0.00,0.000,4,0.000,0.048,2080,3789,3671,0,0,0,0,0,0
$GC,973,-0.59,-194.6,262.9,-18.8,162,978,0.15,1.80,0.00,0.000,6,0.161,0.028,2120,2550,3671,0,0,0,0,0,0
$GC,1304,-0.59,-194.6,325.3,-18.0,193,1308,0.00,1.92,0.00,0.000,4,0.000,0.048,2112,3793,3671,0,0,0,0,0,0
$GC,1372,-0.59,-194.6,336.2,-14.0,199,1376,0.00,1.80,0.00,0.000,6,0.000,0.029,2112,2563,3671,0,0,0,0,0,0
$GC,1703,-0.59,-194.6,390.9,-16.7,230,1707,0.00,2.08,0.00,0.000,4,0.000,0.034,2112,1171,3669,0,0,0,0,0,0
$GC,1752,-0.59,-194.6,398.8,-15.0,234,1761,0.00,2.17,0.00,0.000,6,0.000,0.042,2111,2574,3668,0,0,0,0,0,0
$GC,2078,-0.59,-194.6,455.9,-17.3,265,2081,0.00,1.85,0.00,0.000,4,0.000,0.051,2111,3780,3666,0,0,0,0,0,0
$GC,2150,-0.59,-194.6,467.8,-15.2,271,2157,0.00,1.83,0.00,0.000,6,0.000,0.030,2111,2563,3665,0,0,0,0,0,0
$GC,2477,-0.59,-194.6,523.9,-17.7,302,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2561,3662,0,0,0,0,0,0
$GC,2795,-0.59,-194.6,572.9,-14.3,332,2798,0.00,1.90,0.00,0.000,4,0.000,0.053,2111,3780,3661,0,0,0,0,0,0
$GC,2866,-0.59,-194.6,582.7,-11.8,338,2875,0.00,1.85,0.00,0.000,6,0.000,0.032,2111,2554,3659,0,0,0,0,0,0
$GC,3197,-0.59,-194.6,628.7,-14.4,361,3200,0.00,1.92,0.00,0.000,4,0.000,0.054,2111,3786,3656,0,0,0,0,0,0
$GC,3224,-0.59,-194.6,633.2,-15.5,362,3228,0.00,1.83,0.00,0.000,6,0.000,0.033,2111,2556,3655,0,0,0,0,0,0
$GC,3552,-0.59,-194.6,684.0,-15.3,378,3556,0.00,1.95,0.00,0.000,4,0.000,0.055,2111,3774,3653,0,0,0,0,0,0
$GC,3622,-0.59,-194.6,694.2,-13.0,381,3627,0.00,1.85,0.00,0.000,6,0.000,0.033,2111,2556,3652,0,0,0,0,0,0
$GC,3950,-0.59,-194.6,739.0,-13.3,397,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2552,3649,0,0,0,0,0,0
$GC,4260,-0.59,-194.6,776.1,-11.5,412,4264,0.00,2.08,0.00,0.000,4,0.000,0.040,2110,1162,3646,0,0,0,0,0,0
$GC,4281,-0.59,-194.6,778.8,-11.7,413,4285,0.00,2.17,0.00,0.000,6,0.000,0.047,2111,2571,3647,0,0,0,0,0,0
$GC,4609,-0.59,-194.6,815.8,-11.3,429,4612,0.00,1.88,0.00,0.000,4,0.000,0.056,2111,3781,3644,0,0,0,0,0,0
$GC,4669,-0.59,-194.6,822.3,-10.2,431,4676,0.00,1.83,0.00,0.000,6,0.000,0.034,2111,2562,3643,0,0,0,0,0,0
$GC,4986,-0.59,-194.6,857.0,-11.1,447,4990,0.00,2.12,0.00,0.000,4,0.000,0.041,2111,1163,3641,0,0,0,0,0,0
$GC,5009,-0.59,-194.6,859.8,-11.3,448,5013,0.00,2.17,0.00,0.000,6,0.000,0.047,2111,2563,3641,0,0,0,0,0,0
$GC,5335,-0.59,-194.6,896.9,-11.0,464,5339,0.00,1.90,0.00,0.000,4,0.000,0.057,2111,3787,3638,0,0,0,0,0,0
$GC,5397,-0.59,-194.6,903.3,-9.7,466,5405,0.00,1.85,0.00,0.000,6,0.000,0.035,2111,2555,3637,0,0,0,0,0,0
$GC,5713,-0.59,-194.6,935.1,-9.9,482,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2553,3636,0,0,0,0,0,0
$GC,6022,-0.59,-194.6,964.6,-10.0,497,6026,0.00,1.92,0.00,0.000,4,0.000,0.059,2111,3780,3634,0,0,0,0,0,0
$GC,6069,-0.59,-194.6,968.9,-9.3,499,6073,0.00,1.83,0.00,0.000,6,0.000,0.036,2111,2559,3634,0,0,0,0,0,0
$STATE,6296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6296,begin apogee
$GC,6303,-0.17,0.0,991.8,9.9,510,6459,0.43,0.00,150.38,1.125,6,0.125,0.000,2253,2088,2870,0,0,0,0,0,0
$STATE,6459,end apogee,CONTROL_FINISHED_OK
$STATE,6459,begin climb
$GC,6462,0.59,194.6,998.3,0.0,517,6634,0.68,2.35,160.80,1.094,4,0.057,0.047,2515,708,2073,0,0,0,0,0,0
$GC,6786,0.59,194.6,962.4,15.5,531,6794,0.00,2.25,0.00,0.000,6,0.000,0.041,2515,2108,2066,0,0,0,0,0,0
$GC,7102,0.59,194.6,910.0,16.5,547,7106,0.00,2.22,0.00,0.000,4,0.000,0.050,2515,3514,2062,0,0,0,0,0,0
$GC,7150,0.59,194.6,900.7,18.6,549,7154,0.00,2.17,0.00,0.000,6,0.000,0.036,2525,2107,2062,0,0,0,0,0,0
$GC,7478,0.59,194.6,846.3,16.0,565,7482,0.00,2.17,0.00,0.000,4,0.000,0.047,2536,693,2061,0,0,0,0,0,0
$GC,7572,0.59,194.6,831.6,15.4,569,7577,0.12,2.17,0.00,0.000,6,0.192,0.040,2506,2100,2061,0,0,0,0,0,0
$GC,7893,0.59,194.6,788.9,13.1,585,7897,0.00,2.20,0.00,0.000,4,0.000,0.050,2506,3516,2059,0,0,0,0,0,0
$GC,7922,0.59,194.6,784.7,14.5,586,7926,0.00,2.17,0.00,0.000,6,0.000,0.036,2514,2095,2059,0,0,0,0,0,0
$GC,8238,0.59,194.6,737.2,15.8,601,8242,0.00,2.15,0.00,0.000,4,0.000,0.046,2526,685,2058,0,0,0,0,0,0
$GC,8395,0.59,194.6,712.0,15.8,608,8399,0.00,2.17,0.00,0.000,6,0.000,0.041,2526,2100,2058,0,0,0,0,0,0
$GC,8717,0.59,194.6,653.4,18.6,624,8718,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2101,2057,0,0,0,0,0,0
$GC,9025,0.59,194.6,600.1,16.0,639,9029,0.00,2.17,0.00,0.000,4,0.000,0.050,2526,3511,2056,0,0,0,0,0,0
$GC,9065,0.59,194.6,593.5,17.2,642,9070,0.12,2.15,0.00,0.000,6,0.194,0.036,2506,2096,2056,0,0,0,0,0,0
$GC,9391,0.59,194.6,553.4,12.1,672,9395,0.00,2.15,0.00,0.000,4,0.000,0.047,2515,695,2056,0,0,0,0,0,0
$GC,9425,0.59,194.6,548.9,13.2,675,9429,0.00,2.17,0.00,0.000,6,0.000,0.041,2515,2106,2057,0,0,0,0,0,0
$GC,9755,0.59,194.6,496.5,17.4,706,9759,0.00,2.17,0.00,0.000,4,0.000,0.050,2515,3519,2056,0,0,0,0,0,0
$GC,9820,0.59,194.6,483.8,19.1,711,9828,0.00,2.20,0.00,0.000,6,0.000,0.037,2525,2099,2056,0,0,0,0,0,0
$GC,10146,0.59,194.6,430.6,15.1,742,10150,0.00,2.15,0.00,0.000,4,0.000,0.047,2536,693,2056,0,0,0,0,0,0
$GC,10205,0.59,194.6,422.5,12.8,747,10214,0.08,2.20,0.00,0.000,6,0.169,0.040,2502,2105,2056,0,0,0,0,0,0
$GC,10531,0.66,247.9,390.2,9.0,778,10573,0.00,0.00,38.97,0.751,6,0.000,0.000,2502,2105,1860,0,0,0,0,0,0
$GC,10890,0.66,247.9,348.2,12.5,812,10895,0.00,2.20,0.00,0.000,4,0.000,0.044,2511,695,1853,0,0,0,0,0,0
$GC,11027,0.66,247.9,330.9,13.2,824,11031,0.00,2.17,0.00,0.000,6,0.000,0.039,2510,2101,1852,0,0,0,0,0,0
$GC,11352,0.66,247.9,285.9,13.0,854,11356,0.00,2.20,0.00,0.000,4,0.000,0.050,2510,3520,1850,0,0,0,0,0,0
$GC,11406,0.66,247.9,278.2,13.5,858,11414,0.00,2.20,0.00,0.000,6,0.000,0.035,2520,2107,1852,0,0,0,0,0,0
$GC,11737,0.72,294.0,242.1,9.2,896,11783,0.00,2.25,35.62,0.646,4,0.000,0.044,2531,696,1669,0,0,0,0,0,0
$GC,11803,0.72,298.9,235.1,10.8,905,11819,0.00,2.25,5.07,0.459,6,0.000,0.039,2531,2108,1651,0,0,0,0,0,0
$GC,12012,0.72,298.9,208.1,14.7,943,12021,0.00,2.25,0.00,0.000,4,0.000,0.049,2531,3517,1647,0,0,0,0,0,0
$GC,12094,0.72,298.9,196.0,14.4,957,12102,0.00,2.22,0.00,0.000,6,0.000,0.034,2541,2093,1646,0,0,0,0,0,0
$GC,12296,0.72,298.9,170.4,13.9,994,12304,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2093,1645,0,0,0,0,0,0
$GC,12497,0.72,298.9,143.2,11.4,1031,12506,0.00,2.25,0.00,0.000,4,0.000,0.046,2541,3510,1645,0,0,0,0,0,0
$GC,12551,0.72,298.9,136.9,11.9,1040,12559,0.00,2.17,0.00,0.000,6,0.000,0.033,2551,2104,1644,0,0,0,0,0,0
$GC,12754,0.72,298.9,114.8,11.1,1077,12762,0.00,2.17,0.00,0.000,4,0.000,0.044,2561,699,1644,0,0,0,0,0,0
$GC,12883,0.82,378.3,103.4,8.0,1100,12952,0.00,2.17,60.22,0.544,6,0.000,0.036,2562,2103,1324,0,0,0,0,0,0
$GC,13147,0.82,378.3,77.2,13.6,1145,13155,0.00,2.22,0.00,0.000,4,0.000,0.046,2562,3502,1319,0,0,0,0,0,0
$GC,13290,0.82,378.3,56.9,13.5,1171,13300,0.00,2.17,0.00,0.000,6,0.000,0.032,2572,2105,1318,0,0,0,0,0,0
$GC,13495,0.94,474.3,38.1,7.3,1208,13571,0.12,2.28,70.65,0.489,4,0.083,0.039,2648,689,934,0,0,0,0,0,0
$GC,13635,0.99,513.1,22.5,9.5,1229,13674,0.00,2.22,29.50,0.472,6,0.000,0.034,2648,2097,775,0,0,0,0,0,0
$STATE,13808,end climb,SURFACE_DEPTH_REACHED
$STATE,13808,begin surface coast
$FINISH,0.0,1.021519
$STATE,13830,end surface coast,CONTROL_FINISHED_OK
$STATE,13830,begin surface
$SM_CCo,13907,0.00,0.000,0,0,771,514.64
$SM_GC,0.70,6.38,0.00,0.00,0.034,0.000,0.000,212,2583,771,-6.48,0.65,514.64,0,0,0,0,0,0
$IRIDIUM_FIX,2129.53,12006.54,160611,131336
$TT8_MAMPS,0.027713,0.027713
$HUMID,38.77
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.0,5.546
$10V_AH,10.3,5.847
$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,16.175,131.075,551.225,0.000,0.000,30.562,41.426,171.480,0.000,0.000,16.745,3156.082,6940.645,608.346,3269.212,308.039,0.000,1876.984,0.000,2150.733,0.000,0.540,0.000
$DEVICE_MAMPS,240.975,58.905,1124.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,876.083,1923.228,1583.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323180
$DATA_FILE_SIZE,83718,1263
$CAP_FILE_SIZE,148974,0
$CFSIZE,260165632,248094720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,184.6,1
$GPS,160611,213730,2132.916,12000.787,36,1.3,37,-2.6