version: 66.09
glider: 181
mission: 6
dive: 36
start: 6 17 111 10 2 23
data:
$ID,181
$MISSION,6
$DIVE,36
$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,-39562.719
$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,44
$R_STBD_OVSHOOT,30
$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
$GPS1,170611,095600,2127.386,12001.810,35,1.3,36,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-69.5
$GPS2,170611,100156,2127.450,12001.927,12,1.3,12,-2.5
$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,209.8,273098,-16.3,-11.000
$D_GRID,2870
$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,-0.59,-194.6,0.0,0.0,0,93,0.00,0.00,-74.03,0.000,2,0.000,0.000,181,2569,2708,0,0,0,0,0,0
$GC,95,-0.59,-194.6,3.9,-6.9,10,128,7.93,2.12,-17.60,0.000,4,0.242,0.042,2108,1143,3665,0,0,0,0,0,0
$GC,189,-0.59,-194.6,44.7,-33.3,25,197,0.00,2.28,0.00,0.000,6,0.000,0.045,2098,2561,3666,0,0,0,0,0,0
$GC,392,-0.59,-194.6,123.1,-36.8,62,400,0.00,1.92,0.00,0.000,4,0.000,0.049,2089,3780,3667,0,0,0,0,0,0
$GC,466,-0.59,-194.6,147.7,-24.3,75,474,0.00,1.85,0.00,0.000,6,0.000,0.028,2089,2553,3668,0,0,0,0,0,0
$GC,667,-0.59,-194.6,202.0,-32.4,112,676,0.00,1.95,0.00,0.000,4,0.000,0.048,2079,3780,3670,0,0,0,0,0,0
$GC,706,-0.59,-194.6,215.2,-35.4,118,714,0.10,1.85,0.00,0.000,6,0.171,0.029,2109,2556,3670,0,0,0,0,0,0
$GC,913,-0.59,-194.6,265.8,-20.7,149,917,0.00,2.05,0.00,0.000,4,0.000,0.031,2109,1160,3670,0,0,0,0,0,0
$GC,947,-0.59,-194.6,272.3,-17.9,152,951,0.00,2.17,0.00,0.000,6,0.000,0.041,2109,2566,3671,0,0,0,0,0,0
$GC,1272,-0.59,-194.6,339.4,-19.3,182,1276,0.00,1.88,0.00,0.000,4,0.000,0.049,2109,3794,3670,0,0,0,0,0,0
$GC,1401,-0.59,-194.6,362.5,-16.8,193,1408,0.00,1.85,0.00,0.000,6,0.000,0.028,2109,2544,3670,0,0,0,0,0,0
$GC,1726,-0.59,-194.6,404.6,-11.9,224,1730,0.00,1.92,0.00,0.000,4,0.000,0.050,2109,3787,3668,0,0,0,0,0,0
$GC,1787,-0.59,-194.6,411.5,-10.8,229,1794,0.00,1.85,0.00,0.000,6,0.000,0.031,2109,2556,3666,0,0,0,0,0,0
$GC,2112,-0.59,-194.6,457.8,-15.3,260,2116,0.00,1.95,0.00,0.000,4,0.000,0.052,2109,3781,3665,0,0,0,0,0,0
$GC,2157,-0.59,-194.6,464.4,-14.2,264,2160,0.00,1.80,0.00,0.000,6,0.000,0.031,2109,2557,3664,0,0,0,0,0,0
$GC,2487,-0.59,-194.6,508.8,-13.4,295,2491,0.00,1.95,0.00,0.000,4,0.000,0.051,2100,3809,3661,0,0,0,0,0,0
$GC,2514,-0.59,-194.6,512.9,-14.6,297,2521,0.00,1.88,0.00,0.000,6,0.000,0.031,2101,2567,3660,0,0,0,0,0,0
$GC,2839,-0.59,-194.6,559.7,-15.0,328,2843,0.00,1.90,0.00,0.000,4,0.000,0.052,2093,3788,3658,0,0,0,0,0,0
$GC,2885,-0.59,-194.6,566.3,-14.3,332,2888,0.00,1.83,0.00,0.000,6,0.000,0.032,2092,2555,3657,0,0,0,0,0,0
$GC,3215,-0.59,-194.6,612.8,-14.6,359,3218,0.00,2.08,0.00,0.000,4,0.000,0.037,2092,1156,3654,0,0,0,0,0,0
$GC,3247,-0.59,-194.6,617.8,-14.5,360,3256,0.08,2.22,0.00,0.000,6,0.136,0.045,2121,2563,3654,0,0,0,0,0,0
$GC,3564,-0.59,-194.6,652.1,-12.0,376,3567,0.00,1.88,0.00,0.000,4,0.000,0.054,2113,3782,3651,0,0,0,0,0,0
$GC,3602,-0.59,-194.6,657.1,-12.8,377,3609,0.00,1.83,0.00,0.000,6,0.000,0.034,2113,2563,3651,0,0,0,0,0,0
$GC,3919,-0.59,-194.6,700.4,-14.0,393,3923,0.00,2.10,0.00,0.000,4,0.000,0.040,2114,1162,3648,0,0,0,0,0,0
$GC,3957,-0.59,-194.6,705.9,-13.7,394,3964,0.00,2.20,0.00,0.000,6,0.000,0.045,2112,2554,3648,0,0,0,0,0,0
$GC,4273,-0.59,-194.6,749.8,-14.5,410,4277,0.00,1.92,0.00,0.000,4,0.000,0.057,2111,3794,3645,0,0,0,0,0,0
$GC,4342,-0.59,-194.6,759.3,-12.9,413,4346,0.00,1.85,0.00,0.000,6,0.000,0.034,2111,2554,3644,0,0,0,0,0,0
$GC,4676,-0.59,-194.6,804.2,-12.6,429,4680,0.00,2.08,0.00,0.000,4,0.000,0.041,2111,1164,3642,0,0,0,0,0,0
$GC,4716,-0.59,-194.6,809.0,-11.6,431,4720,0.00,2.20,0.00,0.000,6,0.000,0.047,2111,2571,3642,0,0,0,0,0,0
$GC,5043,-0.59,-194.6,842.9,-10.2,447,5047,0.00,1.88,0.00,0.000,4,0.000,0.057,2111,3780,3639,0,0,0,0,0,0
$GC,5093,-0.59,-194.6,847.9,-9.3,449,5097,0.00,1.83,0.00,0.000,6,0.000,0.034,2111,2561,3638,0,0,0,0,0,0
$GC,5421,-0.59,-194.6,882.0,-11.0,465,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2558,3638,0,0,0,0,0,0
$GC,5730,-0.59,-194.6,916.5,-10.8,480,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2555,3634,0,0,0,0,0,0
$GC,6040,-0.59,-194.6,949.5,-10.6,495,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2558,3633,0,0,0,0,0,0
$GC,6349,-0.59,-194.6,981.1,-10.0,510,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2558,3631,0,0,0,0,0,0
$STATE,6449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6449,begin apogee
$GC,6456,-0.17,0.0,990.7,9.3,515,6613,0.43,0.00,150.20,1.125,6,0.125,0.000,2253,2091,2869,0,0,0,0,0,0
$STATE,6614,end apogee,CONTROL_FINISHED_OK
$STATE,6614,begin climb
$GC,6616,0.59,194.6,996.1,0.0,522,6784,0.68,2.30,160.45,1.089,4,0.057,0.044,2514,709,2073,0,0,0,0,0,0
$GC,6887,0.59,194.6,966.3,16.4,535,6891,0.00,2.25,0.00,0.000,6,0.000,0.041,2515,2101,2066,0,0,0,0,0,0
$GC,7215,0.59,194.6,912.6,16.0,551,7216,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2101,2062,0,0,0,0,0,0
$GC,7523,0.59,194.6,866.3,14.7,566,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2101,2061,0,0,0,0,0,0
$GC,7833,0.59,194.6,820.7,14.6,581,7836,0.00,2.25,0.00,0.000,4,0.000,0.051,2515,3519,2060,0,0,0,0,0,0
$GC,7865,0.59,194.6,815.2,16.1,582,7869,0.00,2.20,0.00,0.000,6,0.000,0.036,2524,2117,2059,0,0,0,0,0,0
$GC,8187,0.59,194.6,766.3,15.6,598,8191,0.00,2.20,0.00,0.000,4,0.000,0.047,2536,684,2058,0,0,0,0,0,0
$GC,8297,0.59,194.6,748.2,16.2,603,8303,0.12,2.20,0.00,0.000,6,0.187,0.041,2505,2109,2058,0,0,0,0,0,0
$GC,8620,0.59,194.6,697.4,16.2,619,8624,0.00,2.17,0.00,0.000,4,0.000,0.051,2505,3510,2057,0,0,0,0,0,0
$GC,8646,0.59,194.6,692.2,17.2,620,8651,0.00,2.20,0.00,0.000,6,0.000,0.035,2513,2095,2057,0,0,0,0,0,0
$GC,8968,0.59,194.6,642.8,14.8,636,8972,0.00,2.12,0.00,0.000,4,0.000,0.047,2524,694,2057,0,0,0,0,0,0
$GC,9175,0.59,194.6,612.6,14.1,645,9179,0.00,2.17,0.00,0.000,6,0.000,0.041,2525,2105,2057,0,0,0,0,0,0
$GC,9505,0.59,194.6,564.1,14.6,672,9509,0.00,2.17,0.00,0.000,4,0.000,0.045,2533,687,2056,0,0,0,0,0,0
$GC,9534,0.59,194.6,559.5,15.1,674,9539,0.12,2.17,0.00,0.000,6,0.184,0.041,2503,2101,2056,0,0,0,0,0,0
$GC,9859,0.59,194.6,518.5,11.6,704,9863,0.00,2.17,0.00,0.000,4,0.000,0.050,2503,3514,2055,0,0,0,0,0,0
$GC,9903,0.59,194.6,512.8,12.9,707,9910,0.00,2.17,0.00,0.000,6,0.000,0.034,2511,2100,2055,0,0,0,0,0,0
$GC,10228,0.59,194.6,472.9,12.1,738,10232,0.00,2.15,0.00,0.000,4,0.000,0.046,2522,684,2055,0,0,0,0,0,0
$GC,10324,0.59,194.6,462.0,11.0,746,10328,0.00,2.20,0.00,0.000,6,0.000,0.039,2522,2113,2056,0,0,0,0,0,0
$GC,10654,0.59,194.6,423.7,13.0,777,10658,0.00,2.15,0.00,0.000,4,0.000,0.050,2522,3511,2055,0,0,0,0,0,0
$GC,10698,0.59,194.6,417.0,15.1,780,10705,0.00,2.20,0.00,0.000,6,0.000,0.034,2532,2090,2055,0,0,0,0,0,0
$GC,11025,0.59,194.6,364.3,15.1,811,11027,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2090,2055,0,0,0,0,0,0
$GC,11343,0.59,194.6,316.6,15.1,841,11347,0.00,2.20,0.00,0.000,4,0.000,0.047,2532,3517,2055,0,0,0,0,0,0
$GC,11360,0.59,194.6,313.5,16.4,842,11365,0.15,2.15,0.00,0.000,6,0.184,0.034,2504,2092,2055,0,0,0,0,0,0
$GC,11692,0.63,224.1,274.6,9.9,873,11718,0.00,2.30,20.58,0.677,4,0.000,0.046,2504,3516,1956,0,0,0,0,0,0
$GC,11768,0.63,224.1,265.7,11.8,879,11775,0.00,2.17,0.00,0.000,6,0.000,0.032,2513,2089,1953,0,0,0,0,0,0
$GC,12096,0.65,239.7,228.6,10.4,928,12121,0.00,2.17,13.48,0.636,4,0.000,0.042,2524,706,1890,0,0,0,0,0,0
$GC,12145,0.66,244.2,223.1,10.8,935,12161,0.00,2.20,5.30,0.469,6,0.000,0.037,2523,2104,1871,0,0,0,0,0,0
$GC,12355,0.68,261.3,198.5,10.4,973,12379,0.00,2.25,14.27,0.604,4,0.000,0.047,2524,3503,1802,0,0,0,0,0,0
$GC,12429,0.68,261.3,189.3,12.1,985,12437,0.00,2.20,0.00,0.000,6,0.000,0.034,2533,2098,1800,0,0,0,0,0,0
$GC,12630,0.68,261.3,164.6,13.0,1022,12639,0.00,2.20,0.00,0.000,4,0.000,0.042,2544,683,1798,0,0,0,0,0,0
$GC,12685,0.68,261.3,158.3,11.3,1031,12693,0.00,2.22,0.00,0.000,6,0.000,0.037,2544,2100,1798,0,0,0,0,0,0
$GC,12889,0.68,261.3,140.3,11.3,1068,12897,0.00,2.25,0.00,0.000,4,0.000,0.047,2544,3514,1798,0,0,0,0,0,0
$GC,13032,0.68,261.3,120.2,15.8,1094,13042,0.00,2.20,0.00,0.000,6,0.000,0.032,2554,2091,1797,0,0,0,0,0,0
$GC,13235,0.75,318.1,97.1,8.8,1131,13288,0.00,2.20,43.38,0.542,4,0.000,0.041,2564,696,1571,0,0,0,0,0,0
$GC,13325,0.78,341.7,88.3,10.1,1144,13350,0.00,2.22,19.05,0.493,6,0.000,0.035,2570,2107,1474,0,0,0,0,0,0
$GC,13543,0.84,392.9,65.0,9.0,1183,13590,0.00,2.25,38.75,0.505,4,0.000,0.044,2564,3514,1264,0,0,0,0,0,0
$GC,13705,0.93,465.1,50.4,8.2,1210,13767,0.08,2.22,54.05,0.478,6,0.057,0.030,2626,2092,972,0,0,0,0,0,0
$GC,13962,0.93,465.1,24.3,12.3,1254,13971,0.00,2.17,0.00,0.000,4,0.000,0.037,2636,691,967,0,0,0,0,0,0
$GC,14017,0.94,479.3,18.2,10.5,1263,14033,0.00,2.20,11.52,0.475,6,0.000,0.034,2636,2098,914,0,0,0,0,0,0
$STATE,14154,end climb,SURFACE_DEPTH_REACHED
$STATE,14154,begin surface coast
$FINISH,-0.1,1.021352
$STATE,14182,end surface coast,CONTROL_FINISHED_OK
$STATE,14182,begin surface
$SM_CCo,14259,0.00,0.000,0,0,911,480.30
$SM_GC,0.85,6.28,0.00,0.00,0.031,0.000,0.000,209,2603,911,-6.48,1.22,480.30,0,0,0,0,0,0
$IRIDIUM_FIX,2122.58,11957.05,170611,050501
$TT8_MAMPS,0.027713,0.027713
$HUMID,38.62
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.0,6.139
$10V_AH,10.3,6.445
$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,15.950,139.700,531.025,0.000,0.000,25.022,19.013,174.827,0.000,0.000,15.135,3241.220,7196.902,587.167,3274.672,307.160,0.000,1873.548,0.000,2172.858,0.000,0.541,0.000
$DEVICE_MAMPS,241.740,57.375,1125.315,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,898.031,1967.552,1600.366,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323232
$DATA_FILE_SIZE,86965,1292
$CAP_FILE_SIZE,154937,0
$CFSIZE,260165632,247738368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129, 89.0,1
$GPS,170611,140106,2125.698,12001.702,26,1.1,27,-2.5