version: 66.09
glider: 181
mission: 6
dive: 38
start: 6 17 111 18 23 29
data:
$ID,181
$MISSION,6
$DIVE,38
$N_DIVES,45
$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,-39565.23
$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,2305
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$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,41
$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
$GPS1,170611,181637,2123.210,12000.034,38,1.0,39,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-64.9
$GPS2,170611,182302,2123.109,12000.078,13,1.2,13,-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,167.6,265037,-16.3,-11.000
$D_GRID,2905
$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,-0.57,-194.6,0.0,0.0,0,93,0.00,0.00,-75.07,0.000,2,0.000,0.000,133,2618,2527,0,0,0,0,0,0
$GC,96,-0.57,-194.6,3.1,-3.4,10,135,8.15,2.22,-22.38,0.000,4,0.239,0.039,2111,1125,3665,0,0,0,0,0,0
$GC,170,-0.57,-194.6,31.5,-39.4,21,179,0.00,2.30,0.00,0.000,6,0.000,0.047,2107,2550,3667,0,0,0,0,0,0
$GC,372,-0.57,-194.6,111.2,-37.5,58,380,0.00,1.95,0.00,0.000,4,0.000,0.048,2096,3781,3667,0,0,0,0,0,0
$GC,552,-0.57,-194.6,185.7,-32.7,91,560,0.00,1.88,0.00,0.000,6,0.000,0.028,2096,2541,3668,0,0,0,0,0,0
$GC,754,-0.57,-194.6,247.9,-27.9,128,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2538,3669,0,0,0,0,0,0
$GC,954,-0.57,-194.6,292.8,-19.1,147,957,0.00,1.92,0.00,0.000,4,0.000,0.045,2092,3788,3670,0,0,0,0,0,0
$GC,988,-0.57,-194.6,300.6,-21.7,150,993,0.12,1.80,0.00,0.000,6,0.168,0.028,2119,2553,3670,0,0,0,0,0,0
$GC,1319,-0.57,-194.6,353.4,-12.1,181,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2550,3669,0,0,0,0,0,0
$GC,1640,-0.57,-194.6,399.9,-15.3,211,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2550,3667,0,0,0,0,0,0
$GC,1967,-0.57,-194.6,450.2,-13.5,242,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2550,3664,0,0,0,0,0,0
$GC,2285,-0.57,-194.6,488.6,-12.2,272,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2550,3661,0,0,0,0,0,0
$GC,2603,-0.57,-194.6,533.5,-15.1,302,2607,0.00,1.95,0.00,0.000,4,0.000,0.051,2112,3780,3659,0,0,0,0,0,0
$GC,2684,-0.57,-194.6,545.0,-13.5,309,2688,0.00,1.80,0.00,0.000,6,0.000,0.031,2111,2561,3656,0,0,0,0,0,0
$GC,3015,-0.57,-194.6,594.9,-14.7,340,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2558,3653,0,0,0,0,0,0
$GC,3326,-0.57,-194.6,633.6,-11.3,357,3329,0.00,1.92,0.00,0.000,4,0.000,0.054,2102,3792,3650,0,0,0,0,0,0
$GC,3359,-0.57,-194.6,637.5,-11.2,358,3362,0.00,1.83,0.00,0.000,6,0.000,0.034,2102,2561,3650,0,0,0,0,0,0
$GC,3681,-0.57,-194.6,678.6,-13.0,374,3684,0.00,1.92,0.00,0.000,4,0.000,0.054,2094,3794,3647,0,0,0,0,0,0
$GC,3704,-0.57,-194.6,681.8,-13.6,375,3708,0.00,1.85,0.00,0.000,6,0.000,0.034,2094,2548,3646,0,0,0,0,0,0
$GC,4037,-0.57,-194.6,727.4,-13.6,391,4041,0.00,1.92,0.00,0.000,4,0.000,0.054,2085,3783,3643,0,0,0,0,0,0
$GC,4083,-0.57,-194.6,733.5,-12.8,393,4088,0.12,1.83,0.00,0.000,6,0.153,0.034,2121,2553,3643,0,0,0,0,0,0
$GC,4418,-0.57,-194.6,766.2,-8.9,409,4422,0.00,2.08,0.00,0.000,4,0.000,0.040,2121,1164,3640,0,0,0,0,0,0
$GC,4451,-0.57,-194.6,769.6,-8.9,410,4458,0.00,2.17,0.00,0.000,6,0.000,0.045,2114,2564,3640,0,0,0,0,0,0
$GC,4767,-0.57,-194.6,802.5,-10.9,426,4771,0.00,1.90,0.00,0.000,4,0.000,0.056,2112,3791,3637,0,0,0,0,0,0
$GC,4823,-0.57,-194.6,808.3,-9.6,428,4826,0.00,1.85,0.00,0.000,6,0.000,0.034,2111,2551,3636,0,0,0,0,0,0
$GC,5145,-0.57,-194.6,842.2,-10.8,444,5148,0.00,2.08,0.00,0.000,4,0.000,0.041,2112,1163,3634,0,0,0,0,0,0
$GC,5194,-0.57,-194.6,847.9,-10.7,446,5198,0.00,2.17,0.00,0.000,6,0.000,0.047,2112,2564,3637,0,0,0,0,0,0
$GC,5516,-0.57,-194.6,886.7,-12.9,462,5520,0.00,1.90,0.00,0.000,4,0.000,0.057,2111,3787,3631,0,0,0,0,0,0
$GC,5554,-0.57,-194.6,891.7,-12.7,463,5562,0.00,1.88,0.00,0.000,6,0.000,0.034,2111,2562,3629,0,0,0,0,0,0
$GC,5871,-0.57,-194.6,926.9,-10.7,479,5875,0.00,2.10,0.00,0.000,4,0.000,0.041,2111,1160,3629,0,0,0,0,0,0
$GC,5927,-0.57,-194.6,932.9,-9.9,481,5933,0.00,2.20,0.00,0.000,6,0.000,0.047,2111,2565,3629,0,0,0,0,0,0
$GC,6243,-0.57,-194.6,966.2,-10.5,497,6247,0.00,1.90,0.00,0.000,4,0.000,0.057,2111,3787,3627,0,0,0,0,0,0
$GC,6276,-0.57,-194.6,969.5,-10.2,498,6280,0.00,1.85,0.00,0.000,6,0.000,0.036,2111,2548,3626,0,0,0,0,0,0
$STATE,6493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6493,begin apogee
$GC,6500,-0.16,0.0,990.6,9.8,509,6654,0.40,0.00,149.07,1.119,6,0.127,0.000,2244,2078,2869,0,0,0,0,0,0
$STATE,6654,end apogee,CONTROL_FINISHED_OK
$STATE,6654,begin climb
$GC,6657,0.57,194.6,997.4,0.0,516,6825,0.68,2.30,160.27,1.086,4,0.058,0.045,2506,700,2074,0,0,0,0,0,0
$GC,6858,0.57,194.6,984.9,11.6,525,6866,0.00,2.30,0.00,0.000,6,0.000,0.040,2506,2101,2069,0,0,0,0,0,0
$GC,7174,0.57,194.6,946.7,11.9,541,7178,0.00,2.25,0.00,0.000,4,0.000,0.050,2506,3517,2063,0,0,0,0,0,0
$GC,7207,0.57,194.6,942.3,12.5,542,7214,0.00,2.22,0.00,0.000,6,0.000,0.034,2515,2114,2062,0,0,0,0,0,0
$GC,7525,0.57,194.6,904.3,11.8,558,7529,0.00,2.20,0.00,0.000,4,0.000,0.044,2527,685,2061,0,0,0,0,0,0
$GC,7655,0.57,194.6,887.3,13.8,564,7660,0.15,2.20,0.00,0.000,6,0.176,0.040,2489,2104,2061,0,0,0,0,0,0
$GC,7983,0.57,194.6,843.9,14.2,580,7987,0.00,2.20,0.00,0.000,4,0.000,0.050,2489,3519,2059,0,0,0,0,0,0
$GC,8003,0.57,194.6,840.3,14.5,581,8008,0.00,2.22,0.00,0.000,6,0.000,0.034,2497,2091,2058,0,0,0,0,0,0
$GC,8331,0.57,194.6,787.4,16.1,597,8335,0.00,2.15,0.00,0.000,4,0.000,0.044,2508,685,2058,0,0,0,0,0,0
$GC,8403,0.57,194.6,776.2,14.9,600,8407,0.00,2.20,0.00,0.000,6,0.000,0.039,2508,2114,2057,0,0,0,0,0,0
$GC,8730,0.57,194.6,725.2,15.4,616,8734,0.00,2.15,0.00,0.000,4,0.000,0.050,2508,3509,2057,0,0,0,0,0,0
$GC,8774,0.57,194.6,717.8,17.1,618,8778,0.00,2.15,0.00,0.000,6,0.000,0.034,2518,2088,2057,0,0,0,0,0,0
$GC,9102,0.57,194.6,666.2,16.7,634,9106,0.00,2.20,0.00,0.000,4,0.000,0.047,2518,3510,2056,0,0,0,0,0,0
$GC,9134,0.57,194.6,660.1,17.2,635,9142,0.10,2.17,0.00,0.000,6,0.176,0.034,2488,2104,2057,0,0,0,0,0,0
$GC,9452,0.58,202.9,622.0,10.7,651,9461,0.00,2.17,4.95,0.738,4,0.000,0.045,2498,690,2042,0,0,0,0,0,0
$GC,9545,0.61,232.5,612.3,9.9,655,9578,0.00,2.17,24.90,0.864,6,0.000,0.039,2499,2107,1922,0,0,0,0,0,0
$GC,9893,0.61,232.5,573.8,13.0,682,9898,0.00,2.20,0.00,0.000,4,0.000,0.044,2508,687,1915,0,0,0,0,0,0
$GC,9926,0.61,232.5,568.9,14.4,684,9933,0.00,2.22,0.00,0.000,6,0.000,0.039,2508,2094,1916,0,0,0,0,0,0
$GC,10252,0.61,232.5,519.8,14.1,715,10256,0.00,2.20,0.00,0.000,4,0.000,0.050,2508,3510,1915,0,0,0,0,0,0
$GC,10292,0.61,232.5,513.8,15.5,718,10296,0.00,2.15,0.00,0.000,6,0.000,0.034,2518,2095,1914,0,0,0,0,0,0
$GC,10617,0.61,232.5,464.5,15.3,748,10621,0.00,2.12,0.00,0.000,4,0.000,0.044,2529,696,1914,0,0,0,0,0,0
$GC,10641,0.61,232.5,461.0,15.5,750,10645,0.00,2.15,0.00,0.000,6,0.000,0.038,2528,2101,1914,0,0,0,0,0,0
$GC,10968,0.61,232.5,412.6,14.0,780,10972,0.00,2.15,0.00,0.000,4,0.000,0.042,2538,694,1914,0,0,0,0,0,0
$GC,11044,0.61,232.5,402.1,12.7,786,11052,0.10,2.20,0.00,0.000,6,0.157,0.039,2496,2099,1914,0,0,0,0,0,0
$GC,11370,0.63,247.8,368.0,10.4,817,11388,0.00,2.22,12.65,0.728,4,0.000,0.048,2496,3518,1860,0,0,0,0,0,0
$GC,11460,0.63,247.8,356.4,13.2,824,11467,0.00,2.20,0.00,0.000,6,0.000,0.034,2505,2109,1857,0,0,0,0,0,0
$GC,11787,0.63,247.8,309.4,14.3,855,11791,0.00,2.15,0.00,0.000,4,0.000,0.044,2516,691,1854,0,0,0,0,0,0
$GC,11875,0.63,247.8,296.3,13.8,862,11883,0.00,2.20,0.00,0.000,6,0.000,0.039,2516,2096,1855,0,0,0,0,0,0
$GC,12202,0.65,261.5,257.3,10.5,893,12219,0.00,2.22,11.75,0.669,4,0.000,0.049,2516,3518,1802,0,0,0,0,0,0
$GC,12297,0.65,261.5,245.3,13.3,904,12305,0.00,2.22,0.00,0.000,6,0.000,0.034,2525,2090,1801,0,0,0,0,0,0
$GC,12500,0.65,261.5,220.2,11.8,941,12509,0.00,2.15,0.00,0.000,4,0.000,0.042,2536,702,1797,0,0,0,0,0,0
$GC,12533,0.65,261.5,216.2,11.7,946,12541,0.00,2.20,0.00,0.000,6,0.000,0.037,2536,2107,1800,0,0,0,0,0,0
$GC,12735,0.70,300.1,193.3,9.5,983,12773,0.00,0.00,30.62,0.606,6,0.000,0.000,2540,2107,1645,0,0,0,0,0,0
$GC,12967,0.70,300.1,169.8,11.8,1024,12974,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2107,1641,0,0,0,0,0,0
$GC,13169,0.81,394.1,151.3,7.4,1061,13246,0.00,2.33,71.15,0.557,4,0.000,0.046,2536,3513,1261,0,0,0,0,0,0
$GC,13294,0.91,472.3,142.6,8.0,1079,13365,0.12,2.25,58.92,0.526,6,0.049,0.031,2617,2093,941,0,0,0,0,0,0
$GC,13558,0.91,472.3,97.1,17.5,1124,13566,0.00,2.20,0.00,0.000,4,0.000,0.039,2627,688,936,0,0,0,0,0,0
$GC,13601,0.91,472.3,90.2,15.0,1131,13609,0.00,2.25,0.00,0.000,6,0.000,0.036,2627,2105,935,0,0,0,0,0,0
$GC,13803,0.91,472.3,60.5,13.4,1168,13811,0.00,2.22,0.00,0.000,4,0.000,0.047,2627,3506,935,0,0,0,0,0,0
$GC,13877,0.91,472.3,49.3,16.0,1181,13887,0.10,2.17,0.00,0.000,6,0.135,0.030,2604,2098,935,0,0,0,0,0,0
$GC,14081,0.91,476.8,26.2,10.8,1218,14091,0.00,2.20,3.88,0.346,4,0.000,0.037,2612,692,925,0,0,0,0,0,0
$GC,14142,0.93,487.7,19.7,10.6,1228,14159,0.00,2.20,9.98,0.470,6,0.000,0.035,2613,2104,880,0,0,0,0,0,0
$STATE,14314,end climb,SURFACE_DEPTH_REACHED
$STATE,14315,begin surface coast
$FINISH,0.0,1.021268
$STATE,14348,end surface coast,CONTROL_FINISHED_OK
$STATE,14348,begin surface
$SM_CCo,14424,0.00,0.000,0,0,879,488.39
$SM_GC,0.67,6.12,0.00,0.00,0.029,0.000,0.000,206,2562,879,-6.46,0.06,488.39,0,0,0,0,0,0
$IRIDIUM_FIX,2115.63,12008.23,170611,141419
$TT8_MAMPS,0.027713,0.027713
$HUMID,38.69
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.1,6.445
$10V_AH,10.2,6.752
$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,16.175,140.625,538.150,0.000,0.000,25.911,38.566,179.841,0.000,0.000,15.814,3181.754,7491.154,603.747,3212.458,307.896,0.000,1878.780,0.000,2146.805,0.000,0.541,0.000
$DEVICE_MAMPS,239.445,57.375,1119.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,878.699,1926.434,1460.884,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83605,1265
$CAP_FILE_SIZE,155274,0
$CFSIZE,260165632,247566336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125,246.7,1
$GPS,170611,222506,2120.644,11959.494,35,0.9,36,-2.5