version: 66.09
glider: 181
mission: 6
dive: 40
start: 6 18 111 2 51 41
data:
$ID,181
$MISSION,6
$DIVE,40
$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,-39567.746
$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,42
$R_STBD_OVSHOOT,58
$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
$GPS1,180611,024507,2118.454,11958.894,27,1.4,28,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-65.1
$GPS2,180611,025114,2118.470,11958.788,13,1.4,13,-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,152.3,256455,-16.3,-11.000
$D_GRID,2979
$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,-194.6,0.0,0.0,0,98,0.00,0.00,-79.90,0.000,2,0.000,0.000,136,2605,2665,0,0,0,0,0,0
$GC,101,-0.57,-194.6,3.6,-4.1,11,133,8.05,0.00,-19.35,0.000,6,0.237,0.000,2110,2598,3666,0,0,0,0,0,0
$GC,328,-0.57,-194.6,100.4,-44.5,51,336,0.00,1.85,0.00,0.000,4,0.000,0.048,2103,3754,3668,0,0,0,0,0,0
$GC,386,-0.57,-194.6,123.4,-36.0,61,395,0.00,1.83,0.00,0.000,6,0.000,0.027,2103,2549,3668,0,0,0,0,0,0
$GC,590,-0.57,-194.6,193.6,-28.8,98,598,0.00,1.90,0.00,0.000,4,0.000,0.045,2094,3752,3669,0,0,0,0,0,0
$GC,669,-0.57,-194.6,217.1,-21.5,112,677,0.00,1.80,0.00,0.000,6,0.000,0.027,2094,2548,3669,0,0,0,0,0,0
$GC,869,-0.57,-194.6,260.0,-21.9,145,873,0.00,1.88,0.00,0.000,4,0.000,0.047,2084,3764,3670,0,0,0,0,0,0
$GC,969,-0.57,-194.6,288.1,-27.0,154,974,0.12,1.75,0.00,0.000,6,0.163,0.027,2117,2553,3671,0,0,0,0,0,0
$GC,1300,-0.57,-194.6,348.3,-17.2,185,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2550,3671,0,0,0,0,0,0
$GC,1621,-0.57,-194.6,398.2,-14.9,215,1625,0.00,1.85,0.00,0.000,4,0.000,0.047,2110,3755,3669,0,0,0,0,0,0
$GC,1671,-0.57,-194.6,405.8,-13.7,219,1678,0.00,1.77,0.00,0.000,6,0.000,0.029,2107,2567,3672,0,0,0,0,0,0
$GC,1998,-0.57,-194.6,448.8,-14.3,250,2002,0.00,2.05,0.00,0.000,4,0.000,0.034,2111,1174,3665,0,0,0,0,0,0
$GC,2045,-0.57,-194.6,455.1,-12.8,254,2049,0.00,2.10,0.00,0.000,6,0.000,0.042,2110,2541,3665,0,0,0,0,0,0
$GC,2370,-0.57,-194.6,502.3,-15.4,284,2374,0.00,1.90,0.00,0.000,4,0.000,0.050,2101,3784,3661,0,0,0,0,0,0
$GC,2427,-0.57,-194.6,511.1,-14.9,289,2430,0.00,1.80,0.00,0.000,6,0.000,0.030,2101,2557,3660,0,0,0,0,0,0
$GC,2757,-0.57,-194.6,567.3,-16.9,320,2761,0.00,1.90,0.00,0.000,4,0.000,0.050,2092,3780,3656,0,0,0,0,0,0
$GC,2804,-0.57,-194.6,575.3,-17.0,324,2808,0.00,1.80,0.00,0.000,6,0.000,0.031,2092,2560,3655,0,0,0,0,0,0
$GC,3140,-0.57,-194.6,631.8,-16.3,347,3145,0.12,2.10,0.00,0.000,4,0.171,0.037,2125,1156,3653,0,0,0,0,0,0
$GC,3211,-0.57,-194.6,641.2,-11.5,350,3215,0.00,2.20,0.00,0.000,6,0.000,0.042,2125,2558,3652,0,0,0,0,0,0
$GC,3533,-0.57,-194.6,681.7,-13.2,366,3537,0.00,1.90,0.00,0.000,4,0.000,0.053,2124,3789,3648,0,0,0,0,0,0
$GC,3590,-0.57,-194.6,689.0,-12.2,368,3594,0.00,1.83,0.00,0.000,6,0.000,0.031,2125,2556,3648,0,0,0,0,0,0
$GC,3912,-0.57,-194.6,728.9,-11.8,384,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2553,3646,0,0,0,0,0,0
$GC,4221,-0.57,-194.6,760.4,-9.5,399,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2553,3641,0,0,0,0,0,0
$GC,4531,-0.57,-194.6,787.1,-8.5,414,4535,0.00,1.92,0.00,0.000,4,0.000,0.054,2125,3786,3641,0,0,0,0,0,0
$GC,4600,-0.57,-194.6,792.8,-7.8,417,4604,0.00,1.83,0.00,0.000,6,0.000,0.033,2125,2556,3640,0,0,0,0,0,0
$GC,4933,-0.57,-194.6,823.2,-9.4,433,4937,0.00,2.08,0.00,0.000,4,0.000,0.038,2125,1164,3639,0,0,0,0,0,0
$GC,4973,-0.57,-194.6,827.1,-9.7,435,4977,0.00,2.17,0.00,0.000,6,0.000,0.044,2124,2571,3638,0,0,0,0,0,0
$GC,5300,-0.57,-194.6,855.5,-8.7,451,5304,0.00,2.12,0.00,0.000,4,0.000,0.037,2124,1161,3635,0,0,0,0,0,0
$GC,5340,-0.57,-194.6,859.4,-9.6,453,5344,0.00,2.17,0.00,0.000,6,0.000,0.044,2124,2570,3634,0,0,0,0,0,0
$GC,5667,-0.57,-194.6,891.7,-10.5,469,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2571,3632,0,0,0,0,0,0
$GC,5976,-0.57,-194.6,921.0,-9.1,484,5980,0.00,1.92,0.00,0.000,4,0.000,0.057,2124,3780,3633,0,0,0,0,0,0
$GC,6009,-0.57,-194.6,924.2,-9.3,485,6013,0.00,1.83,0.00,0.000,6,0.000,0.034,2124,2552,3633,0,0,0,0,0,0
$GC,6331,-0.57,-194.6,953.0,-9.1,501,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2550,3628,0,0,0,0,0,0
$GC,6641,-0.57,-194.6,983.4,-10.2,516,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2550,3627,0,0,0,0,0,0
$STATE,6721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6721,begin apogee
$GC,6726,-0.16,0.0,991.8,10.2,520,6880,0.38,0.00,148.75,1.120,6,0.120,0.000,2250,2092,2872,0,0,0,0,0,0
$STATE,6881,end apogee,CONTROL_FINISHED_OK
$STATE,6881,begin climb
$GC,6883,0.57,194.6,999.7,0.0,527,7051,0.65,2.33,160.57,1.087,4,0.057,0.041,2504,686,2075,0,0,0,0,0,0
$GC,7068,0.57,194.6,986.9,14.3,536,7072,0.00,2.33,0.00,0.000,6,0.000,0.037,2504,2109,2071,0,0,0,0,0,0
$GC,7396,0.57,194.6,934.0,16.4,552,7400,0.00,2.22,0.00,0.000,4,0.000,0.049,2504,3516,2064,0,0,0,0,0,0
$GC,7450,0.57,194.6,924.0,17.5,554,7458,0.00,2.25,0.00,0.000,6,0.000,0.033,2514,2094,2063,0,0,0,0,0,0
$GC,7767,0.57,194.6,872.3,15.6,570,7771,0.00,2.15,0.00,0.000,4,0.000,0.044,2525,695,2062,0,0,0,0,0,0
$GC,7834,0.57,194.6,862.0,15.2,573,7839,0.12,2.20,0.00,0.000,6,0.183,0.038,2494,2115,2062,0,0,0,0,0,0
$GC,8155,0.57,194.6,815.4,14.8,589,8159,0.00,2.22,0.00,0.000,4,0.000,0.044,2503,691,2058,0,0,0,0,0,0
$GC,8192,0.57,194.6,809.6,14.6,590,8200,0.00,2.22,0.00,0.000,6,0.000,0.039,2503,2099,2060,0,0,0,0,0,0
$GC,8509,0.57,194.6,760.8,15.1,606,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2100,2062,0,0,0,0,0,0
$GC,8818,0.57,194.6,715.9,14.4,621,8822,0.00,2.20,0.00,0.000,4,0.000,0.049,2501,3515,2058,0,0,0,0,0,0
$GC,8862,0.57,194.6,708.8,15.4,623,8867,0.00,2.20,0.00,0.000,6,0.000,0.034,2511,2102,2058,0,0,0,0,0,0
$GC,9190,0.57,194.6,664.7,13.2,639,9191,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2102,2058,0,0,0,0,0,0
$GC,9499,0.57,194.6,622.3,13.5,654,9503,0.00,2.15,0.00,0.000,4,0.000,0.044,2523,685,2057,0,0,0,0,0,0
$GC,9610,0.57,194.6,606.3,14.7,659,9615,0.12,2.17,0.00,0.000,6,0.177,0.037,2492,2112,2057,0,0,0,0,0,0
$GC,9934,0.57,194.6,556.0,15.8,687,9938,0.00,2.17,0.00,0.000,4,0.000,0.043,2500,687,2057,0,0,0,0,0,0
$GC,9978,0.57,194.6,548.9,15.5,690,9986,0.00,2.17,0.00,0.000,6,0.000,0.037,2500,2107,2057,0,0,0,0,0,0
$GC,10305,0.57,194.6,502.9,12.3,721,10309,0.00,2.17,0.00,0.000,4,0.000,0.048,2500,3516,2056,0,0,0,0,0,0
$GC,10360,0.57,194.6,495.4,12.9,725,10367,0.00,2.17,0.00,0.000,6,0.000,0.034,2510,2086,2056,0,0,0,0,0,0
$GC,10688,0.57,194.6,455.2,13.3,756,10692,0.00,2.10,0.00,0.000,4,0.000,0.044,2520,697,2056,0,0,0,0,0,0
$GC,10823,0.57,194.6,435.3,14.5,767,10832,0.12,2.15,0.00,0.000,6,0.174,0.037,2488,2103,2056,0,0,0,0,0,0
$GC,11148,0.57,194.6,392.9,12.0,798,11152,0.00,2.17,0.00,0.000,4,0.000,0.048,2488,3513,2056,0,0,0,0,0,0
$GC,11263,0.57,194.6,377.1,13.9,808,11270,0.00,2.15,0.00,0.000,6,0.000,0.034,2497,2096,2056,0,0,0,0,0,0
$GC,11589,0.64,254.0,342.4,8.7,839,11638,0.00,2.20,43.83,0.708,4,0.000,0.044,2508,690,1833,0,0,0,0,0,0
$GC,11709,0.64,254.0,329.3,11.2,849,11716,0.00,2.22,0.00,0.000,6,0.000,0.037,2508,2092,1827,0,0,0,0,0,0
$GC,12035,0.69,296.8,294.5,9.4,880,12075,0.00,2.30,33.10,0.662,4,0.000,0.048,2508,3496,1658,0,0,0,0,0,0
$GC,12160,0.69,296.8,280.0,12.4,891,12164,0.00,2.15,0.00,0.000,6,0.000,0.033,2517,2104,1656,0,0,0,0,0,0
$GC,12488,0.69,296.8,238.2,11.3,930,12496,0.00,2.20,0.00,0.000,4,0.000,0.043,2528,694,1652,0,0,0,0,0,0
$GC,12590,0.81,389.5,229.3,7.5,948,12667,0.08,2.20,70.85,0.610,6,0.068,0.037,2574,2094,1281,0,0,0,0,0,0
$GC,12860,0.81,389.5,191.9,16.0,994,12868,0.00,2.30,0.00,0.000,4,0.000,0.048,2574,3517,1273,0,0,0,0,0,0
$GC,12983,0.81,389.5,174.0,13.3,1016,12991,0.00,2.22,0.00,0.000,6,0.000,0.031,2584,2099,1271,0,0,0,0,0,0
$GC,13184,0.81,389.5,148.0,14.5,1053,13192,0.00,2.25,0.00,0.000,4,0.000,0.044,2584,3514,1269,0,0,0,0,0,0
$GC,13242,0.81,389.5,139.5,14.3,1063,13252,0.08,2.20,0.00,0.000,6,0.141,0.031,2569,2093,1269,0,0,0,0,0,0
$GC,13446,0.89,458.4,120.1,8.4,1100,13507,0.00,2.22,50.88,0.548,4,0.000,0.039,2578,697,998,0,0,0,0,0,0
$GC,13542,0.96,514.8,111.7,8.8,1114,13590,0.00,2.22,42.60,0.504,6,0.000,0.034,2578,2101,771,0,0,0,0,0,0
$GC,13784,0.97,523.9,85.4,10.7,1156,13800,0.12,2.25,7.65,0.482,4,0.082,0.042,2642,3507,734,0,0,0,0,0,0
$GC,13836,0.97,523.9,78.4,15.1,1164,13844,0.10,2.20,0.00,0.000,6,0.131,0.031,2619,2105,733,0,0,0,0,0,0
$GC,14039,0.97,523.9,56.0,13.4,1201,14047,0.00,2.17,0.00,0.000,4,0.000,0.038,2628,696,733,0,0,0,0,0,0
$GC,14103,0.97,523.9,47.1,14.2,1212,14111,0.00,2.20,0.00,0.000,6,0.000,0.034,2628,2108,732,0,0,0,0,0,0
$GC,14305,0.97,523.9,19.0,11.2,1249,14313,0.00,2.17,0.00,0.000,4,0.000,0.042,2628,3504,733,0,0,0,0,0,0
$GC,14422,0.99,538.8,6.2,10.4,1270,14446,0.00,2.15,13.10,0.469,6,0.000,0.028,2637,2096,671,0,0,0,0,0,0
$STATE,14457,end climb,SURFACE_DEPTH_REACHED
$STATE,14457,begin surface coast
$FINISH,0.3,1.021333
$STATE,14492,end surface coast,CONTROL_FINISHED_OK
$STATE,14494,begin surface
$SM_CCo,14570,0.00,0.000,0,0,669,539.66
$SM_GC,0.77,6.20,0.00,0.00,0.028,0.000,0.000,199,2609,669,-6.47,1.39,539.66,0,0,0,0,0,0
$IRIDIUM_FIX,2111.01,12003.06,170611,222210
$TT8_MAMPS,0.027713,0.027713
$HUMID,38.26
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,24.0,6.754
$10V_AH,10.2,7.056
$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,16.275,135.400,571.325,0.000,0.000,25.298,19.938,174.880,0.000,0.000,16.293,3216.105,7570.044,611.435,3236.772,291.300,0.000,1899.142,0.000,2169.418,0.000,0.541,0.000
$DEVICE_MAMPS,237.150,56.610,1119.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,889.953,1949.988,1497.149,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323196
$DATA_FILE_SIZE,83652,1281
$CAP_FILE_SIZE,155288,0
$CFSIZE,260165632,247390208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148,299.9,1
$GPS,180611,065536,2117.225,11958.769,27,0.8,28,-2.5