version: 66.09
glider: 181
mission: 6
dive: 34
start: 6 17 111 1 59 35
data:
$ID,181
$MISSION,6
$DIVE,34
$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,-39560.199
$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,41
$R_STBD_OVSHOOT,48
$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
$GPS1,170611,015230,2130.862,12001.229,57,0.9,58,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-67.7
$GPS2,170611,015908,2130.831,12001.285,14,0.9,14,-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,191.7,279348,-16.3,-11.000
$D_GRID,2883
$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,-194.6,0.0,0.0,0,88,0.00,0.00,-69.43,0.000,2,0.000,0.000,130,2594,2726,0,0,0,0,0,0
$GC,91,-0.59,-194.6,3.7,-4.6,9,124,8.15,2.20,-17.27,0.000,4,0.239,0.042,2111,1141,3664,0,0,0,0,0,0
$GC,195,-0.59,-194.6,42.7,-27.1,26,203,0.00,2.25,0.00,0.000,6,0.000,0.047,2109,2540,3668,0,0,0,0,0,0
$GC,396,-0.59,-194.6,113.6,-31.7,63,405,0.00,1.98,0.00,0.000,4,0.000,0.049,2099,3786,3666,0,0,0,0,0,0
$GC,502,-0.59,-194.6,149.7,-31.6,82,510,0.00,1.88,0.00,0.000,6,0.000,0.028,2099,2545,3667,0,0,0,0,0,0
$GC,703,-0.59,-194.6,208.9,-25.4,119,712,0.00,2.08,0.00,0.000,4,0.000,0.030,2099,1152,3668,0,0,0,0,0,0
$GC,764,-0.59,-194.6,223.6,-21.3,129,772,0.00,2.22,0.00,0.000,6,0.000,0.047,2096,2554,3669,0,0,0,0,0,0
$GC,967,-0.59,-194.6,263.6,-20.6,160,971,0.00,1.88,0.00,0.000,4,0.000,0.047,2087,3786,3669,0,0,0,0,0,0
$GC,984,-0.59,-194.6,267.9,-20.6,161,991,0.12,1.80,0.00,0.000,6,0.170,0.028,2119,2561,3669,0,0,0,0,0,0
$GC,1310,-0.59,-194.6,324.8,-15.4,192,1313,0.00,2.05,0.00,0.000,4,0.000,0.033,2119,1168,3669,0,0,0,0,0,0
$GC,1325,-0.59,-194.6,327.2,-14.6,193,1333,0.00,2.17,0.00,0.000,6,0.000,0.040,2111,2558,3669,0,0,0,0,0,0
$GC,1651,-0.59,-194.6,372.2,-13.9,224,1655,0.00,1.92,0.00,0.000,4,0.000,0.050,2110,3783,3667,0,0,0,0,0,0
$GC,1764,-0.59,-194.6,386.5,-11.5,234,1767,0.00,1.85,0.00,0.000,6,0.000,0.030,2111,2551,3666,0,0,0,0,0,0
$GC,2094,-0.59,-194.6,436.9,-17.2,265,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2551,3663,0,0,0,0,0,0
$GC,2415,-0.59,-194.6,487.9,-16.7,295,2418,0.00,1.92,0.00,0.000,4,0.000,0.052,2111,3787,3660,0,0,0,0,0,0
$GC,2462,-0.59,-194.6,495.2,-14.5,299,2466,0.00,1.80,0.00,0.000,6,0.000,0.031,2111,2564,3659,0,0,0,0,0,0
$GC,2793,-0.59,-194.6,547.5,-15.5,330,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2563,3656,0,0,0,0,0,0
$GC,3113,-0.59,-194.6,593.7,-13.5,360,3117,0.00,1.95,0.00,0.000,4,0.000,0.054,2111,3781,3653,0,0,0,0,0,0
$GC,3181,-0.59,-194.6,602.5,-11.6,366,3185,0.00,1.83,0.00,0.000,6,0.000,0.032,2111,2549,3652,0,0,0,0,0,0
$GC,3514,-0.59,-194.6,641.8,-11.2,382,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2547,3650,0,0,0,0,0,0
$GC,3823,-0.59,-194.6,676.5,-11.2,397,3827,0.00,1.95,0.00,0.000,4,0.000,0.055,2107,3780,3647,0,0,0,0,0,0
$GC,3858,-0.59,-194.6,680.4,-11.0,398,3861,0.00,1.83,0.00,0.000,6,0.000,0.034,2111,2553,3646,0,0,0,0,0,0
$GC,4179,-0.59,-194.6,719.6,-13.3,414,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2550,3644,0,0,0,0,0,0
$GC,4488,-0.59,-194.6,769.0,-16.1,429,4492,0.00,1.92,0.00,0.000,4,0.000,0.056,2110,3778,3641,0,0,0,0,0,0
$GC,4543,-0.59,-194.6,778.5,-16.0,431,4548,0.00,1.85,0.00,0.000,6,0.000,0.035,2110,2570,3640,0,0,0,0,0,0
$GC,4866,-0.59,-194.6,830.1,-15.4,447,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2571,3638,0,0,0,0,0,0
$GC,5175,-0.59,-194.6,868.0,-10.6,462,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2571,3636,0,0,0,0,0,0
$GC,5485,-0.59,-194.6,895.4,-8.3,477,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2571,3634,0,0,0,0,0,0
$GC,5794,-0.59,-194.6,928.5,-11.9,492,5798,0.00,2.12,0.00,0.000,4,0.000,0.042,2110,1160,3631,0,0,0,0,0,0
$GC,5820,-0.59,-194.6,932.1,-12.5,493,5825,0.00,2.17,0.00,0.000,6,0.000,0.048,2110,2558,3632,0,0,0,0,0,0
$GC,6143,-0.59,-194.6,972.6,-13.3,509,6146,0.00,1.92,0.00,0.000,4,0.000,0.059,2110,3790,3629,0,0,0,0,0,0
$GC,6192,-0.59,-194.6,979.5,-13.2,511,6196,0.00,1.90,0.00,0.000,6,0.000,0.037,2116,2558,3629,0,0,0,0,0,0
$STATE,6291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6291,begin apogee
$GC,6298,-0.17,0.0,992.3,13.2,516,6452,0.43,0.00,149.90,1.126,6,0.126,0.000,2252,2088,2869,0,0,0,0,0,0
$STATE,6453,end apogee,CONTROL_FINISHED_OK
$STATE,6453,begin climb
$GC,6456,0.59,194.6,1004.9,0.0,523,6621,0.68,0.00,161.82,1.095,6,0.050,0.000,2513,2088,2076,0,0,0,0,0,0
$GC,6917,0.59,194.6,953.2,16.0,546,6918,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2088,2065,0,0,0,0,0,0
$GC,7226,0.59,194.6,901.4,17.0,561,7230,0.00,2.15,0.00,0.000,4,0.000,0.047,2523,704,2063,0,0,0,0,0,0
$GC,7263,0.59,194.6,894.5,17.0,562,7271,0.00,2.22,0.00,0.000,6,0.000,0.041,2522,2102,2063,0,0,0,0,0,0
$GC,7580,0.59,194.6,841.5,16.3,578,7584,0.00,2.17,0.00,0.000,4,0.000,0.045,2532,706,2062,0,0,0,0,0,0
$GC,7612,0.59,194.6,836.1,15.2,579,7621,0.08,2.22,0.00,0.000,6,0.174,0.041,2510,2107,2062,0,0,0,0,0,0
$GC,7929,0.59,194.6,791.3,14.4,595,7933,0.00,2.20,0.00,0.000,4,0.000,0.050,2510,3517,2060,0,0,0,0,0,0
$GC,7950,0.59,194.6,787.8,14.6,596,7954,0.00,2.15,0.00,0.000,6,0.000,0.037,2519,2112,2063,0,0,0,0,0,0
$GC,8277,0.59,194.6,737.7,15.3,612,8281,0.00,2.17,0.00,0.000,4,0.000,0.047,2530,693,2059,0,0,0,0,0,0
$GC,8406,0.59,194.6,717.8,14.1,617,8413,0.00,2.20,0.00,0.000,6,0.000,0.042,2530,2108,2059,0,0,0,0,0,0
$GC,8722,0.59,194.6,670.1,15.5,633,8726,0.00,2.17,0.00,0.000,4,0.000,0.045,2540,691,2058,0,0,0,0,0,0
$GC,8762,0.59,194.6,664.2,15.1,635,8767,0.15,2.17,0.00,0.000,6,0.184,0.041,2502,2106,2058,0,0,0,0,0,0
$GC,9089,0.59,194.6,621.6,14.1,651,9090,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2107,2057,0,0,0,0,0,0
$GC,9402,0.59,194.6,578.2,13.8,673,9403,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2107,2057,0,0,0,0,0,0
$GC,9723,0.59,194.6,533.2,15.0,703,9727,0.00,2.17,0.00,0.000,4,0.000,0.050,2502,3514,2056,0,0,0,0,0,0
$GC,9743,0.59,194.6,529.4,15.4,704,9751,0.00,2.20,0.00,0.000,6,0.000,0.036,2510,2093,2056,0,0,0,0,0,0
$GC,10069,0.59,194.6,480.7,14.9,735,10073,0.00,2.15,0.00,0.000,4,0.000,0.047,2521,690,2056,0,0,0,0,0,0
$GC,10195,0.59,194.6,461.4,15.5,746,10203,0.00,2.20,0.00,0.000,6,0.000,0.039,2521,2103,2056,0,0,0,0,0,0
$GC,10521,0.59,194.6,411.1,12.1,777,10525,0.00,2.15,0.00,0.000,4,0.000,0.044,2531,693,2056,0,0,0,0,0,0
$GC,10570,0.59,194.6,405.3,11.3,781,10577,0.00,2.20,0.00,0.000,6,0.000,0.040,2531,2107,2056,0,0,0,0,0,0
$GC,10896,0.72,300.0,377.9,7.0,812,10986,0.00,2.35,78.25,0.726,4,0.000,0.049,2531,3510,1646,0,0,0,0,0,0
$GC,11056,0.72,300.0,355.1,20.6,826,11060,0.00,2.22,0.00,0.000,6,0.000,0.036,2541,2095,1641,0,0,0,0,0,0
$GC,11382,0.72,300.0,280.7,17.6,856,11386,0.00,2.17,0.00,0.000,4,0.000,0.045,2551,685,1636,0,0,0,0,0,0
$GC,11479,0.72,300.0,267.6,11.6,864,11487,0.00,2.25,0.00,0.000,6,0.000,0.040,2551,2100,1636,0,0,0,0,0,0
$GC,11805,0.72,300.0,228.3,15.0,911,11814,0.00,2.25,0.00,0.000,4,0.000,0.048,2551,3516,1636,0,0,0,0,0,0
$GC,11848,0.72,300.0,221.1,17.0,918,11857,0.00,2.22,0.00,0.000,6,0.000,0.034,2561,2089,1635,0,0,0,0,0,0
$GC,12050,0.72,300.0,187.5,14.7,955,12059,0.00,2.17,0.00,0.000,4,0.000,0.044,2572,686,1635,0,0,0,0,0,0
$GC,12093,0.72,300.0,182.0,12.9,962,12102,0.00,2.22,0.00,0.000,6,0.000,0.039,2572,2107,1635,0,0,0,0,0,0
$GC,12297,0.73,307.2,162.5,10.7,999,12307,0.00,2.25,5.35,0.512,4,0.000,0.042,2581,693,1616,0,0,0,0,0,0
$GC,12411,0.73,307.2,148.1,12.5,1019,12421,0.10,2.20,0.00,0.000,6,0.125,0.037,2548,2103,1616,0,0,0,0,0,0
$GC,12615,0.81,366.5,127.0,8.7,1056,12668,0.00,2.25,46.15,0.563,4,0.000,0.044,2549,3519,1373,0,0,0,0,0,0
$GC,12698,0.89,435.7,120.2,8.4,1068,12761,0.08,2.22,52.38,0.515,6,0.060,0.032,2606,2102,1091,0,0,0,0,0,0
$GC,12954,0.89,435.7,88.1,11.6,1112,12962,0.00,2.25,0.00,0.000,4,0.000,0.045,2606,3502,1085,0,0,0,0,0,0
$GC,13013,0.89,435.7,81.2,11.7,1122,13021,0.00,2.20,0.00,0.000,6,0.000,0.032,2616,2100,1085,0,0,0,0,0,0
$GC,13215,0.91,453.3,58.7,10.3,1159,13239,0.00,2.22,13.77,0.523,4,0.000,0.041,2626,687,1019,0,0,0,0,0,0
$GC,13311,0.94,477.0,48.9,10.1,1175,13336,0.00,2.22,19.25,0.530,6,0.000,0.037,2626,2100,923,0,0,0,0,0,0
$GC,13531,0.94,477.8,24.4,11.0,1214,13539,0.00,2.25,0.00,0.000,4,0.000,0.044,2626,3514,921,0,0,0,0,0,0
$GC,13626,0.94,477.8,12.9,12.1,1231,13635,0.00,2.20,0.00,0.000,6,0.000,0.030,2636,2089,920,0,0,0,0,0,0
$STATE,13710,end climb,SURFACE_DEPTH_REACHED
$STATE,13710,begin surface coast
$FINISH,0.1,1.021331
$STATE,13734,end surface coast,CONTROL_FINISHED_OK
$STATE,13734,begin surface
$SM_CCo,13811,0.00,0.000,0,0,920,478.09
$SM_GC,0.70,6.20,0.00,0.00,0.028,0.000,0.000,201,2584,920,-6.49,0.68,478.09,0,0,0,0,0,0
$IRIDIUM_FIX,2122.58,12000.21,160611,212136
$TT8_MAMPS,0.027713,0.027713
$HUMID,38.46
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,24.0,5.847
$10V_AH,10.2,6.150
$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,15.975,123.925,526.875,0.000,0.000,31.295,38.461,182.642,0.000,0.000,16.837,3109.750,7044.229,620.305,3133.977,290.219,0.000,1794.920,0.000,2022.536,0.000,0.541,0.000
$DEVICE_MAMPS,239.445,58.905,1126.080,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,867.142,1903.796,1541.818,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83672,1250
$CAP_FILE_SIZE,143126,0
$CFSIZE,260165632,247926784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045, 34.1,1
$GPS,170611,055100,2129.077,12000.968,36,1.3,37,-2.5