version: 66.09
glider: 181
mission: 6
dive: 7
start: 6 12 111 14 1 48
data:
$ID,181
$MISSION,6
$DIVE,7
$N_DIVES,15
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,135
$T_MISSION,160
$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,-5
$MAX_BUOY,225
$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,-39517.344
$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,2360
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2575
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,51
$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
$GPS1,120611,135644,2158.151,12020.635,9,1.4,9,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-70.2
$GPS2,120611,140120,2158.089,12020.720,13,1.2,13,-2.7
$SPEED_LIMITS,0.214,0.334
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$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,283.5,43103,-17.0,-12.346
$D_GRID,1061
$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,-0.76,-219.0,0.0,0.0,0,100,0.00,0.00,-81.85,0.000,2,0.000,0.000,199,2533,2668,0,0,0,0,0,0
$GC,103,-0.76,-219.0,3.3,-7.0,11,136,7.97,2.10,-18.95,0.000,4,0.252,0.047,2107,1155,3763,0,0,0,0,0,0
$GC,226,-0.73,-219.0,45.4,-22.8,31,234,0.00,2.20,0.00,0.000,6,0.000,0.047,2098,2545,3765,0,0,0,0,0,0
$GC,301,-0.56,-219.0,69.2,-36.5,44,310,0.25,1.95,0.00,0.000,4,0.196,0.049,2160,3787,3765,0,0,0,0,0,0
$GC,376,-0.48,-219.0,92.9,-25.3,57,386,0.12,1.83,0.00,0.000,6,0.131,0.029,2201,2561,3766,0,0,0,0,0,0
$GC,453,-0.46,-219.0,107.8,-19.3,70,461,0.00,2.05,0.00,0.000,4,0.000,0.032,2201,1176,3767,0,0,0,0,0,0
$GC,474,-0.46,-219.0,111.4,-16.9,73,484,0.00,2.17,0.00,0.000,6,0.000,0.040,2195,2583,3768,0,0,0,0,0,0
$GC,550,-0.46,-219.0,120.4,-12.4,86,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2583,3768,0,0,0,0,0,0
$GC,625,-0.47,-219.0,130.2,-13.2,99,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2580,3768,0,0,0,0,0,0
$GC,698,-0.50,-219.0,140.0,-12.5,112,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2583,3768,0,0,0,0,0,0
$GC,773,-0.53,-219.0,149.0,-12.0,125,782,0.00,1.85,0.00,0.000,4,0.000,0.047,2192,3782,3768,0,0,0,0,0,0
$GC,823,-0.61,-219.0,153.9,-9.8,133,832,0.00,1.80,0.00,0.000,6,0.000,0.028,2192,2559,3768,0,0,0,0,0,0
$GC,900,-0.66,-219.0,160.5,-9.1,146,909,0.15,2.05,0.00,0.000,4,0.071,0.033,2111,1187,3768,0,0,0,0,0,0
$GC,929,-0.69,-219.0,164.3,-12.2,150,938,0.00,2.15,0.00,0.000,6,0.000,0.043,2111,2572,3768,0,0,0,0,0,0
$GC,1005,-0.63,-219.0,178.2,-20.4,163,1014,0.15,1.90,0.00,0.000,4,0.168,0.050,2144,3786,3768,0,0,0,0,0,0
$GC,1044,-0.62,-219.0,185.5,-18.5,169,1053,0.00,1.80,0.00,0.000,6,0.000,0.031,2144,2574,3768,0,0,0,0,0,0
$GC,1119,-0.62,-219.0,195.8,-14.1,182,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2574,3768,0,0,0,0,0,0
$GC,1192,-0.62,-219.0,206.3,-14.2,195,1200,0.00,1.90,0.00,0.000,4,0.000,0.050,2138,3786,3768,0,0,0,0,0,0
$GC,1241,-0.62,-219.0,213.2,-14.7,203,1249,0.00,1.80,0.00,0.000,6,0.000,0.031,2138,2574,3768,0,0,0,0,0,0
$GC,1315,-0.62,-219.0,223.5,-14.4,216,1323,0.00,2.08,0.00,0.000,4,0.000,0.034,2138,1176,3768,0,0,0,0,0,0
$GC,1369,-0.65,-219.0,230.9,-12.9,225,1379,0.00,2.17,0.00,0.000,6,0.000,0.042,2138,2580,3768,0,0,0,0,0,0
$GC,1445,-0.65,-219.0,240.4,-13.2,238,1453,0.00,1.85,0.00,0.000,4,0.000,0.050,2138,3774,3768,0,0,0,0,0,0
$GC,1478,-0.67,-219.0,244.8,-13.5,243,1486,0.00,1.77,0.00,0.000,6,0.000,0.032,2138,2578,3768,0,0,0,0,0,0
$GC,1558,-0.67,-219.0,254.2,-12.0,254,1562,0.00,2.05,0.00,0.000,4,0.000,0.034,2138,1173,3768,0,0,0,0,0,0
$GC,1582,-0.68,-219.0,256.8,-11.5,256,1586,0.00,2.15,0.00,0.000,6,0.000,0.042,2138,2587,3768,0,0,0,0,0,0
$GC,1908,-0.69,-219.0,293.5,-12.0,286,1912,0.00,1.80,0.00,0.000,4,0.000,0.050,2138,3780,3766,0,0,0,0,0,0
$GC,1979,-0.76,-219.0,300.9,-9.1,292,1986,0.00,1.77,0.00,0.000,6,0.000,0.031,2138,2564,3766,0,0,0,0,0,0
$GC,2305,-0.78,-219.0,339.1,-12.3,323,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2563,3764,0,0,0,0,0,0
$GC,2627,-0.81,-219.0,377.6,-11.5,353,2634,0.12,0.00,0.00,0.000,6,0.083,0.000,2070,2563,3761,0,0,0,0,0,0
$GC,2952,-0.77,-219.0,436.6,-17.7,384,2957,0.15,1.90,0.00,0.000,4,0.155,0.055,2111,3781,3758,0,0,0,0,0,0
$GC,3043,-0.81,-219.0,447.9,-10.0,392,3046,0.00,1.75,0.00,0.000,6,0.000,0.033,2111,2579,3758,0,0,0,0,0,0
$GC,3373,-0.81,-219.0,489.1,-12.8,423,3377,0.00,1.88,0.00,0.000,4,0.000,0.055,2111,3789,3755,0,0,0,0,0,0
$GC,3397,-0.81,-219.0,491.9,-12.7,425,3401,0.00,1.77,0.00,0.000,6,0.000,0.034,2111,2576,3755,0,0,0,0,0,0
$STATE,3470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3471,begin apogee
$GC,3477,-0.14,0.0,501.1,12.3,432,3648,0.57,0.00,161.12,0.803,6,0.116,0.000,2308,2095,2869,0,0,0,0,0,0
$STATE,3649,end apogee,CONTROL_FINISHED_OK
$STATE,3649,begin climb
$GC,3651,0.76,219.0,510.0,0.0,447,3827,0.77,2.28,168.10,0.773,4,0.039,0.038,2634,701,1976,0,0,0,0,0,0
$GC,4069,0.61,219.0,446.9,20.9,483,4076,0.30,2.17,0.00,0.000,6,0.174,0.037,2554,2106,1969,0,0,0,0,0,0
$GC,4395,0.50,219.0,394.2,16.1,514,4399,0.12,2.15,0.00,0.000,4,0.188,0.047,2522,3508,1965,0,0,0,0,0,0
$GC,4461,0.42,219.0,383.4,15.8,519,4469,0.12,2.12,0.00,0.000,6,0.187,0.032,2500,2102,1964,0,0,0,0,0,0
$GC,4788,0.41,243.7,344.9,11.4,550,4811,0.00,2.22,18.67,0.727,4,0.000,0.043,2509,691,1875,0,0,0,0,0,0
$GC,4897,0.39,250.2,332.0,12.1,559,4907,0.00,2.17,6.12,0.601,6,0.000,0.037,2508,2104,1850,0,0,0,0,0,0
$GC,5229,0.39,278.0,292.1,11.3,590,5256,0.00,2.25,22.38,0.685,4,0.000,0.048,2509,3510,1734,0,0,0,0,0,0
$GC,5366,0.36,283.3,275.5,12.1,602,5379,0.12,2.17,5.22,0.569,6,0.146,0.034,2479,2107,1713,0,0,0,0,0,0
$GC,5701,0.46,357.2,246.1,9.5,637,5763,0.00,0.00,56.40,0.648,6,0.000,0.000,2478,2107,1413,0,0,0,0,0,0
$GC,5831,0.63,459.6,234.4,8.5,657,5916,0.25,0.00,77.47,0.611,6,0.060,0.000,2589,2106,995,0,0,0,0,0,0
$GC,5984,0.59,459.6,207.8,18.4,680,5992,0.15,2.30,0.00,0.000,4,0.145,0.048,2549,3506,991,0,0,0,0,0,0
$GC,6032,0.59,459.6,199.6,15.5,688,6041,0.00,2.20,0.00,0.000,6,0.000,0.034,2556,2103,990,0,0,0,0,0,0
$GC,6108,0.57,459.6,189.4,14.2,701,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2104,989,0,0,0,0,0,0
$GC,6182,0.57,459.6,179.0,14.2,714,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2104,988,0,0,0,0,0,0
$GC,6255,0.57,459.6,168.5,14.8,727,6263,0.00,2.22,0.00,0.000,4,0.000,0.047,2556,3498,989,0,0,0,0,0,0
$GC,6292,0.57,459.6,162.7,15.9,733,6302,0.00,2.17,0.00,0.000,6,0.000,0.033,2566,2092,987,0,0,0,0,0,0
$GC,6368,0.56,459.6,151.4,15.0,746,6376,0.00,2.15,0.00,0.000,4,0.000,0.042,2577,695,986,0,0,0,0,0,0
$GC,6397,0.56,459.6,147.4,14.6,750,6406,0.10,2.20,0.00,0.000,6,0.111,0.038,2542,2103,985,0,0,0,0,0,0
$GC,6473,0.60,472.2,138.1,11.9,763,6489,0.00,2.20,9.52,0.596,4,0.000,0.047,2542,3516,945,0,0,0,0,0,0
$GC,6526,0.65,495.8,132.3,11.4,771,6550,0.00,2.20,19.45,0.577,6,0.000,0.034,2550,2098,847,0,0,0,0,0,0
$GC,6621,0.74,537.4,122.0,10.8,786,6660,0.15,2.17,31.80,0.547,4,0.076,0.038,2634,684,677,0,0,0,0,0,0
$GC,6695,0.77,537.4,109.1,16.4,797,6704,0.00,2.28,0.00,0.000,6,0.000,0.041,2636,2103,675,0,0,0,0,0,0
$GC,6771,0.73,537.4,95.3,19.8,810,6780,0.15,2.25,0.00,0.000,4,0.151,0.050,2594,3507,674,0,0,0,0,0,0
$GC,6862,0.74,537.4,80.5,13.8,826,6870,0.00,2.17,0.00,0.000,6,0.000,0.034,2602,2102,672,0,0,0,0,0,0
$GC,6939,0.74,537.4,70.4,13.1,839,6946,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2102,673,0,0,0,0,0,0
$GC,7013,0.78,554.5,61.5,11.7,852,7030,0.00,0.00,13.77,0.565,6,0.000,0.000,2602,2101,607,0,0,0,0,0,0
$GC,7097,0.87,608.3,52.7,10.3,866,7136,0.12,2.28,31.65,0.522,4,0.083,0.045,2665,3523,439,0,0,0,0,0,0
$GC,7171,0.84,608.3,40.4,19.4,877,7181,0.12,2.20,0.00,0.000,6,0.133,0.032,2632,2113,438,0,0,0,0,0,0
$GC,7250,0.90,622.4,29.6,11.8,890,7258,0.00,2.20,0.00,0.000,4,0.000,0.042,2642,695,438,0,0,0,0,0,0
$GC,7288,1.03,679.8,25.7,10.2,896,7297,0.10,2.20,0.00,0.000,6,0.048,0.035,2713,2102,437,0,0,0,0,0,0
$GC,7365,1.00,679.8,14.8,17.2,909,7374,0.12,2.22,0.00,0.000,4,0.157,0.047,2681,3508,437,0,0,0,0,0,0
$GC,7405,1.00,679.8,8.2,16.8,915,7413,0.00,2.17,0.00,0.000,6,0.000,0.032,2688,2096,437,0,0,0,0,0,0
$STATE,7442,end climb,SURFACE_DEPTH_REACHED
$STATE,7442,begin surface coast
$FINISH,-0.7,1.020962
$STATE,7465,end surface coast,CONTROL_FINISHED_OK
$STATE,7465,begin surface
$SM_CCo,7542,0.00,0.000,0,0,436,596.81
$SM_GC,0.01,6.40,0.00,0.00,0.035,0.000,0.000,203,2604,436,-6.65,0.82,596.81,0,0,0,0,0,0
$IRIDIUM_FIX,2152.74,12022.75,120611,121231
$TT8_MAMPS,0.026964,0.026964
$HUMID,50.00
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.10
$XPDR_PINGS,4
$24V_AH,24.7,1.625
$10V_AH,10.3,1.861
$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,18.625,109.300,621.700,0.000,0.000,23.052,17.572,120.481,1.000,0.000,17.352,2243.328,2124.690,709.036,2502.596,245.144,0.000,1737.629,0.000,1476.508,0.000,0.541,0.000
$DEVICE_MAMPS,251.685,55.080,803.250,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,631.589,1408.976,1642.924,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323220
$DATA_FILE_SIZE,60380,925
$CAP_FILE_SIZE,128294,0
$CFSIZE,260165632,250425344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106,131.0,1
$GPS,120611,160837,2158.120,12019.794,30,1.0,30,-2.7