version: 66.09
glider: 181
mission: 6
dive: 23
start: 6 15 111 6 40 8
data:
$ID,181
$MISSION,6
$DIVE,23
$N_DIVES,30
$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,-5
$MAX_BUOY,175
$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,500
$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,-39538.98
$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,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$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,2600
$C_ROLL_CLIMB,2270
$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,1.5
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,150611,063337,2145.994,12000.896,29,0.9,30,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-71.7
$GPS2,150611,063943,2146.049,12000.947,10,1.4,10,-2.6
$SPEED_LIMITS,0.191,0.287
$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,247.0,2536,-17.6,-11.000
$D_GRID,2348
$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,16,-0.65,-170.3,0.0,0.0,0,85,0.00,0.00,-66.88,0.000,2,0.000,0.000,207,2627,2661,0,0,0,0,0,0
$GC,88,-0.65,-170.3,3.7,-5.8,9,121,7.90,2.20,-16.80,0.000,4,0.243,0.046,2119,1180,3565,0,0,0,0,0,0
$GC,204,-0.65,-170.3,49.3,-35.1,28,213,0.00,2.25,0.00,0.000,6,0.000,0.047,2109,2579,3566,0,0,0,0,0,0
$GC,408,-0.65,-170.3,123.0,-27.7,65,415,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2580,3567,0,0,0,0,0,0
$GC,609,-0.65,-170.3,177.0,-23.2,102,617,0.00,2.10,0.00,0.000,4,0.000,0.031,2109,1191,3570,0,0,0,0,0,0
$GC,653,-0.65,-170.3,185.3,-18.7,109,661,0.00,2.17,0.00,0.000,6,0.000,0.040,2099,2579,3570,0,0,0,0,0,0
$GC,855,-0.65,-170.3,234.3,-29.2,146,863,0.00,1.88,0.00,0.000,4,0.000,0.047,2090,3787,3570,0,0,0,0,0,0
$GC,883,-0.65,-170.3,241.9,-28.0,150,891,0.00,1.85,0.00,0.000,6,0.000,0.029,2090,2557,3570,0,0,0,0,0,0
$GC,1091,-0.65,-170.3,293.4,-24.1,172,1095,0.12,2.00,0.00,0.000,4,0.188,0.034,2122,1199,3567,0,0,0,0,0,0
$GC,1131,-0.65,-170.3,300.5,-15.5,175,1135,0.00,2.08,0.00,0.000,6,0.000,0.038,2114,2562,3570,0,0,0,0,0,0
$GC,1462,-0.65,-170.3,345.7,-12.9,206,1466,0.00,1.85,0.00,0.000,4,0.000,0.049,2111,3780,3569,0,0,0,0,0,0
$GC,1535,-0.65,-170.3,354.4,-10.7,212,1542,0.00,1.83,0.00,0.000,6,0.000,0.030,2111,2567,3569,0,0,0,0,0,0
$GC,1860,-0.65,-170.3,406.4,-18.8,243,1864,0.00,2.03,0.00,0.000,4,0.000,0.036,2111,1194,3567,0,0,0,0,0,0
$GC,1909,-0.65,-170.3,415.8,-17.9,247,1917,0.00,2.15,0.00,0.000,6,0.000,0.043,2111,2563,3566,0,0,0,0,0,0
$GC,2236,-0.65,-170.3,474.4,-18.0,278,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2563,3563,0,0,0,0,0,0
$GC,2556,-0.65,-170.3,520.0,-12.7,308,2559,0.00,1.88,0.00,0.000,4,0.000,0.054,2111,3787,3561,0,0,0,0,0,0
$GC,2602,-0.65,-170.3,525.6,-11.5,312,2606,0.00,1.80,0.00,0.000,6,0.000,0.032,2111,2564,3560,0,0,0,0,0,0
$GC,2933,-0.65,-170.3,560.5,-9.3,343,2937,0.00,2.03,0.00,0.000,4,0.000,0.038,2111,1198,3556,0,0,0,0,0,0
$GC,2968,-0.65,-170.3,563.4,-8.8,346,2972,0.00,2.15,0.00,0.000,6,0.000,0.044,2111,2590,3557,0,0,0,0,0,0
$GC,3293,-0.65,-170.3,595.1,-11.3,376,3297,0.00,2.10,0.00,0.000,4,0.000,0.039,2111,1196,3555,0,0,0,0,0,0
$GC,3347,-0.65,-170.3,601.0,-10.8,380,3351,0.00,2.15,0.00,0.000,6,0.000,0.045,2111,2587,3552,0,0,0,0,0,0
$GC,3663,-0.65,-170.3,639.2,-11.8,395,3665,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2584,3551,0,0,0,0,0,0
$GC,3972,-0.65,-170.3,676.3,-11.7,410,3976,0.00,2.10,0.00,0.000,4,0.000,0.041,2111,1196,3549,0,0,0,0,0,0
$GC,4013,-0.65,-170.3,680.8,-11.2,412,4017,0.00,2.15,0.00,0.000,6,0.000,0.047,2110,2583,3549,0,0,0,0,0,0
$GC,4342,-0.65,-170.3,716.2,-10.9,428,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2583,3546,0,0,0,0,0,0
$GC,4650,-0.65,-170.3,750.2,-10.9,443,4654,0.00,1.85,0.00,0.000,4,0.000,0.057,2111,3784,3544,0,0,0,0,0,0
$GC,4696,-0.65,-170.3,754.6,-9.7,445,4700,0.00,1.85,0.00,0.000,6,0.000,0.035,2111,2573,3543,0,0,0,0,0,0
$GC,5029,-0.65,-170.3,789.4,-11.3,461,5033,0.00,2.08,0.00,0.000,4,0.000,0.041,2111,1189,3541,0,0,0,0,0,0
$GC,5111,-0.65,-170.3,798.9,-11.1,464,5118,0.00,2.17,0.00,0.000,6,0.000,0.047,2111,2562,3540,0,0,0,0,0,0
$GC,5428,-0.65,-170.3,839.1,-13.0,480,5432,0.00,1.90,0.00,0.000,4,0.000,0.057,2111,3788,3538,0,0,0,0,0,0
$GC,5474,-0.65,-170.3,844.9,-12.3,482,5478,0.00,1.83,0.00,0.000,6,0.000,0.035,2111,2564,3539,0,0,0,0,0,0
$GC,5807,-0.65,-170.3,887.3,-12.6,498,5810,0.00,2.05,0.00,0.000,4,0.000,0.043,2111,1195,3536,0,0,0,0,0,0
$GC,5867,-0.65,-170.3,894.6,-11.0,500,5874,0.00,2.15,0.00,0.000,6,0.000,0.048,2111,2569,3536,0,0,0,0,0,0
$GC,6184,-0.65,-170.3,929.1,-10.4,516,6185,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2569,3534,0,0,0,0,0,0
$GC,6493,-0.65,-170.3,959.8,-9.9,531,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2570,3533,0,0,0,0,0,0
$GC,6802,-0.65,-170.3,989.6,-9.5,546,6806,0.00,2.08,0.00,0.000,6,0.000,0.043,2110,1201,3531,0,0,0,0,0,0
$STATE,6807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6807,begin apogee
$GC,6814,-0.12,0.0,990.2,9.5,546,6953,0.52,0.00,131.65,1.136,4,0.129,0.000,2283,2278,2870,0,0,0,0,0,0
$STATE,6954,end apogee,CONTROL_FINISHED_OK
$STATE,6954,begin climb
$GC,6956,0.65,170.3,993.9,0.0,552,7106,0.70,2.35,141.50,1.102,4,0.045,0.046,2554,876,2177,0,0,0,0,0,0
$GC,7278,0.65,170.3,949.8,18.5,567,7282,0.00,2.25,0.00,0.000,6,0.000,0.043,2554,2275,2168,0,0,0,0,0,0
$GC,7601,0.65,170.3,884.1,20.7,583,7605,0.00,2.20,0.00,0.000,4,0.000,0.044,2564,871,2164,0,0,0,0,0,0
$GC,7730,0.65,170.3,858.8,19.7,589,7734,0.00,2.17,0.00,0.000,6,0.000,0.043,2564,2255,2164,0,0,0,0,0,0
$GC,8058,0.65,170.3,792.1,20.2,605,8062,0.00,2.15,0.00,0.000,4,0.000,0.044,2573,872,2162,0,0,0,0,0,0
$GC,8180,0.65,170.3,768.1,18.9,610,8187,0.15,2.15,0.00,0.000,6,0.190,0.042,2539,2245,2161,0,0,0,0,0,0
$GC,8497,0.65,170.3,711.7,18.2,626,8501,0.00,2.15,0.00,0.000,4,0.000,0.044,2547,867,2160,0,0,0,0,0,0
$GC,8591,0.65,170.3,693.6,18.1,630,8595,0.00,2.12,0.00,0.000,6,0.000,0.043,2546,2233,2160,0,0,0,0,0,0
$GC,8914,0.65,170.3,633.6,18.4,646,8918,0.00,2.10,0.00,0.000,4,0.000,0.045,2562,869,2159,0,0,0,0,0,0
$GC,9043,0.65,170.3,611.1,17.1,652,9047,0.00,2.10,0.00,0.000,6,0.000,0.042,2556,2228,2159,0,0,0,0,0,0
$GC,9366,0.65,170.3,559.5,14.2,679,9367,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2228,2158,0,0,0,0,0,0
$GC,9687,0.65,170.3,517.0,13.3,709,9690,0.00,2.08,0.00,0.000,4,0.000,0.044,2565,870,2158,0,0,0,0,0,0
$GC,9843,0.65,170.3,495.3,14.4,722,9850,0.00,2.10,0.00,0.000,6,0.000,0.042,2565,2220,2158,0,0,0,0,0,0
$GC,10170,0.65,170.3,441.6,16.8,753,10173,0.00,2.08,0.00,0.000,4,0.000,0.044,2574,869,2158,0,0,0,0,0,0
$GC,10249,0.65,170.3,428.0,16.9,760,10254,0.15,2.08,0.00,0.000,6,0.183,0.041,2538,2218,2157,0,0,0,0,0,0
$GC,10575,0.65,170.3,379.5,13.6,790,10579,0.00,2.05,0.00,0.000,4,0.000,0.043,2545,871,2157,0,0,0,0,0,0
$GC,10598,0.65,170.3,376.3,14.0,792,10602,0.00,2.08,0.00,0.000,6,0.000,0.041,2545,2224,2157,0,0,0,0,0,0
$GC,10924,0.65,170.3,336.9,11.5,822,10928,0.00,2.08,0.00,0.000,4,0.000,0.043,2554,871,2157,0,0,0,0,0,0
$GC,11089,0.65,170.3,316.8,11.6,836,11096,0.00,2.05,0.00,0.000,6,0.000,0.040,2554,2201,2157,0,0,0,0,0,0
$GC,11416,0.65,170.3,268.7,14.7,867,11419,0.00,2.03,0.00,0.000,4,0.000,0.043,2564,867,2157,0,0,0,0,0,0
$GC,11663,0.65,170.3,239.6,11.9,897,11672,0.00,2.05,0.00,0.000,6,0.000,0.039,2564,2187,2158,0,0,0,0,0,0
$GC,11865,0.66,176.6,216.2,10.7,934,11875,0.00,2.10,3.40,0.429,4,0.000,0.042,2573,854,2150,0,0,0,0,0,0
$GC,11958,0.66,180.4,206.3,10.8,950,11967,0.00,2.03,5.22,0.557,6,0.000,0.038,2572,2160,2136,0,0,0,0,0,0
$GC,12161,0.66,180.4,179.6,13.6,987,12170,0.00,2.38,0.00,0.000,4,0.000,0.048,2573,3682,2133,0,0,0,0,0,0
$GC,12326,0.69,206.9,157.7,9.8,1017,12358,0.08,2.28,22.10,0.617,6,0.189,0.034,2562,2205,2023,0,0,0,0,0,0
$GC,12553,0.80,292.6,142.0,7.3,1057,12624,0.00,2.17,64.65,0.568,4,0.000,0.042,2570,861,1675,0,0,0,0,0,0
$GC,12864,0.80,292.6,107.0,14.5,1111,12872,0.00,2.08,0.00,0.000,6,0.000,0.038,2570,2165,1667,0,0,0,0,0,0
$GC,13066,0.87,350.1,84.7,8.5,1148,13121,0.12,2.10,43.00,0.541,4,0.089,0.039,2642,866,1441,0,0,0,0,0,0
$GC,13179,0.87,350.1,70.6,13.7,1165,13189,0.10,2.05,0.00,0.000,6,0.143,0.037,2611,2153,1438,0,0,0,0,0,0
$GC,13383,0.89,367.2,47.1,10.3,1202,13406,0.00,2.45,13.88,0.542,4,0.000,0.044,2611,3683,1371,0,0,0,0,0,0
$GC,13446,0.89,367.2,39.7,12.7,1212,13454,0.00,2.38,0.00,0.000,6,0.000,0.032,2620,2168,1369,0,0,0,0,0,0
$GC,13649,0.93,398.3,20.5,9.6,1249,13681,0.00,2.40,24.77,0.538,4,0.000,0.042,2619,3682,1243,0,0,0,0,0,0
$GC,13701,0.96,420.7,15.3,10.0,1256,13725,0.00,2.33,17.98,0.448,6,0.000,0.031,2631,2195,1152,0,0,0,0,0,0
$STATE,13816,end climb,SURFACE_DEPTH_REACHED
$STATE,13816,begin surface coast
$FINISH,-0.1,1.020660
$STATE,13844,end surface coast,CONTROL_FINISHED_OK
$STATE,13844,begin surface
$SM_CCo,13860,40.25,0.061,0,0,830,500.17
$SM_GC,0.46,0.00,0.00,40.25,0.000,0.000,0.061,201,2627,830,-6.65,0.79,500.17,0,0,0,0,0,0
$IRIDIUM_FIX,2141.13,11931.45,150611,020242
$TT8_MAMPS,0.027713,0.027713
$HUMID,39.44
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.0,4.348
$10V_AH,10.2,4.496
$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,16.225,130.150,468.150,40.250,0.000,28.209,23.984,176.083,0.000,0.000,12.943,3238.021,6822.816,561.999,3338.365,295.476,0.000,1832.977,0.000,2210.458,0.000,0.541,0.000
$DEVICE_MAMPS,243.270,57.375,1136.025,61.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,890.141,1950.576,1622.848,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323140
$DATA_FILE_SIZE,83644,1281
$CAP_FILE_SIZE,152223,0
$CFSIZE,260165632,248860672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.236, 68.0,1
$GPS,150611,103307,2146.143,12000.806,38,0.8,39,-2.6