version: 66.09
glider: 181
mission: 6
dive: 22
start: 6 15 111 2 48 51
data:
$ID,181
$MISSION,6
$DIVE,22
$N_DIVES,25
$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,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,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,-39537.723
$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,42
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$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,39
$R_STBD_OVSHOOT,46
$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
$GPS1,150611,023837,2144.895,12001.318,31,1.1,31,-2.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-71.7
$GPS2,150611,024808,2144.760,12001.499,13,1.5,13,-2.6
$SPEED_LIMITS,0.191,0.305
$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,298.5,2617,-21.1,-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,15,begin dive
$GC,17,-0.65,-120.5,0.0,0.0,0,92,0.00,0.00,-72.35,0.000,2,0.000,0.000,192,2634,2757,0,0,0,0,0,0
$GC,95,-0.74,-194.6,3.8,-5.9,10,127,7.80,1.80,-15.90,0.000,4,0.243,0.062,2075,3762,3665,0,0,0,0,0,0
$GC,242,-0.26,-194.6,77.4,-35.6,35,251,0.55,1.77,0.00,0.000,6,0.174,0.029,2236,2583,3667,0,0,0,0,0,0
$GC,446,-0.56,-194.6,109.4,-10.5,72,455,0.25,2.08,0.00,0.000,4,0.054,0.031,2114,1212,3669,0,0,0,0,0,0
$GC,553,-0.34,-194.6,134.1,-28.6,91,562,0.32,2.17,0.00,0.000,6,0.145,0.045,2215,2579,3669,0,0,0,0,0,0
$GC,757,-0.64,-194.6,159.1,-8.5,128,767,0.25,1.88,0.00,0.000,4,0.053,0.045,2083,3780,3669,0,0,0,0,0,0
$GC,819,-0.57,-194.6,168.0,-16.8,138,828,0.17,1.77,0.00,0.000,6,0.136,0.028,2139,2597,3669,0,0,0,0,0,0
$GC,1022,-0.54,-194.6,200.2,-15.9,175,1030,0.00,2.08,0.00,0.000,4,0.000,0.033,2139,1209,3669,0,0,0,0,0,0
$GC,1060,-0.61,-194.6,205.6,-14.3,181,1068,0.00,2.17,0.00,0.000,6,0.000,0.041,2139,2601,3669,0,0,0,0,0,0
$GC,1262,-0.61,-194.6,237.0,-15.3,218,1270,0.00,1.83,0.00,0.000,4,0.000,0.047,2130,3780,3669,0,0,0,0,0,0
$GC,1326,-0.73,-194.6,245.9,-12.5,229,1335,0.08,1.77,0.00,0.000,6,0.050,0.028,2073,2591,3669,0,0,0,0,0,0
$GC,1531,-0.39,-194.6,297.0,-29.3,250,1536,0.40,1.85,0.00,0.000,4,0.171,0.047,2187,3787,3668,0,0,0,0,0,0
$GC,1552,-0.16,-194.6,304.1,-29.0,251,1560,0.30,1.77,0.00,0.000,6,0.129,0.031,2279,2586,3668,0,0,0,0,0,0
$GC,1879,-0.87,-194.6,332.1,-9.0,282,1884,0.60,2.05,0.00,0.000,4,0.067,0.034,2046,1196,3666,0,0,0,0,0,0
$GC,1931,-0.87,-194.6,338.0,-11.8,286,1935,0.00,2.15,0.00,0.000,6,0.000,0.042,2043,2599,3665,0,0,0,0,0,0
$GC,2257,-0.58,-194.6,420.4,-24.9,316,2261,0.32,1.80,0.00,0.000,4,0.178,0.048,2132,3782,3663,0,0,0,0,0,0
$GC,2274,-0.32,-194.6,424.6,-24.2,317,2279,0.30,1.75,0.00,0.000,6,0.144,0.031,2221,2592,3663,0,0,0,0,0,0
$GC,2600,-1.08,-194.6,447.2,-8.3,347,2605,0.62,2.08,0.00,0.000,4,0.072,0.034,1983,1190,3660,0,0,0,0,0,0
$GC,2655,-0.84,-194.6,455.5,-18.6,351,2663,0.30,2.20,0.00,0.000,6,0.185,0.044,2055,2604,3659,0,0,0,0,0,0
$GC,2982,-0.66,-194.6,521.2,-21.0,382,2984,0.20,0.00,0.00,0.000,6,0.186,0.000,2111,2605,3657,0,0,0,0,0,0
$GC,3301,-0.74,-194.6,573.3,-15.6,412,3304,0.00,1.80,0.00,0.000,4,0.000,0.054,2111,3781,3654,0,0,0,0,0,0
$GC,3347,-0.91,-194.6,581.2,-16.0,416,3351,0.22,1.75,0.00,0.000,6,0.065,0.032,2007,2594,3653,0,0,0,0,0,0
$GC,3682,-0.60,-194.6,678.7,-30.0,436,3687,0.40,2.08,0.00,0.000,4,0.180,0.037,2128,1202,3650,0,0,0,0,0,0
$GC,3725,-0.75,-194.6,687.9,-18.6,438,3730,0.12,2.17,0.00,0.000,6,0.086,0.046,2066,2611,3650,0,0,0,0,0,0
$GC,4055,-0.68,-194.6,757.4,-20.9,454,4060,0.15,2.15,0.00,0.000,4,0.174,0.039,2107,1200,3646,0,0,0,0,0,0
$GC,4099,-0.87,-194.6,765.5,-15.0,456,4104,0.15,2.20,0.00,0.000,6,0.080,0.045,2035,2611,3646,0,0,0,0,0,0
$GC,4421,-0.69,-194.6,830.8,-20.6,472,4425,0.25,1.83,0.00,0.000,4,0.177,0.056,2110,3788,3643,0,0,0,0,0,0
$GC,4447,-0.69,-194.6,835.7,-16.5,473,4451,0.00,1.80,0.00,0.000,6,0.000,0.034,2110,2605,3643,0,0,0,0,0,0
$GC,4770,-0.84,-194.6,867.3,-9.7,489,4775,0.15,2.12,0.00,0.000,4,0.083,0.042,2043,1196,3641,0,0,0,0,0,0
$GC,4838,-0.84,-194.6,876.7,-14.4,492,4842,0.00,2.17,0.00,0.000,6,0.000,0.049,2043,2596,3640,0,0,0,0,0,0
$GC,5165,-0.73,-194.6,934.8,-18.6,508,5167,0.17,0.00,0.00,0.000,6,0.182,0.000,2089,2596,3638,0,0,0,0,0,0
$GC,5475,-0.81,-194.6,977.6,-12.9,523,5479,0.00,2.12,0.00,0.000,4,0.000,0.042,2090,1196,3635,0,0,0,0,0,0
$GC,5524,-0.98,-194.6,984.0,-12.7,525,5529,0.20,2.20,0.00,0.000,6,0.076,0.047,1995,2614,3635,0,0,0,0,0,0
$STATE,5570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5570,begin apogee
$GC,5576,-0.12,0.0,992.3,17.9,527,5735,0.95,0.00,151.43,1.126,6,0.171,0.000,2283,2263,2869,0,0,0,0,0,0
$STATE,5735,end apogee,CONTROL_FINISHED_OK
$STATE,5736,begin climb
$GC,5738,0.74,194.6,1001.9,0.0,534,5908,0.77,2.30,161.93,1.098,4,0.046,0.041,2591,869,2074,0,0,0,0,0,0
$GC,6159,0.44,194.6,939.6,19.5,553,6166,0.43,2.25,0.00,0.000,6,0.187,0.043,2480,2270,2064,0,0,0,0,0,0
$GC,6475,0.40,194.6,897.5,13.4,569,6479,0.00,2.20,0.00,0.000,4,0.000,0.044,2488,868,2060,0,0,0,0,0,0
$GC,6553,0.40,194.6,887.6,11.9,572,6560,0.00,2.22,0.00,0.000,6,0.000,0.043,2488,2273,2060,0,0,0,0,0,0
$GC,6869,0.32,194.6,847.4,12.4,588,6874,0.20,2.20,0.00,0.000,4,0.171,0.043,2443,860,2059,0,0,0,0,0,0
$GC,6935,0.51,249.3,841.7,7.6,591,6984,0.15,2.22,42.72,1.024,6,0.090,0.042,2503,2272,1852,0,0,0,0,0,0
$GC,7301,0.46,249.3,794.9,12.9,609,7305,0.00,2.20,0.00,0.000,4,0.000,0.044,2512,873,1843,0,0,0,0,0,0
$GC,7328,0.42,249.3,791.4,12.8,610,7333,0.17,2.20,0.00,0.000,6,0.170,0.042,2468,2270,1843,0,0,0,0,0,0
$GC,7645,0.49,256.4,758.9,10.6,625,7652,0.00,0.00,5.38,0.819,6,0.000,0.000,2468,2270,1823,0,0,0,0,0,0
$GC,7954,0.56,256.4,720.4,13.7,640,7958,0.12,2.20,0.00,0.000,4,0.098,0.045,2529,864,1822,0,0,0,0,0,0
$GC,8009,0.51,256.4,710.5,18.7,642,8018,0.12,2.22,0.00,0.000,6,0.182,0.044,2498,2280,1819,0,0,0,0,0,0
$GC,8325,0.51,256.4,652.5,18.9,658,8329,0.00,2.17,0.00,0.000,4,0.000,0.044,2507,871,1820,0,0,0,0,0,0
$GC,8380,0.51,256.4,642.0,18.4,660,8387,0.00,2.20,0.00,0.000,6,0.000,0.043,2507,2277,1820,0,0,0,0,0,0
$GC,8699,0.46,256.4,588.4,15.0,679,8700,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2277,1819,0,0,0,0,0,0
$GC,9020,0.42,256.4,542.4,14.1,709,9025,0.15,2.17,0.00,0.000,4,0.177,0.044,2476,871,1819,0,0,0,0,0,0
$GC,9053,0.48,256.4,538.2,12.2,711,9060,0.00,2.17,0.00,0.000,6,0.000,0.042,2476,2270,1819,0,0,0,0,0,0
$GC,9379,0.55,256.4,502.1,11.1,742,9383,0.00,2.17,0.00,0.000,4,0.000,0.044,2487,868,1819,0,0,0,0,0,0
$GC,9408,0.63,256.4,498.9,11.3,744,9412,0.15,2.17,0.00,0.000,6,0.087,0.042,2548,2278,1819,0,0,0,0,0,0
$GC,9733,0.48,256.4,446.8,16.1,774,9738,0.22,2.17,0.00,0.000,4,0.171,0.042,2495,871,1819,0,0,0,0,0,0
$GC,9772,0.51,256.4,441.8,12.0,777,9779,0.00,2.17,0.00,0.000,6,0.000,0.042,2495,2274,1818,0,0,0,0,0,0
$GC,10097,0.52,263.1,406.5,10.6,808,10108,0.00,0.00,6.25,0.711,6,0.000,0.000,2495,2278,1796,0,0,0,0,0,0
$GC,10428,0.56,263.1,372.0,11.3,839,10432,0.00,2.15,0.00,0.000,4,0.000,0.044,2505,871,1795,0,0,0,0,0,0
$GC,10469,0.65,275.5,367.6,10.2,842,10486,0.00,2.15,11.55,0.740,6,0.000,0.041,2505,2270,1745,0,0,0,0,0,0
$GC,10813,0.68,275.5,329.3,11.8,874,10817,0.12,2.20,0.00,0.000,4,0.096,0.044,2566,862,1741,0,0,0,0,0,0
$GC,10868,0.61,275.5,320.7,16.1,878,10877,0.15,2.20,0.00,0.000,6,0.164,0.041,2528,2281,1741,0,0,0,0,0,0
$GC,11194,0.56,275.5,268.8,16.6,909,11195,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2278,1744,0,0,0,0,0,0
$GC,11511,0.56,275.5,216.9,14.0,958,11519,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2278,1741,0,0,0,0,0,0
$GC,11712,0.56,275.5,190.7,12.3,995,11721,0.00,2.20,0.00,0.000,4,0.000,0.049,2528,3681,1741,0,0,0,0,0,0
$GC,11734,0.56,275.5,187.9,12.4,998,11743,0.00,2.17,0.00,0.000,6,0.000,0.034,2536,2270,1741,0,0,0,0,0,0
$GC,11937,0.56,275.5,165.7,13.4,1035,11945,0.00,2.17,0.00,0.000,4,0.000,0.043,2547,870,1743,0,0,0,0,0,0
$GC,12107,0.60,275.5,140.9,13.8,1066,12116,0.00,2.17,0.00,0.000,6,0.000,0.039,2546,2267,1740,0,0,0,0,0,0
$GC,12309,0.60,275.5,112.5,12.3,1103,12317,0.00,2.17,0.00,0.000,4,0.000,0.042,2556,864,1741,0,0,0,0,0,0
$GC,12559,0.71,283.1,88.9,10.5,1149,12576,0.00,2.17,6.95,0.517,6,0.000,0.038,2556,2269,1715,0,0,0,0,0,0
$GC,12772,0.91,390.5,73.8,4.4,1187,12857,0.20,0.00,80.93,0.524,6,0.070,0.000,2649,2270,1277,0,0,0,0,0,0
$GC,13050,0.91,390.5,36.7,12.2,1234,13059,0.00,2.22,0.00,0.000,4,0.000,0.039,2659,856,1274,0,0,0,0,0,0
$GC,13158,0.96,390.5,22.6,12.6,1253,13166,0.00,2.22,0.00,0.000,6,0.000,0.036,2659,2270,1269,0,0,0,0,0,0
$STATE,13317,end climb,SURFACE_DEPTH_REACHED
$STATE,13317,begin surface coast
$FINISH,-0.4,1.020561
$STATE,13346,end surface coast,CONTROL_FINISHED_OK
$STATE,13346,begin surface
$SM_CCo,13362,54.10,0.062,0,0,829,500.17
$SM_GC,0.42,0.00,0.00,54.10,0.000,0.000,0.062,209,2627,829,-6.63,0.74,500.17,0,0,0,0,0,0
$IRIDIUM_FIX,2136.49,11759.02,150611,020248
$TT8_MAMPS,0.028462,0.028462
$HUMID,39.95
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.0,4.218
$10V_AH,10.3,4.343
$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,24.625,126.275,467.125,54.100,0.000,58.860,92.563,175.718,0.000,0.000,16.317,3294.520,6324.837,613.018,3451.125,307.634,0.000,1845.164,0.000,2139.841,0.000,0.541,0.000
$DEVICE_MAMPS,242.505,61.965,1126.080,61.965,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,891.871,1958.224,1740.232,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323168
$DATA_FILE_SIZE,86971,1287
$CAP_FILE_SIZE,162494,0
$CFSIZE,260165632,248938496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.207, 75.1,1
$GPS,150611,063337,2145.994,12000.896,29,0.9,30,-2.6