version: 66.09
glider: 181
mission: 6
dive: 26
start: 6 15 111 18 35 10
data:
$ID,181
$MISSION,6
$DIVE,26
$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,-39542.758
$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,44
$R_STBD_OVSHOOT,47
$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
$GPS1,150611,182837,2144.272,12000.661,33,1.3,34,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-70.6
$GPS2,150611,183444,2144.246,12000.711,10,1.4,10,-2.6
$SPEED_LIMITS,0.191,0.287
$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,201.5,304186,-17.6,-11.000
$D_GRID,2568
$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,-0.65,-170.3,0.0,0.0,0,85,0.00,0.00,-66.72,0.000,2,0.000,0.000,189,2627,2651,0,0,0,0,0,0
$GC,88,-0.65,-170.3,3.7,-6.4,9,120,7.97,2.20,-16.70,0.000,4,0.243,0.048,2111,1195,3567,0,0,0,0,0,0
$GC,221,-0.65,-170.3,51.8,-28.6,31,230,0.00,2.22,0.00,0.000,6,0.000,0.047,2110,2576,3568,0,0,0,0,0,0
$GC,423,-0.65,-170.3,123.7,-30.4,68,431,0.00,2.12,0.00,0.000,4,0.000,0.031,2111,1183,3569,0,0,0,0,0,0
$GC,444,-0.65,-170.3,130.3,-29.4,71,453,0.00,2.22,0.00,0.000,6,0.000,0.045,2100,2579,3568,0,0,0,0,0,0
$GC,647,-0.65,-170.3,176.9,-19.7,108,655,0.00,1.88,0.00,0.000,4,0.000,0.047,2090,3778,3570,0,0,0,0,0,0
$GC,690,-0.65,-170.3,184.6,-17.4,115,699,0.00,1.85,0.00,0.000,6,0.000,0.028,2090,2554,3570,0,0,0,0,0,0
$GC,892,-0.65,-170.3,231.6,-26.5,152,901,0.12,2.05,0.00,0.000,4,0.189,0.032,2121,1194,3571,0,0,0,0,0,0
$GC,1027,-0.65,-170.3,257.9,-17.1,172,1031,0.00,2.10,0.00,0.000,6,0.000,0.039,2114,2564,3571,0,0,0,0,0,0
$GC,1357,-0.65,-170.3,323.8,-20.6,203,1361,0.00,1.85,0.00,0.000,4,0.000,0.049,2111,3781,3571,0,0,0,0,0,0
$GC,1403,-0.65,-170.3,332.5,-18.7,207,1407,0.00,1.83,0.00,0.000,6,0.000,0.029,2112,2564,3569,0,0,0,0,0,0
$GC,1734,-0.65,-170.3,398.1,-18.9,238,1737,0.00,1.88,0.00,0.000,4,0.000,0.050,2111,3778,3569,0,0,0,0,0,0
$GC,1772,-0.65,-170.3,405.3,-18.0,241,1779,0.00,1.80,0.00,0.000,6,0.000,0.031,2111,2582,3569,0,0,0,0,0,0
$GC,2100,-0.65,-170.3,456.0,-16.1,272,2103,0.00,2.03,0.00,0.000,4,0.000,0.036,2111,1203,3566,0,0,0,0,0,0
$GC,2156,-0.65,-170.3,464.3,-13.3,277,2160,0.00,2.10,0.00,0.000,6,0.000,0.043,2112,2571,3566,0,0,0,0,0,0
$GC,2483,-0.65,-170.3,509.6,-14.0,307,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2572,3563,0,0,0,0,0,0
$GC,2801,-0.65,-170.3,559.1,-16.9,337,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2572,3561,0,0,0,0,0,0
$GC,3115,-0.65,-170.3,615.8,-17.6,363,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2574,3558,0,0,0,0,0,0
$GC,3424,-0.65,-170.3,663.2,-13.9,378,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2574,3556,0,0,0,0,0,0
$GC,3734,-0.65,-170.3,701.0,-10.9,393,3738,0.00,2.08,0.00,0.000,4,0.000,0.038,2111,1195,3553,0,0,0,0,0,0
$GC,3822,-0.65,-170.3,708.0,-7.1,397,3826,0.00,2.12,0.00,0.000,6,0.000,0.045,2110,2567,3552,0,0,0,0,0,0
$GC,4149,-0.65,-170.3,731.4,-7.4,413,4153,0.00,1.88,0.00,0.000,4,0.000,0.056,2111,3786,3550,0,0,0,0,0,0
$GC,4173,-0.65,-170.3,733.1,-7.3,414,4177,0.00,1.80,0.00,0.000,6,0.000,0.034,2111,2573,3550,0,0,0,0,0,0
$GC,4506,-0.65,-170.3,759.8,-9.0,430,4510,0.00,2.05,0.00,0.000,4,0.000,0.041,2111,1196,3547,0,0,0,0,0,0
$GC,4590,-0.65,-170.3,767.6,-8.5,433,4597,0.00,2.15,0.00,0.000,6,0.000,0.047,2111,2568,3546,0,0,0,0,0,0
$GC,4906,-0.65,-170.3,799.7,-11.4,449,4910,0.00,2.08,0.00,0.000,4,0.000,0.041,2112,1198,3544,0,0,0,0,0,0
$GC,4961,-0.65,-170.3,806.7,-11.5,451,4965,0.00,2.12,0.00,0.000,6,0.000,0.047,2111,2567,3544,0,0,0,0,0,0
$GC,5283,-0.65,-170.3,848.3,-13.5,467,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2568,3542,0,0,0,0,0,0
$GC,5592,-0.65,-170.3,887.9,-12.2,482,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2568,3540,0,0,0,0,0,0
$GC,5903,-0.65,-170.3,926.9,-12.8,497,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2568,3539,0,0,0,0,0,0
$GC,6211,-0.65,-170.3,966.8,-12.7,512,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2568,3536,0,0,0,0,0,0
$STATE,6436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6436,begin apogee
$GC,6442,-0.12,0.0,992.1,10.8,523,6581,0.52,0.00,132.43,1.130,4,0.129,0.000,2285,2267,2871,0,0,0,0,0,0
$STATE,6581,end apogee,CONTROL_FINISHED_OK
$STATE,6581,begin climb
$GC,6584,0.65,170.3,997.9,0.0,529,6735,0.73,2.40,141.65,1.101,4,0.046,0.051,2558,3684,2174,0,0,0,0,0,0
$GC,6937,0.65,170.3,945.8,21.0,545,6941,0.00,2.22,0.00,0.000,6,0.000,0.036,2568,2269,2164,0,0,0,0,0,0
$GC,7259,0.65,170.3,880.4,20.3,561,7263,0.00,2.25,0.00,0.000,4,0.000,0.049,2568,3685,2159,0,0,0,0,0,0
$GC,7422,0.65,170.3,843.8,22.6,568,7427,0.15,2.20,0.00,0.000,6,0.211,0.036,2545,2260,2162,0,0,0,0,0,0
$GC,7744,0.65,170.3,782.2,19.1,584,7748,0.00,2.15,0.00,0.000,4,0.000,0.046,2554,856,2156,0,0,0,0,0,0
$GC,8001,0.65,170.3,733.4,18.8,595,8010,0.00,2.20,0.00,0.000,6,0.000,0.042,2554,2265,2155,0,0,0,0,0,0
$GC,8318,0.65,170.3,674.4,18.4,611,8322,0.00,2.17,0.00,0.000,4,0.000,0.044,2563,853,2154,0,0,0,0,0,0
$GC,8538,0.65,170.3,633.4,18.1,621,8542,0.00,2.12,0.00,0.000,6,0.000,0.042,2563,2229,2154,0,0,0,0,0,0
$GC,8860,0.65,170.3,569.9,19.8,643,8863,0.00,2.10,0.00,0.000,4,0.000,0.044,2572,856,2153,0,0,0,0,0,0
$GC,9039,0.65,170.3,535.1,18.3,658,9046,0.12,2.10,0.00,0.000,6,0.184,0.043,2543,2205,2153,0,0,0,0,0,0
$GC,9364,0.65,170.3,485.5,14.4,689,9367,0.00,2.08,0.00,0.000,4,0.000,0.044,2551,863,2152,0,0,0,0,0,0
$GC,9446,0.65,170.3,473.3,13.8,696,9453,0.00,2.10,0.00,0.000,6,0.000,0.042,2551,2193,2152,0,0,0,0,0,0
$GC,9772,0.65,170.3,430.5,12.5,727,9775,0.00,2.03,0.00,0.000,4,0.000,0.043,2560,862,2151,0,0,0,0,0,0
$GC,9844,0.65,170.3,421.4,12.1,733,9851,0.00,2.05,0.00,0.000,6,0.000,0.041,2559,2190,2153,0,0,0,0,0,0
$GC,10170,0.65,170.3,378.2,13.0,764,10174,0.00,2.03,0.00,0.000,4,0.000,0.043,2569,860,2151,0,0,0,0,0,0
$GC,10283,0.65,170.3,363.7,12.5,774,10287,0.00,2.00,0.00,0.000,6,0.000,0.040,2569,2170,2155,0,0,0,0,0,0
$GC,10614,0.65,170.3,317.3,14.9,805,10618,0.00,2.00,0.00,0.000,4,0.000,0.043,2578,852,2151,0,0,0,0,0,0
$GC,10862,0.65,170.3,281.9,13.1,827,10867,0.15,1.95,0.00,0.000,6,0.177,0.039,2541,2136,2151,0,0,0,0,0,0
$GC,11191,0.68,199.9,247.9,9.7,859,11223,0.00,2.47,20.67,0.674,4,0.000,0.049,2540,3686,2053,0,0,0,0,0,0
$GC,11263,0.68,199.9,238.7,14.8,870,11271,0.00,2.42,0.00,0.000,6,0.000,0.035,2549,2130,2051,0,0,0,0,0,0
$GC,11464,0.68,199.9,208.6,13.6,907,11473,0.00,1.95,0.00,0.000,4,0.000,0.044,2559,867,2049,0,0,0,0,0,0
$GC,11554,0.68,199.9,196.0,14.4,923,11563,0.00,1.98,0.00,0.000,6,0.000,0.037,2559,2131,2049,0,0,0,0,0,0
$GC,11756,0.68,199.9,167.8,13.9,960,11764,0.00,1.98,0.00,0.000,4,0.000,0.041,2568,859,2048,0,0,0,0,0,0
$GC,12005,0.78,274.4,138.8,7.8,1006,12067,0.00,1.90,56.53,0.575,6,0.000,0.037,2568,2081,1750,0,0,0,0,0,0
$GC,12262,0.78,274.4,114.8,12.4,1050,12269,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2081,1741,0,0,0,0,0,0
$GC,12463,0.78,274.4,89.5,11.5,1087,12472,0.00,2.55,0.00,0.000,4,0.000,0.047,2568,3683,1740,0,0,0,0,0,0
$GC,12702,0.88,358.6,69.4,7.3,1131,12772,0.00,2.50,62.55,0.524,6,0.000,0.032,2579,2066,1405,0,0,0,0,0,0
$GC,12966,0.93,398.4,45.8,9.3,1176,13005,0.15,0.00,30.23,0.514,6,0.076,0.000,2651,2066,1243,0,0,0,0,0,0
$GC,13200,0.93,398.4,13.4,11.7,1217,13208,0.00,1.88,0.00,0.000,4,0.000,0.038,2660,854,1239,0,0,0,0,0,0
$STATE,13291,end climb,SURFACE_DEPTH_REACHED
$STATE,13291,begin surface coast
$FINISH,-0.2,1.021124
$STATE,13320,end surface coast,CONTROL_FINISHED_OK
$STATE,13320,begin surface
$SM_CCo,13338,47.92,0.061,0,0,829,500.17
$SM_GC,0.63,0.00,0.00,47.92,0.000,0.000,0.061,204,2618,829,-6.64,0.51,500.17,0,0,0,0,0,0
$IRIDIUM_FIX,2136.49,12005.70,150611,141409
$TT8_MAMPS,0.027713,0.027713
$HUMID,39.25
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.0,4.731
$10V_AH,10.2,4.952
$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,16.325,105.400,444.050,47.925,0.000,30.748,38.669,162.481,0.000,0.000,12.775,3118.342,6502.895,546.574,3292.855,285.269,0.000,1771.788,0.000,2171.387,0.000,0.540,0.000
$DEVICE_MAMPS,243.270,55.845,1129.905,61.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,859.047,1884.288,1628.396,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83735,1238
$CAP_FILE_SIZE,140781,0
$CFSIZE,260165632,248619008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021,  6.8,1
$GPS,150611,221931,2142.900,11959.995,34,1.6,35,-2.6