version: 66.09
glider: 181
mission: 6
dive: 4
start: 6 12 111 10 40 9
data:
$ID,181
$MISSION,6
$DIVE,4
$N_DIVES,5
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$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,50
$T_MISSION,65
$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,585.83368
$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,-39444
$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,2200
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,44
$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
$GPS1,120611,103543,2159.801,12020.726,8,2.0,8,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-70.1
$GPS2,120611,103944,2159.757,12020.800,11,1.4,11,-2.7
$SPEED_LIMITS,0.208,0.331
$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,280.3,45022,-16.6,-12.000
$D_GRID,964
$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,15,-0.76,-219.0,0.0,0.0,0,104,0.00,0.00,-85.88,0.000,2,0.000,0.000,221,2428,2852,0,0,0,0,0,0
$GC,107,-0.76,-219.0,3.9,-8.8,11,139,6.82,2.12,-15.32,0.000,4,0.234,0.044,1951,986,3764,0,0,0,0,0,0
$GC,190,0.33,-219.0,51.2,-52.5,24,198,1.20,2.17,0.00,0.000,6,0.179,0.046,2301,2383,3764,0,0,0,0,0,0
$GC,266,-0.11,-219.0,63.9,-8.4,37,275,0.35,2.15,0.00,0.000,4,0.047,0.041,2135,3791,3765,0,0,0,0,0,0
$GC,338,0.09,-219.0,75.3,-19.8,49,348,0.25,2.03,0.00,0.000,6,0.116,0.029,2220,2424,3765,0,0,0,0,0,0
$GC,414,0.09,-219.0,87.2,-14.5,62,422,0.00,2.10,0.00,0.000,4,0.000,0.033,2220,996,3765,0,0,0,0,0,0
$GC,436,-0.03,-219.0,89.9,-12.4,65,446,0.08,2.22,0.00,0.000,6,0.049,0.037,2156,2466,3765,0,0,0,0,0,0
$GC,513,0.22,-219.0,103.0,-20.7,78,521,0.32,2.03,0.00,0.000,4,0.138,0.044,2253,3782,3765,0,0,0,0,0,0
$GC,562,-0.11,-219.0,109.8,-13.6,86,571,0.20,1.98,0.00,0.000,6,0.046,0.027,2149,2434,3766,0,0,0,0,0,0
$GC,639,0.03,-219.0,119.4,-16.4,99,647,0.20,2.10,0.00,0.000,4,0.135,0.031,2210,1009,3765,0,0,0,0,0,0
$GC,677,-0.24,-219.0,123.9,-12.4,105,687,0.22,2.17,0.00,0.000,6,0.038,0.036,2089,2450,3765,0,0,0,0,0,0
$GC,754,0.06,-219.0,136.5,-20.6,118,762,0.40,2.03,0.00,0.000,4,0.144,0.044,2208,3768,3765,0,0,0,0,0,0
$GC,835,-0.44,-219.0,144.7,-6.9,132,844,0.35,1.85,0.00,0.000,6,0.031,0.027,2028,2494,3765,0,0,0,0,0,0
$GC,912,0.19,-219.0,160.8,-29.0,145,921,0.73,2.20,0.00,0.000,4,0.162,0.031,2249,1002,3765,0,0,0,0,0,0
$GC,946,0.06,-219.0,167.9,-22.7,150,954,0.00,2.33,0.00,0.000,6,0.000,0.037,2249,2535,3765,0,0,0,0,0,0
$GC,1023,-0.97,-219.0,172.3,-7.7,163,1032,0.93,1.88,0.00,0.000,4,0.055,0.039,1879,3777,3765,0,0,0,0,0,0
$STATE,1065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1065,begin apogee
$GC,1073,-0.15,0.0,181.5,27.0,170,1238,0.93,0.00,154.90,0.582,4,0.190,0.000,2141,2008,2867,0,0,0,0,0,0
$STATE,1239,end apogee,CONTROL_FINISHED_OK
$STATE,1239,begin climb
$GC,1241,0.76,219.0,208.8,0.0,192,1416,0.90,2.20,160.10,0.559,4,0.128,0.038,2438,593,1975,0,0,0,0,0,0
$GC,1447,1.22,364.6,201.8,6.6,220,1562,0.38,2.17,108.05,0.631,6,0.031,0.031,2615,2010,1382,0,0,0,0,0,0
$GC,1630,0.89,364.6,167.2,20.7,247,1640,0.40,2.15,0.00,0.000,4,0.148,0.037,2491,3396,1378,0,0,0,0,0,0
$GC,1728,1.08,395.5,155.0,10.9,264,1760,0.10,2.10,23.27,0.591,6,0.047,0.029,2565,2003,1255,0,0,0,0,0,0
$GC,1830,1.01,395.5,140.6,14.9,280,1838,0.15,2.15,0.00,0.000,4,0.141,0.037,2531,593,1252,0,0,0,0,0,0
$GC,1858,1.14,395.5,136.5,13.8,284,1867,0.08,2.17,0.00,0.000,6,0.050,0.033,2594,2020,1252,0,0,0,0,0,0
$GC,1935,0.91,395.5,125.9,15.3,297,1944,0.30,2.12,0.00,0.000,4,0.134,0.039,2496,3404,1251,0,0,0,0,0,0
$GC,1985,1.18,431.3,120.9,10.7,305,2017,0.17,2.10,26.45,0.564,6,0.037,0.031,2608,2013,1111,0,0,0,0,0,0
$GC,2086,1.05,431.3,107.4,15.6,321,2095,0.22,2.15,0.00,0.000,4,0.137,0.036,2550,595,1109,0,0,0,0,0,0
$GC,2146,1.59,526.5,100.9,8.5,331,2225,0.38,2.12,68.95,0.513,6,0.032,0.033,2735,1998,721,0,0,0,0,0,0
$GC,2294,1.21,526.5,63.7,24.6,353,2303,0.47,2.17,0.00,0.000,4,0.153,0.039,2592,3398,718,0,0,0,0,0,0
$GC,2408,1.46,561.2,47.9,10.7,373,2441,0.15,2.08,25.73,0.531,6,0.044,0.030,2687,2027,582,0,0,0,0,0,0
$GC,2511,1.32,561.2,31.5,16.2,389,2520,0.22,2.17,0.00,0.000,4,0.136,0.035,2628,596,580,0,0,0,0,0,0
$GC,2561,1.63,576.5,25.9,11.4,397,2586,0.22,2.12,12.82,0.503,6,0.035,0.031,2753,2001,516,0,0,0,0,0,0
$GC,2654,1.32,576.5,9.4,21.4,412,2662,0.40,2.15,0.00,0.000,4,0.144,0.041,2626,3390,515,0,0,0,0,0,0
$STATE,2689,end climb,SURFACE_DEPTH_REACHED
$STATE,2690,begin surface coast
$FINISH,1.1,1.020891
$STATE,2707,end surface coast,CONTROL_FINISHED_OK
$STATE,2707,begin surface
$SM_CCo,2724,6.85,0.063,0,0,480,586.02
$SM_GC,0.86,0.00,0.00,6.85,0.000,0.000,0.063,213,2382,480,-6.21,-0.51,586.02,0,0,0,0,0,0
$IRIDIUM_FIX,2152.74,12017.56,120611,101016
$TT8_MAMPS,0.028462,0.028462
$HUMID,46.65
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,25.2,1.257
$10V_AH,10.6,1.536
$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,23.875,67.675,580.275,6.850,0.000,0.000,0.000,0.000,0.000,0.000,13.807,939.999,7.349,564.765,1192.412,102.369,0.000,1166.193,0.000,615.724,0.000,0.545,0.000
$DEVICE_MAMPS,234.090,45.900,631.125,62.730,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,280.419,641.315,1174.435,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323308
$DATA_FILE_SIZE,27107,421
$CAP_FILE_SIZE,80397,0
$CFSIZE,260165632,250662912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.365,151.9,1
$GPS,120611,112632,2159.343,12020.621,12,2.0,12,-2.7