version: 66.09
glider: 181
mission: 6
dive: 5
start: 6 12 111 11 40 41
data:
$ID,181
$MISSION,6
$DIVE,5
$N_DIVES,6
$D_SURF,3
$D_FLARE,3
$D_TGT,270
$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,75
$T_MISSION,90
$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,-39514.832
$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,2370
$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,2500
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,56
$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
$GPS1,120611,113640,2159.184,12020.843,9,2.3,28,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-69.5
$GPS2,120611,114016,2159.125,12020.924,8,2.3,27,-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,281.7,44495,-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,-219.0,0.0,0.0,0,101,0.00,0.00,-82.78,0.000,2,0.000,0.000,220,2513,2752,0,0,0,0,0,0
$GC,104,-0.76,-219.0,3.6,-8.6,11,136,7.62,2.10,-17.38,0.000,4,0.240,0.042,2117,1085,3762,0,0,0,0,0,0
$GC,199,-0.49,-219.0,42.9,-26.4,26,208,0.30,2.15,0.00,0.000,6,0.139,0.043,2207,2469,3764,0,0,0,0,0,0
$GC,277,-0.35,-219.0,57.1,-17.3,39,285,0.15,2.05,0.00,0.000,4,0.167,0.050,2244,3779,3764,0,0,0,0,0,0
$GC,358,-0.77,-219.0,67.2,-9.1,53,369,0.30,1.83,0.00,0.000,6,0.031,0.027,2083,2533,3764,0,0,0,0,0,0
$GC,436,-0.08,-219.0,85.7,-30.6,66,444,0.85,0.00,0.00,0.000,6,0.167,0.000,2339,2532,3764,0,0,0,0,0,0
$GC,511,-0.82,-219.0,93.9,-9.5,79,520,0.62,1.95,0.00,0.000,4,0.078,0.041,2102,3797,3765,0,0,0,0,0,0
$GC,546,-0.82,-219.0,98.3,-12.4,84,555,0.00,1.75,0.00,0.000,6,0.000,0.028,2102,2610,3765,0,0,0,0,0,0
$GC,622,-0.38,-219.0,116.5,-24.9,97,631,0.45,2.22,0.00,0.000,4,0.146,0.031,2244,1115,3765,0,0,0,0,0,0
$GC,672,-0.80,-219.0,123.9,-13.9,105,681,0.32,2.28,0.00,0.000,6,0.049,0.035,2102,2613,3765,0,0,0,0,0,0
$GC,750,-0.48,-219.0,137.5,-23.6,118,759,0.35,1.80,0.00,0.000,4,0.142,0.045,2207,3783,3765,0,0,0,0,0,0
$GC,826,-0.99,-219.0,146.6,-7.7,131,835,0.38,1.65,0.00,0.000,6,0.031,0.026,2022,2649,3765,0,0,0,0,0,0
$GC,903,-0.32,-219.0,162.9,-29.4,144,913,0.77,2.28,0.00,0.000,4,0.167,0.031,2256,1114,3765,0,0,0,0,0,0
$GC,948,-0.60,-219.0,170.5,-19.5,151,956,0.20,2.38,0.00,0.000,6,0.060,0.036,2173,2680,3766,0,0,0,0,0,0
$GC,1024,-1.41,-219.0,175.4,-7.5,164,1033,0.68,0.00,0.00,0.000,6,0.063,0.000,1908,2681,3765,0,0,0,0,0,0
$GC,1099,-0.23,-219.0,197.4,-43.4,177,1108,1.35,2.30,0.00,0.000,4,0.203,0.031,2279,1110,3765,0,0,0,0,0,0
$GC,1133,-0.10,-219.0,207.5,-32.5,182,1142,0.12,2.35,0.00,0.000,6,0.061,0.038,2345,2651,3765,0,0,0,0,0,0
$GC,1214,-1.11,-219.0,212.3,-8.7,195,1223,0.90,1.73,0.00,0.000,4,0.083,0.042,2012,3787,3764,0,0,0,0,0,0
$GC,1327,-0.66,-219.0,234.7,-25.5,215,1337,0.43,1.50,0.00,0.000,6,0.143,0.030,2149,2765,3764,0,0,0,0,0,0
$GC,1404,-0.80,-219.0,246.0,-10.5,228,1413,0.12,2.47,0.00,0.000,4,0.083,0.034,2082,1117,3763,0,0,0,0,0,0
$GC,1464,-0.80,-219.0,254.6,-14.4,236,1469,0.15,2.50,0.00,0.000,6,0.149,0.043,2114,2750,3764,0,0,0,0,0,0
$STATE,1587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1587,begin apogee
$GC,1593,-0.15,0.0,271.2,13.7,247,1754,0.60,0.00,156.30,0.631,4,0.116,0.000,2318,1998,2867,0,0,0,0,0,0
$STATE,1755,end apogee,CONTROL_FINISHED_OK
$STATE,1755,begin climb
$GC,1757,0.76,219.0,280.3,0.0,260,1932,0.77,2.25,161.55,0.608,4,0.035,0.041,2632,3426,1975,0,0,0,0,0,0
$GC,2068,-0.02,219.0,237.4,22.3,290,2077,0.90,2.15,0.00,0.000,6,0.174,0.029,2369,2009,1969,0,0,0,0,0,0
$GC,2144,0.48,305.0,231.9,8.8,303,2214,0.40,2.22,62.92,0.601,4,0.047,0.037,2567,599,1627,0,0,0,0,0,0
$GC,2371,0.34,305.0,200.7,14.9,341,2380,0.28,2.20,0.00,0.000,6,0.132,0.035,2479,2027,1621,0,0,0,0,0,0
$GC,2449,0.49,338.8,191.9,10.8,354,2482,0.15,2.20,26.00,0.598,4,0.074,0.042,2549,3412,1485,0,0,0,0,0,0
$GC,2561,0.31,338.8,174.9,15.9,372,2571,0.25,2.08,0.00,0.000,6,0.133,0.031,2478,2054,1481,0,0,0,0,0,0
$GC,2639,0.63,431.1,166.4,8.6,385,2713,0.25,0.00,67.97,0.560,6,0.056,0.000,2596,2054,1109,0,0,0,0,0,0
$GC,2781,0.49,431.1,142.6,17.4,407,2789,0.22,0.00,0.00,0.000,6,0.134,0.000,2531,2054,1103,0,0,0,0,0,0
$GC,2856,0.63,459.4,133.4,11.0,420,2889,0.12,2.15,21.60,0.561,4,0.086,0.042,2591,3405,994,0,0,0,0,0,0
$GC,2929,0.63,459.4,121.3,18.3,431,2937,0.00,2.05,0.00,0.000,6,0.000,0.031,2600,2066,992,0,0,0,0,0,0
$GC,3004,0.55,459.4,109.1,16.5,444,3013,0.17,2.25,0.00,0.000,4,0.145,0.038,2558,602,990,0,0,0,0,0,0
$GC,3066,1.00,529.4,102.0,9.4,454,3129,0.32,2.20,51.20,0.527,6,0.035,0.034,2715,2036,708,0,0,0,0,0,0
$GC,3198,0.57,529.4,71.6,25.9,474,3207,0.52,2.15,0.00,0.000,4,0.151,0.042,2553,3408,706,0,0,0,0,0,0
$GC,3308,0.95,585.8,57.6,9.9,493,3361,0.28,2.03,41.25,0.513,6,0.034,0.031,2698,2077,480,0,0,0,0,0,0
$GC,3430,0.75,585.8,34.3,20.2,512,3440,0.25,2.10,0.00,0.000,4,0.140,0.043,2616,3406,478,0,0,0,0,0,0
$GC,3498,1.04,629.7,25.3,10.4,523,3516,0.20,1.95,8.88,0.484,6,0.037,0.031,2733,2124,439,0,0,0,0,0,0
$GC,3584,0.77,629.7,10.9,19.5,537,3592,0.35,2.35,0.00,0.000,4,0.142,0.037,2634,593,435,0,0,0,0,0,0
$GC,3639,1.27,661.9,4.2,10.8,546,3647,0.35,2.35,0.00,0.000,6,0.034,0.033,2807,2128,436,0,0,0,0,0,0
$STATE,3654,end climb,SURFACE_DEPTH_REACHED
$STATE,3654,begin surface coast
$FINISH,-0.9,1.008938
$STATE,3688,end surface coast,CONTROL_FINISHED_OK
$STATE,3688,begin surface
$SM_CCo,3764,0.00,0.000,0,0,437,596.57
$SM_GC,-0.15,6.68,0.00,0.00,0.036,0.000,0.000,202,2517,437,-6.68,0.57,596.57,0,0,0,0,0,0
$IRIDIUM_FIX,2152.74,12022.75,120611,111122
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.70
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.20
$XPDR_PINGS,4
$24V_AH,25.1,1.378
$10V_AH,10.5,1.637
$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,29.150,73.600,597.675,0.000,0.000,0.000,0.000,0.000,1.000,0.000,31.437,1316.642,182.634,616.103,1607.534,130.275,0.000,1324.635,0.000,856.464,0.000,0.544,0.000
$DEVICE_MAMPS,240.210,49.725,631.125,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,373.795,844.257,1475.907,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323276
$DATA_FILE_SIZE,37049,554
$CAP_FILE_SIZE,95657,0
$CFSIZE,260165632,250593280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.366,143.0,1
$GPS,120611,124434,2158.691,12020.802,11,3.2,30,-2.7