version: 66.09
glider: 181
mission: 6
dive: 6
start: 6 12 111 12 52 27
data:
$ID,181
$MISSION,6
$DIVE,6
$N_DIVES,10
$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,475
$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,-39516.09
$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,46
$R_STBD_OVSHOOT,43
$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
$GPS1,120611,124434,2158.691,12020.802,11,3.2,30,-2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-70.1
$GPS2,120611,125202,2158.552,12020.923,15,0.9,15,-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,282.8,43878,-16.6,-12.000
$D_GRID,1075
$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,-0.76,-219.0,0.0,0.0,0,101,0.00,0.00,-82.62,0.000,2,0.000,0.000,199,2520,2692,0,0,0,0,0,0
$GC,104,-0.76,-219.0,3.5,-7.2,11,137,7.82,2.17,-18.60,0.000,4,0.244,0.047,2113,1092,3764,0,0,0,0,0,0
$GC,210,-0.67,-219.0,43.6,-23.3,28,219,0.12,2.17,0.00,0.000,6,0.130,0.046,2154,2476,3765,0,0,0,0,0,0
$GC,286,-0.29,-219.0,60.8,-24.8,41,296,0.38,2.05,0.00,0.000,4,0.158,0.047,2261,3787,3765,0,0,0,0,0,0
$GC,374,-0.79,-219.0,75.3,-10.3,56,383,0.38,1.88,0.00,0.000,6,0.050,0.028,2103,2519,3766,0,0,0,0,0,0
$GC,450,-0.16,-219.0,92.2,-30.8,69,459,0.70,0.00,0.00,0.000,6,0.164,0.000,2313,2519,3766,0,0,0,0,0,0
$GC,526,-0.90,-219.0,102.1,-7.6,82,535,0.65,1.98,0.00,0.000,4,0.110,0.041,2090,3796,3767,0,0,0,0,0,0
$GC,570,-1.67,-219.0,107.0,-10.8,89,579,0.62,1.80,0.00,0.000,6,0.032,0.028,1813,2571,3767,0,0,0,0,0,0
$GC,647,-0.17,-219.0,136.5,-49.3,102,657,1.88,2.15,0.00,0.000,4,0.220,0.030,2308,1102,3767,0,0,0,0,0,0
$GC,713,-0.89,-219.0,151.8,-10.6,113,722,0.65,2.17,0.00,0.000,6,0.115,0.033,2087,2544,3767,0,0,0,0,0,0
$GC,790,-0.76,-219.0,159.7,-12.3,126,799,0.15,2.17,0.00,0.000,4,0.163,0.032,2128,1101,3767,0,0,0,0,0,0
$GC,808,-0.53,-219.0,162.9,-16.2,128,817,0.20,2.12,0.00,0.000,6,0.121,0.041,2193,2477,3767,0,0,0,0,0,0
$GC,884,-0.81,-219.0,170.2,-7.9,141,893,0.22,2.03,0.00,0.000,4,0.055,0.047,2083,3784,3768,0,0,0,0,0,0
$GC,925,-0.67,-219.0,175.3,-13.3,147,933,0.20,1.90,0.00,0.000,6,0.121,0.031,2150,2506,3768,0,0,0,0,0,0
$GC,1002,-0.74,-219.0,186.3,-13.3,160,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2505,3768,0,0,0,0,0,0
$GC,1076,-0.79,-219.0,196.2,-13.5,173,1085,0.12,2.00,0.00,0.000,4,0.086,0.048,2075,3775,3768,0,0,0,0,0,0
$GC,1125,-0.55,-219.0,205.0,-20.1,181,1134,0.32,1.85,0.00,0.000,6,0.122,0.031,2184,2533,3768,0,0,0,0,0,0
$GC,1201,-0.80,-219.0,214.3,-9.6,194,1211,0.20,0.00,0.00,0.000,6,0.060,0.000,2087,2531,3768,0,0,0,0,0,0
$GC,1277,-0.56,-219.0,227.1,-19.6,207,1286,0.30,0.00,0.00,0.000,6,0.140,0.000,2184,2530,3768,0,0,0,0,0,0
$GC,1355,-0.86,-219.0,235.6,-8.3,220,1363,0.25,0.00,0.00,0.000,6,0.052,0.000,2060,2530,3767,0,0,0,0,0,0
$GC,1431,-0.50,-219.0,249.0,-21.7,233,1439,0.45,0.00,0.00,0.000,6,0.144,0.000,2202,2530,3767,0,0,0,0,0,0
$GC,1503,-0.94,-219.0,256.7,-8.0,240,1508,0.32,1.90,0.00,0.000,4,0.047,0.045,2042,3779,3767,0,0,0,0,0,0
$GC,1535,-0.74,-219.0,261.5,-15.6,242,1545,0.25,1.85,0.00,0.000,6,0.135,0.031,2125,2541,3767,0,0,0,0,0,0
$STATE,1592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1592,begin apogee
$GC,1599,-0.15,0.0,270.9,16.3,248,1761,0.55,0.00,157.88,0.634,4,0.114,0.000,2315,1987,2868,0,0,0,0,0,0
$STATE,1762,end apogee,CONTROL_FINISHED_OK
$STATE,1762,begin climb
$GC,1764,0.76,219.0,281.7,0.0,261,1940,0.80,2.28,162.57,0.608,4,0.039,0.041,2635,3412,1975,0,0,0,0,0,0
$GC,2050,-0.02,219.0,245.5,24.7,286,2058,0.90,2.15,0.00,0.000,6,0.172,0.030,2372,2008,1968,0,0,0,0,0,0
$GC,2128,0.37,240.6,238.6,11.2,299,2153,0.30,0.00,16.88,0.645,6,0.052,0.000,2516,2009,1886,0,0,0,0,0,0
$GC,2220,0.20,240.6,228.6,12.6,314,2228,0.25,2.17,0.00,0.000,4,0.144,0.037,2447,596,1883,0,0,0,0,0,0
$GC,2242,0.25,278.3,226.2,10.6,317,2283,0.00,2.20,28.73,0.614,6,0.000,0.034,2447,2025,1734,0,0,0,0,0,0
$GC,2351,0.60,401.7,218.3,7.4,334,2450,0.28,2.25,92.15,0.581,4,0.054,0.042,2574,3408,1231,0,0,0,0,0,0
$GC,2523,0.45,401.7,188.8,17.8,360,2532,0.20,2.12,0.00,0.000,6,0.130,0.031,2520,2031,1226,0,0,0,0,0,0
$GC,2599,0.52,420.9,179.2,11.3,373,2624,0.00,2.20,15.18,0.601,4,0.000,0.042,2520,3405,1152,0,0,0,0,0,0
$GC,2638,0.64,463.2,175.1,10.4,378,2677,0.10,2.08,32.47,0.544,6,0.050,0.031,2587,2058,979,0,0,0,0,0,0
$GC,2747,0.52,463.2,158.8,16.5,395,2755,0.17,0.00,0.00,0.000,6,0.140,0.000,2539,2058,975,0,0,0,0,0,0
$GC,2822,0.63,463.2,148.6,12.1,408,2831,0.10,2.15,0.00,0.000,4,0.099,0.044,2593,3408,974,0,0,0,0,0,0
$GC,2872,0.46,463.2,140.5,17.7,416,2880,0.25,2.00,0.00,0.000,6,0.129,0.030,2519,2093,974,0,0,0,0,0,0
$GC,2948,0.76,537.0,131.9,9.3,429,3010,0.25,0.00,54.10,0.550,6,0.056,0.000,2645,2093,678,0,0,0,0,0,0
$GC,3079,0.62,537.0,105.8,19.7,449,3088,0.25,0.00,0.00,0.000,6,0.145,0.000,2566,2092,675,0,0,0,0,0,0
$GC,3155,0.88,581.4,95.8,10.4,462,3195,0.25,2.15,33.05,0.530,4,0.056,0.044,2687,3415,499,0,0,0,0,0,0
$GC,3290,0.66,581.4,64.7,23.5,484,3299,0.35,1.98,0.00,0.000,6,0.135,0.030,2584,2123,497,0,0,0,0,0,0
$GC,3366,0.88,588.1,53.3,11.8,497,3384,0.20,2.38,6.15,0.457,4,0.061,0.039,2688,593,471,0,0,0,0,0,0
$GC,3393,0.99,588.1,49.6,13.3,500,3401,0.00,2.40,0.00,0.000,6,0.000,0.036,2688,2138,470,0,0,0,0,0,0
$GC,3468,0.77,588.1,35.4,19.5,513,3477,0.22,1.98,0.00,0.000,4,0.139,0.044,2622,3402,470,0,0,0,0,0,0
$GC,3534,1.06,641.2,27.1,10.0,524,3552,0.20,1.88,7.35,0.469,6,0.035,0.032,2740,2177,438,0,0,0,0,0,0
$GC,3620,0.76,641.2,12.8,20.2,538,3629,0.38,2.42,0.00,0.000,4,0.144,0.038,2629,595,438,0,0,0,0,0,0
$GC,3680,1.29,686.1,5.7,10.3,548,3689,0.38,2.45,0.00,0.000,6,0.034,0.032,2809,2198,438,0,0,0,0,0,0
$STATE,3701,end climb,SURFACE_DEPTH_REACHED
$STATE,3701,begin surface coast
$FINISH,-0.9,0.999601
$STATE,3735,end surface coast,CONTROL_FINISHED_OK
$STATE,3735,begin surface
$SM_CCo,3811,0.00,0.000,0,0,438,596.57
$SM_GC,-0.11,6.72,0.00,0.00,0.040,0.000,0.000,204,2534,438,-6.67,0.96,596.57,0,0,0,0,0,0
$IRIDIUM_FIX,2150.42,12016.39,120611,121213
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.97
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.10
$XPDR_PINGS,8
$24V_AH,25.0,1.493
$10V_AH,10.5,1.735
$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,29.300,72.650,606.500,0.000,0.000,60.988,90.602,116.493,2.000,0.000,18.149,1327.948,229.179,642.933,1878.015,184.994,0.000,1382.003,0.000,863.503,0.000,0.543,0.000
$DEVICE_MAMPS,244.035,48.195,644.895,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,376.284,848.623,1486.834,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323288
$DATA_FILE_SIZE,37067,557
$CAP_FILE_SIZE,94028,0
$CFSIZE,260165632,250540032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.332,137.3,1
$GPS,120611,135644,2158.151,12020.635,9,1.4,9,-2.7