version: 66.09
glider: 181
mission: 6
dive: 24
start: 6 15 111 10 39 28
data:
$ID,181
$MISSION,6
$DIVE,24
$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,-39540.238
$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,46
$R_STBD_OVSHOOT,36
$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
$GPS1,150611,103307,2146.143,12000.806,38,0.8,39,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-72.6
$GPS2,150611,103902,2146.137,12000.932,15,1.0,15,-2.6
$SPEED_LIMITS,0.191,0.287
$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,244.7,2646,-17.6,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.65,-170.3,0.0,0.0,0,77,0.00,0.00,-60.00,0.000,2,0.000,0.000,199,2628,2445,0,0,0,0,0,0
$GC,80,-0.65,-170.3,3.0,-4.2,8,120,7.95,2.20,-22.30,0.000,4,0.244,0.044,2109,1191,3566,0,0,0,0,0,0
$GC,128,-0.65,-170.3,20.6,-39.2,14,137,0.00,2.25,0.00,0.000,6,0.000,0.049,2098,2582,3567,0,0,0,0,0,0
$GC,330,-0.65,-170.3,101.9,-35.1,51,338,0.00,1.90,0.00,0.000,4,0.000,0.050,2090,3778,3568,0,0,0,0,0,0
$GC,389,-0.65,-170.3,120.0,-30.2,61,397,0.08,1.77,0.00,0.000,6,0.168,0.028,2112,2602,3569,0,0,0,0,0,0
$GC,591,-0.65,-170.3,175.2,-26.2,98,600,0.00,2.10,0.00,0.000,4,0.000,0.033,2112,1210,3570,0,0,0,0,0,0
$GC,687,-0.65,-170.3,197.3,-19.6,115,695,0.00,2.15,0.00,0.000,6,0.000,0.041,2111,2574,3571,0,0,0,0,0,0
$GC,889,-0.65,-170.3,239.9,-26.6,152,897,0.00,1.88,0.00,0.000,4,0.000,0.047,2102,3780,3571,0,0,0,0,0,0
$GC,937,-0.65,-170.3,250.7,-19.6,160,941,0.00,1.77,0.00,0.000,6,0.000,0.029,2102,2566,3571,0,0,0,0,0,0
$GC,1269,-0.65,-170.3,317.4,-22.1,191,1272,0.00,2.00,0.00,0.000,4,0.000,0.034,2102,1200,3571,0,0,0,0,0,0
$GC,1325,-0.65,-170.3,329.4,-18.8,196,1329,0.00,2.12,0.00,0.000,6,0.000,0.041,2098,2587,3571,0,0,0,0,0,0
$GC,1652,-0.65,-170.3,392.4,-20.8,226,1656,0.00,2.08,0.00,0.000,4,0.000,0.035,2097,1197,3569,0,0,0,0,0,0
$GC,1680,-0.65,-170.3,398.5,-20.3,228,1684,0.00,2.15,0.00,0.000,6,0.000,0.043,2097,2587,3569,0,0,0,0,0,0
$GC,2012,-0.65,-170.3,463.3,-19.3,259,2015,0.00,1.83,0.00,0.000,4,0.000,0.050,2088,3789,3566,0,0,0,0,0,0
$GC,2046,-0.65,-170.3,469.7,-18.7,262,2051,0.12,1.77,0.00,0.000,6,0.155,0.031,2123,2579,3566,0,0,0,0,0,0
$GC,2376,-0.65,-170.3,516.8,-13.7,293,2380,0.00,2.05,0.00,0.000,4,0.000,0.037,2124,1196,3562,0,0,0,0,0,0
$GC,2415,-0.65,-170.3,522.2,-13.6,296,2422,0.00,2.15,0.00,0.000,6,0.000,0.044,2123,2589,3562,0,0,0,0,0,0
$GC,2741,-0.65,-170.3,562.2,-11.5,327,2745,0.00,2.08,0.00,0.000,4,0.000,0.037,2124,1205,3559,0,0,0,0,0,0
$GC,2762,-0.65,-170.3,564.9,-11.4,328,2769,0.00,2.17,0.00,0.000,6,0.000,0.044,2123,2585,3559,0,0,0,0,0,0
$GC,3088,-0.65,-170.3,597.8,-10.7,359,3092,0.00,1.88,0.00,0.000,4,0.000,0.054,2120,3778,3556,0,0,0,0,0,0
$GC,3144,-0.65,-170.3,603.8,-9.9,362,3148,0.00,1.80,0.00,0.000,6,0.000,0.033,2124,2592,3555,0,0,0,0,0,0
$GC,3466,-0.65,-170.3,641.0,-12.9,378,3470,0.00,2.08,0.00,0.000,4,0.000,0.040,2124,1196,3552,0,0,0,0,0,0
$GC,3528,-0.65,-170.3,648.8,-12.1,381,3532,0.00,2.15,0.00,0.000,6,0.000,0.044,2124,2590,3552,0,0,0,0,0,0
$GC,3855,-0.65,-170.3,686.5,-10.9,397,3859,0.00,1.83,0.00,0.000,4,0.000,0.055,2124,3780,3546,0,0,0,0,0,0
$GC,3924,-0.65,-170.3,693.1,-9.0,400,3928,0.00,1.75,0.00,0.000,6,0.000,0.034,2124,2600,3548,0,0,0,0,0,0
$GC,4257,-0.65,-170.3,724.6,-9.4,416,4261,0.00,2.10,0.00,0.000,4,0.000,0.041,2124,1191,3546,0,0,0,0,0,0
$GC,4324,-0.65,-170.3,731.0,-9.0,419,4328,0.00,2.17,0.00,0.000,6,0.000,0.046,2124,2593,3546,0,0,0,0,0,0
$GC,4647,-0.65,-170.3,762.2,-10.7,435,4648,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2593,3543,0,0,0,0,0,0
$GC,4955,-0.65,-170.3,795.3,-10.7,450,4959,0.00,2.12,0.00,0.000,4,0.000,0.041,2124,1192,3540,0,0,0,0,0,0
$GC,4996,-0.65,-170.3,799.7,-11.1,452,5000,0.00,2.17,0.00,0.000,6,0.000,0.047,2124,2596,3540,0,0,0,0,0,0
$GC,5322,-0.65,-170.3,836.2,-11.2,468,5324,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2596,3537,0,0,0,0,0,0
$GC,5633,-0.65,-170.3,866.4,-9.6,483,5637,0.00,2.12,0.00,0.000,4,0.000,0.042,2123,1202,3535,0,0,0,0,0,0
$GC,5671,-0.65,-170.3,870.4,-9.9,484,5678,0.00,2.17,0.00,0.000,6,0.000,0.048,2124,2590,3535,0,0,0,0,0,0
$GC,5988,-0.65,-170.3,897.5,-8.4,500,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2591,3534,0,0,0,0,0,0
$GC,6298,-0.65,-170.3,920.1,-6.9,515,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2596,3532,0,0,0,0,0,0
$GC,6606,-0.65,-170.3,945.9,-9.0,530,6610,0.00,2.12,0.00,0.000,4,0.000,0.043,2123,1195,3530,0,0,0,0,0,0
$GC,6650,-0.65,-170.3,950.2,-9.5,532,6654,0.00,2.17,0.00,0.000,6,0.000,0.048,2124,2590,3530,0,0,0,0,0,0
$GC,6979,-0.65,-170.3,981.7,-10.2,548,6983,0.00,2.12,0.00,0.000,4,0.000,0.044,2124,1195,3529,0,0,0,0,0,0
$GC,7045,-0.65,-170.3,989.2,-10.7,551,7049,0.00,2.15,0.00,0.000,6,0.000,0.048,2124,2578,3528,0,0,0,0,0,0
$STATE,7053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7053,begin apogee
$GC,7059,-0.12,0.0,990.2,10.2,551,7197,0.47,0.00,131.60,1.139,4,0.121,0.000,2284,2265,2869,0,0,0,0,0,0
$STATE,7198,end apogee,CONTROL_FINISHED_OK
$STATE,7198,begin climb
$GC,7200,0.65,170.3,998.6,0.0,558,7353,0.73,2.42,142.35,1.112,4,0.047,0.053,2551,3684,2175,0,0,0,0,0,0
$GC,7559,0.65,170.3,953.5,18.0,574,7564,0.00,2.22,0.00,0.000,6,0.000,0.037,2561,2275,2163,0,0,0,0,0,0
$GC,7887,0.65,170.3,891.5,19.8,590,7891,0.00,2.25,0.00,0.000,4,0.000,0.050,2562,3685,2162,0,0,0,0,0,0
$GC,7982,0.65,170.3,870.8,22.2,594,7987,0.12,2.22,0.00,0.000,6,0.218,0.037,2545,2251,2160,0,0,0,0,0,0
$GC,8304,0.65,170.3,808.7,19.5,610,8308,0.00,2.15,0.00,0.000,4,0.000,0.047,2554,857,2157,0,0,0,0,0,0
$GC,8526,0.65,170.3,765.4,18.7,620,8530,0.00,2.20,0.00,0.000,6,0.000,0.044,2554,2238,2156,0,0,0,0,0,0
$GC,8854,0.65,170.3,701.5,19.5,636,8858,0.00,2.12,0.00,0.000,4,0.000,0.045,2568,857,2154,0,0,0,0,0,0
$GC,8917,0.65,170.3,690.4,17.5,639,8921,0.00,2.12,0.00,0.000,6,0.000,0.043,2562,2228,2154,0,0,0,0,0,0
$GC,9244,0.65,170.3,631.3,18.2,655,9248,0.00,2.12,0.00,0.000,4,0.000,0.044,2573,853,2153,0,0,0,0,0,0
$GC,9301,0.65,170.3,621.1,17.0,657,9308,0.12,2.12,0.00,0.000,6,0.191,0.042,2544,2216,2153,0,0,0,0,0,0
$GC,9623,0.65,170.3,572.5,15.0,681,9624,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2216,2153,0,0,0,0,0,0
$GC,9941,0.65,170.3,524.2,15.2,711,9943,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2216,2152,0,0,0,0,0,0
$GC,10259,0.65,170.3,476.1,14.8,741,10263,0.00,2.10,0.00,0.000,4,0.000,0.044,2551,852,2151,0,0,0,0,0,0
$GC,10439,0.65,170.3,446.9,16.4,757,10443,0.00,2.10,0.00,0.000,6,0.000,0.042,2554,2214,2152,0,0,0,0,0,0
$GC,10766,0.65,170.3,394.5,15.5,787,10769,0.00,2.08,0.00,0.000,4,0.000,0.044,2560,859,2151,0,0,0,0,0,0
$GC,10902,0.65,170.3,373.5,15.3,799,10906,0.00,2.08,0.00,0.000,6,0.000,0.041,2561,2196,2152,0,0,0,0,0,0
$GC,11229,0.65,170.3,325.3,13.9,829,11232,0.00,2.05,0.00,0.000,4,0.000,0.043,2570,853,2151,0,0,0,0,0,0
$GC,11255,0.65,170.3,321.1,13.9,831,11263,0.10,2.10,0.00,0.000,6,0.167,0.040,2541,2193,2152,0,0,0,0,0,0
$GC,11581,0.65,170.3,277.6,12.8,862,11585,0.00,2.05,0.00,0.000,4,0.000,0.043,2548,854,2149,0,0,0,0,0,0
$GC,11818,0.67,188.8,251.2,10.2,883,11838,0.00,2.05,12.07,0.686,6,0.000,0.041,2548,2194,2099,0,0,0,0,0,0
$GC,12032,0.67,188.8,224.5,13.7,921,12040,0.00,2.10,0.00,0.000,4,0.000,0.043,2557,852,2098,0,0,0,0,0,0
$GC,12133,0.67,188.8,210.7,13.1,939,12141,0.00,2.05,0.00,0.000,6,0.000,0.040,2557,2160,2098,0,0,0,0,0,0
$GC,12334,0.67,188.8,184.4,12.5,976,12342,0.00,2.38,0.00,0.000,4,0.000,0.049,2557,3678,2098,0,0,0,0,0,0
$GC,12499,0.67,188.8,162.7,11.2,1006,12508,0.00,2.33,0.00,0.000,6,0.000,0.034,2567,2170,2098,0,0,0,0,0,0
$GC,12703,0.78,274.7,147.2,7.3,1043,12778,0.00,2.10,65.78,0.583,4,0.000,0.044,2578,857,1746,0,0,0,0,0,0
$GC,13019,0.78,274.7,108.7,12.4,1098,13029,0.00,2.10,0.00,0.000,6,0.000,0.037,2578,2183,1738,0,0,0,0,0,0
$GC,13224,0.80,295.7,84.3,10.1,1135,13248,0.00,2.08,15.82,0.580,4,0.000,0.038,2587,845,1664,0,0,0,0,0,0
$GC,13299,0.85,335.6,77.1,9.3,1147,13338,0.00,2.08,31.00,0.507,6,0.000,0.036,2587,2161,1501,0,0,0,0,0,0
$GC,13533,0.85,335.6,48.7,12.6,1188,13541,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2161,1497,0,0,0,0,0,0
$GC,13734,0.91,386.3,27.4,8.8,1225,13781,0.10,0.00,38.97,0.511,6,0.095,0.000,2641,2162,1293,0,0,0,0,0,0
$STATE,13957,end climb,SURFACE_DEPTH_REACHED
$STATE,13957,begin surface coast
$FINISH,-0.1,1.020890
$STATE,13985,end surface coast,CONTROL_FINISHED_OK
$STATE,13985,begin surface
$SM_CCo,14002,57.33,0.062,0,0,830,500.17
$SM_GC,0.54,0.00,0.00,57.33,0.000,0.000,0.062,201,2636,830,-6.65,1.05,500.17,0,0,0,0,0,0
$IRIDIUM_FIX,2143.45,12020.40,150611,060644
$TT8_MAMPS,0.027713,0.027713
$HUMID,39.80
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.0,4.474
$10V_AH,10.3,4.650
$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,16.200,126.275,437.600,57.325,0.000,30.304,16.877,166.000,0.000,0.000,18.519,3226.272,7009.404,557.257,3314.323,298.813,0.000,1817.709,0.000,2211.891,0.000,0.541,0.000
$DEVICE_MAMPS,244.035,55.080,1139.085,61.965,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,883.004,1930.818,1603.405,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323224
$DATA_FILE_SIZE,83611,1269
$CAP_FILE_SIZE,152675,0
$CFSIZE,260165632,248774656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.261,118.0,1
$GPS,150611,143507,2144.445,12001.087,39,1.0,40,-2.6