version: 66.09
glider: 181
mission: 6
dive: 28
start: 6 16 111 2 32 26
data:
$ID,181
$MISSION,6
$DIVE,28
$N_DIVES,35
$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,-8
$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,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,-39545.27
$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,2315
$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,61
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,160611,022606,2140.762,12000.642,29,1.4,30,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-70.8
$GPS2,160611,023201,2140.743,12000.736,9,1.5,15,-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,199.0,297699,-17.6,-11.000
$D_GRID,2747
$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,-170.3,0.0,0.0,0,84,0.00,0.00,-65.55,0.000,2,0.000,0.000,199,2577,2620,0,0,0,0,0,0
$GC,87,-0.65,-170.3,3.7,-5.0,9,120,7.80,2.08,-17.52,0.000,4,0.239,0.041,2096,1195,3566,0,0,0,0,0,0
$GC,166,-0.65,-170.3,33.7,-30.7,21,174,0.00,2.25,0.00,0.000,6,0.000,0.044,2086,2593,3566,0,0,0,0,0,0
$GC,367,-0.65,-170.3,115.7,-33.7,58,375,0.00,1.90,0.00,0.000,4,0.000,0.048,2077,3796,3568,0,0,0,0,0,0
$GC,416,-0.65,-170.3,132.7,-36.5,66,424,0.00,1.80,0.00,0.000,6,0.000,0.029,2077,2610,3569,0,0,0,0,0,0
$GC,617,-0.65,-170.3,203.2,-28.9,103,626,0.00,2.12,0.00,0.000,4,0.000,0.031,2077,1195,3569,0,0,0,0,0,0
$GC,778,-0.65,-170.3,230.1,-14.3,132,787,0.10,2.22,0.00,0.000,6,0.158,0.041,2098,2608,3570,0,0,0,0,0,0
$GC,978,-0.65,-170.3,263.8,-18.7,162,982,0.00,1.80,0.00,0.000,4,0.000,0.047,2091,3793,3571,0,0,0,0,0,0
$GC,1046,-0.65,-170.3,277.3,-19.3,168,1049,0.00,1.75,0.00,0.000,6,0.000,0.028,2091,2594,3571,0,0,0,0,0,0
$GC,1376,-0.65,-170.3,352.1,-20.0,199,1380,0.00,1.83,0.00,0.000,4,0.000,0.047,2082,3783,3570,0,0,0,0,0,0
$GC,1414,-0.65,-170.3,361.0,-22.6,202,1421,0.00,1.77,0.00,0.000,6,0.000,0.030,2082,2600,3570,0,0,0,0,0,0
$GC,1740,-0.65,-170.3,428.1,-21.2,233,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2598,3568,0,0,0,0,0,0
$GC,2062,-0.65,-170.3,501.0,-21.2,263,2065,0.00,2.08,0.00,0.000,4,0.000,0.036,2082,1196,3565,0,0,0,0,0,0
$GC,2180,-0.65,-170.3,520.6,-14.0,273,2185,0.12,2.17,0.00,0.000,6,0.168,0.043,2102,2611,3564,0,0,0,0,0,0
$GC,2505,-0.65,-170.3,561.2,-12.3,303,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2612,3562,0,0,0,0,0,0
$GC,2825,-0.65,-170.3,598.4,-12.1,333,2829,0.00,2.12,0.00,0.000,4,0.000,0.037,2106,1198,3559,0,0,0,0,0,0
$GC,2897,-0.65,-170.3,606.9,-11.4,336,2901,0.00,2.17,0.00,0.000,6,0.000,0.044,2099,2608,3558,0,0,0,0,0,0
$GC,3219,-0.65,-170.3,657.4,-17.2,352,3223,0.00,2.12,0.00,0.000,4,0.000,0.038,2099,1199,3554,0,0,0,0,0,0
$GC,3246,-0.65,-170.3,662.4,-17.3,353,3250,0.00,2.17,0.00,0.000,6,0.000,0.045,2098,2609,3554,0,0,0,0,0,0
$GC,3568,-0.65,-170.3,717.0,-16.7,369,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2610,3552,0,0,0,0,0,0
$GC,3877,-0.65,-170.3,759.1,-11.7,384,3881,0.00,2.12,0.00,0.000,4,0.000,0.039,2097,1201,3549,0,0,0,0,0,0
$GC,3918,-0.65,-170.3,763.2,-10.0,386,3922,0.00,2.20,0.00,0.000,6,0.000,0.047,2097,2605,3549,0,0,0,0,0,0
$GC,4245,-0.65,-170.3,798.2,-11.2,402,4249,0.00,1.83,0.00,0.000,4,0.000,0.055,2089,3780,3546,0,0,0,0,0,0
$GC,4283,-0.65,-170.3,802.7,-11.1,403,4291,0.00,1.80,0.00,0.000,6,0.000,0.034,2089,2599,3546,0,0,0,0,0,0
$GC,4599,-0.65,-170.3,843.8,-13.9,419,4603,0.00,2.10,0.00,0.000,4,0.000,0.041,2089,1193,3544,0,0,0,0,0,0
$GC,4654,-0.65,-170.3,851.9,-14.0,421,4662,0.00,2.22,0.00,0.000,6,0.000,0.047,2084,2599,3547,0,0,0,0,0,0
$GC,4971,-0.65,-170.3,902.8,-16.8,437,4975,0.00,2.12,0.00,0.000,4,0.000,0.041,2084,1196,3541,0,0,0,0,0,0
$GC,5020,-0.65,-170.3,911.2,-16.1,439,5024,0.00,2.17,0.00,0.000,6,0.000,0.047,2083,2599,3541,0,0,0,0,0,0
$GC,5342,-0.65,-170.3,964.1,-16.1,455,5346,0.00,2.15,0.00,0.000,4,0.000,0.041,2083,1193,3536,0,0,0,0,0,0
$GC,5385,-0.65,-170.3,970.9,-14.7,457,5389,0.00,2.20,0.00,0.000,6,0.000,0.047,2083,2610,3538,0,0,0,0,0,0
$STATE,5526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5526,begin apogee
$GC,5532,-0.20,0.0,991.1,14.6,464,5670,0.50,0.00,131.70,1.138,6,0.138,0.000,2244,2260,2870,0,0,0,0,0,0
$STATE,5671,end apogee,CONTROL_FINISHED_OK
$STATE,5671,begin climb
$GC,5673,0.65,170.3,997.8,0.0,470,5824,0.80,2.35,141.73,1.099,4,0.070,0.044,2536,877,2173,0,0,0,0,0,0
$GC,5986,0.65,170.3,959.7,16.8,484,5994,0.00,2.28,0.00,0.000,6,0.000,0.043,2536,2265,2167,0,0,0,0,0,0
$GC,6303,0.65,170.3,904.9,17.9,500,6307,0.00,2.17,0.00,0.000,4,0.000,0.044,2546,872,2161,0,0,0,0,0,0
$GC,6481,0.65,170.3,874.9,16.3,508,6485,0.00,2.22,0.00,0.000,6,0.000,0.043,2546,2289,2162,0,0,0,0,0,0
$GC,6808,0.65,170.3,821.7,16.4,524,6812,0.00,2.20,0.00,0.000,4,0.000,0.044,2556,863,2158,0,0,0,0,0,0
$GC,6920,0.65,170.3,803.2,15.7,529,6925,0.12,2.25,0.00,0.000,6,0.197,0.044,2528,2301,2158,0,0,0,0,0,0
$GC,7247,0.65,170.3,754.6,15.1,545,7251,0.00,2.20,0.00,0.000,4,0.000,0.044,2536,875,2153,0,0,0,0,0,0
$GC,7341,0.65,170.3,739.8,15.5,549,7345,0.00,2.15,0.00,0.000,6,0.000,0.041,2535,2271,2156,0,0,0,0,0,0
$GC,7669,0.65,170.3,683.0,18.1,565,7673,0.00,2.15,0.00,0.000,4,0.000,0.044,2546,874,2155,0,0,0,0,0,0
$GC,7860,0.65,170.3,647.4,18.8,573,7864,0.00,2.17,0.00,0.000,6,0.000,0.042,2546,2281,2155,0,0,0,0,0,0
$GC,8178,0.65,170.3,586.5,17.8,591,8182,0.00,2.15,0.00,0.000,4,0.000,0.044,2555,874,2154,0,0,0,0,0,0
$GC,8355,0.65,170.3,558.1,13.4,606,8362,0.00,2.17,0.00,0.000,6,0.000,0.041,2555,2280,2154,0,0,0,0,0,0
$GC,8681,0.65,170.3,516.0,11.8,637,8686,0.12,2.15,0.00,0.000,4,0.201,0.042,2534,870,2153,0,0,0,0,0,0
$GC,8870,0.69,204.2,497.4,9.5,653,8900,0.00,2.17,24.27,0.819,6,0.000,0.041,2534,2278,2037,0,0,0,0,0,0
$GC,9217,0.69,204.2,442.7,18.5,686,9221,0.00,2.20,0.00,0.000,4,0.000,0.042,2544,859,2031,0,0,0,0,0,0
$GC,9430,0.69,204.2,404.4,18.5,705,9434,0.00,2.17,0.00,0.000,6,0.000,0.041,2544,2269,2030,0,0,0,0,0,0
$GC,9756,0.69,204.2,352.8,13.4,735,9760,0.00,2.12,0.00,0.000,4,0.000,0.041,2554,874,2029,0,0,0,0,0,0
$GC,9822,0.69,204.2,344.2,12.3,740,9830,0.00,2.20,0.00,0.000,6,0.000,0.041,2554,2272,2027,0,0,0,0,0,0
$GC,10147,0.69,204.2,305.8,12.8,771,10151,0.00,2.12,0.00,0.000,4,0.000,0.041,2563,872,2029,0,0,0,0,0,0
$GC,10223,0.69,204.2,296.4,13.3,777,10227,0.00,2.15,0.00,0.000,6,0.000,0.040,2563,2277,2029,0,0,0,0,0,0
$GC,10551,0.69,204.2,236.5,18.2,813,10559,0.00,2.20,0.00,0.000,4,0.000,0.047,2563,3682,2029,0,0,0,0,0,0
$GC,10599,0.69,204.2,227.4,18.8,821,10608,0.10,2.15,0.00,0.000,6,0.171,0.034,2544,2285,2029,0,0,0,0,0,0
$GC,10802,0.75,253.3,204.9,8.9,858,10847,0.00,2.20,37.80,0.632,4,0.000,0.041,2552,861,1835,0,0,0,0,0,0
$GC,11026,0.75,253.3,179.3,13.7,897,11034,0.00,2.22,0.00,0.000,6,0.000,0.039,2552,2270,1829,0,0,0,0,0,0
$GC,11228,0.75,253.3,148.1,15.9,934,11237,0.00,2.20,0.00,0.000,4,0.000,0.041,2562,862,1829,0,0,0,0,0,0
$GC,11409,0.75,253.3,121.7,12.7,967,11417,0.00,2.20,0.00,0.000,6,0.000,0.038,2562,2271,1828,0,0,0,0,0,0
$GC,11614,0.99,445.3,111.2,2.6,1004,11763,0.20,0.00,141.80,0.532,6,0.071,0.000,2649,2271,1051,0,0,0,0,0,0
$GC,11958,0.99,445.3,44.8,19.9,1059,11966,0.00,2.22,0.00,0.000,4,0.000,0.038,2658,862,1043,0,0,0,0,0,0
$GC,12043,0.99,445.3,31.6,13.4,1074,12051,0.00,2.22,0.00,0.000,6,0.000,0.037,2659,2264,1044,0,0,0,0,0,0
$GC,12245,0.99,445.3,5.2,14.2,1111,12253,0.00,2.22,0.00,0.000,4,0.000,0.046,2659,3676,1044,0,0,0,0,0,0
$STATE,12267,end climb,SURFACE_DEPTH_REACHED
$STATE,12267,begin surface coast
$FINISH,-0.3,1.021200
$STATE,12291,end surface coast,CONTROL_FINISHED_OK
$STATE,12291,begin surface
$SM_CCo,12308,14.48,0.063,0,0,932,475.15
$SM_GC,0.87,0.00,0.00,14.48,0.000,0.000,0.063,209,2581,932,-6.58,-0.51,475.15,0,0,0,0,0,0
$IRIDIUM_FIX,2134.17,11959.36,150611,222241
$TT8_MAMPS,0.028462,0.028462
$HUMID,41.41
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.0,4.998
$10V_AH,10.2,5.243
$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,16.300,119.125,477.300,14.475,0.000,25.042,16.684,167.812,0.000,0.000,17.962,2833.102,6018.156,530.432,3010.721,276.092,0.000,1699.896,0.000,2017.587,0.000,0.541,0.000
$DEVICE_MAMPS,238.680,55.080,1138.320,63.495,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,776.111,1702.658,1383.135,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323172
$DATA_FILE_SIZE,73763,1118
$CAP_FILE_SIZE,135258,0
$CFSIZE,260165632,248459264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109, 76.8,1
$GPS,160611,055907,2139.382,12000.742,37,0.9,38,-2.6