version: 66.09
glider: 181
mission: 6
dive: 502
start: 9 15 111 23 31 11
data:
$ID,181
$MISSION,6
$DIVE,502
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,280
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-41217.695
$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,2300
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$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,15
$C_ROLL_DIVE,2610
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,49
$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,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,150911,232025,1839.400,12031.342,39,1.3,39,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-64.3
$GPS2,150911,232955,1839.474,12031.502,11,1.4,11,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.010,-0.312
$KALMAN_X,26143.2,238.1,1682.6,30022.6,69.0
$KALMAN_Y,76638.4,236.5,1319.3,-143205.9,-676.5
$MHEAD_RNG_PITCHd_Wd,180.2,9222,-17.4,-11.786
$D_GRID,515
$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,-0.53,-194.3,0.0,0.0,0,69,0.00,0.00,-51.28,0.000,2,0.000,0.000,211,2626,1947,0,0,0,0,0,0
$GC,73,-0.53,-194.6,3.3,-4.3,9,126,8.10,0.80,-36.38,0.000,4,0.229,0.082,2118,3123,3663,0,0,0,0,0,0
$GC,180,-0.53,-194.6,40.3,-50.8,27,187,0.00,0.75,0.00,0.000,6,0.000,0.027,2118,2590,3661,0,0,0,0,0,0
$GC,323,-0.53,-194.6,82.6,-19.7,52,329,0.00,0.82,0.00,0.000,4,0.000,0.041,2115,3130,3661,0,0,0,0,0,0
$GC,455,-0.53,-194.6,109.7,-18.4,75,462,0.00,0.73,0.00,0.000,6,0.000,0.026,2115,2604,3660,0,0,0,0,0,0
$GC,598,-0.53,-194.6,135.0,-16.2,100,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2603,3660,0,0,0,0,0,0
$GC,739,-0.53,-194.6,153.5,-12.8,125,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2603,3660,0,0,0,0,0,0
$GC,882,-0.53,-194.6,172.8,-13.9,150,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2603,3660,0,0,0,0,0,0
$GC,1024,-0.53,-194.6,193.4,-14.8,175,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2603,3660,0,0,0,0,0,0
$GC,1167,-0.53,-194.6,214.0,-14.6,192,1170,0.00,0.68,0.00,0.000,4,0.000,0.027,2115,2082,3660,0,0,0,0,0,0
$GC,1201,-0.53,-194.6,218.8,-13.5,195,1205,0.00,0.77,0.00,0.000,6,0.000,0.037,2111,2598,3660,0,0,0,0,0,0
$GC,1533,-0.53,-194.6,259.5,-12.1,226,1536,0.00,0.68,0.00,0.000,4,0.000,0.028,2111,2091,3658,0,0,0,0,0,0
$GC,1572,-0.53,-194.6,264.4,-12.0,229,1578,0.00,0.77,0.00,0.000,6,0.000,0.039,2109,2608,3658,0,0,0,0,0,0
$GC,1897,-0.53,-194.6,304.8,-12.4,260,1901,0.00,0.70,0.00,0.000,4,0.000,0.028,2109,2094,3656,0,0,0,0,0,0
$GC,1981,-0.53,-194.6,314.9,-11.6,267,1988,0.00,0.77,0.00,0.000,6,0.000,0.040,2105,2605,3654,0,0,0,0,0,0
$GC,2306,-0.53,-194.6,354.8,-13.1,298,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2605,3652,0,0,0,0,0,0
$GC,2629,-0.53,-194.6,397.4,-13.4,328,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2605,3648,0,0,0,0,0,0
$GC,2957,-0.53,-194.6,432.7,-8.5,359,2961,0.00,0.70,0.00,0.000,4,0.000,0.028,2105,2095,3645,0,0,0,0,0,0
$GC,3099,-0.53,-194.6,441.0,-4.8,371,3106,0.00,0.77,0.00,0.000,6,0.000,0.041,2101,2598,3643,0,0,0,0,0,0
$GC,3424,-0.53,-194.6,464.3,-9.2,402,3428,0.00,0.70,0.00,0.000,4,0.000,0.029,2101,2091,3640,0,0,0,0,0,0
$GC,3463,-0.53,-194.6,468.2,-9.6,405,3470,0.00,0.80,0.00,0.000,6,0.000,0.042,2097,2609,3640,0,0,0,0,0,0
$GC,3799,-0.53,-194.6,502.3,-10.6,436,3804,0.10,0.82,0.00,0.000,4,0.169,0.047,2122,3142,3637,0,0,0,0,0,0
$GC,3868,-0.53,-194.6,509.2,-9.3,439,3872,0.00,0.75,0.00,0.000,6,0.000,0.031,2122,2619,3637,0,0,0,0,0,0
$STATE,3930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3930,begin apogee
$GC,3936,-0.13,0.0,515.8,10.4,442,4083,0.38,0.00,143.00,0.750,6,0.112,0.000,2249,2165,2869,0,0,0,0,0,0
$STATE,4084,end apogee,CONTROL_FINISHED_OK
$STATE,4084,begin climb
$GC,4087,0.53,194.6,526.8,0.0,449,4243,0.62,0.00,147.70,0.737,6,0.048,0.000,2495,2165,2074,0,0,0,0,0,0
$GC,4551,0.66,299.1,507.8,7.5,472,4636,0.00,0.88,78.25,0.729,4,0.000,0.040,2495,2703,1648,0,0,0,0,0,0
$GC,4711,0.72,346.4,493.5,9.9,481,4753,0.00,0.80,36.75,0.699,6,0.000,0.031,2499,2158,1455,0,0,0,0,0,0
$GC,5079,0.76,384.5,457.1,10.2,516,5116,0.15,0.88,30.77,0.699,4,0.081,0.037,2569,2703,1300,0,0,0,0,0,0
$GC,5156,0.76,384.5,445.8,15.9,523,5160,0.00,0.80,0.00,0.000,6,0.000,0.031,2572,2160,1300,0,0,0,0,0,0
$GC,5486,0.76,384.5,395.0,14.8,554,5490,0.00,0.73,0.00,0.000,4,0.000,0.036,2576,1650,1299,0,0,0,0,0,0
$GC,5592,0.76,384.5,379.4,14.8,563,5599,0.08,0.80,0.00,0.000,6,0.135,0.034,2552,2187,1298,0,0,0,0,0,0
$GC,5917,0.76,384.5,334.8,13.4,594,5921,0.00,0.73,0.00,0.000,4,0.000,0.041,2551,2683,1297,0,0,0,0,0,0
$GC,6008,0.76,384.5,322.6,13.7,602,6012,0.00,0.75,0.00,0.000,6,0.000,0.031,2553,2162,1296,0,0,0,0,0,0
$GC,6340,0.76,384.5,279.9,12.4,633,6344,0.00,0.73,0.00,0.000,4,0.000,0.036,2556,1652,1296,0,0,0,0,0,0
$GC,6420,0.76,384.5,269.7,12.6,640,6424,0.00,0.75,0.00,0.000,6,0.000,0.035,2556,2157,1296,0,0,0,0,0,0
$GC,6751,0.76,384.5,231.1,12.0,671,6755,0.00,0.77,0.00,0.000,4,0.000,0.040,2556,2687,1294,0,0,0,0,0,0
$GC,6832,0.76,384.5,221.6,11.9,678,6836,0.00,0.75,0.00,0.000,6,0.000,0.031,2559,2166,1294,0,0,0,0,0,0
$GC,7166,0.78,399.8,181.9,11.2,722,7185,0.00,0.73,12.45,0.569,4,0.000,0.031,2563,1640,1237,0,0,0,0,0,0
$GC,7284,0.81,418.8,168.8,11.0,742,7304,0.00,0.77,15.32,0.507,6,0.000,0.034,2563,2160,1160,0,0,0,0,0,0
$GC,7441,0.85,451.4,152.1,10.5,769,7471,0.00,0.82,25.95,0.516,4,0.000,0.040,2563,2689,1027,0,0,0,0,0,0
$GC,7536,0.88,479.5,142.2,10.6,785,7566,0.00,0.77,22.27,0.494,6,0.000,0.031,2566,2163,914,0,0,0,0,0,0
$GC,7702,0.98,558.9,126.9,8.5,814,7767,0.15,0.80,60.08,0.498,4,0.076,0.034,2641,1641,589,0,0,0,0,0,0
$GC,7818,0.98,558.9,112.8,12.3,834,7825,0.00,0.80,0.00,0.000,6,0.000,0.033,2641,2168,590,0,0,0,0,0,0
$GC,7962,0.98,558.9,94.2,12.9,859,7970,0.00,0.75,0.00,0.000,4,0.000,0.040,2641,2681,592,0,0,0,0,0,0
$GC,8011,0.98,558.9,88.3,12.1,867,8017,0.00,0.75,0.00,0.000,6,0.000,0.031,2644,2163,592,0,0,0,0,0,0
$GC,8156,1.00,575.9,72.9,11.1,892,8175,0.00,0.77,14.88,0.500,4,0.000,0.036,2647,1647,521,0,0,0,0,0,0
$GC,8216,1.02,589.5,66.0,11.2,902,8235,0.00,0.77,11.55,0.421,6,0.000,0.031,2648,2175,463,0,0,0,0,0,0
$GC,8371,1.11,666.3,49.7,8.6,929,8384,0.00,0.75,6.05,0.421,4,0.000,0.033,2648,2685,440,0,0,0,0,0,0
$GC,8526,1.21,749.2,37.3,8.4,956,8534,0.08,0.75,0.03,0.198,6,0.054,0.032,2693,2168,440,0,0,0,0,0,0
$GC,8671,1.31,832.6,24.8,8.4,981,8678,0.00,0.75,0.00,0.000,4,0.000,0.034,2694,2683,441,0,0,0,0,0,0
$GC,8713,1.44,933.9,21.7,7.6,988,8721,0.15,0.75,0.73,0.077,6,0.042,0.031,2780,2165,441,0,0,0,0,0,0
$GC,8858,1.44,933.9,4.7,12.2,1013,8865,0.00,0.77,2.33,0.176,4,0.000,0.034,2784,1645,439,0,0,0,0,0,0
$STATE,8876,end climb,SURFACE_DEPTH_REACHED
$STATE,8876,begin surface coast
$FINISH,0.3,0.997582
$STATE,8905,end surface coast,CONTROL_FINISHED_OK
$STATE,8905,begin surface
$SM_CCo,8983,0.00,0.000,0,0,439,596.08
$SM_GC,1.30,6.68,0.00,0.00,0.035,0.000,0.000,209,2625,439,-6.46,0.42,596.08,0,0,0,0,0,0
$IRIDIUM_FIX,1832.77,12027.01,150911,232342
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.96
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,24.1,82.355
$10V_AH,9.8,67.877
$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,16.475,35.000,608.100,0.000,0.000,59.387,39.415,255.614,0.250,0.000,13.948,2326.358,4253.817,672.684,2008.350,297.181,33.375,1607.759,0.000,1648.841,0.000,0.541,0.000
$DEVICE_MAMPS,228.735,81.855,750.465,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,694.532,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321540
$DATA_FILE_SIZE,56941,1021
$CAP_FILE_SIZE,119298,0
$CFSIZE,260165632,204562432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160911,020207,1838.580,12031.854,34,1.4,35,-2.0