version: 66.09
glider: 181
mission: 6
dive: 503
start: 9 16 111 2 8 17
data:
$ID,181
$MISSION,6
$DIVE,503
$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,-41219.043
$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,59
$R_STBD_OVSHOOT,43
$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
$GPS1,160911,020207,1838.580,12031.854,34,1.4,35,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.8
$GPS2,160911,020720,1838.656,12031.918,12,1.5,12,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.264,-0.158
$KALMAN_X,26878.2,-262.1,2020.4,30153.9,-1580.7
$KALMAN_Y,78443.2,658.8,140.3,-145772.8,-216.3
$MHEAD_RNG_PITCHd_Wd,122.9,7702,-17.7,-11.786
$D_GRID,344
$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,17,-0.53,-187.7,0.0,0.0,0,70,0.00,0.00,-51.50,0.000,2,0.000,0.000,197,2626,1933,0,0,0,0,0,0
$GC,74,-0.53,-194.6,3.1,-4.0,9,127,8.05,0.75,-37.90,0.000,4,0.228,0.076,2115,3133,3662,0,0,0,0,0,0
$GC,240,-0.53,-194.6,62.0,-35.4,38,247,0.00,0.75,0.00,0.000,6,0.000,0.027,2115,2590,3661,0,0,0,0,0,0
$GC,383,-0.53,-194.6,97.3,-19.8,63,389,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2589,3661,0,0,0,0,0,0
$GC,526,-0.53,-194.6,123.2,-18.1,88,533,0.00,0.82,0.00,0.000,4,0.000,0.039,2113,3136,3661,0,0,0,0,0,0
$GC,596,-0.53,-194.6,135.0,-17.0,100,602,0.00,0.73,0.00,0.000,6,0.000,0.027,2112,2607,3661,0,0,0,0,0,0
$GC,739,-0.53,-194.6,155.6,-14.7,125,745,0.00,0.80,0.00,0.000,4,0.000,0.041,2109,3136,3662,0,0,0,0,0,0
$GC,808,-0.53,-194.6,165.6,-13.2,137,815,0.00,0.73,0.00,0.000,6,0.000,0.028,2109,2608,3662,0,0,0,0,0,0
$GC,951,-0.53,-194.6,186.1,-14.7,162,958,0.00,0.68,0.00,0.000,4,0.000,0.026,2109,2087,3662,0,0,0,0,0,0
$GC,988,-0.53,-194.6,191.2,-14.3,168,994,0.00,0.77,0.00,0.000,6,0.000,0.037,2105,2606,3662,0,0,0,0,0,0
$GC,1126,-0.53,-194.6,210.7,-13.7,186,1129,0.00,0.77,0.00,0.000,4,0.000,0.041,2101,3131,3662,0,0,0,0,0,0
$GC,1266,-0.53,-194.6,229.3,-12.4,198,1273,0.00,0.73,0.00,0.000,6,0.000,0.028,2101,2607,3661,0,0,0,0,0,0
$GC,1591,-0.53,-194.6,266.9,-11.8,229,1595,0.00,0.68,0.00,0.000,4,0.000,0.027,2101,2090,3660,0,0,0,0,0,0
$GC,1638,-0.53,-194.6,272.3,-12.1,233,1642,0.00,0.77,0.00,0.000,6,0.000,0.038,2097,2605,3660,0,0,0,0,0,0
$GC,1969,-0.53,-194.6,316.7,-14.4,264,1972,0.00,0.70,0.00,0.000,4,0.000,0.028,2097,2088,3657,0,0,0,0,0,0
$GC,2037,-0.53,-194.6,326.3,-13.5,270,2041,0.08,0.77,0.00,0.000,6,0.129,0.040,2120,2599,3656,0,0,0,0,0,0
$STATE,2195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2195,begin apogee
$GC,2202,-0.13,0.0,344.8,11.3,285,2350,0.40,0.00,142.10,0.630,6,0.113,0.000,2256,2166,2868,0,0,0,0,0,0
$STATE,2351,end apogee,CONTROL_FINISHED_OK
$STATE,2351,begin climb
$GC,2353,0.53,194.6,355.4,0.0,298,2502,0.55,0.80,141.93,0.613,4,0.047,0.032,2489,1642,2075,0,0,0,0,0,0
$GC,2608,0.65,288.4,346.8,7.8,321,2684,0.00,0.80,68.70,0.612,6,0.000,0.032,2489,2180,1693,0,0,0,0,0,0
$GC,3003,0.71,336.8,312.1,9.7,358,3048,0.12,0.75,36.78,0.604,4,0.083,0.035,2555,2683,1493,0,0,0,0,0,0
$GC,3139,0.71,336.8,292.2,15.5,370,3143,0.00,0.75,0.00,0.000,6,0.000,0.030,2557,2160,1494,0,0,0,0,0,0
$GC,3470,0.71,336.8,244.7,13.1,401,3474,0.00,0.70,0.00,0.000,4,0.000,0.033,2561,1655,1497,0,0,0,0,0,0
$GC,3553,0.71,336.8,234.3,12.0,408,3561,0.08,0.75,0.00,0.000,6,0.133,0.033,2535,2168,1496,0,0,0,0,0,0
$GC,3879,0.82,425.3,205.7,8.0,439,3947,0.00,0.75,64.82,0.548,4,0.000,0.034,2535,2694,1135,0,0,0,0,0,0
$GC,4017,0.88,477.4,193.4,9.6,457,4066,0.10,0.77,39.85,0.519,6,0.050,0.029,2597,2158,921,0,0,0,0,0,0
$GC,4202,0.88,477.4,169.5,13.3,489,4208,0.00,0.73,0.00,0.000,4,0.000,0.034,2601,1646,927,0,0,0,0,0,0
$GC,4244,0.88,477.4,163.7,14.4,496,4251,0.00,0.77,0.00,0.000,6,0.000,0.033,2601,2167,927,0,0,0,0,0,0
$GC,4388,0.88,477.4,145.3,12.4,521,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2168,926,0,0,0,0,0,0
$GC,4531,0.88,477.4,127.7,12.3,546,4537,0.00,0.75,0.00,0.000,4,0.000,0.037,2602,2687,926,0,0,0,0,0,0
$GC,4567,0.88,477.4,123.0,12.8,552,4573,0.00,0.75,0.00,0.000,6,0.000,0.030,2604,2158,926,0,0,0,0,0,0
$GC,4711,0.91,496.5,106.6,11.0,577,4735,0.00,0.73,16.70,0.511,4,0.000,0.034,2608,1660,843,0,0,0,0,0,0
$GC,4766,0.94,523.0,100.8,10.7,586,4790,0.00,0.75,20.30,0.451,6,0.000,0.032,2608,2170,735,0,0,0,0,0,0
$GC,4926,1.00,571.2,84.3,9.7,614,4968,0.00,0.80,36.10,0.467,4,0.000,0.037,2608,2693,539,0,0,0,0,0,0
$GC,5016,1.10,655.4,76.7,8.2,629,5041,0.10,0.75,19.77,0.437,6,0.049,0.030,2678,2178,439,0,0,0,0,0,0
$GC,5178,1.17,708.5,60.9,9.5,657,5185,0.00,0.75,0.00,0.000,4,0.000,0.034,2678,2691,437,0,0,0,0,0,0
$GC,5270,1.17,708.5,51.0,12.2,673,5277,0.00,0.77,0.00,0.000,6,0.000,0.030,2681,2155,437,0,0,0,0,0,0
$GC,5415,1.22,755.5,35.3,9.8,698,5421,0.00,0.70,0.00,0.000,4,0.000,0.034,2685,1650,436,0,0,0,0,0,0
$GC,5435,1.30,817.7,33.4,9.2,701,5442,0.00,0.75,0.00,0.000,6,0.000,0.032,2685,2168,436,0,0,0,0,0,0
$GC,5580,1.41,908.2,22.4,8.0,726,5587,0.20,0.75,0.00,0.000,4,0.060,0.031,2783,2689,437,0,0,0,0,0,0
$GC,5640,1.41,908.2,14.7,13.3,736,5647,0.10,0.75,0.00,0.000,6,0.138,0.029,2754,2166,437,0,0,0,0,0,0
$STATE,5742,end climb,SURFACE_DEPTH_REACHED
$STATE,5742,begin surface coast
$FINISH,0.3,1.009896
$STATE,5771,end surface coast,CONTROL_FINISHED_OK
$STATE,5771,begin surface
$SM_CCo,5848,0.00,0.000,0,0,437,596.57
$SM_GC,1.30,6.55,0.00,0.00,0.034,0.000,0.000,212,2597,437,-6.45,-0.37,596.57,0,0,0,0,0,0
$IRIDIUM_FIX,1835.04,12030.12,150911,232356
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.04
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,24.4,82.460
$10V_AH,9.9,67.924
$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,16.325,28.300,587.050,0.000,0.000,27.627,29.559,123.606,0.250,0.000,14.746,1658.528,2248.906,617.890,1419.428,215.539,33.359,1361.469,0.000,1226.208,0.000,0.542,0.000
$DEVICE_MAMPS,227.970,76.500,629.595,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,511.844,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321180
$DATA_FILE_SIZE,43655,759
$CAP_FILE_SIZE,90233,0
$CFSIZE,260165632,204537856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160911,034652,1838.575,12032.473,9,3.1,28,-2.0