version: 66.09
glider: 181
mission: 6
dive: 504
start: 9 16 111 3 53 13
data:
$ID,181
$MISSION,6
$DIVE,504
$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,-41220.395
$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,60
$R_STBD_OVSHOOT,32
$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
$GPS1,160911,034652,1838.575,12032.473,9,3.1,28,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-67.8
$GPS2,160911,035216,1838.692,12032.546,13,2.4,32,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.271,-0.153
$KALMAN_X,27835.0,-495.9,726.7,31812.1,-1631.7
$KALMAN_Y,79813.9,867.0,-575.7,-146564.2,630.0
$MHEAD_RNG_PITCHd_Wd,121.4,7888,-17.4,-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,-194.1,0.0,0.0,0,70,0.00,0.00,-51.33,0.000,2,0.000,0.000,211,2597,1928,0,0,0,0,0,0
$GC,73,-0.53,-194.6,3.1,-4.2,9,127,7.95,0.82,-37.50,0.000,4,0.228,0.072,2120,3142,3662,0,0,0,0,0,0
$GC,314,-0.53,-194.6,82.5,-23.0,51,320,0.00,0.77,0.00,0.000,6,0.000,0.027,2120,2579,3662,0,0,0,0,0,0
$GC,457,-0.53,-194.6,107.8,-16.8,76,463,0.00,0.85,0.00,0.000,4,0.000,0.040,2116,3142,3662,0,0,0,0,0,0
$GC,566,-0.53,-194.6,125.2,-14.5,95,573,0.00,0.73,0.00,0.000,6,0.000,0.026,2116,2609,3662,0,0,0,0,0,0
$GC,708,-0.53,-194.6,145.2,-13.6,120,715,0.00,0.80,0.00,0.000,4,0.000,0.039,2112,3143,3662,0,0,0,0,0,0
$GC,779,-0.53,-194.6,154.9,-14.0,132,785,0.00,0.73,0.00,0.000,6,0.000,0.026,2112,2609,3663,0,0,0,0,0,0
$GC,922,-0.53,-194.6,175.0,-13.8,157,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2609,3663,0,0,0,0,0,0
$GC,1064,-0.53,-194.6,193.4,-12.3,182,1070,0.00,0.68,0.00,0.000,4,0.000,0.025,2112,2082,3663,0,0,0,0,0,0
$GC,1123,-0.53,-194.6,200.3,-11.1,192,1126,0.00,0.80,0.00,0.000,6,0.000,0.037,2112,2618,3663,0,0,0,0,0,0
$GC,1454,-0.53,-194.6,241.2,-11.1,223,1458,0.00,0.75,0.00,0.000,4,0.000,0.041,2108,3131,3662,0,0,0,0,0,0
$GC,1568,-0.53,-194.6,253.1,-10.3,233,1572,0.00,0.70,0.00,0.000,6,0.000,0.028,2108,2621,3662,0,0,0,0,0,0
$GC,1899,-0.53,-194.6,289.8,-11.3,264,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2618,3659,0,0,0,0,0,0
$GC,2219,-0.53,-194.6,326.9,-11.1,294,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2618,3657,0,0,0,0,0,0
$STATE,2374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2374,begin apogee
$GC,2381,-0.13,0.0,345.0,11.4,309,2528,0.45,0.00,142.15,0.630,6,0.119,0.000,2256,2155,2868,0,0,0,0,0,0
$STATE,2529,end apogee,CONTROL_FINISHED_OK
$STATE,2529,begin climb
$GC,2531,0.53,194.6,354.0,0.0,322,2682,0.57,0.00,142.38,0.613,6,0.047,0.000,2488,2155,2074,0,0,0,0,0,0
$GC,3000,0.65,296.6,325.1,7.6,367,3079,0.00,0.82,74.30,0.605,4,0.000,0.032,2487,2694,1659,0,0,0,0,0,0
$GC,3210,0.74,364.0,307.1,9.0,386,3266,0.10,0.80,49.92,0.589,6,0.049,0.029,2552,2137,1385,0,0,0,0,0,0
$GC,3583,0.76,380.5,266.9,11.1,421,3603,0.00,0.00,14.55,0.581,6,0.000,0.000,2552,2137,1316,0,0,0,0,0,0
$GC,3922,0.81,422.2,228.0,10.1,453,3958,0.00,0.85,31.48,0.562,4,0.000,0.035,2552,2696,1146,0,0,0,0,0,0
$GC,4023,0.86,460.4,218.3,10.2,462,4057,0.00,0.77,29.10,0.530,6,0.000,0.029,2555,2158,991,0,0,0,0,0,0
$GC,4386,0.86,463.2,175.5,11.7,512,4393,0.00,0.00,4.47,0.424,6,0.000,0.000,2555,2158,979,0,0,0,0,0,0
$GC,4531,0.93,522.5,161.2,9.4,537,4578,0.12,0.00,44.17,0.524,6,0.086,0.000,2620,2158,737,0,0,0,0,0,0
$GC,4714,0.93,522.5,138.2,13.3,569,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2158,739,0,0,0,0,0,0
$GC,4857,0.93,522.5,119.6,13.5,594,4863,0.00,0.70,0.00,0.000,4,0.000,0.033,2623,1655,741,0,0,0,0,0,0
$GC,4921,0.93,522.5,111.1,12.9,605,4927,0.00,0.77,0.00,0.000,6,0.000,0.031,2623,2187,742,0,0,0,0,0,0
$GC,5066,1.02,593.8,95.7,8.9,630,5126,0.00,0.77,53.58,0.483,4,0.000,0.036,2623,2695,447,0,0,0,0,0,0
$GC,5211,1.11,662.9,83.1,9.0,655,5219,0.00,0.77,3.15,0.296,6,0.000,0.030,2624,2159,440,0,0,0,0,0,0
$GC,5357,1.18,721.9,69.7,9.4,680,5365,0.15,0.73,0.00,0.000,4,0.081,0.034,2690,1654,440,0,0,0,0,0,0
$GC,5467,1.20,739.2,57.7,11.1,699,5475,0.00,0.75,0.15,0.097,6,0.000,0.030,2690,2178,440,0,0,0,0,0,0
$GC,5614,1.30,822.5,44.2,8.4,724,5620,0.00,0.75,0.00,0.000,4,0.000,0.032,2691,1653,440,0,0,0,0,0,0
$GC,5655,1.40,905.7,40.5,8.4,731,5664,0.12,0.73,0.70,0.076,6,0.041,0.031,2772,2160,440,0,0,0,0,0,0
$GC,5800,1.42,917.8,22.8,11.3,756,5807,0.00,0.75,0.43,0.095,4,0.000,0.031,2771,2686,441,0,0,0,0,0,0
$GC,5904,1.45,942.6,10.9,10.8,774,5912,0.00,0.75,0.22,0.088,6,0.000,0.028,2775,2155,442,0,0,0,0,0,0
$STATE,5978,end climb,SURFACE_DEPTH_REACHED
$STATE,5978,begin surface coast
$FINISH,0.4,1.004129
$STATE,6010,end surface coast,CONTROL_FINISHED_OK
$STATE,6010,begin surface
$SM_CCo,6087,0.00,0.000,0,0,442,595.34
$SM_GC,1.23,6.62,0.00,0.00,0.036,0.000,0.000,211,2600,442,-6.45,-0.28,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,1835.04,12046.51,160911,020200
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.00
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.4,82.567
$10V_AH,10.0,67.972
$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,16.100,19.650,590.750,0.000,0.000,23.292,24.712,137.917,0.000,0.000,36.428,1724.721,2434.593,612.254,1441.379,202.262,33.340,1326.509,0.000,1228.393,0.000,0.542,0.000
$DEVICE_MAMPS,227.970,71.910,629.595,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,534.302,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321156
$DATA_FILE_SIZE,43615,792
$CAP_FILE_SIZE,85005,0
$CFSIZE,260165632,204492800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160911,053555,1838.804,12032.907,37,1.7,37,-2.0