version: 66.09
glider: 181
mission: 6
dive: 505
start: 9 16 111 5 42 16
data:
$ID,181
$MISSION,6
$DIVE,505
$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,-41221.648
$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,68
$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
$GPS1,160911,053555,1838.804,12032.907,37,1.7,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.9
$GPS2,160911,054120,1838.881,12032.944,10,2.0,10,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W3A
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.306,-0.060
$KALMAN_X,28914.2,-679.9,-1120.6,33467.5,363.9
$KALMAN_Y,81172.7,899.1,-770.3,-147399.5,2094.6
$MHEAD_RNG_PITCHd_Wd,260.9,69698,-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,17,-0.53,-194.6,0.0,0.0,0,75,0.00,0.00,-55.45,0.000,2,0.000,0.000,209,2600,2062,0,0,0,0,0,0
$GC,78,-0.53,-194.6,3.6,-4.5,10,126,7.90,0.77,-33.50,0.000,4,0.227,0.066,2120,2053,3664,0,0,0,0,0,0
$GC,169,-0.53,-194.6,30.2,-32.5,25,176,0.00,0.85,0.00,0.000,6,0.000,0.041,2118,2611,3665,0,0,0,0,0,0
$GC,312,-0.53,-194.6,77.4,-29.0,50,318,0.00,0.77,0.00,0.000,4,0.000,0.041,2114,3136,3665,0,0,0,0,0,0
$GC,399,-0.53,-194.6,97.4,-20.8,65,406,0.00,0.75,0.00,0.000,6,0.000,0.026,2113,2586,3664,0,0,0,0,0,0
$GC,542,-0.53,-194.6,121.9,-16.2,90,549,0.00,0.65,0.00,0.000,4,0.000,0.025,2113,2070,3664,0,0,0,0,0,0
$GC,617,-0.53,-194.6,133.4,-15.0,103,624,0.00,0.82,0.00,0.000,6,0.000,0.037,2111,2620,3664,0,0,0,0,0,0
$GC,761,-0.53,-194.6,154.9,-13.3,128,768,0.00,0.75,0.00,0.000,4,0.000,0.040,2108,3137,3664,0,0,0,0,0,0
$GC,853,-0.53,-194.6,167.4,-13.5,144,860,0.00,0.73,0.00,0.000,6,0.000,0.027,2108,2604,3665,0,0,0,0,0,0
$GC,997,-0.53,-194.6,186.0,-13.4,169,1003,0.00,0.80,0.00,0.000,4,0.000,0.037,2103,3137,3665,0,0,0,0,0,0
$GC,1066,-0.53,-194.6,196.1,-14.5,181,1072,0.00,0.73,0.00,0.000,6,0.000,0.027,2103,2605,3665,0,0,0,0,0,0
$GC,1203,-0.53,-194.6,214.3,-13.1,196,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2605,3665,0,0,0,0,0,0
$GC,1522,-0.53,-194.6,261.3,-15.0,226,1526,0.00,0.68,0.00,0.000,4,0.000,0.026,2103,2081,3663,0,0,0,0,0,0
$GC,1557,-0.53,-194.6,266.2,-13.8,229,1561,0.00,0.80,0.00,0.000,6,0.000,0.037,2099,2618,3663,0,0,0,0,0,0
$GC,1888,-0.53,-194.6,307.0,-12.1,260,1891,0.00,0.73,0.00,0.000,4,0.000,0.025,2099,2077,3661,0,0,0,0,0,0
$GC,1982,-0.53,-194.6,318.8,-12.3,268,1990,0.08,0.80,0.00,0.000,6,0.128,0.037,2123,2612,3661,0,0,0,0,0,0
$GC,2308,-0.53,-194.6,353.3,-10.0,299,2312,0.00,0.70,0.00,0.000,4,0.000,0.027,2124,2091,3657,0,0,0,0,0,0
$GC,2388,-0.53,-194.6,361.5,-9.9,306,2392,0.00,0.77,0.00,0.000,6,0.000,0.040,2123,2605,3657,0,0,0,0,0,0
$GC,2719,-0.53,-194.6,389.2,-7.6,337,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2605,3654,0,0,0,0,0,0
$GC,3040,-0.53,-194.6,416.8,-9.5,367,3044,0.00,0.70,0.00,0.000,4,0.000,0.028,2124,2092,3651,0,0,0,0,0,0
$GC,3109,-0.53,-194.6,424.0,-10.4,373,3113,0.00,0.77,0.00,0.000,6,0.000,0.041,2123,2603,3650,0,0,0,0,0,0
$GC,3440,-0.53,-194.6,453.9,-9.3,404,3444,0.00,0.80,0.00,0.000,4,0.000,0.045,2121,3134,3647,0,0,0,0,0,0
$GC,3553,-0.53,-194.6,465.1,-9.7,414,3557,0.00,0.73,0.00,0.000,6,0.000,0.030,2120,2618,3646,0,0,0,0,0,0
$GC,3885,-0.53,-194.6,497.4,-10.5,445,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2617,3643,0,0,0,0,0,0
$STATE,4058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4058,begin apogee
$GC,4064,-0.13,0.0,515.5,10.1,455,4214,0.40,0.00,143.45,0.750,6,0.110,0.000,2257,2158,2869,0,0,0,0,0,0
$STATE,4215,end apogee,CONTROL_FINISHED_OK
$STATE,4215,begin climb
$GC,4217,0.53,194.6,525.2,0.0,462,4370,0.55,0.82,145.32,0.734,4,0.050,0.033,2485,2690,2075,0,0,0,0,0,0
$GC,4452,0.64,288.3,518.8,8.0,473,4529,0.00,0.80,70.10,0.724,6,0.000,0.029,2488,2141,1693,0,0,0,0,0,0
$GC,4850,0.72,351.8,484.5,9.2,499,4906,0.12,0.85,48.50,0.718,4,0.086,0.031,2549,2704,1433,0,0,0,0,0,0
$GC,4967,0.72,351.8,468.8,14.4,509,4974,0.00,0.77,0.00,0.000,6,0.000,0.028,2552,2164,1433,0,0,0,0,0,0
$GC,5292,0.72,351.8,424.0,13.7,540,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2164,1433,0,0,0,0,0,0
$GC,5613,0.72,351.8,381.4,12.9,570,5616,0.00,0.73,0.00,0.000,4,0.000,0.034,2555,1648,1433,0,0,0,0,0,0
$GC,5714,0.72,351.8,368.2,12.8,579,5718,0.00,0.77,0.00,0.000,6,0.000,0.034,2555,2177,1433,0,0,0,0,0,0
$GC,6044,0.74,363.3,327.9,11.3,610,6060,0.00,0.75,10.32,0.625,4,0.000,0.041,2555,2679,1387,0,0,0,0,0,0
$GC,6161,0.75,374.4,315.5,11.3,620,6176,0.00,0.73,10.38,0.561,6,0.000,0.030,2558,2172,1341,0,0,0,0,0,0
$GC,6502,0.75,374.4,275.0,13.1,652,6506,0.00,0.73,0.00,0.000,4,0.000,0.034,2562,1654,1340,0,0,0,0,0,0
$GC,6642,0.75,374.4,257.5,12.2,664,6649,0.00,0.75,0.00,0.000,6,0.000,0.033,2562,2168,1340,0,0,0,0,0,0
$GC,6967,0.75,374.4,218.1,12.7,695,6971,0.00,0.75,0.00,0.000,4,0.000,0.040,2562,2687,1339,0,0,0,0,0,0
$GC,7058,0.75,374.4,206.3,13.5,703,7062,0.00,0.75,0.00,0.000,6,0.000,0.029,2565,2160,1339,0,0,0,0,0,0
$GC,7400,0.80,411.0,164.7,10.3,759,7435,0.00,0.80,27.77,0.547,4,0.000,0.035,2565,2685,1193,0,0,0,0,0,0
$GC,7483,0.90,499.4,157.6,8.2,773,7553,0.00,0.75,66.03,0.513,6,0.000,0.030,2568,2165,830,0,0,0,0,0,0
$GC,7690,1.05,615.5,143.4,7.1,809,7766,0.20,0.00,72.15,0.502,6,0.066,0.000,2661,2164,439,0,0,0,0,0,0
$GC,7902,1.05,615.5,117.9,12.0,846,7909,0.00,0.00,0.10,0.174,6,0.000,0.000,2661,2164,440,0,0,0,0,0,0
$GC,8047,1.09,648.1,103.1,10.5,871,8054,0.00,0.00,1.45,0.081,6,0.000,0.000,2662,2164,441,0,0,0,0,0,0
$GC,8190,1.09,648.1,87.7,11.8,896,8197,0.00,0.77,0.52,0.093,4,0.000,0.032,2662,2685,441,0,0,0,0,0,0
$GC,8249,1.09,648.1,80.2,13.1,906,8257,0.00,0.75,2.20,0.159,6,0.000,0.029,2664,2161,439,0,0,0,0,0,0
$GC,8397,1.15,699.6,64.3,9.7,931,8403,0.00,0.70,0.00,0.000,4,0.000,0.034,2668,1653,440,0,0,0,0,0,0
$GC,8455,1.27,800.8,59.4,7.7,941,8463,0.08,0.75,0.00,0.000,6,0.057,0.031,2724,2172,439,0,0,0,0,0,0
$GC,8602,1.29,814.9,42.8,11.2,966,8608,0.00,0.73,0.00,0.000,4,0.000,0.037,2724,2686,439,0,0,0,0,0,0
$GC,8689,1.35,864.7,34.4,9.8,981,8696,0.00,0.75,0.03,0.198,6,0.000,0.030,2727,2158,440,0,0,0,0,0,0
$GC,8835,1.43,925.3,20.0,9.3,1006,8842,0.00,0.70,0.00,0.000,4,0.000,0.034,2731,1651,440,0,0,0,0,0,0
$STATE,9031,end climb,SURFACE_DEPTH_REACHED
$STATE,9031,begin surface coast
$FINISH,0.4,1.001466
$STATE,9071,end surface coast,CONTROL_FINISHED_OK
$STATE,9072,begin surface
$SM_CCo,9150,0.00,0.000,0,0,443,594.85
$SM_GC,1.31,6.53,0.00,0.00,0.036,0.000,0.000,206,2623,443,-6.46,0.37,594.85,0,0,0,0,0,0
$IRIDIUM_FIX,1830.49,12027.01,160911,030340
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.22
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.50
$XPDR_PINGS,2
$24V_AH,23.9,82.689
$10V_AH,9.9,68.035
$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,15.850,33.075,598.325,0.000,0.000,23.783,43.802,133.634,0.500,0.000,13.402,2381.307,4268.599,617.177,1931.523,278.120,33.345,1598.056,0.000,1725.181,0.000,0.541,0.000
$DEVICE_MAMPS,227.205,65.790,750.465,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,712.079,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321520
$DATA_FILE_SIZE,60221,1048
$CAP_FILE_SIZE,116778,0
$CFSIZE,260165632,204398592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160911,081600,1839.069,12031.935,37,1.4,37,-2.0