version: 66.09
glider: 181
mission: 6
dive: 506
start: 9 16 111 8 22 22
data:
$ID,181
$MISSION,6
$DIVE,506
$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,-41222.906
$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,64
$R_STBD_OVSHOOT,46
$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
$GPS1,160911,081600,1839.069,12031.935,37,1.4,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.2
$GPS2,160911,082126,1839.196,12032.012,13,1.3,13,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W3A
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.267,0.162
$KALMAN_X,30494.8,-498.3,-1852.5,30811.1,5142.9
$KALMAN_Y,81942.6,676.1,-163.8,-147952.4,1571.7
$MHEAD_RNG_PITCHd_Wd,303.2,68021,-17.4,-11.786
$D_GRID,706
$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,-55.45,0.000,2,0.000,0.000,188,2619,2065,0,0,0,0,0,0
$GC,79,-0.53,-194.6,3.6,-4.5,10,127,8.02,0.73,-32.58,0.000,4,0.226,0.062,2124,2051,3663,0,0,0,0,0,0
$GC,224,-0.53,-194.6,49.1,-28.9,35,231,0.00,0.82,0.00,0.000,6,0.000,0.039,2122,2599,3663,0,0,0,0,0,0
$GC,367,-0.53,-194.6,86.8,-24.5,60,373,0.00,0.77,0.00,0.000,4,0.000,0.039,2118,3131,3662,0,0,0,0,0,0
$GC,471,-0.53,-194.6,109.9,-20.0,78,478,0.00,0.75,0.00,0.000,6,0.000,0.025,2118,2579,3661,0,0,0,0,0,0
$GC,614,-0.53,-194.6,133.9,-16.4,103,620,0.00,0.62,0.00,0.000,4,0.000,0.026,2118,2081,3662,0,0,0,0,0,0
$GC,740,-0.53,-194.6,156.1,-16.7,125,747,0.00,0.80,0.00,0.000,6,0.000,0.036,2114,2620,3662,0,0,0,0,0,0
$GC,883,-0.53,-194.6,177.1,-12.9,150,890,0.00,0.70,0.00,0.000,4,0.000,0.025,2114,2084,3663,0,0,0,0,0,0
$GC,925,-0.53,-194.6,182.2,-12.0,157,932,0.00,0.77,0.00,0.000,6,0.000,0.037,2112,2605,3663,0,0,0,0,0,0
$GC,1070,-0.53,-194.6,200.0,-11.1,182,1077,0.00,0.77,0.00,0.000,4,0.000,0.040,2108,3136,3663,0,0,0,0,0,0
$GC,1189,-0.53,-194.6,214.8,-13.1,193,1196,0.00,0.70,0.00,0.000,6,0.000,0.026,2108,2612,3663,0,0,0,0,0,0
$GC,1514,-0.53,-194.6,255.2,-12.0,224,1518,0.00,0.68,0.00,0.000,4,0.000,0.027,2109,2087,3663,0,0,0,0,0,0
$GC,1553,-0.53,-194.6,259.8,-11.3,227,1560,0.00,0.77,0.00,0.000,6,0.000,0.036,2104,2611,3662,0,0,0,0,0,0
$GC,1878,-0.53,-194.6,297.1,-11.9,258,1882,0.00,0.70,0.00,0.000,4,0.000,0.026,2104,2087,3661,0,0,0,0,0,0
$GC,1984,-0.53,-194.6,309.7,-11.4,267,1991,0.00,0.77,0.00,0.000,6,0.000,0.037,2100,2606,3660,0,0,0,0,0,0
$GC,2310,-0.53,-194.6,345.2,-10.1,298,2314,0.00,0.70,0.00,0.000,4,0.000,0.027,2100,2088,3657,0,0,0,0,0,0
$GC,2349,-0.53,-194.6,349.5,-10.7,301,2356,0.08,0.80,0.00,0.000,6,0.128,0.038,2123,2617,3657,0,0,0,0,0,0
$GC,2674,-0.53,-194.6,377.6,-8.8,332,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2617,3654,0,0,0,0,0,0
$GC,2994,-0.53,-194.6,407.6,-10.2,362,2998,0.00,0.73,0.00,0.000,4,0.000,0.027,2124,2086,3651,0,0,0,0,0,0
$GC,3109,-0.53,-194.6,420.1,-10.8,372,3112,0.00,0.80,0.00,0.000,6,0.000,0.040,2122,2614,3649,0,0,0,0,0,0
$GC,3441,-0.53,-194.6,456.3,-10.1,403,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2614,3647,0,0,0,0,0,0
$GC,3760,-0.53,-194.6,488.9,-10.0,433,3764,0.00,0.70,0.00,0.000,4,0.000,0.028,2122,2103,3644,0,0,0,0,0,0
$GC,3875,-0.53,-194.6,499.9,-9.5,443,3878,0.00,0.77,0.00,0.000,6,0.000,0.041,2119,2609,3643,0,0,0,0,0,0
$GC,4196,-0.53,-194.6,534.7,-11.3,459,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2610,3640,0,0,0,0,0,0
$GC,4506,-0.53,-194.6,566.1,-9.5,474,4510,0.00,0.73,0.00,0.000,4,0.000,0.031,2119,2104,3637,0,0,0,0,0,0
$GC,4575,-0.53,-194.6,572.7,-9.3,477,4579,0.00,0.77,0.00,0.000,6,0.000,0.042,2115,2607,3636,0,0,0,0,0,0
$GC,4908,-0.53,-194.6,604.6,-10.1,493,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2608,3634,0,0,0,0,0,0
$GC,5218,-0.53,-194.6,636.1,-9.9,508,5222,0.00,0.70,0.00,0.000,4,0.000,0.030,2115,2106,3632,0,0,0,0,0,0
$GC,5268,-0.53,-194.6,641.2,-9.8,510,5272,0.00,0.77,0.00,0.000,6,0.000,0.042,2112,2608,3631,0,0,0,0,0,0
$GC,5597,-0.53,-194.6,674.0,-10.2,526,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2608,3629,0,0,0,0,0,0
$GC,5906,-0.53,-194.6,702.9,-8.7,541,5910,0.00,0.70,0.00,0.000,4,0.000,0.030,2112,2107,3628,0,0,0,0,0,0
$STATE,5942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5942,begin apogee
$GC,5948,-0.13,0.0,706.5,8.5,542,6102,0.43,0.00,145.38,0.883,6,0.116,0.000,2253,2170,2867,0,0,0,0,0,0
$STATE,6103,end apogee,CONTROL_FINISHED_OK
$STATE,6103,begin climb
$GC,6105,0.53,194.6,712.5,0.0,550,6264,0.60,0.77,150.55,0.864,4,0.050,0.036,2489,2693,2074,0,0,0,0,0,0
$GC,6345,0.57,229.6,700.0,10.4,561,6378,0.00,0.75,28.15,0.820,6,0.000,0.031,2493,2180,1931,0,0,0,0,0,0
$GC,6688,0.64,284.3,666.8,9.6,578,6734,0.00,0.75,42.40,0.836,4,0.000,0.029,2496,1643,1710,0,0,0,0,0,0
$GC,6807,0.71,344.7,655.7,9.3,583,6859,0.00,0.80,47.17,0.818,6,0.000,0.034,2496,2177,1462,0,0,0,0,0,0
$GC,7188,0.81,421.1,622.8,8.7,602,7253,0.17,0.82,59.80,0.815,4,0.076,0.041,2575,2692,1151,0,0,0,0,0,0
$GC,7370,0.81,421.1,596.5,15.2,610,7374,0.00,0.77,0.00,0.000,6,0.000,0.029,2579,2162,1154,0,0,0,0,0,0
$GC,7699,0.81,421.1,548.6,15.1,626,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2162,1154,0,0,0,0,0,0
$GC,8009,0.81,421.1,497.2,16.4,641,8012,0.00,0.80,0.00,0.000,4,0.000,0.040,2579,2692,1154,0,0,0,0,0,0
$GC,8087,0.81,421.1,484.5,15.4,648,8091,0.00,0.75,0.00,0.000,6,0.000,0.031,2583,2169,1153,0,0,0,0,0,0
$GC,8418,0.81,421.1,436.5,13.1,679,8422,0.00,0.73,0.00,0.000,4,0.000,0.035,2586,1651,1153,0,0,0,0,0,0
$GC,8464,0.81,421.1,430.5,13.1,683,8468,0.08,0.77,0.00,0.000,6,0.133,0.036,2562,2171,1153,0,0,0,0,0,0
$GC,8794,0.81,421.1,391.5,11.9,714,8798,0.00,0.75,0.00,0.000,4,0.000,0.041,2562,2682,1152,0,0,0,0,0,0
$GC,8873,0.81,421.1,381.7,12.8,721,8877,0.00,0.75,0.00,0.000,6,0.000,0.031,2563,2162,1151,0,0,0,0,0,0
$GC,9204,0.81,421.1,338.3,13.1,752,9205,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2162,1151,0,0,0,0,0,0
$GC,9524,0.81,421.1,299.7,12.1,782,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2162,1151,0,0,0,0,0,0
$GC,9844,0.85,456.1,265.6,10.4,812,9874,0.00,0.00,28.08,0.614,6,0.000,0.000,2563,2162,1009,0,0,0,0,0,0
$GC,10191,0.87,474.9,229.0,11.0,845,10211,0.00,0.85,16.58,0.575,4,0.000,0.037,2563,2699,932,0,0,0,0,0,0
$GC,10250,0.89,490.6,222.2,11.1,850,10269,0.00,0.77,13.57,0.525,6,0.000,0.031,2566,2171,868,0,0,0,0,0,0
$GC,10594,0.90,496.4,184.7,11.5,893,10607,0.00,0.73,6.97,0.534,4,0.000,0.031,2570,1645,845,0,0,0,0,0,0
$GC,10665,0.90,496.4,176.5,11.9,905,10671,0.00,0.77,0.00,0.000,6,0.000,0.033,2570,2168,844,0,0,0,0,0,0
$GC,10809,0.92,508.7,160.4,11.3,930,10828,0.00,0.77,11.00,0.544,4,0.000,0.040,2570,2687,794,0,0,0,0,0,0
$GC,10916,0.93,518.9,148.2,11.4,948,10929,0.00,0.77,9.23,0.482,6,0.000,0.031,2573,2155,752,0,0,0,0,0,0
$GC,11066,0.98,563.4,132.2,10.0,974,11108,0.12,0.82,34.28,0.503,4,0.086,0.034,2648,2691,572,0,0,0,0,0,0
$GC,11200,0.98,563.4,116.5,12.8,997,11207,0.10,0.77,0.00,0.000,6,0.118,0.030,2616,2156,574,0,0,0,0,0,0
$GC,11343,0.98,563.4,99.2,12.6,1022,11350,0.00,0.73,0.00,0.000,4,0.000,0.035,2618,1645,574,0,0,0,0,0,0
$GC,11495,1.04,606.3,82.2,10.0,1048,11526,0.00,0.77,25.70,0.490,6,0.000,0.031,2617,2173,438,0,0,0,0,0,0
$GC,11662,1.11,663.5,66.8,9.5,1077,11668,0.10,0.00,0.00,0.000,6,0.095,0.000,2668,2173,438,0,0,0,0,0,0
$GC,11806,1.11,663.5,50.8,11.9,1102,11813,0.00,0.77,0.00,0.000,4,0.000,0.033,2670,1644,438,0,0,0,0,0,0
$GC,11921,1.15,697.1,37.6,10.4,1122,11929,0.00,0.77,0.03,0.200,6,0.000,0.031,2670,2177,439,0,0,0,0,0,0
$GC,12064,1.28,807.1,26.6,7.3,1147,12072,0.12,0.75,0.00,0.000,4,0.078,0.037,2744,2687,440,0,0,0,0,0,0
$GC,12096,1.36,866.3,23.5,9.4,1152,12103,0.00,0.75,0.08,0.123,6,0.000,0.030,2747,2163,440,0,0,0,0,0,0
$GC,12244,1.42,921.8,9.0,9.5,1177,12250,0.00,0.73,0.00,0.000,4,0.000,0.039,2750,1655,441,0,0,0,0,0,0
$STATE,12300,end climb,SURFACE_DEPTH_REACHED
$STATE,12300,begin surface coast
$FINISH,0.2,1.018254
$STATE,12335,end surface coast,CONTROL_FINISHED_OK
$STATE,12335,begin surface
$SM_CCo,12414,0.00,0.000,0,0,441,595.59
$SM_GC,1.23,6.55,0.00,0.00,0.033,0.000,0.000,210,2608,441,-6.45,-0.06,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,1830.49,12108.74,160911,050537
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.95
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,24.0,82.835
$10V_AH,9.9,68.108
$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,16.375,40.850,618.950,0.000,0.000,28.878,24.619,142.568,0.250,0.000,16.221,2773.761,6773.134,682.851,2188.048,318.696,33.344,1785.464,0.000,1985.645,0.000,0.541,0.000
$DEVICE_MAMPS,225.675,100.980,882.810,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,818.237,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321468
$DATA_FILE_SIZE,66810,1193
$CAP_FILE_SIZE,140019,0
$CFSIZE,260165632,204300288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160911,115022,1840.205,12031.248,8,3.8,28,-2.0