version: 66.09
glider: 181
mission: 6
dive: 215
start: 7 21 111 16 10 44
data:
$ID,181
$MISSION,6
$DIVE,215
$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,300
$T_MISSION,340
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,-40789.789
$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,2320
$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,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$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,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,210711,160425,1839.509,12032.710,41,1.2,41,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-73.0
$GPS2,210711,161019,1839.574,12032.721,11,1.0,16,-2.0
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,192.3,9550,-15.3,-11.000
$D_GRID,462
$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,-0.52,-219.0,0.0,0.0,0,82,0.00,0.00,-63.90,0.000,2,0.000,0.000,206,2622,2276,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.4,-4.1,9,131,7.93,1.83,-29.20,0.000,4,0.229,0.055,2139,3786,3763,0,0,0,0,0,0
$GC,222,-0.52,-219.0,74.8,-65.5,32,231,0.00,1.80,0.00,0.000,6,0.000,0.024,2138,2570,3764,0,0,0,0,0,0
$GC,356,-0.52,-219.0,118.3,-23.8,57,364,0.00,2.03,0.00,0.000,4,0.000,0.026,2138,1203,3766,0,0,0,0,0,0
$GC,414,-0.52,-219.0,129.0,-15.7,67,422,0.00,2.05,0.00,0.000,6,0.000,0.034,2138,2527,3766,0,0,0,0,0,0
$GC,547,-0.52,-219.0,150.3,-17.5,92,555,0.00,1.92,0.00,0.000,4,0.000,0.042,2128,3769,3766,0,0,0,0,0,0
$GC,646,-0.52,-219.0,166.6,-16.3,110,654,0.00,1.77,0.00,0.000,6,0.000,0.024,2129,2564,3767,0,0,0,0,0,0
$GC,780,-0.52,-219.0,189.4,-20.0,135,788,0.00,2.00,0.00,0.000,4,0.000,0.028,2129,1215,3767,0,0,0,0,0,0
$GC,849,-0.52,-219.0,199.9,-13.0,147,858,0.00,2.08,0.00,0.000,6,0.000,0.035,2125,2555,3767,0,0,0,0,0,0
$GC,984,-0.52,-219.0,220.6,-16.6,160,987,0.00,1.88,0.00,0.000,4,0.000,0.044,2120,3786,3768,0,0,0,0,0,0
$GC,1021,-0.52,-219.0,227.6,-17.6,163,1029,0.08,1.80,0.00,0.000,6,0.136,0.024,2147,2572,3768,0,0,0,0,0,0
$GC,1347,-0.52,-219.0,271.4,-13.0,194,1351,0.00,1.90,0.00,0.000,4,0.000,0.043,2139,3780,3766,0,0,0,0,0,0
$GC,1391,-0.52,-219.0,276.9,-12.1,198,1395,0.00,1.75,0.00,0.000,6,0.000,0.025,2139,2565,3766,0,0,0,0,0,0
$GC,1722,-0.52,-219.0,321.6,-12.7,229,1726,0.00,1.88,0.00,0.000,4,0.000,0.044,2130,3787,3764,0,0,0,0,0,0
$GC,1757,-0.52,-219.0,326.4,-13.4,232,1760,0.00,1.75,0.00,0.000,6,0.000,0.025,2130,2574,3763,0,0,0,0,0,0
$GC,2088,-0.52,-219.0,368.2,-12.8,263,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2572,3760,0,0,0,0,0,0
$GC,2408,-0.52,-219.0,408.0,-12.4,293,2412,0.00,2.00,0.00,0.000,4,0.000,0.030,2130,1206,3757,0,0,0,0,0,0
$GC,2435,-0.52,-219.0,412.0,-12.5,295,2442,0.00,2.15,0.00,0.000,6,0.000,0.037,2126,2579,3757,0,0,0,0,0,0
$GC,2761,-0.52,-219.0,453.4,-14.2,326,2764,0.00,1.83,0.00,0.000,4,0.000,0.047,2125,3782,3754,0,0,0,0,0,0
$GC,2821,-0.52,-219.0,461.5,-12.0,331,2829,0.00,1.77,0.00,0.000,6,0.000,0.026,2125,2591,3753,0,0,0,0,0,0
$STATE,2837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2837,begin apogee
$GC,2843,-0.13,0.0,463.1,11.0,333,3010,0.45,0.00,157.10,0.732,4,0.117,0.000,2274,2110,2870,0,0,0,0,0,0
$STATE,3010,end apogee,CONTROL_FINISHED_OK
$STATE,3011,begin climb
$GC,3013,0.52,219.0,474.2,0.0,348,3183,0.60,2.20,160.60,0.714,4,0.054,0.035,2500,707,1975,0,0,0,0,0,0
$GC,3313,0.58,264.4,459.4,9.5,375,3358,0.00,2.22,34.15,0.698,6,0.000,0.030,2500,2134,1790,0,0,0,0,0,0
$GC,3676,0.58,264.4,420.4,11.3,409,3680,0.00,2.17,0.00,0.000,4,0.000,0.034,2510,707,1788,0,0,0,0,0,0
$GC,3787,0.58,264.4,407.9,11.4,418,3795,0.00,2.22,0.00,0.000,6,0.000,0.033,2507,2156,1788,0,0,0,0,0,0
$GC,4113,0.58,264.4,367.9,11.7,449,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2156,1787,0,0,0,0,0,0
$GC,4434,0.59,271.2,333.8,10.8,479,4446,0.00,2.12,6.07,0.604,4,0.000,0.041,2510,3541,1761,0,0,0,0,0,0
$GC,4470,0.59,271.2,329.4,11.7,482,4474,0.00,2.10,0.00,0.000,6,0.000,0.026,2520,2130,1761,0,0,0,0,0,0
$GC,4795,0.59,271.2,287.9,12.8,512,4799,0.00,2.10,0.00,0.000,4,0.000,0.034,2530,720,1759,0,0,0,0,0,0
$GC,4849,0.59,271.2,281.2,12.2,516,4857,0.00,2.17,0.00,0.000,6,0.000,0.032,2530,2129,1759,0,0,0,0,0,0
$GC,5176,0.59,271.2,238.9,12.9,547,5180,0.00,2.15,0.00,0.000,4,0.000,0.042,2530,3541,1758,0,0,0,0,0,0
$GC,5272,0.59,271.2,225.2,14.8,555,5276,0.00,2.08,0.00,0.000,6,0.000,0.026,2540,2141,1758,0,0,0,0,0,0
$GC,5595,0.59,271.2,180.8,13.9,598,5603,0.00,2.15,0.00,0.000,4,0.000,0.036,2551,728,1757,0,0,0,0,0,0
$GC,5726,0.59,271.2,165.4,11.2,622,5735,0.10,2.15,0.00,0.000,6,0.137,0.031,2517,2124,1757,0,0,0,0,0,0
$GC,5863,0.64,313.5,152.5,9.6,647,5900,0.00,2.17,30.33,0.570,4,0.000,0.040,2517,3538,1590,0,0,0,0,0,0
$GC,5934,0.65,317.4,145.0,10.9,658,5943,0.00,2.12,4.47,0.380,6,0.000,0.026,2524,2155,1575,0,0,0,0,0,0
$GC,6074,0.70,365.5,131.2,9.4,683,6119,0.00,2.20,35.70,0.525,4,0.000,0.039,2524,3532,1377,0,0,0,0,0,0
$GC,6158,0.76,413.9,123.1,9.4,696,6202,0.00,2.10,35.90,0.503,6,0.000,0.027,2532,2176,1179,0,0,0,0,0,0
$GC,6331,0.97,577.7,112.6,5.4,726,6463,0.25,2.33,117.47,0.500,4,0.058,0.033,2658,722,512,0,0,0,0,0,0
$GC,6512,0.97,577.7,85.6,14.0,753,6521,0.08,2.30,0.00,0.000,6,0.109,0.031,2634,2171,516,0,0,0,0,0,0
$GC,6651,1.09,679.3,72.2,7.6,778,6675,0.12,2.15,14.98,0.498,4,0.081,0.037,2704,3536,441,0,0,0,0,0,0
$GC,6735,1.09,679.3,61.5,15.2,792,6744,0.12,2.08,2.47,0.213,6,0.117,0.027,2670,2198,440,0,0,0,0,0,0
$GC,6873,1.20,768.9,47.7,8.0,817,6883,0.10,2.30,0.03,0.321,4,0.096,0.036,2738,720,440,0,0,0,0,0,0
$GC,6948,1.20,768.9,38.6,13.3,830,6956,0.08,2.28,0.00,0.000,6,0.120,0.031,2710,2188,440,0,0,0,0,0,0
$GC,7085,1.23,790.8,24.0,10.3,855,7094,0.00,2.10,0.40,0.098,4,0.000,0.037,2712,3536,441,0,0,0,0,0,0
$GC,7150,1.23,790.8,16.6,11.8,866,7159,0.00,2.03,1.17,0.074,6,0.000,0.024,2717,2200,442,0,0,0,0,0,0
$STATE,7262,end climb,SURFACE_DEPTH_REACHED
$STATE,7262,begin surface coast
$FINISH,0.1,1.010009
$STATE,7286,end surface coast,CONTROL_FINISHED_OK
$STATE,7286,begin surface
$SM_CCo,7363,0.00,0.000,0,0,442,594.85
$SM_GC,0.91,6.47,0.00,0.00,0.036,0.000,0.000,214,2652,442,-6.50,1.47,594.85,0,0,0,0,0,0
$IRIDIUM_FIX,1830.49,12015.71,210711,131319
$TT8_MAMPS,0.027713,0.027713
$HUMID,41.80
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.6,34.221
$10V_AH,10.0,33.470
$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,16.375,87.425,600.850,0.000,0.000,28.781,20.462,170.926,0.500,0.000,18.836,2002.928,2474.347,597.905,2379.129,257.882,0.000,1526.611,0.000,1418.794,0.000,0.541,0.000
$DEVICE_MAMPS,228.735,55.080,732.105,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,607.453,1033.131,1490.256,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321788
$DATA_FILE_SIZE,60315,891
$CAP_FILE_SIZE,104109,0
$CFSIZE,260165632,231010304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210711,181434,1838.467,12031.544,10,3.6,29,-2.0