version: 66.09
glider: 181
mission: 6
dive: 217
start: 7 21 111 20 32 51
data:
$ID,181
$MISSION,6
$DIVE,217
$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,-40792.297
$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,46
$R_STBD_OVSHOOT,46
$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
$GPS1,210711,202616,1837.338,12030.832,8,2.5,27,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-73.1
$GPS2,210711,203226,1837.376,12030.830,13,1.5,13,-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,165.1,5566,-15.3,-11.000
$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,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,-64.07,0.000,2,0.000,0.000,207,2621,2296,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.4,-4.2,9,131,7.88,1.80,-28.95,0.000,4,0.228,0.058,2136,3763,3760,0,0,0,0,0,0
$GC,228,-0.52,-219.0,77.3,-62.8,33,236,0.00,1.75,0.00,0.000,6,0.000,0.024,2136,2583,3761,0,0,0,0,0,0
$GC,362,-0.52,-219.0,121.4,-26.6,58,370,0.00,2.05,0.00,0.000,4,0.000,0.026,2136,1196,3762,0,0,0,0,0,0
$GC,388,-0.52,-219.0,127.6,-23.9,62,396,0.00,2.12,0.00,0.000,6,0.000,0.034,2127,2568,3765,0,0,0,0,0,0
$GC,523,-0.52,-219.0,154.1,-20.3,87,531,0.00,1.88,0.00,0.000,4,0.000,0.043,2120,3781,3762,0,0,0,0,0,0
$GC,627,-0.52,-219.0,174.4,-15.9,106,635,0.00,1.67,0.00,0.000,6,0.000,0.023,2120,2648,3764,0,0,0,0,0,0
$GC,762,-0.52,-219.0,200.3,-22.4,131,766,0.10,2.12,0.00,0.000,4,0.174,0.028,2145,1194,3764,0,0,0,0,0,0
$GC,810,-0.52,-219.0,209.1,-14.3,135,817,0.00,2.17,0.00,0.000,6,0.000,0.034,2139,2642,3764,0,0,0,0,0,0
$GC,1135,-0.52,-219.0,255.0,-13.6,166,1139,0.00,1.70,0.00,0.000,4,0.000,0.044,2138,3776,3763,0,0,0,0,0,0
$GC,1193,-0.52,-219.0,262.0,-12.1,171,1196,0.00,1.65,0.00,0.000,6,0.000,0.023,2138,2628,3763,0,0,0,0,0,0
$GC,1523,-0.52,-219.0,307.5,-13.9,202,1527,0.00,2.08,0.00,0.000,4,0.000,0.028,2138,1196,3759,0,0,0,0,0,0
$GC,1575,-0.52,-219.0,313.5,-10.8,206,1579,0.00,2.22,0.00,0.000,6,0.000,0.034,2138,2656,3761,0,0,0,0,0,0
$STATE,1829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1829,begin apogee
$GC,1837,-0.13,0.0,344.4,12.4,230,1997,0.40,0.00,154.90,0.647,4,0.119,0.000,2271,2101,2870,0,0,0,0,0,0
$STATE,1997,end apogee,CONTROL_FINISHED_OK
$STATE,1998,begin climb
$GC,2000,0.52,219.0,353.1,0.0,244,2167,0.60,2.10,157.12,0.629,4,0.056,0.034,2497,749,1976,0,0,0,0,0,0
$GC,2352,0.60,283.3,330.9,8.8,275,2406,0.00,2.10,47.33,0.630,6,0.000,0.029,2497,2132,1713,0,0,0,0,0,0
$GC,2734,0.62,299.0,294.0,10.5,311,2758,0.00,2.17,12.25,0.629,4,0.000,0.033,2506,749,1649,0,0,0,0,0,0
$GC,2874,0.67,335.1,279.7,9.8,323,2907,0.00,2.10,26.50,0.598,6,0.000,0.030,2506,2138,1503,0,0,0,0,0,0
$GC,3236,0.71,371.2,242.8,9.8,357,3273,0.12,2.17,27.62,0.597,4,0.088,0.041,2567,3537,1354,0,0,0,0,0,0
$GC,3311,0.71,371.2,231.6,15.8,363,3318,0.00,2.05,0.00,0.000,6,0.000,0.024,2577,2168,1354,0,0,0,0,0,0
$GC,3634,0.71,371.2,181.9,14.4,405,3642,0.00,2.20,0.00,0.000,4,0.000,0.033,2587,722,1351,0,0,0,0,0,0
$GC,3666,0.71,371.2,177.3,14.7,410,3675,0.12,2.20,0.00,0.000,6,0.119,0.031,2546,2142,1351,0,0,0,0,0,0
$GC,3805,0.71,371.2,161.0,11.5,435,3813,0.00,2.17,0.00,0.000,4,0.000,0.041,2546,3541,1351,0,0,0,0,0,0
$GC,3841,0.71,371.2,156.3,12.4,441,3849,0.00,2.08,0.00,0.000,6,0.000,0.025,2553,2168,1350,0,0,0,0,0,0
$GC,3979,0.72,380.6,139.9,10.7,466,3994,0.00,0.00,7.78,0.532,6,0.000,0.000,2553,2168,1316,0,0,0,0,0,0
$GC,4124,0.72,380.6,125.6,11.3,492,4132,0.00,2.12,0.00,0.000,4,0.000,0.038,2553,3533,1315,0,0,0,0,0,0
$GC,4186,0.72,380.6,117.8,11.4,503,4194,0.00,2.05,0.00,0.000,6,0.000,0.026,2562,2181,1315,0,0,0,0,0,0
$GC,4323,0.79,435.6,104.7,9.1,528,4368,0.00,2.22,39.17,0.522,4,0.000,0.034,2573,728,1092,0,0,0,0,0,0
$GC,4440,0.93,551.7,95.8,7.1,547,4530,0.10,2.17,82.80,0.483,6,0.049,0.028,2637,2138,622,0,0,0,0,0,0
$GC,4658,1.03,630.7,74.5,8.3,583,4696,0.00,2.25,32.70,0.482,4,0.000,0.037,2636,3542,442,0,0,0,0,0,0
$GC,4768,1.19,760.2,66.5,6.6,601,4778,0.12,2.15,3.30,0.307,6,0.042,0.025,2727,2148,439,0,0,0,0,0,0
$GC,4906,1.19,760.2,48.6,12.4,626,4914,0.00,2.17,0.00,0.000,4,0.000,0.033,2738,726,439,0,0,0,0,0,0
$GC,4994,1.19,760.2,36.9,12.3,642,5003,0.10,2.10,0.05,0.145,6,0.116,0.027,2704,2098,440,0,0,0,0,0,0
$GC,5132,1.22,787.7,22.1,10.1,667,5142,0.00,2.25,0.17,0.129,4,0.000,0.038,2703,3542,441,0,0,0,0,0,0
$GC,5170,1.22,787.7,17.7,11.1,673,5179,0.00,2.17,0.12,0.102,6,0.000,0.025,2710,2105,442,0,0,0,0,0,0
$STATE,5306,end climb,SURFACE_DEPTH_REACHED
$STATE,5307,begin surface coast
$FINISH,0.2,1.020354
$STATE,5334,end surface coast,CONTROL_FINISHED_OK
$STATE,5334,begin surface
$SM_CCo,5411,0.00,0.000,0,0,443,595.10
$SM_GC,0.95,6.45,0.00,0.00,0.035,0.000,0.000,206,2614,443,-6.52,0.40,595.10,0,0,0,0,0,0
$IRIDIUM_FIX,1830.49,12035.20,210711,181822
$TT8_MAMPS,0.027713,0.027713
$HUMID,41.41
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.40
$XPDR_PINGS,1
$24V_AH,24.8,34.452
$10V_AH,10.1,33.691
$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,16.000,67.800,591.825,0.000,0.000,25.721,44.753,170.200,0.250,0.000,16.422,1571.473,1306.537,573.814,2099.431,227.510,0.000,1350.068,0.000,1143.144,0.000,0.542,0.000
$DEVICE_MAMPS,227.970,58.140,647.190,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,476.514,878.052,1460.144,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46984,703
$CAP_FILE_SIZE,85079,0
$CFSIZE,260165632,230907904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210711,220407,1836.892,12030.651,28,1.8,28,-2.0