version: 66.09
glider: 181
mission: 6
dive: 218
start: 7 21 111 22 10 15
data:
$ID,181
$MISSION,6
$DIVE,218
$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,-40793.555
$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,49
$R_STBD_OVSHOOT,43
$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
$GPS1,210711,220407,1836.892,12030.651,28,1.8,28,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-73.3
$GPS2,210711,220950,1836.924,12030.638,14,1.7,14,-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,158.5,4895,-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,-64.28,0.000,2,0.000,0.000,204,2619,2286,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.2,-3.6,9,131,7.80,1.77,-29.67,0.000,4,0.226,0.055,2136,3774,3765,0,0,0,0,0,0
$GC,213,-0.52,-219.0,70.1,-62.8,30,221,0.00,1.77,0.00,0.000,6,0.000,0.024,2137,2585,3767,0,0,0,0,0,0
$GC,346,-0.52,-219.0,117.2,-27.2,55,354,0.00,2.05,0.00,0.000,4,0.000,0.027,2137,1198,3767,0,0,0,0,0,0
$GC,375,-0.52,-219.0,123.8,-25.0,59,383,0.00,2.15,0.00,0.000,6,0.000,0.036,2127,2578,3767,0,0,0,0,0,0
$GC,510,-0.52,-219.0,151.9,-22.4,84,518,0.00,1.88,0.00,0.000,4,0.000,0.044,2119,3787,3767,0,0,0,0,0,0
$GC,628,-0.52,-219.0,176.1,-15.3,106,637,0.08,1.67,0.00,0.000,6,0.130,0.022,2145,2648,3769,0,0,0,0,0,0
$GC,765,-0.52,-219.0,197.2,-17.5,131,773,0.00,2.15,0.00,0.000,4,0.000,0.027,2145,1199,3768,0,0,0,0,0,0
$GC,812,-0.52,-219.0,205.1,-13.9,136,816,0.00,2.20,0.00,0.000,6,0.000,0.034,2139,2656,3769,0,0,0,0,0,0
$GC,1137,-0.52,-219.0,253.4,-15.7,166,1141,0.00,1.70,0.00,0.000,4,0.000,0.043,2138,3789,3769,0,0,0,0,0,0
$GC,1186,-0.52,-219.0,260.0,-12.5,170,1194,0.00,1.67,0.00,0.000,6,0.000,0.023,2138,2652,3769,0,0,0,0,0,0
$GC,1512,-0.52,-219.0,309.1,-16.4,201,1515,0.00,2.10,0.00,0.000,4,0.000,0.028,2138,1203,3767,0,0,0,0,0,0
$GC,1544,-0.52,-219.0,314.5,-15.3,203,1551,0.00,2.20,0.00,0.000,6,0.000,0.035,2134,2660,3767,0,0,0,0,0,0
$STATE,1751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1751,begin apogee
$GC,1758,-0.13,0.0,344.8,15.1,223,1924,0.40,0.00,156.02,0.649,4,0.117,0.000,2271,2104,2867,0,0,0,0,0,0
$STATE,1924,end apogee,CONTROL_FINISHED_OK
$STATE,1925,begin climb
$GC,1927,0.52,219.0,355.4,0.0,238,2094,0.60,2.12,157.02,0.628,4,0.054,0.034,2500,740,1975,0,0,0,0,0,0
$GC,2107,0.53,221.9,348.4,10.9,254,2119,0.00,2.17,4.05,0.390,6,0.000,0.029,2500,2139,1964,0,0,0,0,0,0
$GC,2437,0.53,221.9,305.4,11.7,285,2441,0.00,2.12,0.00,0.000,4,0.000,0.039,2499,3535,1961,0,0,0,0,0,0
$GC,2500,0.53,221.9,297.5,12.8,290,2504,0.00,2.05,0.00,0.000,6,0.000,0.025,2509,2154,1960,0,0,0,0,0,0
$GC,2825,0.53,221.9,257.5,11.0,320,2829,0.00,2.12,0.00,0.000,4,0.000,0.034,2520,724,1957,0,0,0,0,0,0
$GC,2901,0.56,247.3,249.4,10.1,326,2925,0.00,2.17,18.50,0.614,6,0.000,0.030,2518,2140,1859,0,0,0,0,0,0
$GC,3245,0.58,264.5,209.5,10.4,358,3263,0.00,2.15,13.23,0.588,4,0.000,0.038,2520,3541,1789,0,0,0,0,0,0
$GC,3290,0.59,274.6,204.4,10.7,361,3310,0.00,2.08,8.80,0.483,6,0.000,0.025,2529,2147,1747,0,0,0,0,0,0
$GC,3621,0.59,274.6,164.6,11.9,420,3629,0.00,2.15,0.00,0.000,4,0.000,0.034,2539,730,1745,0,0,0,0,0,0
$GC,3780,0.66,328.9,148.7,9.2,449,3825,0.00,2.12,38.30,0.546,6,0.000,0.030,2539,2116,1527,0,0,0,0,0,0
$GC,3954,0.75,405.2,133.4,8.4,479,4020,0.00,2.25,55.00,0.517,4,0.000,0.039,2539,3525,1216,0,0,0,0,0,0
$GC,4087,0.85,482.7,122.3,8.4,500,4155,0.10,2.12,56.20,0.498,6,0.050,0.024,2612,2145,900,0,0,0,0,0,0
$GC,4283,0.85,482.7,98.0,11.2,533,4291,0.00,2.17,0.00,0.000,4,0.000,0.034,2623,733,900,0,0,0,0,0,0
$GC,4336,0.91,529.6,93.2,9.4,542,4381,0.00,2.17,34.42,0.495,6,0.000,0.030,2622,2135,709,0,0,0,0,0,0
$GC,4509,1.01,615.9,77.5,8.1,572,4568,0.00,2.22,48.15,0.479,4,0.000,0.038,2623,3534,440,0,0,0,0,0,0
$GC,4607,1.12,703.5,69.0,8.0,587,4617,0.12,2.12,2.83,0.257,6,0.041,0.027,2708,2160,440,0,0,0,0,0,0
$GC,4745,1.13,715.0,51.8,10.6,612,4754,0.00,2.22,0.03,0.321,4,0.000,0.035,2719,721,441,0,0,0,0,0,0
$GC,4867,1.15,726.7,40.0,10.6,634,4876,0.00,2.15,0.17,0.093,6,0.000,0.028,2719,2121,441,0,0,0,0,0,0
$GC,5004,1.15,726.7,23.0,12.6,659,5013,0.00,2.17,0.75,0.083,4,0.000,0.037,2719,3529,442,0,0,0,0,0,0
$GC,5038,1.15,726.7,18.5,13.0,664,5048,0.10,2.15,1.50,0.070,6,0.122,0.025,2693,2108,442,0,0,0,0,0,0
$GC,5177,1.22,783.1,4.6,9.1,689,5186,0.00,2.17,2.53,0.207,4,0.000,0.033,2693,3542,439,0,0,0,0,0,0
$STATE,5192,end climb,SURFACE_DEPTH_REACHED
$STATE,5192,begin surface coast
$FINISH,0.2,1.019927
$STATE,5219,end surface coast,CONTROL_FINISHED_OK
$STATE,5219,begin surface
$SM_CCo,5297,0.00,0.000,0,0,439,596.08
$SM_GC,1.09,6.38,0.00,0.00,0.034,0.000,0.000,208,2569,439,-6.51,-0.88,596.08,0,0,0,0,0,0
$IRIDIUM_FIX,1828.22,12032.08,210711,202011
$TT8_MAMPS,0.027713,0.027713
$HUMID,41.21
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.50
$XPDR_PINGS,1
$24V_AH,24.8,34.561
$10V_AH,10.1,33.794
$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,15.575,70.750,597.500,0.000,0.000,28.912,22.521,159.500,0.250,0.000,18.493,1538.059,1259.698,574.960,2045.940,223.669,0.000,1348.207,0.000,1099.398,0.000,0.543,0.000
$DEVICE_MAMPS,225.675,55.080,648.720,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,471.483,880.946,1485.297,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47099,696
$CAP_FILE_SIZE,84281,0
$CFSIZE,260165632,230854656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210711,233940,1836.517,12030.670,10,2.2,29,-2.0