version: 66.09
glider: 181
mission: 6
dive: 219
start: 7 21 111 23 46 11
data:
$ID,181
$MISSION,6
$DIVE,219
$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,-40794.812
$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,75
$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
$GPS1,210711,233940,1836.517,12030.670,10,2.2,29,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-71.9
$GPS2,210711,234546,1836.621,12030.694,12,3.8,31,-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,156.7,4343,-15.3,-11.000
$D_GRID,301
$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,-64.20,0.000,2,0.000,0.000,205,2566,2296,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.5,-4.3,9,132,7.78,1.92,-28.42,0.000,4,0.225,0.057,2135,3783,3764,0,0,0,0,0,0
$GC,203,-0.52,-219.0,61.8,-64.5,28,211,0.00,1.75,0.00,0.000,6,0.000,0.023,2135,2599,3766,0,0,0,0,0,0
$GC,337,-0.52,-219.0,112.2,-28.1,53,345,0.00,1.85,0.00,0.000,4,0.000,0.042,2126,3777,3766,0,0,0,0,0,0
$GC,375,-0.52,-219.0,123.9,-31.2,59,383,0.00,1.67,0.00,0.000,6,0.000,0.024,2126,2649,3764,0,0,0,0,0,0
$GC,510,-0.52,-219.0,156.2,-28.7,84,518,0.00,1.75,0.00,0.000,4,0.000,0.042,2118,3771,3765,0,0,0,0,0,0
$GC,543,-0.52,-219.0,166.0,-29.8,89,552,0.08,1.65,0.00,0.000,6,0.142,0.024,2142,2652,3768,0,0,0,0,0,0
$GC,680,-0.52,-219.0,188.3,-16.6,114,688,0.00,2.15,0.00,0.000,4,0.000,0.027,2143,1196,3768,0,0,0,0,0,0
$GC,717,-0.52,-219.0,194.3,-15.5,120,725,0.00,2.22,0.00,0.000,6,0.000,0.034,2138,2643,3769,0,0,0,0,0,0
$GC,855,-0.52,-219.0,212.1,-13.8,137,858,0.00,1.70,0.00,0.000,4,0.000,0.043,2135,3784,3769,0,0,0,0,0,0
$GC,889,-0.52,-219.0,217.3,-14.0,140,892,0.00,1.65,0.00,0.000,6,0.000,0.024,2135,2637,3769,0,0,0,0,0,0
$GC,1221,-0.52,-219.0,271.7,-16.8,171,1225,0.00,2.08,0.00,0.000,4,0.000,0.027,2135,1196,3768,0,0,0,0,0,0
$GC,1262,-0.52,-219.0,278.0,-14.2,174,1267,0.00,2.20,0.00,0.000,6,0.000,0.034,2126,2656,3768,0,0,0,0,0,0
$STATE,1416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1416,begin apogee
$GC,1423,-0.13,0.0,302.3,17.2,188,1588,0.45,0.00,155.60,0.617,4,0.129,0.000,2272,2093,2869,0,0,0,0,0,0
$STATE,1589,end apogee,CONTROL_FINISHED_OK
$STATE,1589,begin climb
$GC,1591,0.52,219.0,314.5,0.0,203,1759,0.60,2.05,156.18,0.602,4,0.049,0.032,2505,758,1975,0,0,0,0,0,0
$GC,1798,0.56,244.6,307.8,10.1,221,1827,0.00,2.10,19.83,0.592,6,0.000,0.028,2505,2134,1873,0,0,0,0,0,0
$GC,2145,0.56,244.6,268.0,11.5,254,2149,0.00,2.12,0.00,0.000,4,0.000,0.038,2505,3536,1870,0,0,0,0,0,0
$GC,2165,0.56,244.6,265.3,11.6,255,2173,0.00,2.08,0.00,0.000,6,0.000,0.024,2514,2162,1870,0,0,0,0,0,0
$GC,2492,0.56,244.6,224.0,12.5,286,2496,0.00,2.12,0.00,0.000,4,0.000,0.032,2525,720,1868,0,0,0,0,0,0
$GC,2546,0.56,244.6,217.9,11.1,290,2555,0.00,2.15,0.00,0.000,6,0.000,0.030,2525,2121,1867,0,0,0,0,0,0
$GC,2870,0.56,244.6,182.3,11.7,336,2878,0.00,2.17,0.00,0.000,4,0.000,0.037,2525,3538,1865,0,0,0,0,0,0
$GC,2922,0.56,244.6,175.4,14.1,345,2931,0.10,2.12,0.00,0.000,6,0.135,0.026,2501,2130,1863,0,0,0,0,0,0
$GC,3061,0.61,285.5,161.5,9.6,370,3099,0.00,2.17,28.48,0.562,4,0.000,0.034,2509,716,1701,0,0,0,0,0,0
$GC,3154,0.69,356.5,153.1,8.6,385,3212,0.00,2.12,50.65,0.518,6,0.000,0.028,2510,2102,1415,0,0,0,0,0,0
$GC,3341,0.85,484.9,139.3,6.6,417,3444,0.22,2.30,91.07,0.509,4,0.061,0.039,2616,3526,892,0,0,0,0,0,0
$GC,3520,0.85,484.9,112.7,15.0,445,3529,0.10,2.15,0.00,0.000,6,0.125,0.026,2593,2136,893,0,0,0,0,0,0
$GC,3658,0.91,535.5,97.6,9.3,470,3703,0.00,2.22,36.88,0.496,4,0.000,0.034,2602,713,684,0,0,0,0,0,0
$GC,3758,1.01,611.1,89.5,8.4,486,3810,0.08,2.17,44.03,0.474,6,0.054,0.027,2660,2119,440,0,0,0,0,0,0
$GC,3940,1.01,612.1,68.6,11.0,517,3949,0.00,2.25,3.08,0.285,4,0.000,0.038,2660,3539,445,0,0,0,0,0,0
$GC,3993,1.01,612.1,62.3,11.5,526,4002,0.00,2.20,0.03,0.197,6,0.000,0.027,2668,2110,439,0,0,0,0,0,0
$GC,4130,1.15,724.5,51.2,7.2,551,4138,0.00,2.12,0.00,0.000,4,0.000,0.036,2679,718,439,0,0,0,0,0,0
$GC,4220,1.24,803.1,44.1,8.3,567,4229,0.08,2.05,0.00,0.000,6,0.054,0.028,2736,2064,440,0,0,0,0,0,0
$GC,4358,1.24,803.1,27.3,13.4,592,4366,0.00,2.25,0.00,0.000,4,0.000,0.039,2736,3526,440,0,0,0,0,0,0
$GC,4400,1.24,803.1,20.8,14.8,599,4409,0.00,2.22,0.03,0.203,6,0.000,0.025,2747,2055,440,0,0,0,0,0,0
$STATE,4524,end climb,SURFACE_DEPTH_REACHED
$STATE,4524,begin surface coast
$FINISH,0.1,1.019441
$STATE,4547,end surface coast,CONTROL_FINISHED_OK
$STATE,4547,begin surface
$SM_CCo,4624,0.00,0.000,0,0,440,595.83
$SM_GC,0.98,6.53,0.00,0.00,0.038,0.000,0.000,213,2600,440,-6.50,0.00,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,1825.94,12023.90,210711,222257
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.47
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.30
$XPDR_PINGS,2
$24V_AH,24.9,34.666
$10V_AH,10.2,33.891
$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,16.000,67.400,585.825,0.000,0.000,24.341,38.477,162.640,0.500,0.000,34.535,1370.835,916.504,568.075,1925.343,212.222,0.000,1288.111,0.000,980.261,0.000,0.542,0.000
$DEVICE_MAMPS,224.910,57.375,616.590,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,423.083,817.324,1443.506,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43623,626
$CAP_FILE_SIZE,77728,0
$CFSIZE,260165632,230813696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220711,010436,1836.255,12030.918,38,1.2,44,-2.0