version: 66.09
glider: 181
mission: 6
dive: 220
start: 7 22 111 1 10 21
data:
$ID,181
$MISSION,6
$DIVE,220
$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,-40796.07
$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,43
$R_STBD_OVSHOOT,33
$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
$GPS1,220711,010436,1836.255,12030.918,38,1.2,44,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-71.8
$GPS2,220711,010956,1836.357,12030.936,12,1.3,12,-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,159.4,3725,-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,-64.10,0.000,2,0.000,0.000,212,2601,2305,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.3,-3.9,9,132,7.82,1.88,-28.80,0.000,4,0.228,0.061,2135,3786,3764,0,0,0,0,0,0
$GC,199,-0.52,-219.0,59.5,-69.8,27,208,0.00,1.80,0.00,0.000,6,0.000,0.024,2135,2566,3765,0,0,0,0,0,0
$GC,333,-0.52,-219.0,114.8,-30.6,52,341,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2565,3766,0,0,0,0,0,0
$GC,466,-0.52,-219.0,148.9,-19.6,77,474,0.00,1.90,0.00,0.000,4,0.000,0.042,2126,3780,3767,0,0,0,0,0,0
$GC,585,-0.52,-219.0,173.9,-14.7,99,593,0.00,1.73,0.00,0.000,6,0.000,0.024,2126,2609,3768,0,0,0,0,0,0
$GC,721,-0.52,-219.0,199.0,-20.5,124,729,0.00,2.08,0.00,0.000,4,0.000,0.027,2126,1200,3769,0,0,0,0,0,0
$GC,748,-0.52,-219.0,204.5,-19.2,127,752,0.00,2.12,0.00,0.000,6,0.000,0.036,2125,2598,3769,0,0,0,0,0,0
$GC,1079,-0.52,-219.0,262.0,-17.9,158,1083,0.00,1.77,0.00,0.000,4,0.000,0.044,2124,3780,3769,0,0,0,0,0,0
$GC,1203,-0.52,-219.0,279.3,-11.8,169,1207,0.00,1.65,0.00,0.000,6,0.000,0.023,2124,2635,3768,0,0,0,0,0,0
$STATE,1340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1340,begin apogee
$GC,1347,-0.13,0.0,302.1,18.3,182,1507,0.45,0.00,155.32,0.615,4,0.126,0.000,2270,2084,2869,0,0,0,0,0,0
$STATE,1508,end apogee,CONTROL_FINISHED_OK
$STATE,1508,begin climb
$GC,1510,0.52,219.0,313.9,0.0,196,1678,0.60,2.05,155.73,0.599,4,0.044,0.032,2514,751,1974,0,0,0,0,0,0
$GC,1850,0.52,219.0,290.1,11.4,226,1858,0.00,2.15,0.00,0.000,6,0.000,0.028,2513,2140,1978,0,0,0,0,0,0
$GC,2177,0.56,248.3,255.9,10.0,257,2205,0.00,2.15,22.25,0.608,4,0.000,0.032,2523,756,1855,0,0,0,0,0,0
$GC,2326,0.56,249.3,239.9,11.0,270,2334,0.00,2.12,0.00,0.000,6,0.000,0.030,2523,2134,1854,0,0,0,0,0,0
$GC,2653,0.56,249.3,199.3,12.8,301,2661,0.00,2.15,0.00,0.000,4,0.000,0.039,2523,3534,1851,0,0,0,0,0,0
$GC,2710,0.56,249.3,191.6,13.3,311,2719,0.08,2.05,0.00,0.000,6,0.146,0.025,2507,2170,1848,0,0,0,0,0,0
$GC,2849,0.68,341.8,178.6,7.9,336,2923,0.00,2.25,64.75,0.548,4,0.000,0.035,2517,735,1474,0,0,0,0,0,0
$GC,2995,0.71,373.0,165.4,9.9,359,3025,0.00,2.20,23.20,0.517,6,0.000,0.029,2517,2149,1348,0,0,0,0,0,0
$GC,3153,0.75,401.9,149.1,10.0,387,3184,0.12,2.15,22.33,0.525,4,0.083,0.037,2580,3539,1230,0,0,0,0,0,0
$GC,3213,0.75,401.9,141.1,14.9,396,3222,0.00,2.12,0.00,0.000,6,0.000,0.025,2590,2154,1229,0,0,0,0,0,0
$GC,3350,0.75,401.9,122.8,12.8,421,3359,0.00,2.15,0.00,0.000,4,0.000,0.037,2591,3527,1228,0,0,0,0,0,0
$GC,3383,0.75,401.9,118.3,12.6,426,3392,0.10,2.05,0.00,0.000,6,0.134,0.025,2566,2181,1228,0,0,0,0,0,0
$GC,3519,0.78,430.5,103.9,10.0,451,3550,0.00,2.25,21.12,0.526,4,0.000,0.034,2575,722,1113,0,0,0,0,0,0
$GC,3600,0.84,479.4,96.2,9.3,464,3646,0.00,2.17,35.85,0.477,6,0.000,0.028,2575,2138,912,0,0,0,0,0,0
$GC,3774,1.01,615.4,82.9,6.4,494,3869,0.20,2.20,82.95,0.472,4,0.067,0.036,2667,3529,441,0,0,0,0,0,0
$GC,4018,1.12,701.9,61.2,8.1,535,4027,0.00,2.05,2.83,0.253,6,0.000,0.025,2675,2185,439,0,0,0,0,0,0
$GC,4157,1.24,797.5,50.6,7.8,560,4166,0.12,2.25,0.00,0.000,4,0.079,0.035,2754,723,438,0,0,0,0,0,0
$GC,4236,1.24,797.5,41.7,12.7,574,4244,0.10,2.20,0.00,0.000,6,0.121,0.028,2720,2162,440,0,0,0,0,0,0
$GC,4374,1.24,797.5,26.3,11.6,599,4382,0.00,2.10,0.00,0.000,4,0.000,0.037,2720,3530,440,0,0,0,0,0,0
$GC,4410,1.24,797.5,21.4,11.8,605,4419,0.00,2.05,0.15,0.094,6,0.000,0.024,2727,2166,440,0,0,0,0,0,0
$GC,4549,1.24,797.5,3.8,13.2,630,4558,0.00,2.17,0.28,0.107,4,0.000,0.032,2738,727,441,0,0,0,0,0,0
$STATE,4564,end climb,SURFACE_DEPTH_REACHED
$STATE,4564,begin surface coast
$FINISH,0.5,1.019811
$STATE,4571,end surface coast,CONTROL_FINISHED_OK
$STATE,4571,begin surface
$SM_CCo,4650,0.00,0.000,0,0,441,595.83
$SM_GC,1.06,6.50,0.00,0.00,0.037,0.000,0.000,207,2597,441,-6.52,-0.08,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,1830.49,12032.08,210711,232322
$TT8_MAMPS,0.027713,0.027713
$HUMID,41.77
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,25.50
$XPDR_PINGS,4
$24V_AH,24.9,34.771
$10V_AH,10.2,33.990
$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,16.100,63.575,586.750,0.000,0.000,30.315,18.923,154.382,1.000,0.000,14.627,1392.475,873.837,562.885,1933.014,211.907,0.000,1298.695,0.000,1017.892,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,61.200,615.060,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,427.548,829.824,1468.714,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321820
$DATA_FILE_SIZE,43624,633
$CAP_FILE_SIZE,76894,0
$CFSIZE,260165632,230764544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220711,022838,1836.019,12030.908,10,1.6,10,-2.0