version: 66.09
glider: 181
mission: 6
dive: 221
start: 7 22 111 2 34 33
data:
$ID,181
$MISSION,6
$DIVE,221
$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,-40797.324
$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,53
$R_STBD_OVSHOOT,37
$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
$GPS1,220711,022838,1836.019,12030.908,10,1.6,10,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-71.7
$GPS2,220711,023408,1836.097,12030.925,11,2.0,11,-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,155.9,3293,-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,-219.0,0.0,0.0,0,83,0.00,0.00,-64.88,0.000,2,0.000,0.000,206,2597,2330,0,0,0,0,0,0
$GC,86,-0.52,-219.0,3.5,-4.2,9,131,7.82,1.85,-27.75,0.000,4,0.228,0.055,2131,3783,3766,0,0,0,0,0,0
$GC,212,-0.52,-219.0,72.6,-64.7,30,220,0.00,1.77,0.00,0.000,6,0.000,0.024,2131,2580,3766,0,0,0,0,0,0
$GC,346,-0.52,-219.0,121.0,-26.6,55,354,0.00,2.03,0.00,0.000,4,0.000,0.026,2131,1200,3767,0,0,0,0,0,0
$GC,378,-0.52,-219.0,129.6,-27.2,60,386,0.00,2.20,0.00,0.000,6,0.000,0.038,2123,2614,3767,0,0,0,0,0,0
$GC,513,-0.52,-219.0,155.8,-21.0,85,521,0.00,1.80,0.00,0.000,4,0.000,0.042,2114,3786,3768,0,0,0,0,0,0
$GC,627,-0.52,-219.0,176.7,-14.3,106,635,0.10,1.58,0.00,0.000,6,0.126,0.023,2148,2701,3769,0,0,0,0,0,0
$GC,764,-0.52,-219.0,196.7,-14.6,131,772,0.00,2.20,0.00,0.000,4,0.000,0.027,2148,1212,3769,0,0,0,0,0,0
$GC,804,-0.52,-219.0,202.8,-12.8,136,812,0.00,2.30,0.00,0.000,6,0.000,0.034,2140,2707,3770,0,0,0,0,0,0
$GC,1131,-0.52,-219.0,252.3,-15.8,167,1134,0.00,1.62,0.00,0.000,4,0.000,0.044,2138,3797,3767,0,0,0,0,0,0
$GC,1155,-0.52,-219.0,256.3,-16.0,169,1159,0.00,1.60,0.00,0.000,6,0.000,0.024,2139,2719,3768,0,0,0,0,0,0
$STATE,1465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1465,begin apogee
$GC,1471,-0.13,0.0,301.0,14.6,198,1636,0.40,0.00,155.15,0.613,4,0.121,0.000,2271,2111,2869,0,0,0,0,0,0
$STATE,1637,end apogee,CONTROL_FINISHED_OK
$STATE,1637,begin climb
$GC,1640,0.52,219.0,311.6,0.0,213,1806,0.60,2.28,155.18,0.596,4,0.054,0.037,2501,3548,1976,0,0,0,0,0,0
$GC,1985,0.52,219.0,283.4,12.9,244,1989,0.00,2.08,0.00,0.000,6,0.000,0.024,2510,2150,1977,0,0,0,0,0,0
$GC,2310,0.54,229.0,247.1,10.7,274,2324,0.00,2.20,9.05,0.575,4,0.000,0.035,2510,3547,1935,0,0,0,0,0,0
$GC,2473,0.54,229.0,226.3,12.5,288,2481,0.00,2.17,0.00,0.000,6,0.000,0.025,2525,2113,1932,0,0,0,0,0,0
$GC,2801,0.54,229.0,188.5,12.0,328,2809,0.00,2.10,0.00,0.000,4,0.000,0.031,2531,716,1930,0,0,0,0,0,0
$GC,2863,0.54,232.2,181.0,10.9,339,2873,0.10,2.12,3.17,0.337,6,0.129,0.028,2497,2114,1921,0,0,0,0,0,0
$GC,3001,0.60,280.3,168.7,9.4,364,3046,0.00,2.22,34.65,0.559,4,0.000,0.040,2496,3528,1725,0,0,0,0,0,0
$GC,3117,0.68,341.8,158.7,8.9,383,3170,0.00,2.12,44.38,0.523,6,0.000,0.025,2504,2134,1474,0,0,0,0,0,0
$GC,3298,0.82,463.0,146.1,6.9,414,3393,0.22,0.00,85.80,0.516,6,0.060,0.000,2611,2134,981,0,0,0,0,0,0
$GC,3520,0.82,463.0,114.7,14.1,451,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2134,983,0,0,0,0,0,0
$GC,3654,0.82,463.0,96.4,12.8,476,3662,0.00,2.20,0.00,0.000,4,0.000,0.037,2611,3538,983,0,0,0,0,0,0
$GC,3716,0.82,463.0,89.2,11.3,487,3725,0.10,2.15,0.00,0.000,6,0.119,0.024,2586,2123,982,0,0,0,0,0,0
$GC,3853,0.97,578.9,78.7,7.1,512,3944,0.12,2.15,82.05,0.480,4,0.080,0.031,2664,723,509,0,0,0,0,0,0
$GC,3990,1.06,650.7,65.8,8.6,532,4013,0.00,2.17,14.25,0.459,6,0.000,0.028,2664,2121,440,0,0,0,0,0,0
$GC,4141,1.21,775.5,56.1,6.8,559,4151,0.12,2.17,0.32,0.098,4,0.080,0.034,2739,3532,441,0,0,0,0,0,0
$GC,4236,1.21,775.5,43.7,14.8,576,4246,0.10,2.10,2.38,0.188,6,0.130,0.026,2714,2155,440,0,0,0,0,0,0
$GC,4374,1.21,775.5,26.2,11.7,601,4383,0.00,2.17,0.00,0.000,4,0.000,0.034,2724,721,440,0,0,0,0,0,0
$GC,4412,1.21,775.5,21.9,11.3,607,4420,0.00,2.17,0.03,0.201,6,0.000,0.028,2723,2153,440,0,0,0,0,0,0
$GC,4550,1.21,775.5,5.4,12.0,632,4558,0.00,2.10,0.00,0.000,4,0.000,0.037,2723,3530,440,0,0,0,0,0,0
$STATE,4564,end climb,SURFACE_DEPTH_REACHED
$STATE,4565,begin surface coast
$FINISH,0.2,1.019691
$STATE,4588,end surface coast,CONTROL_FINISHED_OK
$STATE,4589,begin surface
$SM_CCo,4667,0.00,0.000,0,0,440,595.83
$SM_GC,1.04,6.47,0.00,0.00,0.036,0.000,0.000,210,2588,440,-6.52,-0.34,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,1832.77,12043.39,220711,010119
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.40
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,25.40
$XPDR_PINGS,3
$24V_AH,24.9,34.874
$10V_AH,10.2,34.089
$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,16.175,57.875,586.400,0.000,0.000,27.690,42.801,145.891,0.750,0.000,13.755,1395.596,891.160,557.942,1950.717,206.129,0.000,1286.110,0.000,1015.761,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,55.080,612.765,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,431.223,837.400,1485.343,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43670,638
$CAP_FILE_SIZE,75749,0
$CFSIZE,260165632,230715392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220711,035337,1835.675,12030.969,40,0.8,40,-2.0