version: 66.09
glider: 181
mission: 6
dive: 222
start: 7 22 111 3 59 33
data:
$ID,181
$MISSION,6
$DIVE,222
$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,-40798.578
$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,56
$R_STBD_OVSHOOT,42
$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
$GPS1,220711,035337,1835.675,12030.969,40,0.8,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-72.0
$GPS2,220711,035908,1835.754,12030.989,9,1.8,9,-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,152.1,2680,-15.3,-11.000
$D_GRID,326
$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,-64.95,0.000,2,0.000,0.000,207,2587,2340,0,0,0,0,0,0
$GC,86,-0.52,-219.0,3.7,-4.4,9,131,7.75,1.88,-27.42,0.000,4,0.227,0.057,2130,3774,3765,0,0,0,0,0,0
$GC,192,-0.52,-219.0,57.9,-69.9,26,201,0.00,1.75,0.00,0.000,6,0.000,0.025,2131,2585,3766,0,0,0,0,0,0
$GC,326,-0.52,-219.0,113.9,-26.9,51,334,0.00,1.85,0.00,0.000,4,0.000,0.041,2123,3776,3767,0,0,0,0,0,0
$GC,373,-0.52,-219.0,125.6,-24.7,59,381,0.00,1.65,0.00,0.000,6,0.000,0.023,2123,2667,3768,0,0,0,0,0,0
$GC,507,-0.52,-219.0,160.1,-25.0,84,516,0.00,1.70,0.00,0.000,4,0.000,0.041,2114,3767,3771,0,0,0,0,0,0
$GC,550,-0.52,-219.0,167.9,-17.5,91,558,0.10,1.62,0.00,0.000,6,0.130,0.024,2148,2667,3772,0,0,0,0,0,0
$GC,687,-0.52,-219.0,186.0,-12.8,116,695,0.00,2.15,0.00,0.000,4,0.000,0.027,2148,1212,3769,0,0,0,0,0,0
$GC,750,-0.52,-219.0,192.8,-9.6,127,758,0.00,2.17,0.00,0.000,6,0.000,0.031,2141,2635,3769,0,0,0,0,0,0
$GC,890,-0.52,-219.0,210.3,-14.1,146,894,0.00,1.75,0.00,0.000,4,0.000,0.043,2138,3780,3769,0,0,0,0,0,0
$GC,939,-0.52,-219.0,217.9,-14.2,150,947,0.00,1.65,0.00,0.000,6,0.000,0.023,2140,2656,3769,0,0,0,0,0,0
$GC,1266,-0.52,-219.0,264.6,-14.3,181,1270,0.00,2.10,0.00,0.000,4,0.000,0.027,2138,1201,3768,0,0,0,0,0,0
$GC,1320,-0.52,-219.0,271.5,-11.1,185,1327,0.00,2.17,0.00,0.000,6,0.000,0.034,2138,2648,3768,0,0,0,0,0,0
$GC,1645,-0.52,-219.0,313.6,-14.3,216,1649,0.00,1.70,0.00,0.000,4,0.000,0.044,2138,3784,3764,0,0,0,0,0,0
$GC,1684,-0.52,-219.0,319.2,-13.8,219,1691,0.00,1.65,0.00,0.000,6,0.000,0.024,2138,2638,3765,0,0,0,0,0,0
$STATE,1741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1741,begin apogee
$GC,1748,-0.13,0.0,326.3,12.4,225,1908,0.40,0.00,155.45,0.632,4,0.117,0.000,2271,2098,2869,0,0,0,0,0,0
$STATE,1909,end apogee,CONTROL_FINISHED_OK
$STATE,1909,begin climb
$GC,1911,0.52,219.0,335.0,0.0,239,2075,0.60,2.10,156.02,0.612,4,0.054,0.032,2497,738,1978,0,0,0,0,0,0
$GC,2081,0.57,253.4,329.4,9.8,254,2113,0.00,2.17,26.62,0.581,6,0.000,0.028,2499,2127,1834,0,0,0,0,0,0
$GC,2440,0.57,255.9,290.5,10.9,288,2454,0.00,2.20,3.75,0.416,4,0.000,0.038,2499,3538,1824,0,0,0,0,0,0
$GC,2523,0.57,255.9,279.9,14.1,295,2527,0.00,2.05,0.00,0.000,6,0.000,0.024,2508,2151,1824,0,0,0,0,0,0
$GC,2850,0.57,255.9,240.4,11.9,325,2854,0.00,2.12,0.00,0.000,4,0.000,0.034,2520,714,1822,0,0,0,0,0,0
$GC,2978,0.57,255.9,225.0,11.4,336,2982,0.00,2.12,0.00,0.000,6,0.000,0.031,2520,2128,1821,0,0,0,0,0,0
$GC,3304,0.58,266.2,187.6,10.6,376,3320,0.00,2.12,7.95,0.553,4,0.000,0.039,2520,3535,1783,0,0,0,0,0,0
$GC,3379,0.58,266.2,179.1,11.4,389,3387,0.00,2.10,0.00,0.000,6,0.000,0.025,2529,2144,1782,0,0,0,0,0,0
$GC,3516,0.60,279.1,164.7,10.6,414,3533,0.00,2.20,10.75,0.578,4,0.000,0.034,2539,718,1728,0,0,0,0,0,0
$GC,3619,0.65,322.9,153.8,9.5,432,3656,0.00,2.17,31.67,0.541,6,0.000,0.031,2539,2137,1552,0,0,0,0,0,0
$GC,3784,0.69,351.6,137.7,10.0,461,3814,0.00,0.00,21.40,0.524,6,0.000,0.000,2539,2137,1436,0,0,0,0,0,0
$GC,3944,0.75,402.9,123.2,9.3,489,3989,0.00,2.17,37.65,0.516,4,0.000,0.038,2539,3537,1224,0,0,0,0,0,0
$GC,4038,0.79,434.9,114.2,9.9,504,4069,0.00,2.10,23.83,0.491,6,0.000,0.026,2547,2168,1094,0,0,0,0,0,0
$GC,4198,0.95,563.0,101.1,6.7,532,4299,0.22,2.28,90.95,0.486,4,0.056,0.035,2664,727,572,0,0,0,0,0,0
$GC,4329,0.95,563.0,85.0,12.7,551,4338,0.10,2.25,0.00,0.000,6,0.108,0.029,2629,2161,574,0,0,0,0,0,0
$GC,4468,0.99,601.0,71.5,9.7,576,4499,0.00,2.20,25.00,0.488,4,0.000,0.038,2629,3542,440,0,0,0,0,0,0
$GC,4523,1.06,658.5,66.1,9.0,584,4532,0.00,2.10,0.95,0.073,6,0.000,0.025,2636,2176,442,0,0,0,0,0,0
$GC,4661,1.27,829.4,57.4,5.2,609,4671,0.25,2.25,0.55,0.076,4,0.055,0.034,2775,716,444,0,0,0,0,0,0
$GC,4741,1.27,829.4,45.8,16.4,623,4751,0.12,2.22,2.47,0.206,6,0.121,0.030,2733,2162,441,0,0,0,0,0,0
$GC,4879,1.27,829.4,26.5,13.2,648,4887,0.00,0.00,0.25,0.111,6,0.000,0.000,2733,2163,441,0,0,0,0,0,0
$GC,5013,1.27,829.4,8.5,13.0,673,5022,0.00,2.08,2.33,0.178,4,0.000,0.037,2733,3533,439,0,0,0,0,0,0
$STATE,5054,end climb,SURFACE_DEPTH_REACHED
$STATE,5054,begin surface coast
$FINISH,-0.0,1.019437
$STATE,5076,end surface coast,CONTROL_FINISHED_OK
$STATE,5076,begin surface
$SM_CCo,5154,0.00,0.000,0,0,439,596.08
$SM_GC,0.88,6.50,0.00,0.00,0.035,0.000,0.000,206,2562,439,-6.53,-1.05,596.08,0,0,0,0,0,0
$IRIDIUM_FIX,1830.49,12027.01,220711,020220
$TT8_MAMPS,0.027713,0.027713
$HUMID,43.34
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.9,34.981
$10V_AH,10.2,34.191
$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,16.050,68.975,597.600,0.000,0.000,25.930,46.391,144.370,0.000,0.000,12.584,1515.882,1154.624,568.724,2035.513,214.780,0.000,1337.251,0.000,1085.223,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,57.375,631.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,463.077,875.020,1504.904,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47119,684
$CAP_FILE_SIZE,84546,0
$CFSIZE,260165632,230653952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220711,052613,1835.070,12031.058,9,1.5,9,-2.0