version: 66.09
glider: 181
mission: 6
dive: 223
start: 7 22 111 5 32 14
data:
$ID,181
$MISSION,6
$DIVE,223
$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,-40799.832
$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,74
$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
$GPS1,220711,052613,1835.070,12031.058,9,1.5,9,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-71.0
$GPS2,220711,053149,1835.149,12031.077,9,1.3,14,-2.0
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,312.2,71272,-15.3,-11.000
$D_GRID,444
$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,17,-0.52,-219.0,0.0,0.0,0,83,0.00,0.00,-62.70,0.000,2,0.000,0.000,205,2562,2254,0,0,0,0,0,0
$GC,86,-0.52,-219.0,3.3,-3.9,9,132,7.78,1.98,-30.50,0.000,4,0.226,0.037,2143,1192,3763,0,0,0,0,0,0
$GC,200,-0.52,-219.0,38.4,-26.2,27,208,0.00,2.20,0.00,0.000,6,0.000,0.043,2138,2581,3765,0,0,0,0,0,0
$GC,333,-0.52,-219.0,88.6,-28.7,52,341,0.00,1.85,0.00,0.000,4,0.000,0.042,2129,3784,3764,0,0,0,0,0,0
$GC,401,-0.52,-219.0,108.8,-27.7,64,409,0.00,1.67,0.00,0.000,6,0.000,0.024,2129,2648,3765,0,0,0,0,0,0
$GC,536,-0.52,-219.0,144.8,-26.2,89,544,0.00,2.12,0.00,0.000,4,0.000,0.026,2129,1200,3766,0,0,0,0,0,0
$GC,563,-0.52,-219.0,151.0,-22.3,93,572,0.00,2.20,0.00,0.000,6,0.000,0.035,2125,2628,3766,0,0,0,0,0,0
$GC,700,-0.52,-219.0,176.8,-19.8,118,708,0.00,1.75,0.00,0.000,4,0.000,0.041,2116,3775,3764,0,0,0,0,0,0
$GC,787,-0.52,-219.0,191.6,-15.3,134,796,0.10,1.67,0.00,0.000,6,0.122,0.024,2150,2631,3766,0,0,0,0,0,0
$GC,924,-0.52,-219.0,209.9,-12.5,152,928,0.00,2.05,0.00,0.000,4,0.000,0.028,2150,1210,3768,0,0,0,0,0,0
$GC,957,-0.52,-219.0,213.9,-11.6,154,965,0.00,2.20,0.00,0.000,6,0.000,0.034,2151,2648,3768,0,0,0,0,0,0
$GC,1284,-0.52,-219.0,252.7,-12.0,185,1288,0.00,1.67,0.00,0.000,4,0.000,0.042,2144,3777,3767,0,0,0,0,0,0
$GC,1363,-0.52,-219.0,261.5,-9.3,192,1366,0.00,1.62,0.00,0.000,6,0.000,0.024,2144,2671,3767,0,0,0,0,0,0
$GC,1695,-0.52,-219.0,298.9,-11.7,223,1699,0.00,2.12,0.00,0.000,4,0.000,0.028,2144,1205,3764,0,0,0,0,0,0
$GC,1762,-0.52,-219.0,306.1,-9.1,228,1769,0.00,2.20,0.00,0.000,6,0.000,0.034,2139,2657,3764,0,0,0,0,0,0
$GC,2088,-0.52,-219.0,345.8,-12.9,259,2092,0.00,1.73,0.00,0.000,4,0.000,0.046,2139,3775,3760,0,0,0,0,0,0
$GC,2138,-0.52,-219.0,351.8,-10.9,263,2145,0.00,1.62,0.00,0.000,6,0.000,0.025,2138,2675,3763,0,0,0,0,0,0
$GC,2463,-0.52,-219.0,387.1,-12.1,294,2467,0.00,2.15,0.00,0.000,4,0.000,0.031,2138,1210,3757,0,0,0,0,0,0
$GC,2516,-0.52,-219.0,392.7,-10.4,298,2520,0.00,2.20,0.00,0.000,6,0.000,0.037,2135,2654,3757,0,0,0,0,0,0
$GC,2846,-0.52,-219.0,430.4,-12.2,329,2850,0.00,1.70,0.00,0.000,4,0.000,0.049,2137,3778,3753,0,0,0,0,0,0
$GC,2870,-0.52,-219.0,432.9,-11.6,331,2874,0.00,1.65,0.00,0.000,6,0.000,0.027,2136,2636,3753,0,0,0,0,0,0
$STATE,2965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2965,begin apogee
$GC,2972,-0.13,0.0,445.1,12.9,340,3138,0.40,0.00,156.07,0.727,4,0.116,0.000,2270,2107,2868,0,0,0,0,0,0
$STATE,3138,end apogee,CONTROL_FINISHED_OK
$STATE,3138,begin climb
$GC,3141,0.52,219.0,456.5,0.0,355,3308,0.60,2.12,158.82,0.704,4,0.051,0.035,2501,742,1976,0,0,0,0,0,0
$GC,3477,0.53,226.4,430.8,10.7,385,3490,0.00,2.15,7.60,0.646,6,0.000,0.032,2501,2137,1947,0,0,0,0,0,0
$GC,3807,0.53,226.4,394.4,11.3,416,3811,0.00,2.10,0.00,0.000,4,0.000,0.034,2511,739,1942,0,0,0,0,0,0
$GC,4014,0.53,226.4,370.9,11.2,434,4018,0.00,2.12,0.00,0.000,6,0.000,0.032,2511,2134,1941,0,0,0,0,0,0
$GC,4345,0.53,226.4,329.8,12.6,465,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2135,1938,0,0,0,0,0,0
$GC,4669,0.55,241.0,291.8,10.5,495,4685,0.00,2.15,11.20,0.651,4,0.000,0.040,2511,3540,1884,0,0,0,0,0,0
$GC,4708,0.55,241.0,286.6,11.4,498,4712,0.00,2.10,0.00,0.000,6,0.000,0.027,2520,2133,1887,0,0,0,0,0,0
$GC,5034,0.55,241.0,245.9,12.7,528,5038,0.00,2.10,0.00,0.000,4,0.000,0.036,2531,723,1882,0,0,0,0,0,0
$GC,5132,0.57,255.1,234.6,10.5,536,5152,0.00,2.10,11.05,0.605,6,0.000,0.032,2531,2093,1827,0,0,0,0,0,0
$GC,5470,0.57,255.1,199.0,11.8,568,5478,0.00,2.22,0.00,0.000,4,0.000,0.042,2531,3522,1826,0,0,0,0,0,0
$GC,5573,0.57,255.1,186.3,12.7,587,5581,0.10,2.17,0.00,0.000,6,0.142,0.028,2508,2098,1826,0,0,0,0,0,0
$GC,5710,0.68,343.1,174.0,8.0,612,5777,0.00,2.20,61.78,0.567,4,0.000,0.037,2517,714,1469,0,0,0,0,0,0
$GC,5822,0.80,442.7,165.3,7.6,629,5903,0.12,2.15,71.32,0.534,6,0.049,0.030,2588,2086,1064,0,0,0,0,0,0
$GC,6031,0.80,442.7,138.8,12.8,664,6039,0.00,2.30,0.00,0.000,4,0.000,0.042,2589,3536,1068,0,0,0,0,0,0
$GC,6150,0.80,442.7,123.4,12.8,686,6158,0.00,2.15,0.00,0.000,6,0.000,0.027,2598,2138,1068,0,0,0,0,0,0
$GC,6285,0.80,442.7,105.8,13.7,711,6294,0.00,2.17,0.00,0.000,4,0.000,0.037,2610,723,1067,0,0,0,0,0,0
$GC,6353,0.81,448.9,97.7,10.8,723,6369,0.00,2.15,7.07,0.486,6,0.000,0.032,2609,2107,1037,0,0,0,0,0,0
$GC,6499,0.86,490.6,83.3,9.6,749,6536,0.00,2.22,30.45,0.509,4,0.000,0.040,2609,3542,870,0,0,0,0,0,0
$GC,6582,0.95,565.9,75.9,8.4,762,6648,0.00,2.17,54.85,0.471,6,0.000,0.028,2618,2129,561,0,0,0,0,0,0
$GC,6776,1.07,662.1,61.4,7.7,795,6807,0.12,2.17,23.10,0.482,4,0.088,0.034,2674,715,438,0,0,0,0,0,0
$GC,6852,1.19,763.6,55.7,7.6,807,6861,0.00,2.28,2.55,0.220,6,0.000,0.026,2674,2190,440,0,0,0,0,0,0
$GC,6991,1.28,836.9,44.9,8.5,832,7000,0.17,2.08,0.03,0.320,4,0.067,0.037,2773,3533,442,0,0,0,0,0,0
$GC,7085,1.28,836.9,30.4,17.8,849,7095,0.15,1.95,2.35,0.184,6,0.137,0.025,2734,2256,439,0,0,0,0,0,0
$GC,7223,1.28,836.9,10.1,13.6,874,7231,0.00,2.33,0.00,0.000,4,0.000,0.034,2745,724,440,0,0,0,0,0,0
$STATE,7278,end climb,SURFACE_DEPTH_REACHED
$STATE,7278,begin surface coast
$FINISH,0.5,1.019570
$STATE,7300,end surface coast,CONTROL_FINISHED_OK
$STATE,7300,begin surface
$SM_CCo,7380,0.00,0.000,0,0,440,595.83
$SM_GC,1.01,6.53,0.00,0.00,0.034,0.000,0.000,208,2605,440,-6.51,0.17,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,1832.77,12030.12,220711,030317
$TT8_MAMPS,0.027713,0.027713
$HUMID,44.05
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.10
$XPDR_PINGS,7
$24V_AH,24.8,35.099
$10V_AH,10.2,34.307
$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,16.075,91.675,598.250,0.000,0.000,29.239,23.988,158.680,1.750,0.000,17.371,2004.902,2458.919,589.714,2402.935,262.929,0.000,1529.979,0.000,1437.515,0.000,0.542,0.000
$DEVICE_MAMPS,225.675,48.960,726.750,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,604.698,1029.344,1518.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321776
$DATA_FILE_SIZE,60386,888
$CAP_FILE_SIZE,104863,0
$CFSIZE,260165632,230567936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220711,073630,1835.522,12030.370,38,1.3,38,-2.0