version: 66.09
glider: 181
mission: 6
dive: 427
start: 8 31 111 12 35 9
data:
$ID,181
$MISSION,6
$DIVE,427
$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,280
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$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,-41100.098
$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,29
$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,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,310811,122901,2015.174,12013.271,37,1.4,37,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-63.1
$GPS2,310811,123443,2015.053,12013.405,10,0.9,15,-2.3
$SPEED_LIMITS,0.204,0.329
$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,191.9,140967,-16.3,-11.786
$D_GRID,3833
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.54,-219.0,0.0,0.0,0,94,0.00,0.00,-74.05,0.000,2,0.000,0.000,127,2609,2517,0,0,0,0,0,0
$GC,97,-0.54,-219.0,3.5,-3.7,13,140,8.62,1.92,-25.00,0.000,4,0.236,0.060,2128,3786,3765,0,0,0,0,0,0
$GC,164,-0.54,-219.0,29.3,-46.4,24,170,0.00,1.80,0.00,0.000,6,0.000,0.024,2128,2572,3766,0,0,0,0,0,0
$GC,307,-0.54,-219.0,63.3,-18.3,49,313,0.00,1.90,0.00,0.000,4,0.000,0.043,2118,3792,3766,0,0,0,0,0,0
$GC,394,-0.54,-219.0,79.1,-16.5,64,401,0.00,1.75,0.00,0.000,6,0.000,0.024,2118,2618,3766,0,0,0,0,0,0
$GC,537,-0.54,-219.0,102.9,-17.8,89,544,0.00,2.05,0.00,0.000,4,0.000,0.026,2118,1206,3766,0,0,0,0,0,0
$GC,635,-0.54,-219.0,115.0,-9.3,106,643,0.12,2.10,0.00,0.000,6,0.157,0.032,2146,2588,3767,0,0,0,0,0,0
$GC,782,-0.54,-219.0,130.0,-11.6,131,788,0.00,1.83,0.00,0.000,4,0.000,0.042,2139,3787,3767,0,0,0,0,0,0
$GC,834,-0.54,-219.0,136.8,-11.9,140,841,0.00,1.73,0.00,0.000,6,0.000,0.024,2139,2596,3768,0,0,0,0,0,0
$GC,980,-0.54,-219.0,154.0,-12.3,165,986,0.00,2.03,0.00,0.000,4,0.000,0.027,2139,1200,3768,0,0,0,0,0,0
$GC,1021,-0.54,-219.0,159.1,-11.8,172,1028,0.00,2.10,0.00,0.000,6,0.000,0.033,2138,2586,3768,0,0,0,0,0,0
$GC,1166,-0.54,-219.0,177.1,-14.7,197,1172,0.00,2.05,0.00,0.000,4,0.000,0.028,2138,1195,3768,0,0,0,0,0,0
$GC,1196,-0.54,-219.0,181.7,-14.1,202,1203,0.00,2.08,0.00,0.000,6,0.000,0.033,2138,2571,3768,0,0,0,0,0,0
$GC,1341,-0.54,-219.0,198.0,-10.0,227,1348,0.00,1.85,0.00,0.000,4,0.000,0.043,2138,3787,3768,0,0,0,0,0,0
$GC,1404,-0.54,-219.0,203.1,-7.5,234,1412,0.00,1.75,0.00,0.000,6,0.000,0.024,2138,2569,3768,0,0,0,0,0,0
$GC,1730,-0.54,-219.0,225.6,-9.0,265,1733,0.00,1.85,0.00,0.000,4,0.000,0.041,2138,3777,3767,0,0,0,0,0,0
$GC,1754,-0.54,-219.0,228.1,-9.5,267,1758,0.00,1.70,0.00,0.000,6,0.000,0.024,2138,2604,3767,0,0,0,0,0,0
$GC,2085,-0.54,-219.0,290.4,-25.1,298,2089,0.00,2.08,0.00,0.000,4,0.000,0.028,2138,1202,3766,0,0,0,0,0,0
$GC,2143,-0.54,-219.0,304.7,-24.4,303,2147,0.00,2.10,0.00,0.000,6,0.000,0.032,2138,2586,3766,0,0,0,0,0,0
$GC,2468,-0.54,-219.0,373.7,-18.9,333,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2587,3763,0,0,0,0,0,0
$GC,2790,-0.54,-219.0,433.3,-17.8,363,2794,0.00,2.05,0.00,0.000,4,0.000,0.029,2139,1215,3761,0,0,0,0,0,0
$GC,2806,-0.54,-219.0,437.0,-17.4,364,2813,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2598,3761,0,0,0,0,0,0
$GC,3133,-0.54,-219.0,468.4,-4.2,395,3137,0.00,2.08,0.00,0.000,4,0.000,0.029,2138,1205,3758,0,0,0,0,0,0
$GC,3183,-0.54,-219.0,469.5,-3.5,399,3189,0.00,2.05,0.00,0.000,6,0.000,0.033,2138,2555,3758,0,0,0,0,0,0
$STATE,3454,end dive,NO_VERTICAL_VELOCITY
$STATE,3454,begin apogee
$GC,3461,-0.13,0.0,467.3,0.0,425,3629,0.38,0.00,162.68,0.711,4,0.088,0.000,2276,2109,2869,0,0,0,0,0,0
$STATE,3629,end apogee,CONTROL_FINISHED_OK
$STATE,3629,begin climb
$GC,3632,0.54,219.0,471.5,0.0,440,3802,0.60,2.30,162.48,0.694,4,0.050,0.040,2509,3539,1976,0,0,0,0,0,0
$GC,3841,0.54,219.0,453.9,19.5,458,3848,0.00,2.17,0.00,0.000,6,0.000,0.025,2518,2120,1975,0,0,0,0,0,0
$GC,4167,0.54,219.0,373.5,24.5,489,4171,0.00,2.12,0.00,0.000,4,0.000,0.034,2529,709,1972,0,0,0,0,0,0
$GC,4240,0.54,219.0,357.1,21.0,495,4245,0.12,2.15,0.00,0.000,6,0.155,0.030,2495,2125,1972,0,0,0,0,0,0
$GC,4566,0.87,485.0,335.8,2.1,525,4770,0.25,2.22,193.80,0.628,4,0.066,0.032,2621,720,890,0,0,0,0,0,0
$GC,4861,1.02,609.4,324.5,7.3,551,4952,0.00,2.22,84.47,0.607,6,0.000,0.033,2621,2146,439,0,0,0,0,0,0
$GC,5272,1.02,609.4,237.3,26.7,589,5284,0.00,2.28,2.70,0.279,4,0.000,0.035,2631,715,440,0,0,0,0,0,0
$GC,5346,1.02,609.4,217.3,26.6,595,5353,0.00,2.22,0.00,0.000,6,0.000,0.031,2631,2173,440,0,0,0,0,0,0
$GC,5685,1.02,609.4,131.0,18.7,650,5692,0.00,2.10,0.00,0.000,4,0.000,0.042,2630,3540,440,0,0,0,0,0,0
$GC,5767,1.03,616.6,119.1,11.5,664,5774,0.00,2.03,0.00,0.000,6,0.000,0.026,2640,2183,441,0,0,0,0,0,0
$GC,5912,2.04,1434.7,127.5,-17.9,689,5920,0.85,2.10,0.05,0.144,4,0.047,0.038,2980,3537,440,0,0,0,0,0,0
$GC,5956,2.76,2019.5,130.5,-9.4,696,5964,0.60,1.92,0.00,0.000,6,0.073,0.025,3208,2236,440,0,0,0,0,0,0
$GC,6102,2.76,2019.5,109.0,14.9,721,6109,0.00,2.03,0.00,0.000,4,0.000,0.037,3201,3550,439,0,0,0,0,0,0
$GC,6195,2.76,2019.5,73.8,42.1,737,6202,0.00,2.15,0.00,0.000,6,0.000,0.025,3210,2113,438,0,0,0,0,0,0
$GC,6340,2.76,2019.5,6.4,48.6,762,6347,0.00,2.17,0.00,0.000,4,0.000,0.031,3202,3548,436,0,0,0,0,0,0
$STATE,6353,end climb,SURFACE_DEPTH_REACHED
$STATE,6353,begin surface coast
$FINISH,-0.1,1.009089
$STATE,6359,end surface coast,CONTROL_FINISHED_OK
$STATE,6360,begin surface
$SM_CCo,6438,0.00,0.000,0,0,436,597.06
$SM_GC,0.73,7.72,0.00,0.00,0.033,0.000,0.000,199,2604,436,-6.52,0.11,597.06,0,0,0,0,0,0
$IRIDIUM_FIX,2006.47,12011.75,310811,080812
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.92
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,22.20
$XPDR_PINGS,2
$24V_AH,24.3,69.707
$10V_AH,9.9,60.950
$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,19.275,77.225,606.175,0.000,0.000,28.211,39.536,136.923,0.500,0.000,18.315,1702.177,2740.936,647.732,1472.842,209.792,0.000,1408.898,0.000,1249.121,0.000,0.539,0.000
$DEVICE_MAMPS,235.620,60.435,711.450,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,519.191,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323008
$DATA_FILE_SIZE,43674,765
$CAP_FILE_SIZE,91737,0
$CFSIZE,260165632,211316736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310811,142316,2014.259,12012.519,10,1.6,12,-2.3