version: 66.09
glider: 181
mission: 6
dive: 214
start: 7 21 111 13 20 45
data:
$ID,181
$MISSION,6
$DIVE,214
$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,-40788.531
$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,45
$R_STBD_OVSHOOT,36
$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
$GPS1,210711,131307,1840.825,12033.650,39,0.9,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.5
$GPS2,210711,132020,1840.887,12033.667,11,1.2,11,-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,197.9,12298,-15.3,-11.000
$D_GRID,579
$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,-63.75,0.000,2,0.000,0.000,203,2610,2283,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.4,-4.1,9,131,7.88,1.85,-29.23,0.000,4,0.226,0.058,2139,3770,3759,0,0,0,0,0,0
$GC,209,-0.52,-219.0,63.2,-67.9,29,217,0.00,1.80,0.00,0.000,6,0.000,0.025,2139,2568,3759,0,0,0,0,0,0
$GC,343,-0.52,-219.0,115.9,-31.7,54,350,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2567,3760,0,0,0,0,0,0
$GC,476,-0.52,-219.0,147.1,-18.3,79,484,0.00,1.90,0.00,0.000,4,0.000,0.042,2130,3774,3761,0,0,0,0,0,0
$GC,523,-0.52,-219.0,156.4,-20.6,87,531,0.00,1.70,0.00,0.000,6,0.000,0.024,2130,2624,3761,0,0,0,0,0,0
$GC,657,-0.52,-219.0,182.6,-21.8,112,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2621,3762,0,0,0,0,0,0
$GC,791,-0.52,-219.0,211.5,-21.1,132,795,0.00,2.05,0.00,0.000,4,0.000,0.028,2130,1212,3762,0,0,0,0,0,0
$GC,823,-0.52,-219.0,218.1,-19.1,134,831,0.00,2.25,0.00,0.000,6,0.000,0.037,2125,2657,3763,0,0,0,0,0,0
$GC,1150,-0.52,-219.0,270.1,-15.6,165,1154,0.00,1.70,0.00,0.000,4,0.000,0.044,2118,3786,3762,0,0,0,0,0,0
$GC,1175,-0.52,-219.0,273.8,-14.7,167,1180,0.12,1.65,0.00,0.000,6,0.146,0.026,2151,2650,3762,0,0,0,0,0,0
$GC,1506,-0.52,-219.0,314.0,-12.8,198,1510,0.00,2.12,0.00,0.000,4,0.000,0.030,2151,1196,3759,0,0,0,0,0,0
$GC,1561,-0.52,-219.0,319.6,-9.3,202,1568,0.00,2.22,0.00,0.000,6,0.000,0.034,2151,2657,3759,0,0,0,0,0,0
$GC,1887,-0.52,-219.0,354.0,-11.1,233,1890,0.00,1.70,0.00,0.000,4,0.000,0.046,2151,3780,3755,0,0,0,0,0,0
$GC,1933,-0.52,-219.0,358.6,-10.0,237,1937,0.00,1.65,0.00,0.000,6,0.000,0.025,2151,2642,3755,0,0,0,0,0,0
$GC,2264,-0.52,-219.0,390.8,-10.6,268,2268,0.00,2.12,0.00,0.000,4,0.000,0.031,2151,1198,3752,0,0,0,0,0,0
$GC,2332,-0.52,-219.0,396.8,-8.1,274,2336,0.00,2.22,0.00,0.000,6,0.000,0.036,2151,2660,3751,0,0,0,0,0,0
$GC,2658,-0.52,-219.0,429.2,-10.1,304,2662,0.00,2.17,0.00,0.000,4,0.000,0.031,2151,1200,3748,0,0,0,0,0,0
$GC,2687,-0.52,-219.0,432.1,-10.4,306,2691,0.00,2.25,0.00,0.000,6,0.000,0.036,2151,2662,3748,0,0,0,0,0,0
$GC,3019,-0.52,-219.0,466.3,-10.5,337,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2662,3745,0,0,0,0,0,0
$GC,3337,-0.52,-219.0,498.4,-9.7,367,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2663,3742,0,0,0,0,0,0
$GC,3646,-0.52,-219.0,525.6,-9.3,383,3650,0.00,2.20,0.00,0.000,4,0.000,0.032,2151,1202,3740,0,0,0,0,0,0
$GC,3691,-0.52,-219.0,529.8,-9.4,385,3695,0.00,2.25,0.00,0.000,6,0.000,0.037,2155,2667,3739,0,0,0,0,0,0
$GC,4025,-0.52,-219.0,558.2,-8.7,401,4029,0.00,2.20,0.00,0.000,4,0.000,0.032,2151,1200,3736,0,0,0,0,0,0
$GC,4066,-0.52,-219.0,561.6,-8.8,403,4070,0.00,2.22,0.00,0.000,6,0.000,0.037,2151,2649,3736,0,0,0,0,0,0
$STATE,4287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4287,begin apogee
$GC,4293,-0.13,0.0,580.8,8.8,414,4454,0.35,0.00,156.20,0.818,4,0.102,0.000,2274,2122,2871,0,0,0,0,0,0
$STATE,4455,end apogee,CONTROL_FINISHED_OK
$STATE,4455,begin climb
$GC,4457,0.52,219.0,591.8,0.0,421,4630,0.60,2.22,163.68,0.796,4,0.057,0.037,2501,729,1975,0,0,0,0,0,0
$GC,4753,0.52,219.0,572.9,11.6,434,4761,0.00,2.25,0.00,0.000,6,0.000,0.032,2501,2131,1974,0,0,0,0,0,0
$GC,5070,0.52,219.0,533.6,12.5,450,5074,0.00,2.15,0.00,0.000,4,0.000,0.036,2511,731,1975,0,0,0,0,0,0
$GC,5239,0.52,219.0,513.9,11.2,457,5243,0.00,2.15,0.00,0.000,6,0.000,0.034,2511,2130,1971,0,0,0,0,0,0
$GC,5564,0.52,219.0,473.9,11.7,481,5568,0.00,2.17,0.00,0.000,4,0.000,0.043,2511,3545,1969,0,0,0,0,0,0
$GC,5629,0.52,219.0,464.1,14.1,486,5638,0.08,2.12,0.00,0.000,6,0.149,0.027,2496,2163,1968,0,0,0,0,0,0
$GC,5956,0.53,223.8,428.0,10.8,517,5968,0.00,2.25,3.97,0.531,4,0.000,0.037,2506,711,1957,0,0,0,0,0,0
$GC,6071,0.53,223.8,415.1,11.2,527,6075,0.00,2.17,0.00,0.000,6,0.000,0.033,2505,2142,1956,0,0,0,0,0,0
$GC,6396,0.53,223.8,373.1,13.5,557,6400,0.00,2.17,0.00,0.000,4,0.000,0.035,2515,707,1954,0,0,0,0,0,0
$GC,6452,0.53,223.8,365.9,13.0,561,6459,0.00,2.15,0.00,0.000,6,0.000,0.032,2515,2123,1954,0,0,0,0,0,0
$GC,6777,0.53,223.8,324.1,12.1,592,6781,0.00,2.15,0.00,0.000,4,0.000,0.043,2515,3536,1954,0,0,0,0,0,0
$GC,6820,0.53,223.8,317.8,13.8,595,6828,0.12,2.12,0.00,0.000,6,0.169,0.026,2492,2135,1953,0,0,0,0,0,0
$GC,7146,0.58,261.4,282.4,9.7,626,7183,0.00,2.20,27.38,0.650,4,0.000,0.037,2502,725,1804,0,0,0,0,0,0
$GC,7230,0.63,305.6,274.6,9.5,633,7268,0.00,2.15,33.05,0.608,6,0.000,0.031,2502,2134,1622,0,0,0,0,0,0
$GC,7589,0.66,331.3,240.2,10.1,666,7615,0.00,2.22,20.05,0.606,4,0.000,0.042,2501,3541,1519,0,0,0,0,0,0
$GC,7709,0.66,331.3,226.2,12.0,676,7717,0.00,2.17,0.00,0.000,6,0.000,0.027,2510,2140,1519,0,0,0,0,0,0
$GC,8036,0.76,411.6,191.9,8.3,715,8102,0.15,2.22,59.17,0.578,4,0.083,0.032,2588,713,1188,0,0,0,0,0,0
$GC,8169,0.76,411.6,173.8,13.5,736,8177,0.00,2.25,0.00,0.000,6,0.000,0.031,2588,2135,1188,0,0,0,0,0,0
$GC,8304,0.76,411.6,154.3,14.7,761,8313,0.00,2.22,0.00,0.000,4,0.000,0.042,2588,3538,1187,0,0,0,0,0,0
$GC,8352,0.76,411.6,146.4,17.2,769,8361,0.10,2.15,0.00,0.000,6,0.147,0.026,2566,2148,1187,0,0,0,0,0,0
$GC,8490,0.76,411.6,128.6,11.9,794,8498,0.00,2.20,0.00,0.000,4,0.000,0.039,2566,3538,1187,0,0,0,0,0,0
$GC,8532,0.76,411.6,123.6,11.6,801,8540,0.00,2.08,0.00,0.000,6,0.000,0.026,2573,2186,1186,0,0,0,0,0,0
$GC,8668,0.81,451.1,109.5,9.7,826,8706,0.00,2.30,28.58,0.542,4,0.000,0.037,2585,716,1030,0,0,0,0,0,0
$GC,8756,0.88,504.4,100.9,9.2,840,8800,0.00,2.28,39.30,0.492,6,0.000,0.029,2584,2179,812,0,0,0,0,0,0
$GC,8929,1.03,627.9,86.8,6.8,870,9003,0.17,2.22,66.97,0.483,4,0.067,0.041,2670,3541,440,0,0,0,0,0,0
$GC,9069,1.06,657.6,71.6,10.0,892,9078,0.00,2.10,2.80,0.261,6,0.000,0.027,2680,2196,439,0,0,0,0,0,0
$GC,9208,1.15,724.9,59.7,8.7,917,9217,0.00,2.30,0.00,0.000,4,0.000,0.037,2691,719,439,0,0,0,0,0,0
$GC,9297,1.15,724.9,49.7,11.4,933,9305,0.00,2.28,0.45,0.080,6,0.000,0.029,2691,2185,441,0,0,0,0,0,0
$GC,9436,1.32,866.3,39.5,6.2,958,9445,0.15,2.10,0.73,0.086,4,0.074,0.037,2760,3536,442,0,0,0,0,0,0
$GC,9520,1.32,866.3,26.1,17.0,973,9529,0.00,2.03,2.45,0.200,6,0.000,0.024,2769,2203,440,0,0,0,0,0,0
$STATE,9648,end climb,SURFACE_DEPTH_REACHED
$STATE,9648,begin surface coast
$FINISH,0.1,1.007695
$STATE,9666,end surface coast,CONTROL_FINISHED_OK
$STATE,9666,begin surface
$SM_CCo,9742,0.00,0.000,0,0,440,595.83
$SM_GC,1.04,6.62,0.00,0.00,0.035,0.000,0.000,211,2622,440,-6.51,0.62,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,1837.32,12030.12,210711,090952
$TT8_MAMPS,0.027713,0.027713
$HUMID,41.88
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.4,34.101
$10V_AH,10.0,33.355
$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,16.350,107.225,604.775,0.000,0.000,28.973,52.425,208.421,0.000,0.000,14.384,2336.149,4234.249,603.921,2697.500,292.501,0.000,1671.783,0.000,1695.232,0.000,0.542,0.000
$DEVICE_MAMPS,226.440,58.140,817.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,685.744,1086.627,1401.216,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321788
$DATA_FILE_SIZE,66953,1000
$CAP_FILE_SIZE,123777,0
$CFSIZE,260165632,231055360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210711,160425,1839.509,12032.710,41,1.2,41,-2.0