version: 66.08
glider: 181
mission: 4
dive: 5
start: 9 24 110 15 5 29
data:
$ID,181
$MISSION,4
$DIVE,5
$N_DIVES,6
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,120
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51774
$NAV_MODE,2
$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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-37802.449
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2450
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2983
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$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,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-60.178757
$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
$DEVICE3,119
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043203235
$SEABIRD_T_H,0.00062277901
$SEABIRD_T_I,2.2452641e-05
$SEABIRD_T_J,2.2905836e-06
$SEABIRD_C_G,-10.17854
$SEABIRD_C_H,1.1531147
$SEABIRD_C_I,-0.0013870052
$SEABIRD_C_J,0.0002016264
$TM_RECORDABOVE,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_UPLOADMAX,40000.0
$TM_STARTS,8.0
$TM_NFFT,512.0
$TM_NAVG,4.0
$TM_PSD,10.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,0.0
$LA_XMITPROFILE,0.0
$LA_UPLOADMAX,25000.0
$LA_STARTS,4.0
$GPS1,240910,145926,2404.605,12617.091,9,1.8,9,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-66.2
$GPS2,240910,150501,2404.592,12616.918,11,1.8,16,-3.6
$SPEED_LIMITS,0.241,0.329
$TGT_NAME,CAL_CAST
$TGT_LATLONG,2312.300,12608.700
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,173.5,97850,-20.0,-13.889
$D_GRID,1978
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.87,-194.6,0.0,0.0,0,74,0.00,0.00,-52.78,0.000,2,0.000,0.000,197,1997,2878,0,0,0,0,0,0
$GC,76,-0.87,-194.6,3.2,-6.5,7,110,8.02,1.98,-18.48,0.000,4,0.241,0.051,2165,684,3778,0,0,0,0,0,0
$GC,253,-0.75,-194.6,58.5,-34.0,37,262,0.15,2.17,0.00,0.000,6,0.159,0.037,2200,2105,3779,0,0,0,0,0,0
$GC,585,-0.72,-194.6,133.7,-18.0,98,593,0.00,2.15,0.00,0.000,4,0.000,0.044,2191,3507,3780,0,0,0,0,0,0
$GC,661,-0.72,-194.6,147.2,-18.1,111,669,0.00,2.12,0.00,0.000,6,0.000,0.033,2191,2097,3781,0,0,0,0,0,0
$GC,1009,-0.70,-194.6,214.2,-20.1,172,1018,0.12,2.20,0.00,0.000,4,0.170,0.047,2214,3508,3782,0,0,0,0,0,0
$GC,1214,-0.74,-194.6,241.4,-10.9,208,1223,0.00,2.12,0.00,0.000,6,0.000,0.032,2215,2091,3782,0,0,0,0,0,0
$GC,1559,-0.76,-194.6,285.0,-12.4,269,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2088,3782,0,0,0,0,0,0
$GC,1896,-0.79,-194.6,327.1,-12.4,311,1900,0.00,2.15,0.00,0.000,4,0.000,0.046,2204,3510,3779,0,0,0,0,0,0
$GC,1960,-0.83,-194.6,335.1,-12.0,316,1964,0.00,2.08,0.00,0.000,6,0.000,0.033,2204,2094,3781,0,0,0,0,0,0
$GC,2285,-0.85,-194.6,377.9,-12.7,346,2289,0.00,2.17,0.00,0.000,4,0.000,0.047,2194,3514,3779,0,0,0,0,0,0
$GC,2418,-0.89,-194.6,393.9,-11.3,357,2425,0.00,2.10,0.00,0.000,6,0.000,0.033,2194,2092,3779,0,0,0,0,0,0
$GC,2744,-0.91,-194.6,433.4,-11.5,388,2749,0.10,2.20,0.00,0.000,4,0.099,0.047,2131,3517,3780,0,0,0,0,0,0
$GC,2862,-0.89,-194.6,451.0,-14.5,398,2867,0.12,2.10,0.00,0.000,6,0.162,0.033,2163,2093,3777,0,0,0,0,0,0
$GC,3193,-0.89,-194.6,494.9,-13.7,429,3197,0.00,2.17,0.00,0.000,4,0.000,0.048,2154,3510,3775,0,0,0,0,0,0
$STATE,3231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3231,begin apogee
$GC,3237,-0.16,0.0,500.3,13.0,432,3388,0.73,0.00,146.05,0.839,6,0.125,0.000,2396,2090,2984,0,0,0,0,0,0
$STATE,3388,end apogee,CONTROL_FINISHED_OK
$STATE,3389,begin climb
$GC,3390,0.87,194.6,506.7,0.0,444,3550,0.88,2.22,152.25,0.815,4,0.036,0.041,2762,689,2189,0,0,0,0,0,0
$GC,3593,0.72,194.6,478.4,24.0,461,3602,0.25,2.25,0.00,0.000,6,0.174,0.038,2692,2100,2185,0,0,0,0,0,0
$GC,3920,0.63,194.6,413.8,19.0,492,3924,0.15,2.12,0.00,0.000,4,0.182,0.042,2662,696,2181,0,0,0,0,0,0
$GC,3973,0.58,194.6,403.7,16.3,496,3982,0.00,2.17,0.00,0.000,6,0.000,0.039,2662,2101,2180,0,0,0,0,0,0
$GC,4300,0.52,194.6,349.9,15.3,527,4305,0.15,2.17,0.00,0.000,4,0.177,0.047,2617,3517,2178,0,0,0,0,0,0
$GC,4351,0.50,197.1,342.8,13.8,531,4355,0.00,2.12,0.00,0.000,6,0.000,0.034,2625,2096,2178,0,0,0,0,0,0
$GC,4682,0.51,222.5,301.3,12.7,562,4709,0.00,2.20,20.75,0.704,4,0.000,0.043,2636,695,2074,0,0,0,0,0,0
$GC,4797,0.51,229.7,285.9,13.5,581,4813,0.00,2.15,7.38,0.606,6,0.000,0.039,2636,2103,2049,0,0,0,0,0,0
$GC,5134,0.51,234.6,237.1,13.7,643,5148,0.00,2.20,4.90,0.510,4,0.000,0.043,2646,692,2026,0,0,0,0,0,0
$GC,5224,0.51,234.6,224.3,14.5,659,5231,0.12,2.15,0.00,0.000,6,0.164,0.039,2614,2106,2025,0,0,0,0,0,0
$GC,5558,0.58,280.6,184.2,11.7,720,5601,0.00,2.20,35.72,0.640,4,0.000,0.041,2622,687,1839,0,0,0,0,0,0
$GC,5647,0.67,324.8,174.1,11.8,734,5690,0.10,2.20,34.45,0.620,6,0.055,0.037,2679,2102,1659,0,0,0,0,0,0
$GC,6015,0.66,324.8,111.2,17.5,800,6024,0.00,2.20,0.00,0.000,4,0.000,0.047,2679,3510,1652,0,0,0,0,0,0
$GC,6058,0.66,324.8,103.0,18.9,807,6067,0.00,2.17,0.00,0.000,6,0.000,0.034,2690,2094,1652,0,0,0,0,0,0
$GC,6391,0.72,373.5,52.3,11.6,868,6439,0.00,2.17,36.65,0.542,4,0.000,0.044,2701,708,1458,0,0,0,0,0,0
$GC,6597,0.81,417.0,29.3,11.8,903,6636,0.00,2.15,33.22,0.516,6,0.000,0.036,2701,2101,1283,0,0,0,0,0,0
$STATE,6821,end climb,SURFACE_DEPTH_REACHED
$STATE,6821,begin surface coast
$FINISH,0.3,1.021797
$STATE,6845,end surface coast,CONTROL_FINISHED_OK
$STATE,6846,begin surface
$SM_CCo,6925,0.00,0.000,0,0,1276,418.48
$SM_GC,1.18,6.45,0.00,0.00,0.038,0.000,0.000,200,2105,1276,-6.93,0.14,418.48
$IRIDIUM_FIX,2359.20,12617.26,240910,131320
$TT8_MAMPS,0.027713
$HUMID,49.33
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,25.00
$XPDR_PINGS,2
$24V_AH,24.6,4.777
$10V_AH,10.3,3.181
$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,17.350,64.750,471.375,0.000,0.000,31.373,15.811,171.402,0.500,0.000,18.930,2290.825,1706.096,464.357,2686.084,119.274,0.000,1338.958,0.000,1471.778,0.000,0.543,0.000
$DEVICE_MAMPS,240.975,51.255,839.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,638.378,1439.742,1740.719,0.000,0.000,0.000,2408.642,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331296
$DATA_FILE_SIZE,66987,946
$CAP_FILE_SIZE,97307,0
$CFSIZE,260165632,249651200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.136,297.9,1
$GPS,240910,170207,2403.816,12616.248,39,0.9,39,-3.6