version: 66.08
glider: 181
mission: 4
dive: 16
start: 9 25 110 13 29 11
data:
$ID,181
$MISSION,4
$DIVE,16
$N_DIVES,20
$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,-37816.27
$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,2425
$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,2200
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,62
$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,110
$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,30.0
$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
$GPS1,250910,132231,2356.952,12611.660,39,1.3,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.2
$GPS2,250910,132844,2356.960,12611.653,13,0.9,13,-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,187.1,82862,-20.0,-13.889
$D_GRID,2908
$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,-194.6,0.0,0.0,0,78,0.00,0.00,-56.55,0.000,2,0.000,0.000,197,2239,2810,0,0,0,0,0,0
$GC,80,-0.87,-194.6,3.1,-4.8,7,120,8.00,2.22,-22.02,0.000,4,0.243,0.050,2140,782,3779,0,0,0,0,0,0
$GC,245,-0.73,-194.6,57.0,-35.8,35,254,0.17,2.12,0.00,0.000,6,0.177,0.037,2181,2164,3780,0,0,0,0,0,0
$GC,579,-0.66,-194.6,145.6,-22.2,96,587,0.00,2.22,0.00,0.000,4,0.000,0.044,2169,3609,3781,0,0,0,0,0,0
$GC,798,-0.64,-194.6,186.1,-16.1,136,807,0.12,2.12,0.00,0.000,6,0.135,0.030,2212,2191,3782,0,0,0,0,0,0
$GC,1133,-0.64,-194.6,236.8,-14.7,197,1140,0.00,2.17,0.00,0.000,4,0.000,0.047,2205,3612,3785,0,0,0,0,0,0
$GC,1194,-0.66,-194.6,245.7,-13.8,208,1203,0.00,2.12,0.00,0.000,6,0.000,0.031,2203,2198,3782,0,0,0,0,0,0
$GC,1522,-0.66,-194.6,298.9,-16.2,269,1530,0.00,2.15,0.00,0.000,4,0.000,0.046,2193,3610,3782,0,0,0,0,0,0
$GC,1605,-0.68,-194.6,311.5,-13.3,277,1613,0.00,2.12,0.00,0.000,6,0.000,0.031,2193,2195,3782,0,0,0,0,0,0
$GC,1931,-0.68,-194.6,360.3,-14.7,308,1935,0.00,2.17,0.00,0.000,4,0.000,0.047,2184,3610,3781,0,0,0,0,0,0
$GC,2040,-0.70,-194.6,376.4,-13.5,317,2049,0.00,2.10,0.00,0.000,6,0.000,0.031,2183,2190,3780,0,0,0,0,0,0
$GC,2366,-0.70,-194.6,424.4,-14.5,348,2370,0.00,2.20,0.00,0.000,4,0.000,0.048,2173,3616,3779,0,0,0,0,0,0
$GC,2453,-0.72,-194.6,437.3,-13.2,355,2460,0.00,2.12,0.00,0.000,6,0.000,0.031,2173,2197,3779,0,0,0,0,0,0
$GC,2780,-0.72,-194.6,481.7,-12.9,386,2784,0.00,2.17,0.00,0.000,4,0.000,0.048,2164,3609,3777,0,0,0,0,0,0
$GC,2842,-0.73,-194.6,489.5,-12.1,391,2846,0.00,2.08,0.00,0.000,6,0.000,0.033,2164,2198,3779,0,0,0,0,0,0
$STATE,2933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2933,begin apogee
$GC,2937,-0.16,0.0,501.3,12.7,399,3091,0.62,0.00,147.25,0.848,6,0.129,0.000,2370,1975,2983,0,0,0,0,0,0
$STATE,3092,end apogee,CONTROL_FINISHED_OK
$STATE,3092,begin climb
$GC,3093,0.87,194.6,505.5,0.0,412,3254,0.93,2.20,152.75,0.826,4,0.060,0.041,2719,614,2189,0,0,0,0,0,0
$GC,3278,0.75,194.6,481.8,21.1,427,3283,0.20,2.17,0.00,0.000,6,0.173,0.036,2668,2008,2186,0,0,0,0,0,0
$GC,3604,0.67,194.6,421.7,17.4,457,3605,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2009,2181,0,0,0,0,0,0
$GC,3923,0.60,194.6,365.2,17.5,487,3927,0.17,2.12,0.00,0.000,4,0.174,0.046,2616,3407,2178,0,0,0,0,0,0
$GC,3976,0.57,194.6,356.5,15.0,491,3983,0.00,2.12,0.00,0.000,6,0.000,0.034,2624,2017,2177,0,0,0,0,0,0
$GC,4304,0.57,214.3,312.2,12.9,522,4325,0.00,2.17,14.60,0.700,4,0.000,0.047,2625,3404,2109,0,0,0,0,0,0
$GC,4349,0.56,230.9,306.1,13.1,526,4373,0.00,2.12,14.18,0.687,6,0.000,0.034,2635,1988,2043,0,0,0,0,0,0
$GC,4695,0.53,230.9,257.9,14.2,585,4703,0.15,0.00,0.00,0.000,6,0.171,0.000,2595,1988,2037,0,0,0,0,0,0
$GC,5024,0.66,315.2,221.9,9.8,646,5101,0.12,2.33,64.68,0.678,4,0.089,0.043,2651,3414,1695,0,0,0,0,0,0
$GC,5118,0.64,315.2,208.2,18.2,660,5127,0.00,2.22,0.00,0.000,6,0.000,0.034,2662,1999,1693,0,0,0,0,0,0
$GC,5457,0.62,315.2,145.6,18.0,721,5467,0.15,2.17,0.00,0.000,4,0.166,0.044,2632,596,1689,0,0,0,0,0,0
$GC,5578,0.71,357.6,129.0,11.9,742,5618,0.00,2.15,32.00,0.604,6,0.000,0.034,2632,2002,1523,0,0,0,0,0,0
$GC,5943,0.89,451.2,84.4,9.4,807,6021,0.22,2.20,70.32,0.571,4,0.062,0.039,2738,3411,1145,0,0,0,0,0,0
$GC,6030,0.84,451.2,66.6,24.1,818,6039,0.17,2.22,0.00,0.000,6,0.146,0.034,2696,2002,1143,0,0,0,0,0,0
$GC,6364,0.89,465.0,14.8,13.2,879,6381,0.00,2.17,11.23,0.480,4,0.000,0.044,2705,589,1087,0,0,0,0,0,0
$STATE,6462,end climb,SURFACE_DEPTH_REACHED
$STATE,6462,begin surface coast
$FINISH,0.4,1.021985
$STATE,6492,end surface coast,CONTROL_FINISHED_OK
$STATE,6492,begin surface
$SM_CCo,6574,0.00,0.000,0,0,1083,465.82
$SM_GC,1.21,6.47,0.00,0.00,0.039,0.000,0.000,200,2205,1083,-6.85,0.14,465.82
$IRIDIUM_FIX,2349.77,12626.26,250910,111137
$TT8_MAMPS,0.027713
$HUMID,47.08
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.5,6.033
$10V_AH,10.3,4.939
$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,17.525,61.275,507.000,0.000,0.000,30.636,47.497,174.138,0.000,0.000,16.209,2161.542,1581.428,496.604,2596.720,116.474,0.000,1351.096,0.000,1400.683,0.000,0.543,0.000
$DEVICE_MAMPS,243.270,49.725,847.620,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,606.980,1370.764,1651.412,0.000,0.000,0.000,2257.732,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331328
$DATA_FILE_SIZE,63762,901
$CAP_FILE_SIZE,93827,0
$CFSIZE,260165632,248885248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,185.5,1
$GPS,250910,151949,2355.796,12611.218,13,1.3,30,-3.6