version: 66.08
glider: 181
mission: 4
dive: 6
start: 9 24 110 17 14 30
data:
$ID,181
$MISSION,4
$DIVE,6
$N_DIVES,8
$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,-37803.707
$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,39
$R_STBD_OVSHOOT,36
$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,10.0
$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
$GPS1,240910,170207,2403.816,12616.248,39,0.9,39,-3.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-65.8
$GPS2,240910,171402,2403.895,12615.873,10,1.9,10,-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,168.2,96331,-20.0,-13.889
$D_GRID,2197
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,19,-0.87,-194.6,0.0,0.0,0,83,0.00,0.00,-60.65,0.000,2,0.000,0.000,197,2107,2909,0,0,0,0,0,0
$GC,85,-0.87,-194.6,3.2,-6.2,8,118,8.12,2.12,-17.80,0.000,4,0.243,0.050,2163,686,3780,0,0,0,0,0,0
$GC,229,-0.77,-194.6,47.7,-30.8,32,238,0.15,2.15,0.00,0.000,6,0.161,0.037,2199,2094,3780,0,0,0,0,0,0
$GC,561,-0.73,-194.6,123.1,-18.1,93,569,0.00,2.17,0.00,0.000,4,0.000,0.044,2190,3511,3781,0,0,0,0,0,0
$GC,658,-0.73,-194.6,139.5,-15.6,110,666,0.00,2.12,0.00,0.000,6,0.000,0.031,2189,2096,3781,0,0,0,0,0,0
$GC,993,-0.71,-194.6,201.5,-18.4,171,1001,0.12,2.17,0.00,0.000,4,0.168,0.044,2213,3518,3781,0,0,0,0,0,0
$GC,1168,-0.74,-194.6,224.8,-12.4,203,1176,0.00,2.10,0.00,0.000,6,0.000,0.031,2214,2090,3782,0,0,0,0,0,0
$GC,1498,-0.75,-194.6,271.4,-14.4,264,1506,0.00,2.17,0.00,0.000,4,0.000,0.044,2202,3501,3781,0,0,0,0,0,0
$GC,1597,-0.79,-194.6,284.0,-12.6,282,1605,0.00,2.10,0.00,0.000,6,0.000,0.031,2203,2096,3780,0,0,0,0,0,0
$GC,1931,-0.80,-194.6,329.4,-13.7,324,1935,0.00,2.15,0.00,0.000,4,0.000,0.045,2192,3507,3779,0,0,0,0,0,0
$GC,1982,-0.84,-194.6,336.5,-12.9,328,1986,0.00,2.08,0.00,0.000,6,0.000,0.031,2194,2091,3779,0,0,0,0,0,0
$GC,2307,-0.85,-194.6,380.4,-12.9,358,2311,0.00,2.17,0.00,0.000,4,0.000,0.045,2183,3514,3778,0,0,0,0,0,0
$GC,2437,-0.87,-194.6,395.4,-11.7,369,2441,0.00,2.08,0.00,0.000,6,0.000,0.031,2183,2096,3775,0,0,0,0,0,0
$GC,2763,-0.88,-194.6,436.1,-11.9,399,2767,0.00,2.17,0.00,0.000,4,0.000,0.047,2173,3517,3775,0,0,0,0,0,0
$GC,2861,-0.91,-194.6,448.3,-11.7,407,2869,0.00,2.12,0.00,0.000,6,0.000,0.032,2173,2101,3775,0,0,0,0,0,0
$GC,3187,-0.92,-194.6,489.2,-12.2,438,3191,0.00,2.12,0.00,0.000,4,0.000,0.047,2163,3506,3773,0,0,0,0,0,0
$STATE,3279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3279,begin apogee
$GC,3285,-0.16,0.0,500.4,11.3,446,3442,0.70,0.00,145.93,0.838,6,0.122,0.000,2397,2098,2982,0,0,0,0,0,0
$STATE,3443,end apogee,CONTROL_FINISHED_OK
$STATE,3443,begin climb
$GC,3444,0.87,194.6,505.1,0.0,459,3605,0.88,2.33,152.02,0.818,4,0.036,0.044,2749,3499,2189,0,0,0,0,0,0
$GC,3665,0.71,194.6,468.6,26.4,478,3671,0.30,2.15,0.00,0.000,6,0.187,0.034,2683,2104,2184,0,0,0,0,0,0
$GC,3991,0.63,194.6,406.5,16.8,508,3995,0.00,2.12,0.00,0.000,4,0.000,0.042,2691,693,2180,0,0,0,0,0,0
$GC,4066,0.55,194.6,392.9,18.0,514,4076,0.20,2.17,0.00,0.000,6,0.155,0.039,2631,2096,2179,0,0,0,0,0,0
$GC,4393,0.56,224.9,350.6,12.4,545,4423,0.00,0.00,23.00,0.734,6,0.000,0.000,2631,2096,2066,0,0,0,0,0,0
$GC,4742,0.56,240.0,303.3,13.2,578,4759,0.00,2.15,12.52,0.677,4,0.000,0.041,2639,691,2006,0,0,0,0,0,0
$GC,4830,0.56,240.0,291.5,13.9,591,4837,0.00,2.15,0.00,0.000,6,0.000,0.038,2639,2101,2004,0,0,0,0,0,0
$GC,5160,0.55,241.3,244.0,13.8,652,5168,0.00,2.17,0.00,0.000,4,0.000,0.043,2650,691,2000,0,0,0,0,0,0
$GC,5217,0.57,258.3,235.9,13.1,662,5240,0.00,2.17,14.95,0.652,6,0.000,0.039,2650,2103,1930,0,0,0,0,0,0
$GC,5567,0.56,258.3,186.6,13.9,725,5574,0.00,2.15,0.00,0.000,4,0.000,0.043,2666,686,1926,0,0,0,0,0,0
$GC,5607,0.56,258.3,180.5,15.0,732,5616,0.08,2.17,0.00,0.000,6,0.148,0.038,2636,2099,1926,0,0,0,0,0,0
$GC,5941,0.58,270.1,140.2,13.3,793,5958,0.00,2.20,10.32,0.564,4,0.000,0.046,2636,3519,1881,0,0,0,0,0,0
$GC,5983,0.60,274.3,134.6,13.7,799,5994,0.00,2.17,4.75,0.447,6,0.000,0.034,2644,2093,1864,0,0,0,0,0,0
$GC,6319,0.69,335.9,92.1,10.9,860,6373,0.00,2.17,47.30,0.574,4,0.000,0.042,2655,696,1612,0,0,0,0,0,0
$GC,6468,0.82,409.9,75.9,10.3,884,6531,0.12,2.17,56.05,0.550,6,0.047,0.036,2726,2099,1311,0,0,0,0,0,0
$GC,6854,0.82,409.9,15.6,15.2,952,6863,0.00,2.20,0.00,0.000,4,0.000,0.044,2726,3514,1303,0,0,0,0,0,0
$GC,6897,0.84,409.9,8.4,16.5,959,6906,0.00,2.17,0.00,0.000,6,0.000,0.034,2737,2097,1303,0,0,0,0,0,0
$STATE,6934,end climb,SURFACE_DEPTH_REACHED
$STATE,6934,begin surface coast
$FINISH,0.3,1.021852
$STATE,6953,end surface coast,CONTROL_FINISHED_OK
$STATE,6953,begin surface
$SM_CCo,7031,0.00,0.000,0,0,1298,412.59
$SM_GC,1.06,6.62,0.00,0.00,0.044,0.000,0.000,195,2095,1298,-6.94,-0.14,412.59
$IRIDIUM_FIX,2354.48,12619.16,240910,171718
$TT8_MAMPS,0.027713
$HUMID,48.85
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,24.5,4.898
$10V_AH,10.3,3.349
$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,17.300,69.000,466.850,0.000,0.000,73.387,99.621,273.127,0.500,0.000,13.365,2342.531,1814.401,476.701,2992.745,126.106,0.000,1371.280,0.000,1504.063,0.000,0.544,0.000
$DEVICE_MAMPS,243.270,49.725,838.440,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,653.646,1473.027,1782.542,0.000,0.000,0.000,2502.606,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331276
$DATA_FILE_SIZE,66959,968
$CAP_FILE_SIZE,103204,0
$CFSIZE,260165632,249573376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183,304.4,1
$GPS,240910,191227,2403.285,12615.232,11,1.8,12,-3.6