version: 66.08
glider: 181
mission: 4
dive: 10
start: 9 25 110 1 28 12
data:
$ID,181
$MISSION,4
$DIVE,10
$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,-37808.734
$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,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,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,18.0
$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
$GPS1,250910,012220,2401.612,12613.431,10,1.3,10,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.7
$GPS2,250910,012744,2401.658,12613.282,13,1.6,13,-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,176.2,91744,-20.0,-13.889
$D_GRID,2517
$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,-194.6,0.0,0.0,0,75,0.00,0.00,-53.47,0.000,2,0.000,0.000,198,2107,2851,0,0,0,0,0,0
$GC,77,-0.87,-194.6,3.1,-5.7,7,117,8.02,2.03,-20.38,0.000,4,0.245,0.050,2140,786,3779,0,0,0,0,0,0
$GC,221,-0.73,-194.6,44.9,-34.1,31,230,0.17,2.17,0.00,0.000,6,0.174,0.037,2182,2201,3780,0,0,0,0,0,0
$GC,554,-0.66,-194.6,135.6,-23.1,92,562,0.00,2.15,0.00,0.000,4,0.000,0.044,2173,3597,3781,0,0,0,0,0,0
$GC,712,-0.63,-194.6,169.2,-19.1,120,721,0.12,2.10,0.00,0.000,6,0.137,0.030,2214,2195,3782,0,0,0,0,0,0
$GC,1049,-0.63,-194.6,225.8,-15.6,181,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2192,3782,0,0,0,0,0,0
$GC,1380,-0.63,-194.6,273.0,-13.0,242,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2192,3782,0,0,0,0,0,0
$GC,1714,-0.65,-194.6,318.1,-13.7,292,1718,0.00,2.17,0.00,0.000,4,0.000,0.045,2210,3615,3782,0,0,0,0,0,0
$GC,1789,-0.69,-194.6,328.8,-13.4,298,1798,0.00,2.10,0.00,0.000,6,0.000,0.030,2204,2205,3782,0,0,0,0,0,0
$GC,2117,-0.71,-194.6,372.7,-12.1,329,2121,0.00,2.15,0.00,0.000,4,0.000,0.045,2195,3611,3778,0,0,0,0,0,0
$GC,2181,-0.74,-194.6,380.5,-10.5,334,2190,0.00,2.10,0.00,0.000,6,0.000,0.031,2194,2201,3781,0,0,0,0,0,0
$GC,2509,-0.75,-194.6,418.9,-12.3,365,2513,0.00,2.17,0.00,0.000,4,0.000,0.047,2185,3619,3779,0,0,0,0,0,0
$GC,2626,-0.78,-194.6,432.8,-11.7,375,2630,0.00,2.08,0.00,0.000,6,0.000,0.031,2185,2198,3779,0,0,0,0,0,0
$GC,2952,-0.80,-194.6,472.5,-12.5,405,2956,0.00,2.17,0.00,0.000,4,0.000,0.047,2176,3612,3780,0,0,0,0,0,0
$GC,3104,-0.82,-194.6,491.3,-11.8,418,3112,0.00,2.10,0.00,0.000,6,0.000,0.032,2176,2206,3777,0,0,0,0,0,0
$STATE,3184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3184,begin apogee
$GC,3188,-0.16,0.0,501.2,12.8,426,3343,0.57,0.00,147.45,0.845,6,0.126,0.000,2366,1981,2982,0,0,0,0,0,0
$STATE,3344,end apogee,CONTROL_FINISHED_OK
$STATE,3344,begin climb
$GC,3346,0.87,194.6,506.5,0.0,439,3506,0.93,2.17,152.52,0.821,4,0.065,0.040,2711,617,2189,0,0,0,0,0,0
$GC,3519,0.75,194.6,484.8,22.4,453,3524,0.17,2.20,0.00,0.000,6,0.174,0.035,2669,2008,2188,0,0,0,0,0,0
$GC,3845,0.68,194.6,420.3,18.8,483,3849,0.00,2.15,0.00,0.000,4,0.000,0.045,2669,3408,2182,0,0,0,0,0,0
$GC,3964,0.60,194.6,397.0,17.9,493,3973,0.17,2.12,0.00,0.000,6,0.164,0.033,2625,2021,2180,0,0,0,0,0,0
$GC,4291,0.58,194.6,348.0,14.9,524,4295,0.00,2.15,0.00,0.000,4,0.000,0.044,2634,593,2178,0,0,0,0,0,0
$GC,4353,0.56,194.6,338.7,14.3,529,4357,0.00,2.12,0.00,0.000,6,0.000,0.037,2635,2011,2182,0,0,0,0,0,0
$GC,4678,0.55,216.3,292.7,12.9,564,4701,0.00,2.17,16.33,0.695,4,0.000,0.045,2635,3407,2100,0,0,0,0,0,0
$GC,4821,0.53,216.3,272.4,14.1,589,4830,0.17,2.12,0.00,0.000,6,0.168,0.034,2596,1996,2097,0,0,0,0,0,0
$GC,5151,0.64,289.6,237.4,10.4,650,5214,0.00,2.20,56.25,0.683,4,0.000,0.044,2607,591,1803,0,0,0,0,0,0
$GC,5260,0.78,368.8,226.6,10.1,667,5329,0.20,2.17,62.20,0.661,6,0.070,0.036,2693,2004,1479,0,0,0,0,0,0
$GC,5657,0.74,368.8,148.4,20.6,737,5666,0.00,2.20,0.00,0.000,4,0.000,0.044,2704,596,1472,0,0,0,0,0,0
$GC,5695,0.72,368.8,141.5,17.4,743,5704,0.12,2.17,0.00,0.000,6,0.135,0.036,2663,2005,1471,0,0,0,0,0,0
$GC,6029,0.75,374.6,95.1,13.6,804,6039,0.00,2.17,4.62,0.420,4,0.000,0.044,2672,597,1455,0,0,0,0,0,0
$GC,6076,0.87,433.5,89.6,11.1,811,6131,0.00,2.15,45.67,0.571,6,0.000,0.036,2672,2001,1214,0,0,0,0,0,0
$GC,6455,1.00,491.7,43.9,11.1,878,6510,0.20,2.25,43.92,0.531,4,0.063,0.045,2775,596,977,0,0,0,0,0,0
$GC,6604,0.98,491.7,12.5,21.7,902,6613,0.10,2.17,0.00,0.000,6,0.133,0.033,2743,2011,974,0,0,0,0,0,0
$STATE,6658,end climb,SURFACE_DEPTH_REACHED
$STATE,6658,begin surface coast
$FINISH,0.4,1.001459
$STATE,6676,end surface coast,CONTROL_FINISHED_OK
$STATE,6676,begin surface
$SM_CCo,6755,0.00,0.000,0,0,972,493.30
$SM_GC,1.17,6.62,0.00,0.00,0.040,0.000,0.000,197,2227,972,-6.85,0.76,493.30
$IRIDIUM_FIX,2352.12,12621.06,240910,232344
$TT8_MAMPS,0.027713
$HUMID,47.04
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.00
$XPDR_PINGS,5
$24V_AH,24.5,5.357
$10V_AH,10.3,3.995
$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,17.600,60.775,528.975,0.000,0.000,25.303,21.743,164.273,1.250,0.000,16.329,2190.904,1676.857,503.096,2595.947,118.613,0.000,1384.043,0.000,1440.182,0.000,0.542,0.000
$DEVICE_MAMPS,244.800,50.490,845.325,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,615.266,1390.862,1665.408,0.000,0.000,0.000,2207.242,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331288
$DATA_FILE_SIZE,63809,914
$CAP_FILE_SIZE,96794,0
$CFSIZE,260165632,249298944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,308.6,1
$GPS,250910,032201,2400.798,12613.019,40,1.4,40,-3.6