version: 66.08
glider: 181
mission: 4
dive: 17
start: 9 25 110 15 25 41
data:
$ID,181
$MISSION,4
$DIVE,17
$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,-37817.523
$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,35
$R_STBD_OVSHOOT,40
$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,32.0
$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
$GPS1,250910,151949,2355.796,12611.218,13,1.3,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.6
$GPS2,250910,152513,2355.788,12611.193,9,1.7,9,-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,186.3,80652,-20.0,-13.889
$D_GRID,3117
$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,-194.6,0.0,0.0,0,90,0.00,0.00,-68.78,0.000,2,0.000,0.000,200,2205,2952,0,0,0,0,0,0
$GC,93,-0.87,-194.6,3.4,-6.5,9,126,7.88,2.15,-17.00,0.000,4,0.239,0.048,2137,772,3777,0,0,0,0,0,0
$GC,261,-0.74,-194.6,65.0,-31.9,38,270,0.17,2.17,0.00,0.000,6,0.164,0.037,2179,2191,3778,0,0,0,0,0,0
$GC,595,-0.67,-194.6,148.7,-23.5,99,605,0.10,2.20,0.00,0.000,4,0.194,0.045,2194,3602,3779,0,0,0,0,0,0
$GC,754,-0.67,-194.6,176.2,-14.0,128,762,0.00,2.12,0.00,0.000,6,0.000,0.030,2194,2188,3780,0,0,0,0,0,0
$GC,1088,-0.64,-194.6,230.8,-15.8,189,1095,0.00,2.17,0.00,0.000,4,0.000,0.046,2185,3612,3780,0,0,0,0,0,0
$GC,1124,-0.62,-194.6,236.6,-16.0,195,1132,0.15,2.10,0.00,0.000,6,0.150,0.031,2226,2192,3780,0,0,0,0,0,0
$GC,1454,-0.64,-194.6,280.9,-13.5,256,1462,0.00,2.20,0.00,0.000,4,0.000,0.047,2216,3604,3778,0,0,0,0,0,0
$GC,1522,-0.68,-194.6,289.5,-12.2,268,1530,0.00,2.10,0.00,0.000,6,0.000,0.031,2216,2206,3780,0,0,0,0,0,0
$GC,1850,-0.71,-194.6,333.5,-12.4,306,1854,0.00,2.17,0.00,0.000,4,0.000,0.047,2206,3617,3779,0,0,0,0,0,0
$GC,1892,-0.74,-194.6,339.1,-11.9,309,1899,0.00,2.12,0.00,0.000,6,0.000,0.031,2206,2183,3779,0,0,0,0,0,0
$GC,2218,-0.76,-194.6,380.9,-12.6,340,2222,0.00,2.20,0.00,0.000,4,0.000,0.048,2196,3612,3781,0,0,0,0,0,0
$GC,2346,-0.79,-194.6,396.0,-11.5,351,2350,0.00,2.08,0.00,0.000,6,0.000,0.032,2196,2196,3777,0,0,0,0,0,0
$GC,2673,-0.80,-194.6,436.9,-11.9,381,2677,0.00,2.20,0.00,0.000,4,0.000,0.049,2188,3619,3776,0,0,0,0,0,0
$GC,2756,-0.83,-194.6,446.6,-10.8,388,2760,0.00,2.08,0.00,0.000,6,0.000,0.031,2188,2198,3775,0,0,0,0,0,0
$GC,3082,-0.85,-194.6,486.2,-12.0,418,3086,0.12,2.20,0.00,0.000,4,0.086,0.047,2114,3617,3774,0,0,0,0,0,0
$GC,3130,-0.82,-194.6,494.1,-16.4,422,3135,0.17,2.10,0.00,0.000,6,0.163,0.031,2162,2196,3773,0,0,0,0,0,0
$STATE,3168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3168,begin apogee
$GC,3172,-0.16,0.0,500.4,16.7,425,3325,0.62,0.00,146.18,0.851,6,0.129,0.000,2370,1989,2985,0,0,0,0,0,0
$STATE,3326,end apogee,CONTROL_FINISHED_OK
$STATE,3326,begin climb
$GC,3327,0.87,194.6,508.3,0.0,438,3487,0.93,2.22,152.55,0.829,4,0.060,0.042,2719,614,2190,0,0,0,0,0,0
$GC,3528,0.76,194.6,483.6,21.5,455,3533,0.20,2.17,0.00,0.000,6,0.171,0.036,2668,2015,2187,0,0,0,0,0,0
$GC,3854,0.69,194.6,421.7,18.4,485,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2015,2182,0,0,0,0,0,0
$GC,4173,0.62,194.6,362.6,18.4,515,4178,0.15,2.15,0.00,0.000,4,0.184,0.045,2629,3415,2180,0,0,0,0,0,0
$GC,4216,0.58,194.6,354.4,16.8,518,4225,0.00,2.12,0.00,0.000,6,0.000,0.034,2637,2024,2179,0,0,0,0,0,0
$GC,4543,0.54,194.6,303.6,15.7,549,4545,0.15,0.00,0.00,0.000,6,0.173,0.000,2598,2022,2177,0,0,0,0,0,0
$GC,4858,0.64,274.1,268.4,10.1,606,4921,0.10,0.00,59.92,0.711,6,0.103,0.000,2643,2022,1865,0,0,0,0,0,0
$GC,5242,0.62,274.1,208.7,15.0,675,5250,0.00,2.17,0.00,0.000,4,0.000,0.044,2654,595,1858,0,0,0,0,0,0
$GC,5279,0.61,274.1,202.8,16.3,681,5287,0.12,2.12,0.00,0.000,6,0.164,0.035,2624,2003,1858,0,0,0,0,0,0
$GC,5621,0.68,316.8,157.5,11.8,742,5664,0.00,2.25,31.95,0.627,4,0.000,0.044,2621,3411,1693,0,0,0,0,0,0
$GC,5704,0.76,354.5,147.6,12.1,755,5746,0.08,2.17,30.00,0.609,6,0.063,0.034,2679,1999,1536,0,0,0,0,0,0
$GC,6070,0.76,354.5,86.5,14.5,820,6078,0.00,2.17,0.00,0.000,4,0.000,0.044,2689,596,1530,0,0,0,0,0,0
$GC,6142,0.79,354.5,76.4,14.2,832,6150,0.00,2.15,0.00,0.000,6,0.000,0.034,2690,2003,1529,0,0,0,0,0,0
$GC,6473,0.83,377.4,31.0,12.8,893,6498,0.00,2.22,17.25,0.522,4,0.000,0.043,2700,593,1444,0,0,0,0,0,0
$GC,6516,0.89,406.3,25.5,12.5,899,6548,0.00,2.15,23.08,0.519,6,0.000,0.034,2700,2001,1326,0,0,0,0,0,0
$STATE,6694,end climb,SURFACE_DEPTH_REACHED
$STATE,6694,begin surface coast
$FINISH,0.4,1.021973
$STATE,6717,end surface coast,CONTROL_FINISHED_OK
$STATE,6717,begin surface
$SM_CCo,6797,0.00,0.000,0,0,1321,407.69
$SM_GC,1.20,6.45,0.00,0.00,0.038,0.000,0.000,206,2221,1321,-6.83,0.59,407.69
$IRIDIUM_FIX,2349.77,12614.47,250910,131314
$TT8_MAMPS,0.027713
$HUMID,46.88
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,24.80
$XPDR_PINGS,3
$24V_AH,24.5,6.145
$10V_AH,10.3,5.097
$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,17.400,61.000,460.925,0.000,0.000,27.933,15.869,169.522,0.750,0.000,11.911,2249.336,1685.791,463.265,2608.995,120.674,0.000,1325.509,0.000,1438.725,0.000,0.543,0.000
$DEVICE_MAMPS,239.445,51.255,851.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,630.222,1420.908,1696.037,0.000,0.000,0.000,2367.776,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331264
$DATA_FILE_SIZE,67077,934
$CAP_FILE_SIZE,97431,0
$CFSIZE,260165632,248807424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.046,220.9,1
$GPS,250910,172007,2354.613,12610.818,35,1.1,35,-3.6