version: 66.09
glider: 181
mission: 5
dive: 5
start: 4 19 111 20 14 51
data:
$ID,181
$MISSION,5
$DIVE,5
$N_DIVES,6
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,50
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51561
$NAV_MODE,0
$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,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-39097.984
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2415
$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,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3000
$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,-59.924549
$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,3
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_UPLOADMAX,40000.0
$TM_STARTS,8.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,10.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,3.0
$LA_XMITPROFILE,0.0
$LA_UPLOADMAX,25000.0
$LA_STARTS,8.0
$GPS1,190411,201001,4744.373,-12224.422,42,1.4,42,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-67.6
$GPS2,190411,201419,4744.378,-12224.398,12,1.1,23,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$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,186.5,1790,-17.5,-10.000
$D_GRID,175
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.73,-146.6,0.0,0.0,0,126,0.00,0.00,-101.00,0.000,2,0.000,0.000,215,2309,3453,0,0,0,0,0,0
$GC,129,-0.73,-146.6,3.5,-4.5,14,147,8.35,2.28,-2.97,0.000,4,0.262,0.071,2156,3704,3600,0,0,0,0,0,0
$GC,229,-0.19,-146.6,31.4,-21.2,31,238,0.65,2.28,0.00,0.000,6,0.167,0.047,2348,2298,3601,0,0,0,0,0,0
$GC,370,-0.54,-146.6,41.2,-5.7,56,379,0.28,2.25,0.00,0.000,4,0.060,0.050,2227,888,3601,0,0,0,0,0,0
$GC,430,-0.40,-146.6,49.3,-15.2,66,438,0.20,2.28,0.00,0.000,6,0.150,0.057,2282,2273,3601,0,0,0,0,0,0
$GC,570,-0.40,-146.6,65.3,-10.7,91,578,0.00,2.35,0.00,0.000,4,0.000,0.063,2275,3708,3602,0,0,0,0,0,0
$GC,670,-0.51,-146.6,76.2,-10.3,109,678,0.00,2.28,0.00,0.000,6,0.000,0.046,2275,2291,3601,0,0,0,0,0,0
$GC,809,-0.56,-146.6,91.8,-12.5,134,818,0.12,2.38,0.00,0.000,4,0.093,0.063,2206,3715,3602,0,0,0,0,0,0
$GC,886,-0.38,-146.6,104.1,-16.9,147,894,0.25,2.25,0.00,0.000,6,0.148,0.047,2284,2308,3602,0,0,0,0,0,0
$GC,1026,-0.47,-146.6,120.8,-11.0,172,1034,0.00,2.25,0.00,0.000,4,0.000,0.054,2285,888,3602,0,0,0,0,0,0
$GC,1053,-0.55,-146.6,124.2,-11.2,176,1062,0.10,2.33,0.00,0.000,6,0.065,0.054,2226,2320,3602,0,0,0,0,0,0
$GC,1194,-0.42,-146.6,142.7,-13.3,201,1203,0.20,2.28,0.00,0.000,4,0.165,0.063,2274,3708,3602,0,0,0,0,0,0
$STATE,1262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1262,begin apogee
$GC,1270,-0.16,0.0,150.1,9.6,213,1382,0.28,0.00,107.53,0.633,4,0.138,0.000,2364,2099,3003,0,0,0,0,0,0
$STATE,1395,end apogee,CONTROL_FINISHED_OK
$STATE,1395,begin climb
$GC,1397,0.73,146.6,156.2,0.0,228,1522,0.82,2.35,111.43,0.599,4,0.101,0.051,2653,688,2398,0,0,0,0,0,0
$GC,1716,0.36,146.6,119.8,14.7,280,1725,0.38,2.33,0.00,0.000,6,0.153,0.047,2536,2106,2393,0,0,0,0,0,0
$GC,1857,0.50,176.0,106.9,8.7,305,1889,0.12,2.33,22.38,0.594,4,0.096,0.049,2598,691,2279,0,0,0,0,0,0
$GC,2001,0.50,176.0,91.2,10.8,329,2009,0.00,2.33,0.00,0.000,6,0.000,0.047,2598,2115,2277,0,0,0,0,0,0
$GC,2139,0.37,176.0,76.3,11.1,354,2147,0.22,2.28,0.00,0.000,4,0.151,0.054,2535,3509,2275,0,0,0,0,0,0
$GC,2183,0.51,176.0,71.8,10.1,361,2192,0.08,2.25,0.00,0.000,6,0.073,0.043,2586,2109,2275,0,0,0,0,0,0
$GC,2324,0.51,180.3,57.7,9.8,386,2333,0.00,0.00,3.47,0.409,6,0.000,0.000,2582,2109,2266,0,0,0,0,0,0
$GC,2464,0.53,190.8,43.9,9.5,411,2481,0.00,2.25,10.00,0.572,4,0.000,0.053,2586,3515,2222,0,0,0,0,0,0
$GC,2496,0.53,195.8,40.7,9.8,415,2512,0.00,2.22,5.72,0.445,6,0.000,0.043,2597,2125,2200,0,0,0,0,0,0
$GC,2644,0.55,211.8,26.3,9.3,441,2667,0.00,2.33,13.80,0.540,4,0.000,0.052,2607,691,2138,0,0,0,0,0,0
$GC,2718,0.67,240.3,19.5,8.7,453,2749,0.00,2.30,22.15,0.527,6,0.000,0.047,2607,2110,2020,0,0,0,0,0,0
$GC,2882,0.81,294.9,6.2,7.5,481,2921,0.20,0.00,35.90,0.529,2,0.078,0.000,2690,2110,1828,0,0,0,0,0,0
$STATE,2922,end climb,SURFACE_DEPTH_REACHED
$STATE,2922,begin surface coast
$FINISH,-0.3,1.011204
$STATE,2956,end surface coast,CONTROL_FINISHED_OK
$STATE,2956,begin surface
$SM_CCo,2984,100.55,0.069,0,0,962,500.17
$SM_GC,0.48,0.00,0.00,100.55,0.000,0.000,0.069,212,2308,962,-6.89,0.23,500.17,0,0,0,0,0,0
$IRIDIUM_FIX,4726.11,-12210.84,190411,202012
$TT8_MAMPS,0.030709,0.030709
$HUMID,38.97
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,18.80
$XPDR_PINGS,0
$24V_AH,24.4,0.619
$10V_AH,10.2,0.945
$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,19.100,51.000,332.375,100.550,0.000,0.000,0.000,0.000,0.000,0.000,27.554,1120.004,10.062,454.845,1484.306,110.915,0.000,1011.055,0.000,714.261,0.000,0.536,0.000
$DEVICE_MAMPS,261.630,71.145,633.420,68.850,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,342.362,748.784,1380.005,0.000,0.000,0.000,2982.897,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,100.000,0.000,0.000,0.000
$MEM,321404
$DATA_FILE_SIZE,30195,492
$CAP_FILE_SIZE,77268,0
$CFSIZE,260165632,251330560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190411,210708,4744.048,-12224.514,12,1.6,12,18.2