version: 66.08
glider: 181
mission: 4
dive: 20
start: 9 25 110 21 38 38
data:
$ID,181
$MISSION,4
$DIVE,20
$N_DIVES,30
$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,-37821.293
$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,2300
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,39
$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,38.0
$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
$GPS1,250910,213204,2357.325,12610.088,10,3.5,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-67.5
$GPS2,250910,213810,2357.381,12610.033,9,2.3,28,-3.6
$SPEED_LIMITS,0.241,0.329
$TGT_NAME,WAKE_N
$TGT_LATLONG,2400.000,12609.000
$TGT_RADIUS,2000.000
$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,353.6,5156,-20.0,-13.889
$D_GRID,1779
$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,-194.6,0.0,0.0,0,83,0.00,0.00,-61.80,0.000,2,0.000,0.000,201,2308,2819,0,0,0,0,0,0
$GC,86,-0.87,-194.6,3.1,-5.5,8,126,7.88,2.20,-21.10,0.000,4,0.240,0.057,2133,3708,3779,0,0,0,0,0,0
$GC,177,-0.74,-194.6,32.0,-35.5,22,185,0.17,2.15,0.00,0.000,6,0.166,0.033,2177,2308,3780,0,0,0,0,0,0
$GC,509,-0.67,-194.6,126.3,-21.3,83,517,0.12,2.17,0.00,0.000,4,0.177,0.044,2202,3698,3782,0,0,0,0,0,0
$GC,618,-0.67,-194.6,145.3,-16.5,102,626,0.00,2.12,0.00,0.000,6,0.000,0.029,2201,2284,3782,0,0,0,0,0,0
$GC,957,-0.64,-194.6,209.9,-19.9,163,964,0.00,2.05,0.00,0.000,4,0.000,0.035,2201,891,3783,0,0,0,0,0,0
$GC,1008,-0.64,-194.6,219.1,-16.6,172,1016,0.00,2.15,0.00,0.000,6,0.000,0.037,2192,2297,3783,0,0,0,0,0,0
$GC,1337,-0.63,-194.6,274.9,-16.0,233,1344,0.12,0.00,0.00,0.000,6,0.173,0.000,2224,2297,3782,0,0,0,0,0,0
$GC,1669,-0.66,-194.6,315.0,-11.3,282,1673,0.00,2.15,0.00,0.000,4,0.000,0.047,2215,3716,3782,0,0,0,0,0,0
$GC,1701,-0.70,-194.6,318.9,-11.0,284,1710,0.00,2.12,0.00,0.000,6,0.000,0.031,2215,2298,3782,0,0,0,0,0,0
$GC,2028,-0.73,-194.6,356.1,-10.5,315,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2297,3781,0,0,0,0,0,0
$GC,2347,-0.76,-194.6,392.9,-11.4,345,2352,0.12,2.17,0.00,0.000,4,0.083,0.049,2139,3709,3780,0,0,0,0,0,0
$GC,2400,-0.74,-194.6,401.3,-16.7,349,2409,0.12,2.10,0.00,0.000,6,0.141,0.031,2179,2305,3780,0,0,0,0,0,0
$GC,2725,-0.74,-194.6,447.7,-14.0,380,2729,0.00,2.10,0.00,0.000,4,0.000,0.038,2179,886,3778,0,0,0,0,0,0
$GC,2753,-0.74,-194.6,451.5,-14.1,382,2757,0.00,2.15,0.00,0.000,6,0.000,0.040,2174,2307,3778,0,0,0,0,0,0
$GC,3079,-0.74,-194.6,493.9,-12.4,412,3083,0.00,2.12,0.00,0.000,4,0.000,0.050,2163,3707,3776,0,0,0,0,0,0
$STATE,3127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3127,begin apogee
$GC,3133,-0.16,0.0,500.0,12.1,416,3289,0.62,0.00,147.35,0.856,6,0.127,0.000,2371,1990,2979,0,0,0,0,0,0
$STATE,3290,end apogee,CONTROL_FINISHED_OK
$STATE,3290,begin climb
$GC,3292,0.87,194.6,504.4,0.0,429,3452,0.90,2.28,152.30,0.832,4,0.051,0.042,2720,604,2188,0,0,0,0,0,0
$GC,3528,0.76,194.6,466.5,21.0,449,3537,0.17,2.22,0.00,0.000,6,0.164,0.040,2669,2003,2185,0,0,0,0,0,0
$GC,3853,0.68,194.6,405.9,19.0,480,3857,0.00,2.17,0.00,0.000,4,0.000,0.045,2669,3421,2180,0,0,0,0,0,0
$GC,3885,0.60,194.6,399.2,20.0,482,3895,0.17,2.17,0.00,0.000,6,0.165,0.034,2626,2004,2179,0,0,0,0,0,0
$GC,4212,0.56,194.6,350.7,14.2,513,4216,0.00,2.20,0.00,0.000,4,0.000,0.047,2631,3412,2176,0,0,0,0,0,0
$GC,4250,0.52,194.6,344.4,16.6,516,4255,0.15,2.12,0.00,0.000,6,0.171,0.033,2596,1988,2175,0,0,0,0,0,0
$GC,4575,0.58,244.0,306.2,11.5,546,4621,0.00,2.25,37.03,0.735,4,0.000,0.044,2596,3412,1987,0,0,0,0,0,0
$GC,4634,0.66,296.8,299.5,11.4,551,4682,0.00,2.15,41.80,0.717,6,0.000,0.034,2604,2001,1770,0,0,0,0,0,0
$GC,5005,0.71,320.5,251.1,12.8,618,5035,0.15,2.22,18.65,0.669,4,0.080,0.044,2683,596,1676,0,0,0,0,0,0
$GC,5134,0.68,320.5,227.5,19.3,640,5143,0.10,2.17,0.00,0.000,6,0.139,0.035,2650,2002,1674,0,0,0,0,0,0
$GC,5473,0.67,320.5,163.7,18.3,701,5481,0.00,2.15,0.00,0.000,4,0.000,0.044,2660,591,1668,0,0,0,0,0,0
$GC,5499,0.65,320.5,158.5,18.5,705,5507,0.00,2.12,0.00,0.000,6,0.000,0.035,2659,2004,1671,0,0,0,0,0,0
$GC,5829,0.64,320.5,107.6,15.1,766,5838,0.00,2.17,0.00,0.000,4,0.000,0.043,2670,593,1671,0,0,0,0,0,0
$GC,5884,0.64,320.5,99.4,14.5,775,5893,0.10,2.15,0.00,0.000,6,0.135,0.035,2636,2004,1670,0,0,0,0,0,0
$GC,6217,0.82,412.6,66.0,9.5,836,6295,0.15,0.00,69.07,0.567,6,0.076,0.000,2712,2004,1299,0,0,0,0,0,0
$GC,6619,0.84,412.6,3.8,14.7,906,6627,0.00,2.17,0.00,0.000,4,0.000,0.040,2722,592,1294,0,0,0,0,0,0
$STATE,6634,end climb,SURFACE_DEPTH_REACHED
$STATE,6634,begin surface coast
$FINISH,0.4,1.022011
$STATE,6658,end surface coast,CONTROL_FINISHED_OK
$STATE,6658,begin surface
$SM_CCo,6740,0.00,0.000,0,0,1290,414.80
$SM_GC,1.26,6.53,0.00,0.00,0.039,0.000,0.000,197,2293,1290,-6.86,-0.20,414.80
$IRIDIUM_FIX,2345.05,12614.47,250910,191906
$TT8_MAMPS,0.027713
$HUMID,46.06
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.5,6.498
$10V_AH,10.3,5.580
$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,17.600,65.775,466.200,0.000,0.000,30.775,36.125,171.598,0.000,0.000,31.523,2188.784,1699.406,485.588,2616.655,121.377,0.000,1334.597,0.000,1401.634,0.000,0.542,0.000
$DEVICE_MAMPS,240.210,56.610,856.035,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,615.242,1388.535,1695.992,0.000,0.000,0.000,2326.530,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331440
$DATA_FILE_SIZE,63756,912
$CAP_FILE_SIZE,94550,0
$CFSIZE,260165632,248598528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.136,324.0,1
$GPS,250910,233204,2358.842,12609.642,12,2.6,31,-3.6