version: 66.08
glider: 181
mission: 4
dive: 23
start: 9 26 110 3 17 48
data:
$ID,181
$MISSION,4
$DIVE,23
$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,160
$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,690
$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,-37825.059
$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,43
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3298
$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,44.0
$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
$GPS1,260910,031207,2359.866,12608.387,26,1.5,26,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-61.5
$GPS2,260910,031720,2359.893,12608.408,13,1.4,13,-3.6
$SPEED_LIMITS,0.241,0.296
$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,89.4,1021,-27.7,-13.889
$D_GRID,1773
$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,-0.99,-102.8,0.0,0.0,0,113,0.00,0.00,-90.93,0.000,2,0.000,0.000,206,2336,2975,0,0,0,0,0,0
$GC,115,-1.06,-155.7,3.5,-6.9,12,149,7.68,2.20,-19.20,0.000,4,0.243,0.050,2075,880,3936,0,0,0,0,0,0
$GC,174,-0.89,-155.7,26.0,-46.9,20,183,0.22,2.17,0.00,0.000,6,0.196,0.037,2128,2285,3937,0,0,0,0,0,0
$GC,505,-0.84,-155.7,155.3,-28.2,81,512,0.00,2.17,0.00,0.000,4,0.000,0.043,2119,3718,3939,0,0,0,0,0,0
$GC,727,-0.84,-155.7,207.8,-22.7,121,734,0.12,2.10,0.00,0.000,6,0.174,0.029,2149,2295,3939,0,0,0,0,0,0
$GC,1055,-0.86,-155.7,280.7,-23.4,182,1063,0.00,2.20,0.00,0.000,4,0.000,0.044,2140,3713,3939,0,0,0,0,0,0
$GC,1088,-0.87,-155.7,288.1,-24.1,187,1096,0.00,2.10,0.00,0.000,6,0.000,0.030,2140,2292,3939,0,0,0,0,0,0
$GC,1417,-0.90,-155.7,355.3,-19.0,223,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2289,3941,0,0,0,0,0,0
$GC,1736,-0.94,-155.7,417.8,-17.6,253,1740,0.00,2.17,0.00,0.000,4,0.000,0.046,2130,3708,3938,0,0,0,0,0,0
$GC,1831,-1.00,-155.7,433.7,-15.8,261,1835,0.00,2.08,0.00,0.000,6,0.000,0.029,2130,2288,3937,0,0,0,0,0,0
$GC,2157,-1.04,-155.7,492.0,-17.5,291,2161,0.12,2.17,0.00,0.000,4,0.090,0.046,2057,3708,3936,0,0,0,0,0,0
$GC,2177,-1.06,-155.7,496.5,-19.4,292,2186,0.00,2.10,0.00,0.000,6,0.000,0.031,2057,2301,3936,0,0,0,0,0,0
$STATE,2205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2205,begin apogee
$GC,2209,-0.16,0.0,502.0,20.9,295,2333,1.00,0.00,117.97,0.851,6,0.157,0.000,2366,1977,3297,0,0,0,0,0,0
$STATE,2334,end apogee,CONTROL_FINISHED_OK
$STATE,2334,begin climb
$GC,2336,1.06,155.7,508.7,0.0,305,2466,1.05,2.38,120.80,0.835,4,0.040,0.041,2777,3417,2663,0,0,0,0,0,0
$GC,2540,0.91,155.7,500.2,18.2,323,2545,0.28,2.17,0.00,0.000,6,0.210,0.031,2724,2003,2659,0,0,0,0,0,0
$GC,2866,0.82,155.7,449.4,14.7,353,2871,0.12,2.15,0.00,0.000,4,0.207,0.043,2694,3411,2655,0,0,0,0,0,0
$GC,2920,0.74,155.7,441.6,13.9,357,2928,0.12,2.15,0.00,0.000,6,0.183,0.032,2669,2000,2654,0,0,0,0,0,0
$GC,3246,0.74,184.1,403.1,11.3,388,3274,0.00,2.22,21.62,0.773,4,0.000,0.044,2668,3395,2547,0,0,0,0,0,0
$GC,3392,0.70,184.1,383.3,14.6,401,3396,0.00,2.10,0.00,0.000,6,0.000,0.032,2677,1992,2543,0,0,0,0,0,0
$GC,3718,0.68,192.4,340.9,13.1,431,3733,0.12,2.25,7.15,0.642,4,0.195,0.044,2642,3408,2512,0,0,0,0,0,0
$GC,3781,0.66,192.4,332.0,14.1,436,3790,0.00,2.15,0.00,0.000,6,0.000,0.032,2651,2001,2511,0,0,0,0,0,0
$GC,4108,0.71,228.1,295.5,10.7,470,4143,0.00,0.00,27.98,0.731,6,0.000,0.000,2651,1999,2370,0,0,0,0,0,0
$GC,4466,0.74,243.7,249.4,12.5,535,4488,0.00,2.20,13.25,0.665,4,0.000,0.044,2651,3410,2305,0,0,0,0,0,0
$GC,4531,0.74,243.7,240.1,15.0,546,4539,0.00,2.17,0.00,0.000,6,0.000,0.033,2662,1993,2303,0,0,0,0,0,0
$GC,4864,0.76,248.4,192.8,13.5,607,4880,0.00,2.25,4.68,0.483,4,0.000,0.044,2661,3411,2285,0,0,0,0,0,0
$GC,4903,0.78,248.4,187.2,14.8,613,4910,0.00,2.12,0.00,0.000,6,0.000,0.032,2671,1996,2284,0,0,0,0,0,0
$GC,5236,0.80,248.4,141.0,14.4,674,5244,0.00,2.12,0.00,0.000,4,0.000,0.042,2682,599,2287,0,0,0,0,0,0
$GC,5253,0.82,248.4,138.8,14.1,676,5261,0.00,2.15,0.00,0.000,6,0.000,0.036,2682,2010,2284,0,0,0,0,0,0
$GC,5586,0.90,292.1,98.1,9.9,737,5626,0.00,2.20,34.20,0.595,4,0.000,0.041,2693,589,2106,0,0,0,0,0,0
$GC,5737,1.02,348.4,83.8,8.8,762,5786,0.15,2.17,42.85,0.578,6,0.052,0.034,2766,2006,1878,0,0,0,0,0,0
$GC,6110,1.02,348.4,25.0,14.7,828,6118,0.00,2.17,0.00,0.000,4,0.000,0.043,2766,3405,1871,0,0,0,0,0,0
$GC,6191,1.02,348.4,12.1,16.0,842,6199,0.00,2.15,0.00,0.000,6,0.000,0.031,2779,1991,1869,0,0,0,0,0,0
$STATE,6243,end climb,SURFACE_DEPTH_REACHED
$STATE,6243,begin surface coast
$FINISH,0.4,1.021939
$STATE,6263,end surface coast,CONTROL_FINISHED_OK
$STATE,6263,begin surface
$SM_CCo,6282,151.30,0.058,0,0,486,690.03
$SM_GC,1.25,0.00,0.00,151.30,0.000,0.000,0.058,209,2327,486,-6.93,0.76,690.03
$IRIDIUM_FIX,2347.41,12559.39,260910,010105
$TT8_MAMPS,0.027713
$HUMID,43.77
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,24.5,6.794
$10V_AH,10.3,6.013
$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,17.675,61.675,390.500,151.300,0.000,25.294,17.491,151.794,0.500,0.000,16.105,2061.755,1573.728,589.140,2415.211,116.783,0.000,1387.601,0.000,1322.011,0.000,0.543,0.000
$DEVICE_MAMPS,242.505,49.725,851.445,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,576.127,1299.683,1567.753,0.000,0.000,0.000,2191.144,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331416
$DATA_FILE_SIZE,60416,854
$CAP_FILE_SIZE,91394,0
$CFSIZE,260165632,248406016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,325.7,1
$GPS,260910,050604,2400.038,12609.103,7,4.4,26,-3.6