version: 66.08
glider: 181
mission: 4
dive: 26
start: 9 26 110 8 50 0
data:
$ID,181
$MISSION,4
$DIVE,26
$N_DIVES,35
$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,-37828.824
$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,51
$R_STBD_OVSHOOT,32
$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,50.0
$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
$GPS1,260910,084407,2400.298,12609.298,37,1.0,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-61.9
$GPS2,260910,084932,2400.320,12609.312,10,1.5,10,-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,197.1,793,-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,-102.8,0.0,0.0,0,115,0.00,0.00,-92.53,0.000,2,0.000,0.000,198,2282,3036,0,0,0,0,0,0
$GC,117,-1.06,-155.7,3.7,-7.0,12,149,7.55,2.08,-17.65,0.000,4,0.235,0.045,2082,892,3934,0,0,0,0,0,0
$GC,264,-0.99,-155.7,65.7,-37.3,37,273,0.10,2.17,0.00,0.000,6,0.186,0.037,2100,2300,3935,0,0,0,0,0,0
$GC,600,-0.92,-155.7,183.9,-35.0,98,608,0.00,2.17,0.00,0.000,4,0.000,0.042,2091,3717,3933,0,0,0,0,0,0
$GC,781,-0.92,-155.7,233.1,-22.8,129,789,0.15,2.10,0.00,0.000,6,0.171,0.028,2130,2292,3936,0,0,0,0,0,0
$GC,1121,-0.93,-155.7,307.7,-21.5,187,1124,0.00,2.05,0.00,0.000,4,0.000,0.037,2130,895,3936,0,0,0,0,0,0
$GC,1147,-0.95,-155.7,314.3,-21.9,189,1155,0.00,2.15,0.00,0.000,6,0.000,0.037,2121,2307,3937,0,0,0,0,0,0
$GC,1474,-0.97,-155.7,381.5,-20.4,220,1478,0.00,2.08,0.00,0.000,4,0.000,0.037,2121,899,3936,0,0,0,0,0,0
$GC,1495,-0.99,-155.7,386.7,-20.8,221,1503,0.00,2.12,0.00,0.000,6,0.000,0.037,2112,2290,3936,0,0,0,0,0,0
$GC,1821,-1.01,-155.7,455.5,-20.6,252,1825,0.00,2.17,0.00,0.000,4,0.000,0.045,2101,3717,3934,0,0,0,0,0,0
$GC,1975,-1.06,-155.7,485.1,-18.0,265,1983,0.00,2.12,0.00,0.000,6,0.000,0.031,2100,2301,3933,0,0,0,0,0,0
$STATE,2057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2057,begin apogee
$GC,2061,-0.16,0.0,500.2,19.9,273,2184,0.82,0.00,117.35,0.847,6,0.142,0.000,2365,1976,3298,0,0,0,0,0,0
$STATE,2185,end apogee,CONTROL_FINISHED_OK
$STATE,2185,begin climb
$GC,2186,1.06,155.7,506.9,0.0,283,2317,1.05,2.17,120.88,0.833,4,0.040,0.037,2786,604,2664,0,0,0,0,0,0
$GC,2333,0.95,180.9,509.5,11.6,295,2365,0.20,2.22,21.42,0.780,6,0.190,0.034,2735,2009,2560,0,0,0,0,0,0
$GC,2683,0.87,180.9,449.4,15.7,328,2687,0.00,2.12,0.00,0.000,4,0.000,0.043,2724,3405,2554,0,0,0,0,0,0
$GC,2755,0.78,180.9,436.7,16.8,334,2760,0.22,2.10,0.00,0.000,6,0.196,0.031,2677,2014,2553,0,0,0,0,0,0
$GC,3080,0.75,184.4,391.9,13.6,364,3084,0.00,2.12,0.00,0.000,4,0.000,0.044,2672,3408,2551,0,0,0,0,0,0
$GC,3153,0.71,184.4,381.3,15.3,370,3157,0.00,2.10,0.00,0.000,6,0.000,0.032,2680,1995,2549,0,0,0,0,0,0
$GC,3478,0.67,186.5,337.4,13.7,400,3493,0.15,2.15,3.67,0.458,4,0.188,0.042,2651,599,2538,0,0,0,0,0,0
$GC,3520,0.70,205.8,331.8,12.1,403,3543,0.00,2.15,16.90,0.724,6,0.000,0.036,2652,2005,2458,0,0,0,0,0,0
$GC,3860,0.70,205.8,288.8,14.1,442,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2005,2454,0,0,0,0,0,0
$GC,4202,0.73,233.1,247.1,11.4,503,4230,0.00,2.15,21.25,0.687,4,0.000,0.040,2662,596,2347,0,0,0,0,0,0
$GC,4277,0.78,251.0,238.6,12.3,515,4299,0.00,2.12,15.38,0.656,6,0.000,0.035,2662,2001,2275,0,0,0,0,0,0
$GC,4639,0.81,258.3,189.7,13.2,578,4654,0.00,2.20,6.45,0.544,4,0.000,0.044,2662,3399,2244,0,0,0,0,0,0
$GC,4699,0.82,258.3,180.7,14.3,588,4709,0.00,2.12,0.00,0.000,6,0.000,0.033,2673,2007,2243,0,0,0,0,0,0
$GC,5040,0.84,258.3,132.9,14.1,649,5048,0.00,2.17,0.00,0.000,4,0.000,0.044,2672,3406,2243,0,0,0,0,0,0
$GC,5115,0.85,258.3,120.9,16.1,662,5123,0.00,2.15,0.00,0.000,6,0.000,0.032,2683,1988,2242,0,0,0,0,0,0
$GC,5448,0.92,295.2,79.5,10.6,723,5488,0.10,2.25,29.00,0.577,4,0.102,0.044,2732,3408,2090,0,0,0,0,0,0
$GC,5497,0.92,295.2,72.9,13.9,729,5505,0.00,2.15,0.00,0.000,6,0.000,0.031,2743,2001,2094,0,0,0,0,0,0
$GC,5828,0.97,331.7,35.3,10.6,790,5867,0.00,2.25,28.02,0.539,4,0.000,0.043,2743,3409,1943,0,0,0,0,0,0
$GC,6011,0.98,334.4,13.0,13.6,821,6019,0.00,2.15,0.00,0.000,6,0.000,0.031,2754,2000,1940,0,0,0,0,0,0
$STATE,6084,end climb,SURFACE_DEPTH_REACHED
$STATE,6084,begin surface coast
$FINISH,0.3,0.999224
$STATE,6107,end surface coast,CONTROL_FINISHED_OK
$STATE,6107,begin surface
$SM_CCo,6127,167.35,0.059,0,0,484,690.03
$SM_GC,1.19,0.00,0.00,167.35,0.000,0.000,0.059,199,2320,484,-6.96,0.57,690.03
$IRIDIUM_FIX,2354.48,12524.85,260910,060659
$TT8_MAMPS,0.027713
$HUMID,43.97
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,24.5,7.090
$10V_AH,10.3,6.450
$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,17.000,61.000,380.325,167.350,0.000,30.346,19.857,162.249,0.250,0.000,13.294,2028.603,1480.196,603.036,2403.861,114.811,0.000,1390.675,0.000,1300.102,0.000,0.543,0.000
$DEVICE_MAMPS,234.855,48.960,846.855,58.905,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,565.173,1275.299,1573.245,0.000,0.000,0.000,2243.282,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331432
$DATA_FILE_SIZE,60326,838
$CAP_FILE_SIZE,90151,0
$CFSIZE,260165632,248209408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079,  8.7,1
$GPS,260910,103543,2359.850,12609.141,7,1.4,12,-3.6