version: 66.08
glider: 181
mission: 4
dive: 28
start: 9 26 110 12 32 59
data:
$ID,181
$MISSION,4
$DIVE,28
$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,-37831.328
$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,40
$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,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,54.0
$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
$GPS1,260910,122700,2400.445,12608.540,36,1.2,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-65.5
$GPS2,260910,123232,2400.450,12608.525,14,1.2,14,-3.6
$SPEED_LIMITS,0.241,0.296
$TGT_NAME,WAKE_N
$TGT_LATLONG,2411.000,12609.000
$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,5.2,19555,-22.5,-13.889
$D_GRID,1664
$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,-0.89,-155.7,0.0,0.0,0,115,0.00,0.00,-92.57,0.000,2,0.000,0.000,203,2307,3032,0,0,0,0,0,0
$GC,117,-0.89,-155.7,3.8,-7.6,12,149,7.80,2.15,-17.70,0.000,4,0.239,0.054,2117,3706,3934,0,0,0,0,0,0
$GC,243,-0.84,-155.7,50.7,-28.0,33,251,0.10,2.15,0.00,0.000,6,0.165,0.031,2146,2293,3931,0,0,0,0,0,0
$GC,573,-0.78,-155.7,151.9,-27.4,94,582,0.00,2.17,0.00,0.000,4,0.000,0.042,2137,3699,3937,0,0,0,0,0,0
$GC,621,-0.74,-155.7,163.5,-23.0,102,631,0.15,2.10,0.00,0.000,6,0.150,0.029,2182,2297,3937,0,0,0,0,0,0
$GC,968,-0.74,-155.7,231.2,-18.7,163,975,0.00,2.15,0.00,0.000,4,0.000,0.044,2174,3705,3937,0,0,0,0,0,0
$GC,1008,-0.74,-155.7,238.8,-17.8,170,1017,0.00,2.10,0.00,0.000,6,0.000,0.029,2174,2300,3937,0,0,0,0,0,0
$GC,1350,-0.74,-155.7,303.0,-19.4,230,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2297,3937,0,0,0,0,0,0
$GC,1670,-0.74,-155.7,361.5,-18.2,260,1673,0.00,2.05,0.00,0.000,4,0.000,0.037,2174,900,3936,0,0,0,0,0,0
$GC,1705,-0.76,-155.7,367.8,-18.1,263,1709,0.00,2.10,0.00,0.000,6,0.000,0.038,2165,2305,3936,0,0,0,0,0,0
$GC,2031,-0.77,-155.7,420.7,-15.0,293,2035,0.00,2.12,0.00,0.000,4,0.000,0.047,2159,3714,3935,0,0,0,0,0,0
$GC,2064,-0.80,-155.7,426.2,-15.5,295,2072,0.00,2.10,0.00,0.000,6,0.000,0.030,2154,2304,3934,0,0,0,0,0,0
$GC,2389,-0.80,-155.7,475.4,-15.5,326,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2301,3932,0,0,0,0,0,0
$STATE,2548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2548,begin apogee
$GC,2552,-0.16,0.0,501.2,16.3,341,2674,0.65,0.00,117.18,0.854,6,0.125,0.000,2370,1977,3298,0,0,0,0,0,0
$STATE,2675,end apogee,CONTROL_FINISHED_OK
$STATE,2675,begin climb
$GC,2677,0.89,155.7,508.4,0.0,351,2802,0.90,0.00,121.22,0.838,6,0.041,0.000,2724,1977,2662,0,0,0,0,0,0
$GC,3120,0.76,155.7,466.7,16.2,392,3125,0.20,2.25,0.00,0.000,4,0.190,0.042,2670,3418,2655,0,0,0,0,0,0
$GC,3237,0.65,155.7,448.3,15.2,402,3242,0.17,2.12,0.00,0.000,6,0.197,0.032,2636,2007,2653,0,0,0,0,0,0
$GC,3563,0.70,245.2,414.2,8.5,432,3637,0.00,2.25,68.65,0.800,4,0.000,0.042,2646,605,2297,0,0,0,0,0,0
$GC,3727,0.69,256.1,393.6,13.2,446,3742,0.00,2.17,9.62,0.684,6,0.000,0.035,2645,2002,2253,0,0,0,0,0,0
$GC,4062,0.66,256.1,346.2,14.4,477,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2001,2245,0,0,0,0,0,0
$GC,4382,0.64,256.1,299.6,14.0,507,4389,0.00,2.17,0.00,0.000,4,0.000,0.045,2646,3417,2245,0,0,0,0,0,0
$GC,4412,0.60,256.1,294.9,15.4,512,4420,0.10,2.15,0.00,0.000,6,0.165,0.033,2625,2009,2244,0,0,0,0,0,0
$GC,4755,0.64,293.4,253.7,11.7,573,4789,0.00,2.25,28.48,0.699,4,0.000,0.044,2629,3408,2101,0,0,0,0,0,0
$GC,4812,0.65,299.3,245.9,13.5,582,4828,0.00,2.17,5.72,0.536,6,0.000,0.033,2633,1997,2078,0,0,0,0,0,0
$GC,5168,0.65,299.3,196.2,14.3,644,5176,0.00,2.15,0.00,0.000,4,0.000,0.044,2644,599,2074,0,0,0,0,0,0
$GC,5256,0.69,314.7,184.2,13.0,659,5277,0.00,2.12,12.95,0.617,6,0.000,0.035,2644,2011,2013,0,0,0,0,0,0
$GC,5611,0.70,328.6,135.2,13.1,722,5629,0.00,2.17,11.55,0.577,4,0.000,0.044,2644,3395,1958,0,0,0,0,0,0
$GC,5750,0.70,328.6,116.3,14.2,746,5759,0.00,2.12,0.00,0.000,6,0.000,0.032,2655,2001,1957,0,0,0,0,0,0
$GC,6081,0.83,403.9,72.8,9.4,807,6144,0.10,2.28,57.33,0.578,4,0.103,0.042,2710,3405,1650,0,0,0,0,0,0
$GC,6216,0.83,403.9,55.2,14.3,828,6224,0.00,2.17,0.00,0.000,6,0.000,0.032,2720,2001,1646,0,0,0,0,0,0
$GC,6548,0.84,415.3,9.6,13.2,889,6565,0.00,2.15,9.35,0.470,4,0.000,0.041,2731,584,1602,0,0,0,0,0,0
$STATE,6593,end climb,SURFACE_DEPTH_REACHED
$STATE,6593,begin surface coast
$FINISH,0.4,1.021963
$STATE,6616,end surface coast,CONTROL_FINISHED_OK
$STATE,6616,begin surface
$SM_CCo,6639,122.10,0.058,0,0,486,690.27
$SM_GC,1.09,0.00,0.00,122.10,0.000,0.000,0.058,196,2300,486,-6.96,0.00,690.27
$IRIDIUM_FIX,2352.12,12609.27,260910,101017
$TT8_MAMPS,0.027713
$HUMID,43.97
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,24.6,7.297
$10V_AH,10.3,6.755
$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,16.600,57.000,442.050,122.100,0.000,30.185,35.422,154.093,0.250,0.000,17.284,2148.289,1717.323,585.632,2532.375,118.992,0.000,1406.508,0.000,1367.475,0.000,0.542,0.000
$DEVICE_MAMPS,238.680,53.550,853.740,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,607.427,1369.517,1659.712,0.000,0.000,0.000,2316.142,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331452
$DATA_FILE_SIZE,63594,900
$CAP_FILE_SIZE,90171,0
$CFSIZE,260165632,248074240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056,154.9,1
$GPS,260910,142646,2401.221,12608.837,10,2.6,29,-3.6