version: 66.08
glider: 181
mission: 4
dive: 30
start: 9 26 110 16 34 59
data:
$ID,181
$MISSION,4
$DIVE,30
$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,-37833.84
$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,37
$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,58.0
$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
$GPS1,260910,162807,2401.940,12608.828,30,1.1,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-65.4
$GPS2,260910,163432,2401.970,12608.788,15,1.0,15,-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,8.2,16726,-22.5,-13.889
$D_GRID,1575
$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,-155.7,0.0,0.0,0,107,0.00,0.00,-85.00,0.000,2,0.000,0.000,198,2314,2780,0,0,0,0,0,0
$GC,109,-0.89,-155.7,3.0,-5.2,11,149,7.75,2.15,-25.58,0.000,4,0.236,0.057,2116,3707,3934,0,0,0,0,0,0
$GC,200,-0.79,-155.7,32.6,-38.4,25,209,0.15,2.17,0.00,0.000,6,0.160,0.034,2160,2297,3935,0,0,0,0,0,0
$GC,533,-0.73,-155.7,135.9,-24.0,86,541,0.00,2.20,0.00,0.000,4,0.000,0.045,2151,3705,3936,0,0,0,0,0,0
$GC,644,-0.72,-155.7,160.5,-18.1,105,651,0.15,2.10,0.00,0.000,6,0.157,0.028,2191,2278,3934,0,0,0,0,0,0
$GC,988,-0.72,-155.7,229.2,-17.7,166,996,0.00,2.08,0.00,0.000,4,0.000,0.036,2191,892,3937,0,0,0,0,0,0
$GC,1033,-0.75,-155.7,237.0,-18.0,173,1040,0.00,2.12,0.00,0.000,6,0.000,0.037,2191,2305,3937,0,0,0,0,0,0
$GC,1373,-0.76,-155.7,297.2,-17.2,234,1382,0.00,2.15,0.00,0.000,4,0.000,0.047,2181,3701,3936,0,0,0,0,0,0
$GC,1444,-0.83,-155.7,308.3,-14.4,242,1448,0.00,2.05,0.00,0.000,6,0.000,0.031,2181,2302,3936,0,0,0,0,0,0
$GC,1769,-0.85,-155.7,357.7,-15.2,272,1772,0.00,2.05,0.00,0.000,4,0.000,0.037,2181,901,3938,0,0,0,0,0,0
$GC,1814,-0.89,-155.7,364.1,-13.8,276,1818,0.12,2.12,0.00,0.000,6,0.086,0.039,2117,2305,3935,0,0,0,0,0,0
$GC,2140,-0.86,-155.7,428.7,-19.0,306,2144,0.12,2.15,0.00,0.000,4,0.186,0.047,2138,3707,3933,0,0,0,0,0,0
$GC,2180,-0.87,-155.7,435.6,-16.0,309,2184,0.00,2.08,0.00,0.000,6,0.000,0.031,2138,2300,3933,0,0,0,0,0,0
$GC,2506,-0.87,-155.7,490.9,-17.0,339,2510,0.00,2.17,0.00,0.000,4,0.000,0.050,2128,3704,3931,0,0,0,0,0,0
$GC,2538,-0.88,-155.7,496.6,-16.3,341,2545,0.00,2.10,0.00,0.000,6,0.000,0.031,2128,2302,3931,0,0,0,0,0,0
$STATE,2564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2564,begin apogee
$GC,2568,-0.16,0.0,500.9,16.2,344,2691,0.75,0.00,117.15,0.855,6,0.133,0.000,2372,1978,3297,0,0,0,0,0,0
$STATE,2692,end apogee,CONTROL_FINISHED_OK
$STATE,2692,begin climb
$GC,2693,0.89,155.7,507.4,0.0,354,2825,0.90,2.17,120.65,0.840,4,0.041,0.037,2740,611,2664,0,0,0,0,0,0
$GC,2872,0.75,155.7,504.8,14.8,369,2877,0.28,2.15,0.00,0.000,6,0.187,0.035,2667,2007,2661,0,0,0,0,0,0
$GC,3199,0.66,160.5,461.4,13.6,399,3211,0.00,2.17,4.65,0.556,4,0.000,0.045,2667,3408,2643,0,0,0,0,0,0
$GC,3369,0.55,160.5,435.1,15.0,414,3373,0.28,2.12,0.00,0.000,6,0.184,0.032,2604,1985,2639,0,0,0,0,0,0
$GC,3700,0.62,232.9,400.3,9.6,445,3763,0.00,2.22,55.95,0.804,4,0.000,0.042,2612,597,2348,0,0,0,0,0,0
$GC,3973,0.66,267.8,366.8,11.8,469,4008,0.00,2.12,27.52,0.764,6,0.000,0.035,2612,2003,2207,0,0,0,0,0,0
$GC,4327,0.68,282.5,321.3,13.0,502,4343,0.00,2.20,12.02,0.696,4,0.000,0.045,2612,3412,2148,0,0,0,0,0,0
$GC,4364,0.69,290.0,316.1,13.4,505,4377,0.00,2.17,7.93,0.634,6,0.000,0.032,2623,2003,2115,0,0,0,0,0,0
$GC,4706,0.69,290.0,269.9,14.0,555,4713,0.00,2.12,0.00,0.000,4,0.000,0.043,2634,596,2113,0,0,0,0,0,0
$GC,4777,0.71,299.6,260.2,13.3,567,4792,0.00,2.12,8.40,0.627,6,0.000,0.035,2634,2009,2075,0,0,0,0,0,0
$GC,5126,0.71,299.6,212.0,14.6,629,5133,0.00,2.15,0.00,0.000,4,0.000,0.042,2644,594,2071,0,0,0,0,0,0
$GC,5174,0.73,314.8,205.5,13.0,637,5195,0.00,2.12,12.62,0.635,6,0.000,0.035,2644,2007,2015,0,0,0,0,0,0
$GC,5534,0.73,314.8,156.4,15.9,700,5543,0.00,2.15,0.00,0.000,4,0.000,0.045,2644,3395,2011,0,0,0,0,0,0
$GC,5571,0.73,314.8,150.3,16.5,706,5580,0.00,2.12,0.00,0.000,6,0.000,0.033,2654,2001,2011,0,0,0,0,0,0
$GC,5903,0.73,314.8,98.7,14.1,767,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1997,2010,0,0,0,0,0,0
$GC,6235,0.94,452.9,69.4,5.6,828,6350,0.20,2.28,102.80,0.576,4,0.067,0.043,2749,3395,1451,0,0,0,0,0,0
$GC,6450,0.94,452.9,31.9,21.6,861,6459,0.10,2.17,0.00,0.000,6,0.147,0.034,2730,2001,1445,0,0,0,0,0,0
$STATE,6631,end climb,SURFACE_DEPTH_REACHED
$STATE,6631,begin surface coast
$FINISH,0.4,1.004110
$STATE,6650,end surface coast,CONTROL_FINISHED_OK
$STATE,6651,begin surface
$SM_CCo,6669,105.88,0.059,0,0,484,690.03
$SM_GC,1.14,0.00,0.00,105.88,0.000,0.000,0.059,197,2310,484,-6.96,0.31,690.03
$IRIDIUM_FIX,2352.12,12550.37,260910,141426
$TT8_MAMPS,0.027713
$HUMID,44.95
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,24.6,7.528
$10V_AH,10.3,7.069
$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,17.275,65.175,469.700,105.875,0.000,27.521,53.228,178.480,0.250,0.000,18.570,2158.098,1660.615,593.931,2622.718,132.955,0.000,1458.328,0.000,1420.775,0.000,0.543,0.000
$DEVICE_MAMPS,235.620,57.375,855.270,58.905,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,604.850,1364.630,1651.383,0.000,0.000,0.000,2307.775,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331424
$DATA_FILE_SIZE,63828,897
$CAP_FILE_SIZE,95361,0
$CFSIZE,260165632,247930880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079,258.2,1
$GPS,260910,182910,2402.820,12608.674,10,5.7,29,-3.6