version: 66.08
glider: 181
mission: 4
dive: 32
start: 9 26 110 20 38 29
data:
$ID,181
$MISSION,4
$DIVE,32
$N_DIVES,40
$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,-37843.73
$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,41
$R_STBD_OVSHOOT,44
$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,62.0
$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
$GPS1,260910,203230,2404.120,12608.613,37,1.5,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-65.4
$GPS2,260910,203802,2404.161,12608.585,11,1.7,11,-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,25.1,12685,-22.5,-13.889
$D_GRID,1697
$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,-155.7,0.0,0.0,0,105,0.00,0.00,-83.20,0.000,2,0.000,0.000,199,2318,2729,0,0,0,0,0,0
$GC,107,-0.89,-155.7,3.0,-5.0,11,150,7.80,2.15,-27.80,0.000,4,0.236,0.058,2122,3701,3935,0,0,0,0,0,0
$GC,179,-0.73,-155.7,23.4,-42.3,21,187,0.20,2.15,0.00,0.000,6,0.177,0.033,2178,2300,3936,0,0,0,0,0,0
$GC,511,-0.69,-155.7,129.0,-23.4,82,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2300,3936,0,0,0,0,0,0
$GC,850,-0.68,-155.7,201.1,-21.8,143,858,0.00,2.15,0.00,0.000,4,0.000,0.044,2170,3699,3937,0,0,0,0,0,0
$GC,965,-0.70,-155.7,224.1,-18.2,164,973,0.00,2.10,0.00,0.000,6,0.000,0.029,2170,2297,3937,0,0,0,0,0,0
$GC,1296,-0.70,-155.7,287.8,-17.4,225,1302,0.00,2.08,0.00,0.000,4,0.000,0.037,2170,885,3937,0,0,0,0,0,0
$GC,1342,-0.71,-155.7,295.5,-15.6,233,1350,0.12,2.12,0.00,0.000,6,0.168,0.037,2196,2304,3937,0,0,0,0,0,0
$GC,1670,-0.75,-155.7,343.8,-13.7,266,1674,0.00,2.12,0.00,0.000,4,0.000,0.046,2188,3708,3936,0,0,0,0,0,0
$GC,1769,-0.82,-155.7,356.8,-12.5,274,1777,0.00,2.10,0.00,0.000,6,0.000,0.029,2188,2297,3935,0,0,0,0,0,0
$GC,2096,-0.86,-155.7,402.1,-13.9,305,2100,0.12,2.17,0.00,0.000,4,0.085,0.046,2117,3704,3933,0,0,0,0,0,0
$GC,2127,-0.85,-155.7,408.1,-17.7,307,2136,0.08,2.08,0.00,0.000,6,0.154,0.030,2141,2308,3933,0,0,0,0,0,0
$GC,2452,-0.85,-155.7,464.4,-16.3,338,2456,0.00,2.15,0.00,0.000,4,0.000,0.047,2131,3706,3932,0,0,0,0,0,0
$GC,2492,-0.85,-155.7,470.7,-16.6,341,2496,0.00,2.05,0.00,0.000,6,0.000,0.030,2132,2301,3931,0,0,0,0,0,0
$STATE,2668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2668,begin apogee
$GC,2672,-0.16,0.0,500.7,17.1,357,2794,0.73,0.00,116.95,0.856,6,0.132,0.000,2368,1975,3296,0,0,0,0,0,0
$STATE,2795,end apogee,CONTROL_FINISHED_OK
$STATE,2795,begin climb
$GC,2797,0.89,155.7,506.3,0.0,367,2926,0.90,2.22,120.38,0.841,4,0.041,0.037,2736,609,2664,0,0,0,0,0,0
$GC,3138,0.75,155.7,473.1,16.5,397,3147,0.22,2.15,0.00,0.000,6,0.179,0.034,2672,2007,2658,0,0,0,0,0,0
$GC,3465,0.68,172.9,428.1,12.9,428,3489,0.00,2.22,13.77,0.747,4,0.000,0.044,2672,3399,2592,0,0,0,0,0,0
$GC,3735,0.60,182.9,390.0,13.3,452,3749,0.20,2.12,8.75,0.689,6,0.177,0.032,2623,2007,2555,0,0,0,0,0,0
$GC,4069,0.60,214.2,354.6,12.0,483,4099,0.00,2.17,24.98,0.762,4,0.000,0.042,2623,3405,2425,0,0,0,0,0,0
$GC,4221,0.57,214.2,332.4,14.0,496,4225,0.00,2.12,0.00,0.000,6,0.000,0.032,2632,2000,2421,0,0,0,0,0,0
$GC,4546,0.60,260.0,294.6,11.1,530,4588,0.00,0.00,36.03,0.736,6,0.000,0.000,2632,1998,2236,0,0,0,0,0,0
$GC,4915,0.62,277.2,246.1,12.9,596,4936,0.00,2.17,13.48,0.662,4,0.000,0.042,2642,605,2169,0,0,0,0,0,0
$GC,5003,0.65,301.3,234.5,12.4,611,5032,0.00,2.12,20.38,0.673,6,0.000,0.035,2643,2004,2070,0,0,0,0,0,0
$GC,5361,0.68,328.5,183.2,12.3,675,5390,0.00,2.17,21.27,0.643,4,0.000,0.041,2649,596,1958,0,0,0,0,0,0
$GC,5414,0.71,352.1,176.2,12.5,683,5444,0.00,2.15,19.52,0.627,6,0.000,0.034,2652,2008,1861,0,0,0,0,0,0
$GC,5767,0.71,352.1,124.1,14.9,747,5776,0.00,2.17,0.00,0.000,4,0.000,0.044,2653,3403,1859,0,0,0,0,0,0
$GC,5826,0.73,352.1,115.1,14.9,757,5835,0.00,2.15,0.00,0.000,6,0.000,0.034,2659,2001,1855,0,0,0,0,0,0
$GC,6158,0.86,423.2,77.7,9.6,818,6222,0.10,2.25,53.30,0.581,4,0.101,0.044,2719,3397,1571,0,0,0,0,0,0
$GC,6259,0.86,423.2,63.8,16.5,832,6267,0.00,2.17,0.00,0.000,6,0.000,0.033,2730,1996,1569,0,0,0,0,0,0
$GC,6589,0.86,423.2,7.8,16.2,893,6597,0.00,2.15,0.00,0.000,4,0.000,0.042,2741,596,1562,0,0,0,0,0,0
$STATE,6621,end climb,SURFACE_DEPTH_REACHED
$STATE,6621,begin surface coast
$FINISH,0.5,1.021982
$STATE,6638,end surface coast,CONTROL_FINISHED_OK
$STATE,6638,begin surface
$SM_CCo,6659,118.07,0.059,0,0,486,690.03
$SM_GC,1.28,0.00,0.00,118.07,0.000,0.000,0.059,199,2298,486,-6.96,0.03,690.03
$IRIDIUM_FIX,2349.77,12617.77,260910,181843
$TT8_MAMPS,0.027713
$HUMID,44.52
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.6,7.748
$10V_AH,10.3,7.388
$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,17.050,61.025,448.800,118.075,0.000,31.303,17.156,164.572,0.000,0.000,16.184,2157.168,1640.071,599.268,2591.001,129.391,0.000,1462.509,0.000,1437.031,0.000,0.542,0.000
$DEVICE_MAMPS,236.385,58.140,856.035,58.905,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,607.383,1370.967,1656.909,0.000,0.000,0.000,2283.030,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331448
$DATA_FILE_SIZE,63841,901
$CAP_FILE_SIZE,94276,0
$CFSIZE,260165632,247787520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.153,317.3,1
$GPS,260910,223214,2405.412,12608.659,9,1.8,9,-3.6