version: 66.08
glider: 181
mission: 4
dive: 21
start: 9 25 110 23 38 1
data:
$ID,181
$MISSION,4
$DIVE,21
$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,-37822.551
$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,44
$R_STBD_OVSHOOT,25
$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,40.0
$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
$GPS1,250910,233204,2358.842,12609.642,12,2.6,31,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.9
$GPS2,250910,233732,2358.869,12609.629,13,1.1,13,-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,341.9,2350,-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,-102.8,0.0,0.0,0,83,0.00,0.00,-61.35,0.000,2,0.000,0.000,197,2293,2957,0,0,0,0,0,0
$GC,85,-1.06,-155.7,3.5,-6.5,8,119,7.55,2.20,-19.95,0.000,4,0.235,0.057,2066,3720,3936,0,0,0,0,0,0
$GC,230,-0.95,-155.7,62.0,-45.4,32,239,0.15,2.17,0.00,0.000,6,0.176,0.034,2108,2304,3937,0,0,0,0,0,0
$GC,564,-0.91,-155.7,176.3,-28.9,93,572,0.00,2.10,0.00,0.000,4,0.000,0.036,2109,884,3939,0,0,0,0,0,0
$GC,594,-0.87,-155.7,185.2,-28.6,98,603,0.12,2.17,0.00,0.000,6,0.169,0.035,2136,2310,3939,0,0,0,0,0,0
$GC,929,-0.87,-155.7,268.9,-24.6,159,935,0.00,2.12,0.00,0.000,4,0.000,0.045,2127,3714,3940,0,0,0,0,0,0
$GC,999,-0.91,-155.7,285.7,-21.8,172,1008,0.00,2.12,0.00,0.000,6,0.000,0.031,2127,2300,3940,0,0,0,0,0,0
$GC,1333,-0.92,-155.7,360.0,-20.6,209,1337,0.00,2.15,0.00,0.000,4,0.000,0.047,2117,3712,3939,0,0,0,0,0,0
$GC,1394,-0.96,-155.7,372.4,-17.8,214,1398,0.00,2.12,0.00,0.000,6,0.000,0.031,2117,2289,3939,0,0,0,0,0,0
$GC,1720,-0.98,-155.7,439.1,-20.1,244,1724,0.00,2.17,0.00,0.000,4,0.000,0.047,2105,3714,3938,0,0,0,0,0,0
$GC,1763,-1.02,-155.7,448.5,-19.2,247,1770,0.00,2.12,0.00,0.000,6,0.000,0.031,2105,2306,3938,0,0,0,0,0,0
$STATE,2023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2023,begin apogee
$GC,2028,-0.16,0.0,500.2,19.9,272,2151,0.82,0.00,118.15,0.845,6,0.143,0.000,2368,1977,3298,0,0,0,0,0,0
$STATE,2152,end apogee,CONTROL_FINISHED_OK
$STATE,2152,begin climb
$GC,2153,1.06,155.7,506.2,0.0,282,2282,1.05,2.15,121.07,0.832,4,0.041,0.036,2784,612,2663,0,0,0,0,0,0
$GC,2307,0.92,155.7,504.6,15.9,295,2316,0.22,2.20,0.00,0.000,6,0.193,0.034,2726,1999,2661,0,0,0,0,0,0
$GC,2634,0.83,158.0,454.4,13.7,326,2638,0.00,2.15,0.00,0.000,4,0.000,0.044,2722,3407,2656,0,0,0,0,0,0
$GC,2654,0.73,158.0,451.0,14.5,327,2663,0.22,2.12,0.00,0.000,6,0.190,0.032,2669,2020,2654,0,0,0,0,0,0
$GC,2983,0.75,202.0,415.5,9.9,358,3023,0.00,2.20,35.22,0.790,4,0.000,0.047,2668,3411,2475,0,0,0,0,0,0
$GC,3064,0.71,202.0,404.6,15.6,365,3068,0.00,2.15,0.00,0.000,6,0.000,0.032,2677,1993,2472,0,0,0,0,0,0
$GC,3390,0.69,206.6,357.0,13.5,395,3402,0.00,2.17,4.40,0.524,4,0.000,0.042,2688,592,2455,0,0,0,0,0,0
$GC,3407,0.67,207.8,354.2,13.8,396,3416,0.15,2.17,0.00,0.000,6,0.164,0.036,2644,2006,2455,0,0,0,0,0,0
$GC,3733,0.70,233.5,314.0,11.6,427,3761,0.00,2.22,21.50,0.731,4,0.000,0.047,2642,3398,2347,0,0,0,0,0,0
$GC,3894,0.70,236.9,292.9,13.6,446,3903,0.00,2.15,4.05,0.475,6,0.000,0.033,2650,1999,2332,0,0,0,0,0,0
$GC,4226,0.73,238.9,249.1,13.7,507,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1999,2329,0,0,0,0,0,0
$GC,4551,0.77,257.8,205.3,12.2,568,4575,0.00,2.25,17.23,0.653,4,0.000,0.045,2651,3409,2247,0,0,0,0,0,0
$GC,4652,0.79,259.2,191.5,13.8,584,4660,0.00,2.15,0.00,0.000,6,0.000,0.033,2661,2000,2244,0,0,0,0,0,0
$GC,4984,0.87,293.7,146.5,10.8,645,5025,0.12,2.20,28.25,0.627,4,0.092,0.042,2729,596,2101,0,0,0,0,0,0
$GC,5050,0.85,293.7,137.1,16.1,654,5058,0.00,2.17,0.00,0.000,6,0.000,0.036,2729,2001,2098,0,0,0,0,0,0
$GC,5381,0.91,329.1,83.1,10.7,715,5413,0.00,2.17,27.12,0.578,4,0.000,0.041,2740,595,1955,0,0,0,0,0,0
$GC,5486,0.94,337.5,70.6,13.1,732,5503,0.00,2.17,7.53,0.487,6,0.000,0.035,2740,2004,1923,0,0,0,0,0,0
$GC,5827,0.95,337.5,21.1,14.6,794,5835,0.00,2.17,0.00,0.000,4,0.000,0.045,2740,3404,1922,0,0,0,0,0,0
$GC,5865,0.97,340.4,15.8,13.6,800,5873,0.00,2.15,0.00,0.000,6,0.000,0.032,2750,1990,1919,0,0,0,0,0,0
$STATE,5965,end climb,SURFACE_DEPTH_REACHED
$STATE,5965,begin surface coast
$FINISH,0.4,1.022022
$STATE,5989,end surface coast,CONTROL_FINISHED_OK
$STATE,5989,begin surface
$SM_CCo,6007,156.68,0.058,0,0,485,690.03
$SM_GC,1.35,0.00,0.00,156.68,0.000,0.000,0.058,198,2309,485,-6.96,0.25,690.03
$IRIDIUM_FIX,2345.05,12607.88,250910,212143
$TT8_MAMPS,0.023968
$HUMID,44.05
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,24.5,6.596
$10V_AH,10.3,5.722
$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,16.975,61.525,384.525,156.675,0.000,29.621,16.596,167.215,0.250,0.000,15.796,2001.620,1476.937,571.748,2327.525,123.789,0.000,1330.389,0.000,1260.955,0.000,0.543,0.000
$DEVICE_MAMPS,234.855,56.610,845.325,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,555.046,1250.946,1509.081,0.000,0.000,0.000,2093.352,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331440
$DATA_FILE_SIZE,60410,822
$CAP_FILE_SIZE,89146,0
$CFSIZE,260165632,248541184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,342.8,1
$GPS,260910,012132,2359.941,12609.194,11,2.0,11,-3.6