version: 66.08
glider: 181
mission: 4
dive: 22
start: 9 26 110 1 27 37
data:
$ID,181
$MISSION,4
$DIVE,22
$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,-37823.805
$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,45
$R_STBD_OVSHOOT,39
$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,42.0
$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
$GPS1,260910,012132,2359.941,12609.194,11,2.0,11,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-64.0
$GPS2,260910,012708,2359.979,12609.217,13,1.8,13,-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,258.9,368,-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,-102.8,0.0,0.0,0,112,0.00,0.00,-90.43,0.000,2,0.000,0.000,198,2310,2959,0,0,0,0,0,0
$GC,115,-1.06,-155.7,3.5,-7.2,12,148,7.60,2.15,-19.77,0.000,4,0.238,0.055,2069,3707,3936,0,0,0,0,0,0
$GC,380,-0.99,-155.7,105.0,-34.7,59,389,0.10,2.15,0.00,0.000,6,0.164,0.034,2098,2301,3936,0,0,0,0,0,0
$GC,721,-0.93,-155.7,211.4,-31.2,120,729,0.00,2.17,0.00,0.000,4,0.000,0.043,2089,3706,3938,0,0,0,0,0,0
$GC,757,-0.88,-155.7,222.8,-31.4,126,767,0.15,2.12,0.00,0.000,6,0.166,0.029,2133,2291,3938,0,0,0,0,0,0
$GC,1106,-0.88,-155.7,307.2,-21.8,185,1110,0.00,2.17,0.00,0.000,4,0.000,0.044,2124,3709,3938,0,0,0,0,0,0
$GC,1181,-0.93,-155.7,323.2,-18.6,191,1185,0.00,2.10,0.00,0.000,6,0.000,0.030,2125,2292,3938,0,0,0,0,0,0
$GC,1507,-0.95,-155.7,393.6,-20.2,221,1511,0.00,2.15,0.00,0.000,4,0.000,0.045,2112,3709,3936,0,0,0,0,0,0
$GC,1550,-0.99,-155.7,402.8,-19.2,224,1559,0.00,2.12,0.00,0.000,6,0.000,0.031,2114,2294,3937,0,0,0,0,0,0
$GC,1878,-1.01,-155.7,461.3,-18.7,255,1881,0.00,2.08,0.00,0.000,4,0.000,0.038,2114,899,3936,0,0,0,0,0,0
$GC,1927,-1.06,-155.7,471.4,-19.2,259,1934,0.00,2.15,0.00,0.000,6,0.000,0.040,2107,2295,3936,0,0,0,0,0,0
$STATE,2072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2072,begin apogee
$GC,2076,-0.16,0.0,501.7,21.9,273,2200,0.82,0.00,117.97,0.849,6,0.145,0.000,2368,1982,3297,0,0,0,0,0,0
$STATE,2201,end apogee,CONTROL_FINISHED_OK
$STATE,2201,begin climb
$GC,2202,1.06,155.7,510.6,0.0,283,2332,1.05,2.25,120.88,0.836,4,0.037,0.041,2794,609,2663,0,0,0,0,0,0
$GC,2556,0.92,155.7,480.4,16.2,314,2561,0.28,2.15,0.00,0.000,6,0.200,0.037,2727,2012,2658,0,0,0,0,0,0
$GC,2881,0.84,160.7,431.1,13.4,344,2895,0.12,2.17,4.07,0.509,4,0.211,0.041,2708,608,2644,0,0,0,0,0,0
$GC,3098,0.78,164.5,404.7,13.5,363,3111,0.12,2.10,4.62,0.552,6,0.196,0.036,2679,1996,2628,0,0,0,0,0,0
$GC,3430,0.78,193.3,366.8,11.3,394,3458,0.00,2.17,22.83,0.764,4,0.000,0.044,2687,617,2512,0,0,0,0,0,0
$GC,3476,0.77,218.9,361.2,11.6,398,3504,0.00,2.12,21.77,0.744,6,0.000,0.037,2687,2002,2405,0,0,0,0,0,0
$GC,3831,0.75,218.9,305.2,15.4,431,3835,0.00,2.17,0.00,0.000,4,0.000,0.045,2687,3410,2398,0,0,0,0,0,0
$GC,3878,0.70,218.9,297.9,15.8,435,3886,0.17,2.10,0.00,0.000,6,0.191,0.033,2654,2012,2397,0,0,0,0,0,0
$GC,4219,0.73,235.9,252.2,12.3,496,4241,0.00,2.20,13.10,0.666,4,0.000,0.041,2664,593,2336,0,0,0,0,0,0
$GC,4255,0.73,239.4,247.5,13.6,501,4270,0.00,2.15,4.40,0.480,6,0.000,0.037,2664,2009,2323,0,0,0,0,0,0
$GC,4606,0.76,265.3,200.9,11.5,563,4634,0.00,2.20,20.67,0.653,4,0.000,0.044,2674,592,2215,0,0,0,0,0,0
$GC,4665,0.79,270.7,193.1,13.4,571,4680,0.00,2.17,5.18,0.494,6,0.000,0.040,2674,2007,2196,0,0,0,0,0,0
$GC,5017,0.81,270.7,140.7,14.5,633,5025,0.00,2.17,0.00,0.000,4,0.000,0.044,2675,3407,2191,0,0,0,0,0,0
$GC,5264,0.82,270.7,104.4,15.1,678,5273,0.00,2.12,0.00,0.000,6,0.000,0.034,2684,2006,2191,0,0,0,0,0,0
$GC,5597,0.97,353.8,71.4,6.4,739,5667,0.15,2.28,62.80,0.576,4,0.080,0.047,2752,3423,1854,0,0,0,0,0,0
$GC,5910,0.98,353.8,19.3,16.0,793,5918,0.00,2.17,0.00,0.000,6,0.000,0.032,2763,2001,1848,0,0,0,0,0,0
$STATE,6017,end climb,SURFACE_DEPTH_REACHED
$STATE,6017,begin surface coast
$FINISH,0.3,1.021959
$STATE,6035,end surface coast,CONTROL_FINISHED_OK
$STATE,6035,begin surface
$SM_CCo,6054,153.32,0.060,0,0,485,690.03
$SM_GC,1.21,0.00,0.00,153.32,0.000,0.000,0.060,206,2333,485,-6.93,0.93,690.03
$IRIDIUM_FIX,2349.77,12612.57,250910,232346
$TT8_MAMPS,0.027713
$HUMID,44.13
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,24.5,6.696
$10V_AH,10.3,5.866
$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,17.200,57.000,398.300,153.325,0.000,24.807,26.853,168.543,0.500,0.000,15.845,1977.715,1483.249,584.367,2393.206,116.817,0.000,1370.133,0.000,1301.207,0.000,0.543,0.000
$DEVICE_MAMPS,237.915,55.080,849.150,59.670,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,549.713,1240.211,1525.832,0.000,0.000,0.000,2148.808,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331444
$DATA_FILE_SIZE,57033,815
$CAP_FILE_SIZE,87916,0
$CFSIZE,260165632,248479744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,302.8,1
$GPS,260910,031207,2359.866,12608.387,26,1.5,26,-3.6