version: 66.08
glider: 181
mission: 4
dive: 29
start: 9 26 110 14 33 19
data:
$ID,181
$MISSION,4
$DIVE,29
$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,-37832.586
$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,39
$R_STBD_OVSHOOT,31
$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,56.0
$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
$GPS1,260910,142646,2401.221,12608.837,10,2.6,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-64.2
$GPS2,260910,143252,2401.218,12608.807,10,2.9,29,-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,359.9,18119,-22.5,-13.889
$D_GRID,1638
$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,-92.57,0.000,2,0.000,0.000,198,2301,3042,0,0,0,0,0,0
$GC,117,-0.89,-155.7,3.7,-7.3,12,149,7.70,2.17,-17.42,0.000,4,0.235,0.050,2117,3722,3934,0,0,0,0,0,0
$GC,228,-0.83,-155.7,45.2,-31.5,30,238,0.12,2.17,0.00,0.000,6,0.161,0.031,2153,2297,3935,0,0,0,0,0,0
$GC,561,-0.76,-155.7,150.1,-27.3,91,568,0.00,2.17,0.00,0.000,4,0.000,0.042,2145,3720,3936,0,0,0,0,0,0
$GC,633,-0.75,-155.7,167.9,-20.0,103,640,0.15,2.12,0.00,0.000,6,0.155,0.029,2184,2278,3936,0,0,0,0,0,0
$GC,980,-0.75,-155.7,235.9,-18.5,164,988,0.00,2.22,0.00,0.000,4,0.000,0.046,2175,3708,3936,0,0,0,0,0,0
$GC,1028,-0.77,-155.7,244.8,-17.5,172,1036,0.00,2.10,0.00,0.000,6,0.000,0.031,2175,2312,3936,0,0,0,0,0,0
$GC,1369,-0.77,-155.7,306.6,-18.4,230,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2310,3936,0,0,0,0,0,0
$GC,1687,-0.77,-155.7,359.3,-16.8,260,1691,0.00,2.08,0.00,0.000,4,0.000,0.037,2175,892,3936,0,0,0,0,0,0
$GC,1729,-0.80,-155.7,365.5,-15.0,263,1733,0.00,2.12,0.00,0.000,6,0.000,0.037,2167,2304,3936,0,0,0,0,0,0
$GC,2055,-0.81,-155.7,418.3,-15.6,293,2059,0.00,2.12,0.00,0.000,4,0.000,0.047,2157,3713,3933,0,0,0,0,0,0
$GC,2107,-0.85,-155.7,426.2,-14.0,297,2111,0.00,2.08,0.00,0.000,6,0.000,0.030,2157,2293,3936,0,0,0,0,0,0
$GC,2434,-0.86,-155.7,477.5,-15.6,327,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2290,3931,0,0,0,0,0,0
$STATE,2579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2580,begin apogee
$GC,2584,-0.16,0.0,501.2,16.3,341,2706,0.62,0.00,116.75,0.852,6,0.125,0.000,2365,1980,3298,0,0,0,0,0,0
$STATE,2706,end apogee,CONTROL_FINISHED_OK
$STATE,2706,begin climb
$GC,2708,0.89,155.7,507.5,0.0,351,2842,0.93,2.22,121.15,0.838,4,0.039,0.038,2745,614,2660,0,0,0,0,0,0
$GC,2923,0.74,155.7,498.1,17.6,369,2928,0.30,2.15,0.00,0.000,6,0.184,0.036,2667,2003,2659,0,0,0,0,0,0
$GC,3249,0.66,160.1,452.7,13.6,399,3262,0.00,2.22,3.60,0.461,4,0.000,0.044,2666,3409,2646,0,0,0,0,0,0
$GC,3307,0.55,165.7,444.7,13.6,404,3322,0.28,2.08,6.00,0.623,6,0.185,0.032,2603,2020,2627,0,0,0,0,0,0
$GC,3639,0.63,248.8,412.4,8.9,435,3712,0.00,2.25,65.28,0.802,4,0.000,0.041,2612,595,2283,0,0,0,0,0,0
$GC,3826,0.67,277.4,390.9,12.2,451,3854,0.00,2.17,23.00,0.755,6,0.000,0.037,2612,2002,2168,0,0,0,0,0,0
$GC,4175,0.67,277.4,342.7,14.3,483,4179,0.00,2.15,0.00,0.000,4,0.000,0.046,2612,3404,2161,0,0,0,0,0,0
$GC,4204,0.67,277.4,338.1,16.5,485,4209,0.00,2.12,0.00,0.000,6,0.000,0.034,2622,1993,2159,0,0,0,0,0,0
$GC,4532,0.68,290.0,291.1,13.1,521,4548,0.00,2.20,10.15,0.662,4,0.000,0.043,2634,591,2115,0,0,0,0,0,0
$GC,4577,0.68,290.0,284.5,14.9,528,4585,0.00,2.17,0.00,0.000,6,0.000,0.037,2633,1998,2115,0,0,0,0,0,0
$GC,4919,0.68,290.3,234.7,13.9,589,4926,0.00,2.17,0.00,0.000,4,0.000,0.046,2633,3416,2112,0,0,0,0,0,0
$GC,4956,0.67,290.3,229.2,15.2,595,4963,0.00,2.12,0.00,0.000,6,0.000,0.034,2644,1997,2110,0,0,0,0,0,0
$GC,5298,0.70,314.3,179.5,12.4,656,5321,0.00,0.00,19.25,0.642,6,0.000,0.000,2644,1996,2016,0,0,0,0,0,0
$GC,5649,0.70,315.1,131.3,13.8,719,5657,0.00,2.22,0.00,0.000,4,0.000,0.049,2644,3410,2012,0,0,0,0,0,0
$GC,5729,0.70,315.1,119.5,14.5,733,5737,0.00,2.15,0.00,0.000,6,0.000,0.036,2655,2003,2011,0,0,0,0,0,0
$GC,6060,0.84,399.0,78.8,8.9,794,6132,0.12,2.25,63.62,0.585,4,0.088,0.047,2719,3411,1670,0,0,0,0,0,0
$GC,6193,0.82,399.0,61.2,16.4,814,6203,0.12,2.17,0.00,0.000,6,0.146,0.032,2692,2007,1665,0,0,0,0,0,0
$GC,6527,0.92,442.0,19.2,11.3,875,6567,0.00,2.17,32.33,0.527,4,0.000,0.039,2701,594,1495,0,0,0,0,0,0
$GC,6657,1.02,478.6,4.3,11.7,896,6674,0.12,2.17,12.10,0.476,2,0.050,0.034,2767,2005,1424,0,0,0,0,0,0
$STATE,6675,end climb,SURFACE_DEPTH_REACHED
$STATE,6675,begin surface coast
$FINISH,0.3,1.021989
$STATE,6700,end surface coast,CONTROL_FINISHED_OK
$STATE,6700,begin surface
$SM_CCo,6719,103.07,0.058,0,0,485,690.03
$SM_GC,1.24,0.00,0.00,103.07,0.000,0.000,0.058,198,2314,485,-6.96,0.40,690.03
$IRIDIUM_FIX,2354.48,12610.66,260910,121236
$TT8_MAMPS,0.027713
$HUMID,43.89
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.6,7.411
$10V_AH,10.3,6.913
$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,17.175,61.425,473.225,103.075,0.000,31.010,14.278,184.344,0.250,0.000,33.264,2164.589,1729.250,584.797,2592.020,126.135,0.000,1437.719,0.000,1394.396,0.000,0.543,0.000
$DEVICE_MAMPS,234.855,50.490,852.210,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,608.248,1372.660,1676.428,0.000,0.000,0.000,2384.493,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331436
$DATA_FILE_SIZE,63691,902
$CAP_FILE_SIZE,94342,0
$CFSIZE,260165632,248000512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,192.0,1
$GPS,260910,162807,2401.940,12608.828,30,1.1,30,-3.6