version: 66.08
glider: 181
mission: 4
dive: 36
start: 9 27 110 4 46 59
data:
$ID,181
$MISSION,4
$DIVE,36
$N_DIVES,45
$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,-37848.754
$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,50
$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,70.0
$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
$GPS1,270910,044024,2408.965,12608.532,41,0.9,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.8
$GPS2,270910,044632,2409.016,12608.440,14,1.2,14,-3.6
$SPEED_LIMITS,0.241,0.296
$TGT_NAME,NWALL_N
$TGT_LATLONG,2412.000,12609.000
$TGT_RADIUS,1000.000
$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,37.7,5607,-22.5,-13.889
$D_GRID,1666
$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,-155.7,0.0,0.0,0,106,0.00,0.00,-84.43,0.000,2,0.000,0.000,206,2315,2783,0,0,0,0,0,0
$GC,109,-0.89,-155.7,3.1,-5.4,11,149,7.70,2.12,-26.48,0.000,4,0.233,0.057,2120,3695,3935,0,0,0,0,0,0
$GC,179,-0.73,-155.7,22.8,-42.1,21,187,0.22,2.12,0.00,0.000,6,0.179,0.031,2183,2302,3936,0,0,0,0,0,0
$GC,511,-0.68,-155.7,130.8,-24.0,82,520,0.00,2.15,0.00,0.000,4,0.000,0.043,2175,3687,3937,0,0,0,0,0,0
$GC,654,-0.69,-155.7,158.9,-18.7,107,661,0.00,2.08,0.00,0.000,6,0.000,0.029,2175,2284,3937,0,0,0,0,0,0
$GC,1001,-0.69,-155.7,232.8,-18.7,168,1009,0.00,2.08,0.00,0.000,4,0.000,0.036,2175,896,3941,0,0,0,0,0,0
$GC,1026,-0.69,-155.7,237.7,-19.2,172,1036,0.10,2.10,0.00,0.000,6,0.138,0.035,2198,2279,3938,0,0,0,0,0,0
$GC,1371,-0.72,-155.7,291.6,-15.4,233,1378,0.00,2.17,0.00,0.000,4,0.000,0.047,2189,3712,3937,0,0,0,0,0,0
$GC,1444,-0.78,-155.7,302.0,-12.8,245,1452,0.00,2.10,0.00,0.000,6,0.000,0.028,2189,2307,3937,0,0,0,0,0,0
$GC,1770,-0.81,-155.7,346.7,-13.5,276,1774,0.00,2.15,0.00,0.000,4,0.000,0.046,2180,3705,3936,0,0,0,0,0,0
$GC,1821,-0.86,-155.7,353.7,-12.8,280,1825,0.00,2.08,0.00,0.000,6,0.000,0.030,2180,2294,3936,0,0,0,0,0,0
$GC,2145,-0.90,-155.7,401.7,-15.1,310,2150,0.12,2.08,0.00,0.000,4,0.087,0.037,2118,882,3934,0,0,0,0,0,0
$GC,2172,-0.90,-155.7,406.4,-17.8,312,2176,0.00,2.12,0.00,0.000,6,0.000,0.037,2109,2307,3936,0,0,0,0,0,0
$GC,2498,-0.87,-155.7,474.4,-20.6,342,2503,0.12,2.12,0.00,0.000,4,0.188,0.047,2130,3705,3931,0,0,0,0,0,0
$STATE,2651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2651,begin apogee
$GC,2657,-0.16,0.0,500.5,15.8,355,2784,0.73,0.00,116.95,0.857,6,0.129,0.000,2368,1987,3297,0,0,0,0,0,0
$STATE,2784,end apogee,CONTROL_FINISHED_OK
$STATE,2785,begin climb
$GC,2786,0.89,155.7,507.7,0.0,366,2919,0.90,2.30,121.05,0.842,4,0.037,0.041,2734,3410,2661,0,0,0,0,0,0
$GC,2945,0.73,155.7,506.7,14.0,379,2953,0.28,2.22,0.00,0.000,6,0.189,0.030,2667,1997,2658,0,0,0,0,0,0
$GC,3271,0.64,164.4,464.4,13.4,410,3284,0.12,0.00,6.78,0.657,6,0.199,0.000,2636,1995,2628,0,0,0,0,0,0
$GC,3602,0.64,201.5,424.7,11.7,441,3638,0.00,2.30,29.77,0.799,4,0.000,0.044,2636,3412,2476,0,0,0,0,0,0
$GC,3687,0.57,201.5,412.9,14.1,448,3697,0.12,2.20,0.00,0.000,6,0.169,0.032,2610,1997,2473,0,0,0,0,0,0
$GC,4013,0.61,241.7,374.6,11.5,479,4050,0.00,2.25,31.70,0.780,4,0.000,0.044,2618,593,2311,0,0,0,0,0,0
$GC,4088,0.63,259.8,365.2,12.8,485,4109,0.00,2.20,15.62,0.732,6,0.000,0.037,2618,2001,2241,0,0,0,0,0,0
$GC,4426,0.65,278.2,322.8,12.8,517,4451,0.00,2.25,14.80,0.716,4,0.000,0.046,2614,3409,2163,0,0,0,0,0,0
$GC,4522,0.65,278.2,308.4,14.9,525,4530,0.00,2.17,0.00,0.000,6,0.000,0.033,2628,2000,2160,0,0,0,0,0,0
$GC,4860,0.65,278.2,257.8,15.7,581,4867,0.00,2.20,0.00,0.000,4,0.000,0.047,2628,3420,2158,0,0,0,0,0,0
$GC,4955,0.65,278.2,241.9,16.9,598,4964,0.00,2.17,0.00,0.000,6,0.000,0.034,2639,1996,2157,0,0,0,0,0,0
$GC,5301,0.67,296.0,195.7,12.8,659,5323,0.00,2.12,14.05,0.641,4,0.000,0.040,2650,595,2091,0,0,0,0,0,0
$GC,5388,0.74,341.7,185.4,11.2,673,5430,0.00,2.15,36.15,0.661,6,0.000,0.035,2650,2017,1904,0,0,0,0,0,0
$GC,5763,0.75,341.7,131.8,14.2,739,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2016,1897,0,0,0,0,0,0
$GC,6094,0.88,410.3,91.0,9.8,800,6150,0.15,0.00,51.30,0.592,6,0.082,0.000,2723,2016,1623,0,0,0,0,0,0
$GC,6473,0.88,410.3,32.2,15.3,867,6481,0.00,2.15,0.00,0.000,4,0.000,0.044,2723,3398,1618,0,0,0,0,0,0
$GC,6559,0.88,410.3,18.9,15.7,882,6567,0.00,2.15,0.00,0.000,6,0.000,0.033,2734,1987,1617,0,0,0,0,0,0
$STATE,6665,end climb,SURFACE_DEPTH_REACHED
$STATE,6665,begin surface coast
$FINISH,0.4,1.008129
$STATE,6683,end surface coast,CONTROL_FINISHED_OK
$STATE,6683,begin surface
$SM_CCo,6703,123.80,0.059,0,0,484,690.03
$SM_GC,1.28,0.00,0.00,123.80,0.000,0.000,0.059,193,2314,484,-6.98,0.40,690.03
$IRIDIUM_FIX,2359.20,12531.44,270910,020247
$TT8_MAMPS,0.028462
$HUMID,44.40
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.6,8.201
$10V_AH,10.3,8.022
$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,17.075,61.400,438.175,123.800,0.000,27.849,37.229,179.122,0.000,0.000,17.108,2165.350,1705.512,608.341,2596.595,126.569,0.000,1448.510,0.000,1400.782,0.000,0.543,0.000
$DEVICE_MAMPS,233.325,56.610,856.800,58.905,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,609.786,1375.498,1659.862,0.000,0.000,0.000,2295.688,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331552
$DATA_FILE_SIZE,63886,904
$CAP_FILE_SIZE,93879,0
$CFSIZE,260165632,247504896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123,325.7,1
$GPS,270910,064152,2410.135,12608.806,10,2.2,29,-3.6