version: 66.08
glider: 181
mission: 4
dive: 37
start: 9 27 110 6 48 30
data:
$ID,181
$MISSION,4
$DIVE,37
$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,-37850.012
$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,43
$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,72.0
$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
$GPS1,270910,064152,2410.135,12608.806,10,2.2,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-67.4
$GPS2,270910,064803,2410.209,12608.740,8,3.4,27,-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,27.3,3345,-22.5,-13.889
$D_GRID,1648
$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,-155.7,0.0,0.0,0,107,0.00,0.00,-84.68,0.000,2,0.000,0.000,197,2314,2795,0,0,0,0,0,0
$GC,109,-0.89,-155.7,3.0,-5.1,11,149,7.80,2.15,-25.95,0.000,4,0.236,0.057,2120,3708,3934,0,0,0,0,0,0
$GC,175,-0.72,-155.7,21.4,-40.1,20,184,0.22,2.15,0.00,0.000,6,0.180,0.032,2183,2302,3936,0,0,0,0,0,0
$GC,508,-0.68,-155.7,131.7,-25.3,81,516,0.00,2.17,0.00,0.000,4,0.000,0.044,2175,3698,3936,0,0,0,0,0,0
$GC,583,-0.68,-155.7,149.8,-20.7,94,592,0.08,2.10,0.00,0.000,6,0.135,0.029,2199,2298,3937,0,0,0,0,0,0
$GC,932,-0.68,-155.7,216.6,-17.3,155,938,0.00,2.08,0.00,0.000,4,0.000,0.035,2199,885,3935,0,0,0,0,0,0
$GC,961,-0.70,-155.7,221.7,-17.1,160,970,0.00,2.15,0.00,0.000,6,0.000,0.036,2192,2298,3937,0,0,0,0,0,0
$GC,1306,-0.72,-155.7,277.3,-14.7,221,1313,0.00,2.15,0.00,0.000,4,0.000,0.044,2181,3717,3937,0,0,0,0,0,0
$GC,1392,-0.76,-155.7,290.7,-13.7,236,1401,0.00,2.12,0.00,0.000,6,0.000,0.029,2181,2294,3936,0,0,0,0,0,0
$GC,1729,-0.78,-155.7,349.4,-17.1,272,1733,0.00,2.17,0.00,0.000,4,0.000,0.047,2172,3705,3936,0,0,0,0,0,0
$GC,1779,-0.82,-155.7,357.8,-15.9,276,1783,0.00,2.05,0.00,0.000,6,0.000,0.029,2172,2299,3936,0,0,0,0,0,0
$GC,2103,-0.84,-155.7,410.3,-15.4,306,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2297,3935,0,0,0,0,0,0
$GC,2422,-0.87,-155.7,457.7,-14.7,336,2426,0.00,2.17,0.00,0.000,4,0.000,0.046,2163,3713,3932,0,0,0,0,0,0
$GC,2466,-0.91,-155.7,464.1,-13.6,339,2473,0.00,2.10,0.00,0.000,6,0.000,0.030,2163,2307,3932,0,0,0,0,0,0
$STATE,2727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2728,begin apogee
$GC,2732,-0.16,0.0,500.6,13.1,364,2855,0.60,0.00,116.82,0.861,6,0.122,0.000,2365,1978,3297,0,0,0,0,0,0
$STATE,2855,end apogee,CONTROL_FINISHED_OK
$STATE,2856,begin climb
$GC,2857,0.89,155.7,505.8,0.0,374,2986,0.90,2.35,120.93,0.843,4,0.041,0.041,2721,3399,2663,0,0,0,0,0,0
$GC,3101,0.74,155.7,490.8,16.9,396,3106,0.25,2.10,0.00,0.000,6,0.188,0.031,2666,2018,2657,0,0,0,0,0,0
$GC,3429,0.71,206.3,451.4,10.9,426,3472,0.00,0.00,39.53,0.807,6,0.000,0.000,2669,2015,2456,0,0,0,0,0,0
$GC,3790,0.65,206.3,399.9,15.2,460,3795,0.12,2.17,0.00,0.000,4,0.187,0.041,2646,587,2450,0,0,0,0,0,0
$GC,3843,0.61,206.3,391.4,14.5,464,3852,0.00,2.17,0.00,0.000,6,0.000,0.035,2646,2012,2447,0,0,0,0,0,0
$GC,4171,0.57,208.9,347.5,13.7,495,4175,0.15,2.12,0.00,0.000,4,0.177,0.045,2603,3401,2447,0,0,0,0,0,0
$GC,4269,0.59,235.7,335.1,12.3,503,4300,0.00,2.10,22.30,0.746,6,0.000,0.033,2611,1993,2335,0,0,0,0,0,0
$GC,4616,0.65,287.8,294.7,10.8,540,4666,0.00,2.25,40.92,0.734,4,0.000,0.043,2611,3393,2124,0,0,0,0,0,0
$GC,4689,0.65,289.8,286.0,13.8,551,4696,0.00,2.15,0.00,0.000,6,0.000,0.033,2621,1993,2122,0,0,0,0,0,0
$GC,5018,0.68,296.8,241.7,13.5,612,5034,0.00,2.20,7.90,0.599,4,0.000,0.043,2621,3404,2086,0,0,0,0,0,0
$GC,5128,0.69,296.8,225.8,14.8,631,5135,0.00,2.12,0.00,0.000,6,0.000,0.033,2630,1997,2083,0,0,0,0,0,0
$GC,5461,0.72,312.5,180.6,13.0,692,5477,0.00,0.00,12.75,0.615,6,0.000,0.000,2632,1994,2024,0,0,0,0,0,0
$GC,5804,0.79,351.4,139.2,11.6,754,5843,0.15,2.17,30.45,0.621,4,0.079,0.041,2714,602,1866,0,0,0,0,0,0
$GC,5872,0.76,351.4,128.3,17.2,764,5881,0.12,2.15,0.00,0.000,6,0.145,0.035,2674,1993,1864,0,0,0,0,0,0
$GC,6206,0.79,356.9,76.3,13.6,825,6217,0.00,2.25,5.28,0.443,4,0.000,0.044,2674,3415,1843,0,0,0,0,0,0
$GC,6256,0.81,356.9,68.8,15.4,833,6265,0.00,2.17,0.00,0.000,6,0.000,0.032,2683,1992,1841,0,0,0,0,0,0
$GC,6588,0.94,436.4,31.6,9.1,894,6659,0.12,2.28,59.53,0.546,4,0.085,0.044,2747,3408,1519,0,0,0,0,0,0
$GC,6695,0.93,436.4,16.7,17.2,909,6705,0.10,2.17,0.00,0.000,6,0.152,0.031,2727,2004,1517,0,0,0,0,0,0
$STATE,6782,end climb,SURFACE_DEPTH_REACHED
$STATE,6782,begin surface coast
$FINISH,0.3,1.010870
$STATE,6801,end surface coast,CONTROL_FINISHED_OK
$STATE,6801,begin surface
$SM_CCo,6821,113.50,0.058,0,0,483,690.03
$SM_GC,1.26,0.00,0.00,113.50,0.000,0.000,0.058,196,2316,483,-6.97,0.59,690.03
$IRIDIUM_FIX,2401.56,12549.83,270910,040401
$TT8_MAMPS,0.027713
$HUMID,44.29
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,24.6,8.314
$10V_AH,10.3,8.182
$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,17.200,61.400,456.400,113.500,0.000,25.897,43.856,171.991,0.250,0.000,30.931,2220.303,1728.764,601.530,2620.781,141.929,0.000,1460.513,0.000,1415.932,0.000,0.543,0.000
$DEVICE_MAMPS,235.620,57.375,860.625,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,624.799,1411.165,1687.749,0.000,0.000,0.000,2378.197,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331536
$DATA_FILE_SIZE,67039,927
$CAP_FILE_SIZE,96393,0
$CFSIZE,260165632,247427072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.133,329.0,1
$GPS,270910,084510,2411.557,12608.924,9,3.2,28,-3.6