version: 66.08
glider: 181
mission: 4
dive: 39
start: 9 27 110 10 51 54
data:
$ID,181
$MISSION,4
$DIVE,39
$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,-37852.523
$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,45
$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,76.0
$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
$GPS1,270910,104537,2411.257,12608.891,26,1.3,26,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-63.7
$GPS2,270910,105126,2411.287,12608.891,9,1.9,9,-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,21.9,1333,-27.7,-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,-0.99,-102.8,0.0,0.0,0,114,0.00,0.00,-92.35,0.000,2,0.000,0.000,199,2307,3046,0,0,0,0,0,0
$GC,117,-1.06,-155.7,3.5,-5.6,12,149,7.47,2.15,-18.02,0.000,4,0.230,0.050,2068,3712,3934,0,0,0,0,0,0
$GC,264,-0.97,-155.7,70.1,-41.6,37,273,0.12,2.15,0.00,0.000,6,0.164,0.031,2104,2300,3936,0,0,0,0,0,0
$GC,599,-0.92,-155.7,187.1,-29.7,98,608,0.00,2.12,0.00,0.000,4,0.000,0.036,2105,889,3936,0,0,0,0,0,0
$GC,625,-0.87,-155.7,194.7,-27.8,102,635,0.12,2.15,0.00,0.000,6,0.169,0.035,2133,2293,3936,0,0,0,0,0,0
$GC,975,-0.87,-155.7,275.7,-22.2,163,982,0.00,2.15,0.00,0.000,4,0.000,0.043,2124,3714,3936,0,0,0,0,0,0
$GC,1122,-0.92,-155.7,305.7,-18.5,187,1126,0.00,2.08,0.00,0.000,6,0.000,0.028,2124,2293,3936,0,0,0,0,0,0
$GC,1448,-0.94,-155.7,376.8,-21.2,217,1452,0.00,2.15,0.00,0.000,4,0.000,0.044,2113,3714,3936,0,0,0,0,0,0
$GC,1557,-0.99,-155.7,399.7,-19.1,226,1568,0.00,2.12,0.00,0.000,6,0.000,0.029,2113,2294,3935,0,0,0,0,0,0
$GC,1884,-1.01,-155.7,466.2,-19.1,257,1888,0.00,2.05,0.00,0.000,4,0.000,0.037,2113,899,3934,0,0,0,0,0,0
$GC,1954,-1.06,-155.7,478.9,-16.5,263,1958,0.00,2.12,0.00,0.000,6,0.000,0.038,2105,2307,3934,0,0,0,0,0,0
$STATE,2076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2076,begin apogee
$GC,2080,-0.16,0.0,501.9,18.8,274,2203,0.82,0.00,117.18,0.855,6,0.142,0.000,2368,1975,3299,0,0,0,0,0,0
$STATE,2204,end apogee,CONTROL_FINISHED_OK
$STATE,2204,begin climb
$GC,2205,1.06,155.7,507.2,0.0,284,2341,1.05,2.38,120.95,0.838,4,0.034,0.039,2792,3413,2661,0,0,0,0,0,0
$GC,2398,0.90,155.7,497.5,19.6,300,2403,0.35,2.15,0.00,0.000,6,0.206,0.030,2718,2003,2658,0,0,0,0,0,0
$GC,2723,0.84,161.5,448.4,13.4,330,2738,0.00,2.17,4.85,0.564,4,0.000,0.041,2728,600,2639,0,0,0,0,0,0
$GC,2928,0.76,161.5,420.0,14.1,348,2932,0.20,2.10,0.00,0.000,6,0.187,0.034,2671,2004,2637,0,0,0,0,0,0
$GC,3252,0.76,191.5,381.5,11.2,378,3281,0.00,2.17,24.02,0.773,4,0.000,0.039,2681,595,2517,0,0,0,0,0,0
$GC,3297,0.75,208.6,376.0,12.3,381,3318,0.00,2.17,14.35,0.729,6,0.000,0.035,2680,1999,2449,0,0,0,0,0,0
$GC,3634,0.73,208.6,327.6,14.1,413,3638,0.00,2.15,0.00,0.000,4,0.000,0.044,2680,3410,2443,0,0,0,0,0,0
$GC,3742,0.69,208.6,310.7,14.9,422,3747,0.17,2.10,0.00,0.000,6,0.185,0.031,2647,2000,2442,0,0,0,0,0,0
$GC,4079,0.73,224.6,270.1,12.4,475,4093,0.00,0.00,12.70,0.682,6,0.000,0.000,2647,1997,2385,0,0,0,0,0,0
$GC,4428,0.76,226.7,226.5,13.7,537,4435,0.00,2.17,0.00,0.000,4,0.000,0.044,2647,3415,2379,0,0,0,0,0,0
$GC,4664,0.79,240.1,196.9,12.7,578,4687,0.00,2.15,12.95,0.636,6,0.000,0.032,2656,1995,2318,0,0,0,0,0,0
$GC,5023,0.83,246.6,148.8,13.3,641,5042,0.12,2.15,6.30,0.522,4,0.088,0.041,2728,601,2292,0,0,0,0,0,0
$GC,5249,0.83,252.3,115.4,13.4,681,5266,0.10,2.12,5.62,0.483,6,0.168,0.035,2697,2001,2270,0,0,0,0,0,0
$GC,5592,0.87,278.1,74.7,11.6,743,5624,0.00,2.20,21.08,0.571,4,0.000,0.043,2697,3408,2162,0,0,0,0,0,0
$GC,5841,0.97,335.5,48.0,8.7,787,5895,0.00,2.12,43.47,0.558,6,0.000,0.031,2706,2003,1931,0,0,0,0,0,0
$GC,6220,1.08,369.7,11.1,10.8,854,6252,0.17,0.00,26.33,0.516,6,0.070,0.000,2784,2001,1787,0,0,0,0,0,0
$STATE,6276,end climb,SURFACE_DEPTH_REACHED
$STATE,6276,begin surface coast
$FINISH,0.5,1.010570
$STATE,6294,end surface coast,CONTROL_FINISHED_OK
$STATE,6294,begin surface
$SM_CCo,6314,143.23,0.057,0,0,484,690.03
$SM_GC,1.26,0.00,0.00,143.23,0.000,0.000,0.057,197,2309,484,-6.96,0.25,690.03
$IRIDIUM_FIX,2403.92,12604.94,270910,080800
$TT8_MAMPS,0.027713
$HUMID,43.14
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.20
$XPDR_PINGS,2
$24V_AH,24.6,8.529
$10V_AH,10.3,8.492
$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,17.475,52.475,409.800,143.225,0.000,28.800,18.576,184.941,0.500,0.000,12.530,2091.936,1501.739,579.613,2513.830,126.804,0.000,1399.152,0.000,1362.550,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,50.490,854.505,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,583.381,1316.186,1629.061,0.000,0.000,0.000,2343.792,0.000,0.000,0.000
$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,60223,865
$CAP_FILE_SIZE,90683,0
$CFSIZE,260165632,247300096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,329.4,1
$GPS,270910,124034,2412.065,12609.160,6,2.6,25,-3.6