version: 66.08
glider: 181
mission: 4
dive: 40
start: 9 27 110 12 47 5
data:
$ID,181
$MISSION,4
$DIVE,40
$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,-37853.777
$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,42
$R_STBD_OVSHOOT,42
$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,78.0
$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
$GPS1,270910,124034,2412.065,12609.160,6,2.6,25,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-65.2
$GPS2,270910,124637,2412.050,12609.117,14,1.5,19,-3.6
$SPEED_LIMITS,0.241,0.296
$TGT_NAME,NWALL_S
$TGT_LATLONG,2402.000,12609.000
$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,180.5,18614,-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,-84.30,0.000,2,0.000,0.000,197,2310,2783,0,0,0,0,0,0
$GC,109,-0.89,-155.7,3.1,-5.3,11,149,7.70,2.12,-25.52,0.000,4,0.233,0.047,2131,892,3933,0,0,0,0,0,0
$GC,239,-0.81,-155.7,46.2,-35.5,32,248,0.12,2.17,0.00,0.000,6,0.166,0.038,2158,2297,3934,0,0,0,0,0,0
$GC,573,-0.75,-155.7,147.4,-25.4,93,582,0.00,2.17,0.00,0.000,4,0.000,0.042,2149,3714,3936,0,0,0,0,0,0
$GC,615,-0.71,-155.7,159.3,-25.0,100,624,0.12,2.12,0.00,0.000,6,0.137,0.029,2189,2298,3936,0,0,0,0,0,0
$GC,953,-0.71,-155.7,226.8,-15.9,161,961,0.00,2.08,0.00,0.000,4,0.000,0.036,2189,889,3936,0,0,0,0,0,0
$GC,1026,-0.76,-155.7,237.8,-13.5,174,1034,0.00,2.15,0.00,0.000,6,0.000,0.036,2182,2306,3936,0,0,0,0,0,0
$GC,1358,-0.77,-155.7,287.5,-16.1,235,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2307,3935,0,0,0,0,0,0
$GC,1686,-0.80,-155.7,341.2,-15.9,273,1690,0.00,2.12,0.00,0.000,4,0.000,0.045,2172,3715,3934,0,0,0,0,0,0
$GC,1718,-0.83,-155.7,346.8,-14.9,275,1726,0.00,2.10,0.00,0.000,6,0.000,0.029,2172,2303,3934,0,0,0,0,0,0
$GC,2044,-0.85,-155.7,396.9,-15.2,306,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2300,3933,0,0,0,0,0,0
$GC,2363,-0.88,-155.7,444.7,-15.4,336,2367,0.00,2.20,0.00,0.000,4,0.000,0.047,2163,3718,3931,0,0,0,0,0,0
$GC,2493,-0.93,-155.7,462.7,-12.4,347,2498,0.12,2.10,0.00,0.000,6,0.084,0.030,2097,2298,3930,0,0,0,0,0,0
$STATE,2678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2678,begin apogee
$GC,2682,-0.16,0.0,500.1,18.6,364,2803,0.85,0.00,116.15,0.858,6,0.142,0.000,2368,1987,3300,0,0,0,0,0,0
$STATE,2804,end apogee,CONTROL_FINISHED_OK
$STATE,2804,begin climb
$GC,2805,0.89,155.7,505.3,0.0,374,2940,0.90,2.35,121.43,0.839,4,0.040,0.041,2725,3412,2661,0,0,0,0,0,0
$GC,3185,0.74,155.7,465.3,16.2,407,3194,0.22,2.15,0.00,0.000,6,0.183,0.031,2671,2014,2655,0,0,0,0,0,0
$GC,3514,0.72,210.6,428.7,10.6,438,3563,0.00,2.28,42.20,0.802,4,0.000,0.043,2670,3409,2438,0,0,0,0,0,0
$GC,3620,0.64,210.6,413.6,16.4,447,3625,0.17,2.17,0.00,0.000,6,0.186,0.031,2636,1993,2435,0,0,0,0,0,0
$GC,3946,0.60,210.6,368.7,13.9,477,3950,0.00,2.17,0.00,0.000,4,0.000,0.044,2635,3409,2431,0,0,0,0,0,0
$GC,4110,0.55,210.6,344.0,15.5,491,4115,0.15,2.10,0.00,0.000,6,0.182,0.032,2606,1997,2429,0,0,0,0,0,0
$GC,4435,0.64,283.2,308.2,9.5,521,4496,0.00,2.28,55.42,0.750,4,0.000,0.044,2607,3399,2143,0,0,0,0,0,0
$GC,4516,0.70,323.9,299.9,11.5,528,4559,0.08,2.20,32.38,0.718,6,0.060,0.034,2657,1996,1977,0,0,0,0,0,0
$GC,4880,0.69,323.9,243.1,15.3,594,4888,0.00,2.17,0.00,0.000,4,0.000,0.044,2668,598,1970,0,0,0,0,0,0
$GC,5010,0.69,323.9,223.8,16.1,618,5018,0.00,2.15,0.00,0.000,6,0.000,0.035,2667,1999,1969,0,0,0,0,0,0
$GC,5345,0.67,323.9,165.5,16.1,679,5352,0.00,2.12,0.00,0.000,4,0.000,0.042,2678,596,1968,0,0,0,0,0,0
$GC,5395,0.67,323.9,156.4,17.3,688,5404,0.10,2.15,0.00,0.000,6,0.135,0.034,2645,2006,1968,0,0,0,0,0,0
$GC,5729,0.75,366.9,110.1,11.3,749,5770,0.00,2.17,31.83,0.604,4,0.000,0.042,2645,3405,1801,0,0,0,0,0,0
$GC,5827,0.80,379.1,97.7,13.2,764,5845,0.00,2.15,10.52,0.539,6,0.000,0.033,2654,2007,1752,0,0,0,0,0,0
$GC,6171,0.97,467.6,61.7,8.6,826,6249,0.22,2.25,66.82,0.565,4,0.060,0.042,2769,590,1390,0,0,0,0,0,0
$GC,6257,0.94,467.6,46.4,20.3,837,6267,0.12,2.20,0.00,0.000,6,0.145,0.034,2730,1999,1389,0,0,0,0,0,0
$STATE,6508,end climb,SURFACE_DEPTH_REACHED
$STATE,6508,begin surface coast
$FINISH,0.4,1.021772
$STATE,6527,end surface coast,CONTROL_FINISHED_OK
$STATE,6527,begin surface
$SM_CCo,6547,99.88,0.058,0,0,485,690.03
$SM_GC,1.32,0.00,0.00,99.88,0.000,0.000,0.058,202,2336,485,-6.95,1.02,690.03
$IRIDIUM_FIX,2406.29,12626.67,270910,101017
$TT8_MAMPS,0.027713
$HUMID,45.23
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,24.6,8.646
$10V_AH,10.3,8.645
$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,17.450,57.275,476.750,99.875,0.000,31.119,38.639,168.117,0.500,0.000,21.640,2131.544,1587.590,590.703,2573.320,136.073,0.000,1445.750,0.000,1404.588,0.000,0.543,0.000
$DEVICE_MAMPS,232.560,46.665,858.330,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,596.999,1348.191,1634.629,0.000,0.000,0.000,2225.512,0.000,0.000,0.000
$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,63773,886
$CAP_FILE_SIZE,93640,0
$CFSIZE,260165632,247230464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.024,159.1,1
$GPS,270910,143838,2411.043,12609.203,10,2.0,10,-3.6