version: 66.08
glider: 181
mission: 4
dive: 41
start: 9 27 110 14 45 20
data:
$ID,181
$MISSION,4
$DIVE,41
$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,-37855.031
$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,40
$R_STBD_OVSHOOT,63
$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,80.0
$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
$GPS1,270910,143838,2411.043,12609.203,10,2.0,10,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-65.4
$GPS2,270910,144452,2411.035,12609.151,10,2.1,29,-3.6
$SPEED_LIMITS,0.241,0.296
$TGT_NAME,NWALL_N
$TGT_LATLONG,2416.000,12609.000
$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,0.4,9198,-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,-155.7,0.0,0.0,0,112,0.00,0.00,-90.00,0.000,2,0.000,0.000,203,2337,2968,0,0,0,0,0,0
$GC,114,-0.89,-155.7,3.5,-6.1,12,148,7.65,2.08,-19.52,0.000,4,0.233,0.057,2120,3683,3936,0,0,0,0,0,0
$GC,238,-0.80,-155.7,50.2,-38.0,32,246,0.15,2.12,0.00,0.000,6,0.158,0.032,2164,2295,3938,0,0,0,0,0,0
$GC,569,-0.74,-155.7,146.1,-23.8,93,577,0.00,2.15,0.00,0.000,4,0.000,0.043,2156,3680,3939,0,0,0,0,0,0
$GC,624,-0.71,-155.7,159.5,-23.8,102,634,0.10,2.08,0.00,0.000,6,0.142,0.028,2188,2293,3939,0,0,0,0,0,0
$GC,973,-0.69,-155.7,229.4,-22.1,163,980,0.00,2.12,0.00,0.000,4,0.000,0.043,2179,3686,3940,0,0,0,0,0,0
$GC,1103,-0.73,-155.7,250.4,-14.6,186,1112,0.00,2.08,0.00,0.000,6,0.000,0.028,2179,2299,3940,0,0,0,0,0,0
$GC,1448,-0.73,-155.7,309.2,-16.4,243,1451,0.00,2.05,0.00,0.000,4,0.000,0.036,2180,898,3940,0,0,0,0,0,0
$GC,1474,-0.76,-155.7,314.0,-16.1,245,1481,0.00,2.10,0.00,0.000,6,0.000,0.036,2178,2280,3939,0,0,0,0,0,0
$GC,1801,-0.77,-155.7,365.9,-17.0,276,1805,0.00,2.15,0.00,0.000,4,0.000,0.045,2167,3708,3938,0,0,0,0,0,0
$GC,1854,-0.82,-155.7,374.8,-15.4,280,1863,0.00,2.10,0.00,0.000,6,0.000,0.028,2167,2300,3938,0,0,0,0,0,0
$GC,2182,-0.84,-155.7,425.4,-14.1,311,2186,0.00,2.08,0.00,0.000,4,0.000,0.037,2166,898,3937,0,0,0,0,0,0
$GC,2239,-0.89,-155.7,433.2,-12.0,316,2243,0.00,2.10,0.00,0.000,6,0.000,0.037,2164,2304,3936,0,0,0,0,0,0
$GC,2564,-0.91,-155.7,476.3,-13.6,346,2568,0.00,2.15,0.00,0.000,4,0.000,0.047,2153,3712,3934,0,0,0,0,0,0
$GC,2605,-0.94,-155.7,481.4,-12.3,349,2609,0.00,2.08,0.00,0.000,6,0.000,0.030,2153,2293,3933,0,0,0,0,0,0
$STATE,2749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2749,begin apogee
$GC,2753,-0.16,0.0,500.5,13.0,362,2876,0.65,0.00,117.50,0.859,6,0.125,0.000,2370,1981,3297,0,0,0,0,0,0
$STATE,2877,end apogee,CONTROL_FINISHED_OK
$STATE,2877,begin climb
$GC,2878,0.89,155.7,506.1,0.0,372,3008,0.90,2.38,120.70,0.843,4,0.040,0.041,2728,3412,2668,0,0,0,0,0,0
$GC,3024,0.82,224.5,506.7,9.8,384,3085,0.17,2.20,55.20,0.823,6,0.189,0.030,2692,2018,2383,0,0,0,0,0,0
$GC,3406,0.73,224.5,440.9,17.0,419,3410,0.12,2.17,0.00,0.000,4,0.194,0.041,2670,595,2376,0,0,0,0,0,0
$GC,3638,0.68,224.5,403.6,16.0,439,3646,0.00,2.15,0.00,0.000,6,0.000,0.034,2670,2002,2373,0,0,0,0,0,0
$GC,3964,0.62,224.5,351.8,16.3,470,3966,0.17,0.00,0.00,0.000,6,0.171,0.000,2624,2004,2371,0,0,0,0,0,0
$GC,4283,0.63,242.4,308.7,12.8,500,4303,0.00,0.00,13.18,0.705,6,0.000,0.000,2624,2005,2309,0,0,0,0,0,0
$GC,4633,0.66,270.5,264.8,12.2,557,4661,0.00,0.00,22.60,0.705,6,0.000,0.000,2624,2004,2196,0,0,0,0,0,0
$GC,4996,0.69,297.1,222.1,12.3,621,5025,0.00,2.20,21.88,0.669,4,0.000,0.041,2620,3414,2085,0,0,0,0,0,0
$GC,5049,0.72,308.4,215.2,13.2,629,5066,0.00,2.15,10.05,0.605,6,0.000,0.032,2628,1998,2040,0,0,0,0,0,0
$GC,5406,0.74,308.4,166.3,14.0,691,5413,0.10,2.20,0.00,0.000,4,0.101,0.043,2677,3415,2035,0,0,0,0,0,0
$GC,5489,0.72,308.4,151.8,17.0,705,5496,0.12,2.12,0.00,0.000,6,0.175,0.033,2656,1999,2033,0,0,0,0,0,0
$GC,5820,0.77,340.9,106.0,11.9,766,5851,0.00,2.20,24.92,0.594,4,0.000,0.041,2656,3412,1908,0,0,0,0,0,0
$GC,5931,0.81,365.1,92.6,12.4,784,5956,0.00,2.15,19.25,0.570,6,0.000,0.032,2665,2003,1810,0,0,0,0,0,0
$GC,6282,0.95,435.3,53.3,9.7,847,6345,0.17,2.22,52.55,0.556,4,0.070,0.040,2750,3401,1525,0,0,0,0,0,0
$GC,6402,0.95,435.3,33.1,18.6,865,6410,0.00,2.17,0.00,0.000,6,0.000,0.033,2760,1995,1521,0,0,0,0,0,0
$STATE,6569,end climb,SURFACE_DEPTH_REACHED
$STATE,6569,begin surface coast
$FINISH,0.5,1.022056
$STATE,6586,end surface coast,CONTROL_FINISHED_OK
$STATE,6586,begin surface
$SM_CCo,6607,113.88,0.059,0,0,484,690.27
$SM_GC,1.21,0.00,0.00,113.88,0.000,0.000,0.059,203,2325,484,-6.95,0.71,690.27
$IRIDIUM_FIX,2406.29,12614.85,270910,121213
$TT8_MAMPS,0.027713
$HUMID,44.88
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,24.90
$XPDR_PINGS,5
$24V_AH,24.6,8.760
$10V_AH,10.3,8.800
$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,16.975,56.625,457.825,113.875,0.000,22.719,14.342,199.782,1.250,0.000,33.379,2154.568,1652.254,585.375,2581.633,130.356,0.000,1422.118,0.000,1386.786,0.000,0.543,0.000
$DEVICE_MAMPS,233.325,56.610,859.095,58.905,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,605.387,1366.183,1654.146,0.000,0.000,0.000,2299.787,0.000,0.000,0.000
$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,63766,898
$CAP_FILE_SIZE,93145,0
$CFSIZE,260165632,247160832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.015,180.6,1
$GPS,270910,163837,2411.915,12609.181,40,1.0,40,-3.6