version: 66.08
glider: 181
mission: 4
dive: 42
start: 9 27 110 16 47 3
data:
$ID,181
$MISSION,4
$DIVE,42
$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,-37856.285
$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,44
$R_STBD_OVSHOOT,46
$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,82.0
$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
$GPS1,270910,163837,2411.915,12609.181,40,1.0,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-66.0
$GPS2,270910,164637,2411.960,12609.039,14,1.0,31,-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,3.1,7483,-22.5,-13.889
$D_GRID,1584
$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,-84.78,0.000,2,0.000,0.000,203,2325,2795,0,0,0,0,0,0
$GC,109,-0.89,-155.7,3.1,-5.4,11,149,7.62,2.12,-25.25,0.000,4,0.231,0.052,2122,3710,3934,0,0,0,0,0,0
$GC,239,-0.79,-155.7,48.3,-36.9,32,249,0.15,2.15,0.00,0.000,6,0.162,0.031,2165,2301,3934,0,0,0,0,0,0
$GC,573,-0.74,-155.7,144.3,-23.4,93,581,0.00,2.17,0.00,0.000,4,0.000,0.043,2156,3695,3935,0,0,0,0,0,0
$GC,701,-0.71,-155.7,172.7,-22.4,115,708,0.15,2.08,0.00,0.000,6,0.156,0.028,2196,2280,3935,0,0,0,0,0,0
$GC,1046,-0.71,-155.7,239.4,-20.6,176,1055,0.00,2.17,0.00,0.000,4,0.000,0.044,2187,3689,3936,0,0,0,0,0,0
$GC,1124,-0.74,-155.7,253.0,-17.0,189,1131,0.00,2.03,0.00,0.000,6,0.000,0.029,2187,2307,3936,0,0,0,0,0,0
$GC,1467,-0.76,-155.7,309.2,-16.5,246,1471,0.00,2.08,0.00,0.000,4,0.000,0.035,2187,898,3936,0,0,0,0,0,0
$GC,1555,-0.81,-155.7,321.9,-13.3,253,1563,0.00,2.10,0.00,0.000,6,0.000,0.036,2178,2284,3935,0,0,0,0,0,0
$GC,1881,-0.83,-155.7,371.7,-15.4,284,1885,0.00,2.17,0.00,0.000,4,0.000,0.044,2168,3714,3933,0,0,0,0,0,0
$GC,2048,-0.87,-155.7,394.8,-13.3,298,2056,0.00,2.10,0.00,0.000,6,0.000,0.029,2167,2301,3932,0,0,0,0,0,0
$GC,2374,-0.89,-155.7,442.2,-15.0,329,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2300,3931,0,0,0,0,0,0
$GC,2693,-0.92,-155.7,485.1,-12.9,359,2698,0.12,2.15,0.00,0.000,4,0.088,0.047,2097,3704,3928,0,0,0,0,0,0
$GC,2747,-0.91,-155.7,494.3,-17.3,363,2755,0.08,2.10,0.00,0.000,6,0.151,0.030,2122,2299,3926,0,0,0,0,0,0
$STATE,2786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2786,begin apogee
$GC,2790,-0.16,0.0,500.6,17.3,367,2912,0.75,0.00,116.45,0.858,6,0.137,0.000,2366,1992,3297,0,0,0,0,0,0
$STATE,2913,end apogee,CONTROL_FINISHED_OK
$STATE,2913,begin climb
$GC,2915,0.89,155.7,507.2,0.0,377,3048,0.93,2.25,120.78,0.843,4,0.040,0.038,2742,611,2662,0,0,0,0,0,0
$GC,3138,0.75,155.7,499.3,15.7,396,3143,0.30,2.12,0.00,0.000,6,0.188,0.034,2666,2004,2659,0,0,0,0,0,0
$GC,3463,0.68,172.3,455.5,12.9,426,3481,0.00,2.17,13.27,0.757,4,0.000,0.041,2665,3401,2594,0,0,0,0,0,0
$GC,3539,0.58,172.3,445.2,14.7,432,3544,0.22,2.10,0.00,0.000,6,0.184,0.031,2616,2002,2592,0,0,0,0,0,0
$GC,3864,0.64,247.9,410.6,9.4,462,3928,0.00,2.22,58.75,0.806,4,0.000,0.041,2616,3400,2287,0,0,0,0,0,0
$GC,4011,0.63,247.9,391.0,14.5,474,4020,0.00,2.17,0.00,0.000,6,0.000,0.033,2624,2005,2282,0,0,0,0,0,0
$GC,4338,0.63,257.7,345.3,13.3,505,4351,0.00,2.22,7.78,0.653,4,0.000,0.042,2635,594,2248,0,0,0,0,0,0
$GC,4411,0.63,257.7,334.0,14.0,511,4419,0.00,2.17,0.00,0.000,6,0.000,0.034,2636,2005,2247,0,0,0,0,0,0
$GC,4740,0.61,257.7,285.9,14.6,550,4749,0.00,2.17,0.00,0.000,4,0.000,0.045,2636,3404,2243,0,0,0,0,0,0
$GC,4807,0.58,257.7,276.6,15.1,561,4814,0.12,2.12,0.00,0.000,6,0.178,0.033,2615,1988,2242,0,0,0,0,0,0
$GC,5148,0.65,304.0,237.9,11.1,622,5190,0.00,2.20,36.40,0.705,4,0.000,0.042,2624,601,2058,0,0,0,0,0,0
$GC,5209,0.72,347.3,231.3,11.3,631,5253,0.10,2.15,34.28,0.682,6,0.103,0.034,2669,2012,1881,0,0,0,0,0,0
$GC,5595,0.71,347.3,164.2,17.4,697,5602,0.00,2.12,0.00,0.000,4,0.000,0.043,2669,3404,1874,0,0,0,0,0,0
$GC,5687,0.70,347.3,148.5,15.2,713,5696,0.00,2.15,0.00,0.000,6,0.000,0.033,2679,2001,1872,0,0,0,0,0,0
$GC,6020,0.70,347.3,94.6,14.6,774,6028,0.00,2.17,0.00,0.000,4,0.000,0.043,2679,3402,1872,0,0,0,0,0,0
$GC,6137,0.72,347.3,77.6,14.8,795,6146,0.10,2.12,0.00,0.000,6,0.137,0.032,2656,2003,1870,0,0,0,0,0,0
$GC,6471,0.91,449.5,45.2,7.8,856,6557,0.17,2.22,74.55,0.558,4,0.070,0.043,2754,598,1464,0,0,0,0,0,0
$GC,6604,0.91,449.5,24.5,16.4,875,6613,0.10,2.17,0.00,0.000,6,0.145,0.033,2722,2002,1463,0,0,0,0,0,0
$STATE,6754,end climb,SURFACE_DEPTH_REACHED
$STATE,6754,begin surface coast
$FINISH,0.4,1.006448
$STATE,6777,end surface coast,CONTROL_FINISHED_OK
$STATE,6777,begin surface
$SM_CCo,6799,108.32,0.058,0,0,485,690.03
$SM_GC,1.24,0.00,0.00,108.32,0.000,0.000,0.058,200,2311,485,-6.95,0.31,690.03
$IRIDIUM_FIX,2401.56,12615.36,270910,141411
$TT8_MAMPS,0.027713
$HUMID,45.23
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.6,8.880
$10V_AH,10.3,8.958
$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,17.475,65.350,462.250,108.325,0.000,28.936,45.326,256.826,0.500,0.000,33.813,2179.902,1742.690,601.850,2742.231,127.228,0.000,1468.989,0.000,1428.672,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,52.020,858.330,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,610.473,1379.063,1668.129,0.000,0.000,0.000,2264.715,0.000,0.000,0.000
$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,63826,906
$CAP_FILE_SIZE,97639,0
$CFSIZE,260165632,247087104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,289.8,1
$GPS,270910,184316,2413.000,12608.834,10,3.4,29,-3.6