version: 66.08
glider: 181
mission: 4
dive: 43
start: 9 27 110 18 49 55
data:
$ID,181
$MISSION,4
$DIVE,43
$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,-37857.543
$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,39
$R_STBD_OVSHOOT,41
$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,84.0
$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
$GPS1,270910,184316,2413.000,12608.834,10,3.4,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-66.6
$GPS2,270910,184928,2413.060,12608.670,13,4.3,32,-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,23.3,5473,-22.5,-13.889
$D_GRID,1512
$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,-155.7,0.0,0.0,0,109,0.00,0.00,-87.20,0.000,2,0.000,0.000,199,2311,2881,0,0,0,0,0,0
$GC,111,-0.89,-155.7,3.3,-6.2,11,151,7.70,2.17,-22.33,0.000,4,0.235,0.056,2116,3703,3936,0,0,0,0,0,0
$GC,234,-0.80,-155.7,47.1,-34.2,31,243,0.15,2.15,0.00,0.000,6,0.164,0.034,2162,2303,3937,0,0,0,0,0,0
$GC,567,-0.74,-155.7,143.3,-23.1,92,576,0.00,2.17,0.00,0.000,4,0.000,0.043,2152,3704,3937,0,0,0,0,0,0
$GC,718,-0.72,-155.7,175.7,-20.5,119,726,0.15,2.10,0.00,0.000,6,0.156,0.028,2192,2275,3938,0,0,0,0,0,0
$GC,1053,-0.72,-155.7,241.4,-19.9,180,1062,0.00,2.22,0.00,0.000,4,0.000,0.047,2184,3705,3939,0,0,0,0,0,0
$GC,1131,-0.76,-155.7,255.2,-15.4,194,1140,0.00,2.10,0.00,0.000,6,0.000,0.028,2184,2302,3939,0,0,0,0,0,0
$GC,1459,-0.77,-155.7,308.2,-15.2,250,1463,0.00,2.08,0.00,0.000,4,0.000,0.035,2183,893,3938,0,0,0,0,0,0
$GC,1544,-0.82,-155.7,319.7,-13.0,257,1549,0.00,2.10,0.00,0.000,6,0.000,0.037,2176,2307,3938,0,0,0,0,0,0
$GC,1871,-0.83,-155.7,372.7,-17.3,287,1875,0.00,2.12,0.00,0.000,4,0.000,0.046,2165,3704,3937,0,0,0,0,0,0
$GC,1989,-0.87,-155.7,391.3,-14.4,297,1993,0.00,2.10,0.00,0.000,6,0.000,0.030,2165,2282,3936,0,0,0,0,0,0
$GC,2315,-0.89,-155.7,445.0,-16.1,327,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2280,3934,0,0,0,0,0,0
$GC,2635,-0.91,-155.7,490.2,-13.1,357,2639,0.00,2.20,0.00,0.000,4,0.000,0.047,2158,3711,3932,0,0,0,0,0,0
$GC,2699,-0.96,-155.7,498.8,-11.9,362,2709,0.10,2.10,0.00,0.000,6,0.051,0.030,2092,2301,3932,0,0,0,0,0,0
$STATE,2715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2715,begin apogee
$GC,2719,-0.16,0.0,500.9,12.4,364,2842,0.88,0.00,116.97,0.858,6,0.142,0.000,2371,1980,3297,0,0,0,0,0,0
$STATE,2843,end apogee,CONTROL_FINISHED_OK
$STATE,2843,begin climb
$GC,2844,0.89,155.7,506.1,0.0,374,2975,0.90,2.15,120.50,0.841,4,0.044,0.037,2733,614,2663,0,0,0,0,0,0
$GC,3184,0.75,155.7,473.5,17.8,404,3189,0.25,2.10,0.00,0.000,6,0.182,0.034,2667,2007,2658,0,0,0,0,0,0
$GC,3509,0.73,201.5,433.0,11.2,434,3549,0.00,2.17,35.17,0.797,4,0.000,0.043,2667,3397,2477,0,0,0,0,0,0
$GC,3697,0.64,201.5,404.9,17.1,450,3707,0.12,2.12,0.00,0.000,6,0.174,0.031,2640,2014,2472,0,0,0,0,0,0
$GC,4025,0.65,236.8,364.4,11.8,481,4062,0.00,2.22,27.52,0.764,4,0.000,0.042,2649,601,2332,0,0,0,0,0,0
$GC,4120,0.63,240.7,351.5,13.7,489,4133,0.00,2.12,4.57,0.525,6,0.000,0.034,2649,2004,2316,0,0,0,0,0,0
$GC,4451,0.59,240.7,302.6,15.1,520,4456,0.12,2.17,0.00,0.000,4,0.177,0.044,2615,3408,2312,0,0,0,0,0,0
$GC,4534,0.60,244.0,290.8,13.7,533,4542,0.00,2.12,0.00,0.000,6,0.000,0.032,2623,1993,2314,0,0,0,0,0,0
$GC,4859,0.65,288.8,250.4,11.2,594,4901,0.00,2.22,37.05,0.705,4,0.000,0.042,2634,593,2121,0,0,0,0,0,0
$GC,4931,0.70,319.6,242.7,12.1,605,4966,0.00,2.17,25.02,0.676,6,0.000,0.035,2634,2014,1994,0,0,0,0,0,0
$GC,5293,0.72,319.6,193.4,13.9,670,5301,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2014,1991,0,0,0,0,0,0
$GC,5627,0.83,394.9,154.7,9.4,731,5693,0.17,2.22,55.95,0.636,4,0.075,0.041,2714,3411,1689,0,0,0,0,0,0
$GC,5794,0.81,394.9,124.3,18.5,758,5803,0.12,2.17,0.00,0.000,6,0.151,0.033,2687,2006,1687,0,0,0,0,0,0
$GC,6126,0.83,394.9,74.9,15.6,819,6134,0.00,2.17,0.00,0.000,4,0.000,0.041,2687,3404,1682,0,0,0,0,0,0
$GC,6224,0.88,407.7,61.1,13.1,836,6241,0.00,2.15,10.20,0.512,6,0.000,0.032,2695,1993,1636,0,0,0,0,0,0
$GC,6565,0.99,462.5,22.4,10.6,898,6613,0.15,2.22,42.22,0.532,4,0.074,0.041,2767,3412,1411,0,0,0,0,0,0
$GC,6664,0.98,462.5,5.6,19.9,913,6674,0.10,2.17,0.00,0.000,6,0.151,0.031,2747,2001,1407,0,0,0,0,0,0
$STATE,6680,end climb,SURFACE_DEPTH_REACHED
$STATE,6680,begin surface coast
$FINISH,0.5,1.013252
$STATE,6700,end surface coast,CONTROL_FINISHED_OK
$STATE,6700,begin surface
$SM_CCo,6720,101.97,0.057,0,0,485,690.03
$SM_GC,1.16,0.00,0.00,101.97,0.000,0.000,0.057,205,2312,485,-6.94,0.34,690.03
$IRIDIUM_FIX,2401.56,12606.85,270910,161616
$TT8_MAMPS,0.027713
$HUMID,44.25
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.20
$XPDR_PINGS,2
$24V_AH,24.6,8.996
$10V_AH,10.3,9.116
$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,17.550,61.225,475.200,101.975,0.000,26.448,20.914,183.424,0.500,0.000,36.413,2205.879,1609.623,595.114,2648.478,141.857,0.000,1476.490,0.000,1455.788,0.000,0.544,0.000
$DEVICE_MAMPS,234.855,55.845,858.330,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,618.332,1396.848,1668.117,0.000,0.000,0.000,2335.946,0.000,0.000,0.000
$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,67071,918
$CAP_FILE_SIZE,97907,0
$CFSIZE,260165632,247013376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126,311.9,1
$GPS,270910,204454,2414.192,12608.652,23,1.0,41,-3.6