version: 66.08
glider: 181
mission: 4
dive: 53
start: 9 28 110 10 52 11
data:
$ID,181
$MISSION,4
$DIVE,53
$N_DIVES,60
$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,-37904.34
$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,47
$R_STBD_OVSHOOT,58
$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,104.0
$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
$GPS1,280910,104632,2420.128,12607.637,10,2.0,10,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-64.7
$GPS2,280910,105144,2420.201,12607.588,14,1.3,14,-3.7
$SPEED_LIMITS,0.241,0.296
$TGT_NAME,NWALL_N
$TGT_LATLONG,2420.000,12609.000
$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,147.6,2412,-22.5,-13.889
$D_GRID,1664
$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,-155.7,0.0,0.0,0,108,0.00,0.00,-86.18,0.000,2,0.000,0.000,193,2326,2858,0,0,0,0,0,0
$GC,110,-0.89,-155.7,3.3,-5.4,11,151,7.60,2.17,-22.90,0.000,4,0.228,0.050,2128,898,3935,0,0,0,0,0,0
$GC,208,-0.78,-155.7,36.5,-38.9,26,218,0.15,2.12,0.00,0.000,6,0.164,0.038,2167,2278,3936,0,0,0,0,0,0
$GC,543,-0.69,-155.7,146.2,-29.1,87,551,0.12,2.22,0.00,0.000,4,0.191,0.044,2190,3714,3936,0,0,0,0,0,0
$GC,665,-0.71,-155.7,170.9,-16.2,108,673,0.00,2.10,0.00,0.000,6,0.000,0.028,2189,2304,3937,0,0,0,0,0,0
$GC,1014,-0.71,-155.7,240.3,-17.0,169,1021,0.00,2.05,0.00,0.000,4,0.000,0.034,2189,896,3937,0,0,0,0,0,0
$GC,1085,-0.75,-155.7,250.8,-14.4,181,1092,0.00,2.10,0.00,0.000,6,0.000,0.034,2180,2310,3937,0,0,0,0,0,0
$GC,1426,-0.76,-155.7,305.6,-15.8,239,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2310,3937,0,0,0,0,0,0
$GC,1744,-0.78,-155.7,355.0,-14.2,269,1748,0.00,2.10,0.00,0.000,4,0.000,0.047,2170,3704,3935,0,0,0,0,0,0
$GC,1785,-0.80,-155.7,361.0,-15.0,272,1789,0.00,2.05,0.00,0.000,6,0.000,0.028,2170,2292,3934,0,0,0,0,0,0
$GC,2110,-0.82,-155.7,410.1,-15.2,302,2114,0.00,2.15,0.00,0.000,4,0.000,0.046,2161,3708,3933,0,0,0,0,0,0
$GC,2187,-0.86,-155.7,422.0,-14.8,308,2196,0.00,2.10,0.00,0.000,6,0.000,0.030,2161,2305,3932,0,0,0,0,0,0
$GC,2514,-0.87,-155.7,472.6,-15.7,339,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2302,3930,0,0,0,0,0,0
$STATE,2691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2691,begin apogee
$GC,2696,-0.16,0.0,500.3,15.2,356,2816,0.62,0.00,115.88,0.854,6,0.123,0.000,2369,1975,3298,0,0,0,0,0,0
$STATE,2817,end apogee,CONTROL_FINISHED_OK
$STATE,2817,begin climb
$GC,2818,0.89,155.7,506.0,0.0,366,2946,0.90,2.17,119.95,0.837,4,0.043,0.039,2733,602,2663,0,0,0,0,0,0
$GC,3140,0.76,155.7,475.6,16.8,394,3145,0.25,2.12,0.00,0.000,6,0.182,0.034,2668,2001,2657,0,0,0,0,0,0
$GC,3467,0.72,198.9,434.2,11.3,424,3505,0.00,2.25,32.90,0.794,4,0.000,0.043,2668,3405,2487,0,0,0,0,0,0
$GC,3552,0.64,198.9,422.9,15.8,431,3556,0.17,2.10,0.00,0.000,6,0.184,0.031,2633,2009,2484,0,0,0,0,0,0
$GC,3878,0.64,237.2,382.9,11.6,461,3916,0.00,2.28,29.80,0.772,4,0.000,0.047,2633,3406,2331,0,0,0,0,0,0
$GC,4095,0.61,237.2,349.8,16.6,480,4104,0.00,2.15,0.00,0.000,6,0.000,0.032,2642,1998,2324,0,0,0,0,0,0
$GC,4422,0.58,237.2,301.4,15.1,511,4426,0.12,2.12,0.00,0.000,4,0.185,0.042,2620,588,2327,0,0,0,0,0,0
$GC,4503,0.62,265.9,290.6,12.2,524,4532,0.00,2.15,22.30,0.718,6,0.000,0.034,2620,1998,2213,0,0,0,0,0,0
$GC,4856,0.64,278.7,243.1,13.1,588,4878,0.00,2.20,10.90,0.644,4,0.000,0.044,2620,3395,2159,0,0,0,0,0,0
$GC,5063,0.66,296.8,213.1,12.8,626,5086,0.00,2.12,15.07,0.649,6,0.000,0.032,2630,2000,2088,0,0,0,0,0,0
$GC,5419,0.73,338.8,169.4,11.4,689,5461,0.00,2.20,32.53,0.645,4,0.000,0.042,2641,602,1915,0,0,0,0,0,0
$GC,5490,0.80,372.9,161.0,11.8,700,5527,0.10,2.17,26.67,0.623,6,0.054,0.034,2701,2002,1777,0,0,0,0,0,0
$GC,5853,0.83,399.3,98.0,12.3,765,5879,0.00,2.25,19.75,0.575,4,0.000,0.044,2701,3412,1672,0,0,0,0,0,0
$GC,5979,0.83,399.3,80.1,15.6,786,5987,0.00,2.15,0.00,0.000,6,0.000,0.031,2711,2005,1669,0,0,0,0,0,0
$GC,6310,0.85,405.0,31.4,13.6,847,6321,0.00,2.20,5.68,0.428,4,0.000,0.041,2722,588,1646,0,0,0,0,0,0
$GC,6464,0.92,446.6,12.5,11.4,874,6504,0.00,2.15,32.33,0.519,6,0.000,0.034,2722,2005,1474,0,0,0,0,0,0
$STATE,6532,end climb,SURFACE_DEPTH_REACHED
$STATE,6532,begin surface coast
$FINISH,0.5,1.012429
$STATE,6551,end surface coast,CONTROL_FINISHED_OK
$STATE,6551,begin surface
$SM_CCo,6573,108.55,0.058,0,0,486,690.27
$SM_GC,1.27,0.00,0.00,108.55,0.000,0.000,0.058,199,2326,486,-6.96,0.74,690.27
$IRIDIUM_FIX,2411.01,12611.03,280910,090956
$TT8_MAMPS,0.027713
$HUMID,46.02
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,25.20
$XPDR_PINGS,3
$24V_AH,24.7,10.023
$10V_AH,10.3,10.514
$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,16.525,56.825,463.750,108.550,0.000,24.537,35.421,140.587,0.750,0.000,17.582,2136.593,1647.887,580.938,2506.792,136.019,0.000,1418.839,0.000,1390.403,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,49.725,853.740,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,597.778,1350.229,1606.778,0.000,0.000,0.000,2232.546,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331460
$DATA_FILE_SIZE,63762,887
$CAP_FILE_SIZE,92599,0
$CFSIZE,260165632,246411264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100,356.3,1
$GPS,280910,124436,2419.769,12608.078,27,1.4,27,-3.7