version: 66.08
glider: 181
mission: 4
dive: 54
start: 9 28 110 12 51 8
data:
$ID,181
$MISSION,4
$DIVE,54
$N_DIVES,70
$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,-37905.598
$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,43
$R_STBD_OVSHOOT,59
$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,106.0
$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
$GPS1,280910,124436,2419.769,12608.078,27,1.4,27,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-65.0
$GPS2,280910,125031,2419.833,12608.026,9,1.6,15,-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,107.2,1672,-27.5,-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,-0.99,-104.3,0.0,0.0,0,107,0.00,0.00,-85.53,0.000,2,0.000,0.000,199,2326,2837,0,0,0,0,0,0
$GC,110,-1.05,-155.7,3.3,-6.2,11,150,7.47,2.17,-23.35,0.000,4,0.233,0.044,2079,891,3930,0,0,0,0,0,0
$GC,180,-0.91,-155.7,28.4,-47.5,21,189,0.20,2.12,0.00,0.000,6,0.182,0.037,2126,2272,3931,0,0,0,0,0,0
$GC,510,-0.84,-155.7,154.7,-32.8,82,520,0.12,2.22,0.00,0.000,4,0.207,0.042,2146,3710,3933,0,0,0,0,0,0
$GC,744,-0.87,-155.7,212.2,-21.2,122,753,0.00,2.12,0.00,0.000,6,0.000,0.028,2142,2290,3934,0,0,0,0,0,0
$GC,1088,-0.87,-155.7,283.4,-21.0,183,1095,0.00,2.15,0.00,0.000,4,0.000,0.041,2136,3710,3934,0,0,0,0,0,0
$GC,1179,-0.90,-155.7,301.3,-18.4,199,1183,0.00,2.05,0.00,0.000,6,0.000,0.028,2136,2297,3935,0,0,0,0,0,0
$GC,1506,-0.92,-155.7,368.7,-21.2,229,1510,0.00,2.15,0.00,0.000,4,0.000,0.043,2125,3708,3933,0,0,0,0,0,0
$GC,1605,-0.95,-155.7,389.5,-20.4,237,1613,0.00,2.10,0.00,0.000,6,0.000,0.028,2124,2299,3933,0,0,0,0,0,0
$GC,1931,-0.97,-155.7,459.2,-20.6,268,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2297,3931,0,0,0,0,0,0
$STATE,2154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2154,begin apogee
$GC,2158,-0.16,0.0,501.2,18.1,289,2279,0.75,0.00,116.03,0.850,6,0.133,0.000,2368,1970,3298,0,0,0,0,0,0
$STATE,2280,end apogee,CONTROL_FINISHED_OK
$STATE,2280,begin climb
$GC,2281,1.05,155.7,506.8,0.0,299,2409,1.02,2.30,119.78,0.835,4,0.037,0.040,2782,3408,2663,0,0,0,0,0,0
$GC,2603,0.91,155.7,473.7,17.7,326,2613,0.28,2.12,0.00,0.000,6,0.198,0.030,2720,2024,2656,0,0,0,0,0,0
$GC,2931,0.83,155.7,427.6,14.4,357,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2022,2653,0,0,0,0,0,0
$GC,3250,0.75,158.6,386.2,13.6,387,3254,0.20,2.10,0.00,0.000,4,0.187,0.041,2661,3410,2651,0,0,0,0,0,0
$GC,3393,0.71,163.7,366.8,13.4,399,3404,0.00,2.12,5.45,0.585,6,0.000,0.031,2670,1993,2631,0,0,0,0,0,0
$GC,3731,0.72,201.2,326.8,10.5,431,3768,0.00,2.20,29.92,0.752,4,0.000,0.041,2670,3406,2477,0,0,0,0,0,0
$GC,4019,0.69,201.2,285.3,14.7,465,4027,0.12,2.10,0.00,0.000,6,0.186,0.031,2651,2003,2471,0,0,0,0,0,0
$GC,4359,0.73,237.4,245.8,10.7,526,4395,0.00,2.17,27.58,0.698,4,0.000,0.042,2651,3406,2331,0,0,0,0,0,0
$GC,4645,0.76,250.6,207.2,12.7,576,4661,0.00,2.15,11.27,0.623,6,0.000,0.032,2660,1993,2276,0,0,0,0,0,0
$GC,4999,0.82,273.6,162.9,11.8,638,5023,0.00,2.20,18.48,0.625,4,0.000,0.041,2670,594,2181,0,0,0,0,0,0
$GC,5070,0.86,277.7,154.1,13.5,649,5084,0.00,2.12,4.25,0.429,6,0.000,0.034,2671,2002,2168,0,0,0,0,0,0
$GC,5408,0.92,299.4,109.7,12.0,711,5433,0.15,0.00,18.38,0.584,6,0.076,0.000,2739,2003,2076,0,0,0,0,0,0
$GC,5757,0.94,320.8,67.1,12.0,774,5782,0.00,2.17,16.80,0.549,4,0.000,0.041,2739,3411,1989,0,0,0,0,0,0
$GC,6024,0.94,320.8,29.0,14.4,822,6032,0.00,2.12,0.00,0.000,6,0.000,0.031,2749,2007,1986,0,0,0,0,0,0
$STATE,6237,end climb,SURFACE_DEPTH_REACHED
$STATE,6237,begin surface coast
$FINISH,0.4,0.998792
$STATE,6261,end surface coast,CONTROL_FINISHED_OK
$STATE,6261,begin surface
$SM_CCo,6281,163.02,0.057,0,0,485,690.03
$SM_GC,1.46,0.00,0.00,163.02,0.000,0.000,0.057,195,2318,485,-6.98,0.65,690.03
$IRIDIUM_FIX,2411.01,12557.82,280910,101001
$TT8_MAMPS,0.026964
$HUMID,44.32
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.7,10.118
$10V_AH,10.3,10.665
$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,16.925,43.875,367.925,163.025,0.000,28.553,37.229,162.885,0.000,0.000,18.064,2097.347,1526.838,559.062,2511.157,123.039,0.000,1344.015,0.000,1359.201,0.000,0.543,0.000
$DEVICE_MAMPS,232.560,45.135,849.915,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,584.174,1315.933,1615.083,0.000,0.000,0.000,2299.462,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331444
$DATA_FILE_SIZE,60256,865
$CAP_FILE_SIZE,85583,0
$CFSIZE,260165632,246362112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,309.5,1
$GPS,280910,143940,2419.847,12608.538,11,3.4,30,-3.7