version: 66.08
glider: 181
mission: 4
dive: 58
start: 9 28 110 20 48 41
data:
$ID,181
$MISSION,4
$DIVE,58
$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,-37910.621
$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,38
$R_STBD_OVSHOOT,62
$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,114.0
$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
$GPS1,280910,204201,2418.104,12608.180,7,1.7,12,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-65.2
$GPS2,280910,204814,2418.170,12608.088,13,1.8,13,-3.7
$SPEED_LIMITS,0.241,0.296
$TGT_NAME,NWALL_S
$TGT_LATLONG,2400.000,12609.000
$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,188.8,33686,-22.5,-13.889
$D_GRID,1528
$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,-84.80,0.000,2,0.000,0.000,197,2331,2810,0,0,0,0,0,0
$GC,109,-0.89,-155.7,3.1,-5.1,11,149,7.62,2.17,-25.02,0.000,4,0.230,0.045,2128,884,3935,0,0,0,0,0,0
$GC,243,-0.80,-155.7,47.5,-31.3,33,252,0.12,2.12,0.00,0.000,6,0.164,0.036,2155,2267,3933,0,0,0,0,0,0
$GC,575,-0.71,-155.7,158.1,-30.2,94,584,0.15,2.22,0.00,0.000,4,0.186,0.041,2184,3708,3938,0,0,0,0,0,0
$GC,672,-0.73,-155.7,181.9,-19.1,111,679,0.00,2.10,0.00,0.000,6,0.000,0.028,2184,2286,3938,0,0,0,0,0,0
$GC,1005,-0.73,-155.7,248.6,-18.0,172,1013,0.00,2.08,0.00,0.000,4,0.000,0.035,2185,896,3937,0,0,0,0,0,0
$GC,1038,-0.73,-155.7,254.2,-18.5,177,1046,0.00,2.10,0.00,0.000,6,0.000,0.036,2176,2305,3938,0,0,0,0,0,0
$GC,1371,-0.73,-155.7,316.1,-18.7,231,1375,0.00,2.12,0.00,0.000,4,0.000,0.044,2166,3705,3937,0,0,0,0,0,0
$GC,1447,-0.76,-155.7,329.7,-16.1,237,1455,0.00,2.10,0.00,0.000,6,0.000,0.028,2166,2295,3937,0,0,0,0,0,0
$GC,1774,-0.76,-155.7,388.9,-16.2,268,1777,0.00,2.17,0.00,0.000,4,0.000,0.044,2157,3715,3936,0,0,0,0,0,0
$GC,1925,-0.79,-155.7,411.7,-14.6,281,1929,0.00,2.08,0.00,0.000,6,0.000,0.029,2157,2295,3936,0,0,0,0,0,0
$GC,2250,-0.79,-155.7,468.8,-16.3,311,2254,0.00,2.05,0.00,0.000,4,0.000,0.037,2158,897,3933,0,0,0,0,0,0
$GC,2298,-0.82,-155.7,477.2,-15.4,315,2306,0.00,2.12,0.00,0.000,6,0.000,0.037,2152,2292,3933,0,0,0,0,0,0
$STATE,2453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2453,begin apogee
$GC,2457,-0.16,0.0,500.6,15.5,330,2580,0.65,0.00,116.57,0.851,6,0.126,0.000,2367,1975,3299,0,0,0,0,0,0
$STATE,2581,end apogee,CONTROL_FINISHED_OK
$STATE,2581,begin climb
$GC,2582,0.89,155.7,505.5,0.0,340,2713,0.90,2.33,120.53,0.834,4,0.041,0.038,2726,3425,2662,0,0,0,0,0,0
$GC,2901,0.74,155.7,471.9,18.3,368,2906,0.28,2.12,0.00,0.000,6,0.187,0.031,2667,2014,2656,0,0,0,0,0,0
$GC,3227,0.73,212.8,434.2,10.5,398,3276,0.00,2.28,43.95,0.797,4,0.000,0.041,2676,591,2430,0,0,0,0,0,0
$GC,3335,0.66,212.8,419.6,14.3,407,3344,0.15,2.17,0.00,0.000,6,0.171,0.034,2639,2012,2426,0,0,0,0,0,0
$GC,3662,0.68,251.4,378.2,11.6,438,3699,0.00,2.20,30.05,0.767,4,0.000,0.042,2638,3408,2273,0,0,0,0,0,0
$GC,3837,0.65,251.4,353.0,14.6,453,3845,0.00,2.15,0.00,0.000,6,0.000,0.031,2647,2007,2268,0,0,0,0,0,0
$GC,4162,0.62,251.4,306.5,14.3,484,4166,0.00,2.15,0.00,0.000,4,0.000,0.042,2658,591,2265,0,0,0,0,0,0
$GC,4203,0.60,251.4,300.8,14.6,487,4207,0.15,2.12,0.00,0.000,6,0.169,0.034,2619,2000,2265,0,0,0,0,0,0
$GC,4532,0.62,265.6,259.5,13.0,547,4553,0.00,2.22,10.85,0.649,4,0.000,0.044,2619,3418,2216,0,0,0,0,0,0
$GC,4797,0.63,279.2,222.1,13.1,595,4818,0.00,2.15,11.82,0.633,6,0.000,0.032,2628,1982,2160,0,0,0,0,0,0
$GC,5145,0.70,320.5,181.3,11.4,658,5187,0.00,2.20,32.22,0.648,4,0.000,0.042,2639,595,1993,0,0,0,0,0,0
$GC,5261,0.78,351.0,167.3,12.1,677,5291,0.00,2.12,24.00,0.622,6,0.000,0.033,2639,2001,1868,0,0,0,0,0,0
$GC,5616,0.86,394.4,121.9,11.3,741,5657,0.17,2.20,32.95,0.598,4,0.072,0.041,2722,3406,1691,0,0,0,0,0,0
$GC,5686,0.82,394.4,108.1,23.1,751,5695,0.12,2.17,0.00,0.000,6,0.148,0.033,2694,2006,1689,0,0,0,0,0,0
$GC,6020,0.87,412.5,57.6,12.8,812,6045,0.00,2.20,14.82,0.530,4,0.000,0.042,2703,593,1615,0,0,0,0,0,0
$GC,6082,0.91,416.4,49.1,13.7,821,6092,0.00,2.15,4.57,0.390,6,0.000,0.033,2703,1995,1602,0,0,0,0,0,0
$GC,6417,0.99,442.2,6.5,12.3,882,6441,0.12,0.00,19.95,0.503,6,0.084,0.000,2765,1995,1498,0,0,0,0,0,0
$STATE,6448,end climb,SURFACE_DEPTH_REACHED
$STATE,6448,begin surface coast
$FINISH,0.4,1.004567
$STATE,6471,end surface coast,CONTROL_FINISHED_OK
$STATE,6471,begin surface
$SM_CCo,6494,110.88,0.057,0,0,485,690.27
$SM_GC,1.29,0.00,0.00,110.88,0.000,0.000,0.057,201,2331,485,-6.95,0.88,690.27
$IRIDIUM_FIX,2406.29,12557.82,280910,181848
$TT8_MAMPS,0.027713
$HUMID,44.17
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.20
$XPDR_PINGS,2
$24V_AH,24.6,10.570
$10V_AH,10.3,11.282
$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,17.100,61.275,462.300,110.875,0.000,23.308,54.767,171.849,0.500,0.000,16.346,2144.961,1509.759,597.123,2593.788,139.688,0.000,1449.291,0.000,1416.422,0.000,0.542,0.000
$DEVICE_MAMPS,229.500,45.135,850.680,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,599.162,1354.343,1634.629,0.000,0.000,0.000,2295.502,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331472
$DATA_FILE_SIZE,63510,890
$CAP_FILE_SIZE,95179,0
$CFSIZE,260165632,246067200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.115,346.7,1
$GPS,280910,224001,2417.722,12607.870,38,1.5,38,-3.7