version: 66.08
glider: 181
mission: 4
dive: 61
start: 9 29 110 2 50 5
data:
$ID,181
$MISSION,4
$DIVE,61
$N_DIVES,75
$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,-37914.785
$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,42
$R_STBD_OVSHOOT,63
$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,120.0
$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
$GPS1,290910,024337,2416.633,12607.553,32,0.9,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-64.0
$GPS2,290910,024937,2416.700,12607.506,14,0.9,14,-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,169.0,31032,-22.5,-13.889
$D_GRID,1411
$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,-155.7,0.0,0.0,0,112,0.00,0.00,-89.97,0.000,2,0.000,0.000,196,2331,2971,0,0,0,0,0,0
$GC,114,-0.89,-155.7,3.5,-6.3,12,148,7.78,2.17,-19.90,0.000,4,0.233,0.048,2131,889,3934,0,0,0,0,0,0
$GC,198,-0.77,-155.7,33.9,-38.6,25,207,0.17,2.12,0.00,0.000,6,0.168,0.036,2173,2267,3937,0,0,0,0,0,0
$GC,532,-0.69,-155.7,140.8,-28.4,86,541,0.00,2.22,0.00,0.000,4,0.000,0.042,2164,3714,3937,0,0,0,0,0,0
$GC,580,-0.63,-155.7,154.8,-26.2,94,590,0.17,2.12,0.00,0.000,6,0.144,0.029,2219,2299,3937,0,0,0,0,0,0
$GC,932,-0.66,-155.7,210.0,-15.6,155,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2296,3938,0,0,0,0,0,0
$GC,1273,-0.70,-155.7,261.2,-14.2,216,1281,0.00,2.20,0.00,0.000,4,0.000,0.044,2213,3714,3941,0,0,0,0,0,0
$GC,1421,-0.77,-155.7,279.0,-9.9,242,1430,0.08,2.12,0.00,0.000,6,0.053,0.028,2149,2290,3938,0,0,0,0,0,0
$GC,1761,-0.74,-155.7,345.3,-19.1,283,1763,0.12,0.00,0.00,0.000,6,0.168,0.000,2181,2288,3936,0,0,0,0,0,0
$GC,2079,-0.77,-155.7,396.3,-14.7,313,2082,0.00,2.03,0.00,0.000,4,0.000,0.036,2181,902,3934,0,0,0,0,0,0
$GC,2158,-0.82,-155.7,407.1,-12.5,320,2162,0.00,2.10,0.00,0.000,6,0.000,0.037,2178,2312,3935,0,0,0,0,0,0
$GC,2483,-0.86,-155.7,447.6,-11.8,350,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2312,3933,0,0,0,0,0,0
$GC,2803,-0.90,-155.7,490.2,-13.4,380,2808,0.12,2.15,0.00,0.000,4,0.086,0.046,2105,3711,3930,0,0,0,0,0,0
$STATE,2864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2864,begin apogee
$GC,2870,-0.16,0.0,500.5,16.9,385,2993,0.82,0.00,116.68,0.861,6,0.135,0.000,2373,1993,3298,0,0,0,0,0,0
$STATE,2994,end apogee,CONTROL_FINISHED_OK
$STATE,2994,begin climb
$GC,2995,0.89,155.7,507.5,0.0,395,3124,0.90,2.35,120.47,0.845,4,0.044,0.041,2723,3411,2662,0,0,0,0,0,0
$GC,3240,0.74,155.7,491.9,17.8,416,3250,0.22,2.20,0.00,0.000,6,0.180,0.031,2670,1994,2654,0,0,0,0,0,0
$GC,3569,0.68,180.3,449.2,12.4,447,3594,0.00,2.28,18.98,0.783,4,0.000,0.043,2667,3408,2562,0,0,0,0,0,0
$GC,3663,0.58,180.3,434.3,17.1,455,3668,0.25,2.15,0.00,0.000,6,0.182,0.032,2613,2000,2559,0,0,0,0,0,0
$GC,3990,0.63,242.0,396.7,10.2,485,4043,0.00,2.17,48.08,0.797,4,0.000,0.041,2623,600,2311,0,0,0,0,0,0
$GC,4167,0.67,277.0,376.1,11.8,500,4206,0.00,2.17,28.15,0.764,6,0.000,0.034,2623,2015,2167,0,0,0,0,0,0
$GC,4521,0.67,277.0,328.4,14.4,533,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2015,2160,0,0,0,0,0,0
$GC,4843,0.69,293.6,283.4,12.9,573,4865,0.00,2.22,12.65,0.682,4,0.000,0.041,2633,599,2101,0,0,0,0,0,0
$GC,4888,0.71,308.5,277.5,13.0,580,4910,0.00,2.15,13.45,0.679,6,0.000,0.035,2633,1999,2039,0,0,0,0,0,0
$GC,5246,0.71,308.5,228.5,14.1,643,5253,0.00,2.15,0.00,0.000,4,0.000,0.044,2633,3399,2033,0,0,0,0,0,0
$GC,5349,0.71,308.5,213.2,14.8,661,5356,0.00,2.10,0.00,0.000,6,0.000,0.033,2643,2001,2032,0,0,0,0,0,0
$GC,5694,0.71,308.5,163.6,13.9,722,5703,0.00,2.17,0.00,0.000,4,0.000,0.044,2643,3399,2032,0,0,0,0,0,0
$GC,5760,0.72,308.5,153.7,14.8,733,5767,0.00,2.10,0.00,0.000,6,0.000,0.033,2653,1996,2030,0,0,0,0,0,0
$GC,6092,0.75,328.6,110.8,12.7,794,6116,0.00,2.17,15.30,0.584,4,0.000,0.043,2664,594,1958,0,0,0,0,0,0
$GC,6175,0.80,356.0,100.5,12.3,807,6207,0.00,2.15,22.25,0.587,6,0.000,0.035,2664,2002,1845,0,0,0,0,0,0
$GC,6532,0.95,436.7,63.7,9.1,871,6603,0.17,2.22,60.22,0.568,4,0.071,0.042,2757,603,1516,0,0,0,0,0,0
$GC,6643,0.95,436.7,45.2,17.9,887,6651,0.00,2.17,0.00,0.000,6,0.000,0.034,2757,2004,1510,0,0,0,0,0,0
$STATE,6871,end climb,SURFACE_DEPTH_REACHED
$STATE,6871,begin surface coast
$FINISH,0.5,1.021907
$STATE,6891,end surface coast,CONTROL_FINISHED_OK
$STATE,6891,begin surface
$SM_CCo,6913,112.28,0.058,0,0,485,690.03
$SM_GC,1.30,0.00,0.00,112.28,0.000,0.000,0.058,204,2324,485,-6.94,0.68,690.03
$IRIDIUM_FIX,2406.29,12603.03,290910,000000
$TT8_MAMPS,0.027713
$HUMID,45.58
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,24.6,10.916
$10V_AH,10.3,11.750
$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,17.450,57.250,456.225,112.275,0.000,29.700,25.047,176.754,0.500,0.000,17.955,2235.198,1782.814,594.116,2647.485,133.660,0.000,1458.363,0.000,1441.464,0.000,0.543,0.000
$DEVICE_MAMPS,232.560,48.195,861.390,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,628.736,1418.133,1698.775,0.000,0.000,0.000,2364.368,0.000,0.000,0.000
$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,66868,932
$CAP_FILE_SIZE,94980,0
$CFSIZE,260165632,245858304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066,334.7,1
$GPS,290910,044816,2415.953,12607.595,9,2.2,28,-3.7