version: 66.08
glider: 181
mission: 4
dive: 81
start: 9 30 110 19 30 36
data:
$ID,181
$MISSION,4
$DIVE,81
$N_DIVES,90
$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,-37939.883
$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,2400
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,49
$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,160.0
$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
$GPS1,300910,192424,2404.092,12608.257,27,0.9,44,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-62.7
$GPS2,300910,193008,2404.129,12608.236,13,1.1,13,-3.6
$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,199.5,7756,-22.5,-13.889
$D_GRID,1638
$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,-85.50,0.000,2,0.000,0.000,205,2421,2824,0,0,0,0,0,0
$GC,110,-0.89,-155.7,3.0,-4.8,11,150,7.53,2.15,-24.45,0.000,4,0.226,0.044,2129,985,3933,0,0,0,0,0,0
$GC,240,-0.78,-155.7,48.6,-39.2,32,249,0.15,2.15,0.00,0.000,6,0.164,0.035,2164,2382,3935,0,0,0,0,0,0
$GC,573,-0.73,-155.7,147.1,-26.9,93,582,0.00,2.10,0.00,0.000,4,0.000,0.034,2164,991,3936,0,0,0,0,0,0
$GC,607,-0.68,-155.7,156.4,-26.5,98,617,0.15,2.15,0.00,0.000,6,0.138,0.036,2203,2397,3934,0,0,0,0,0,0
$GC,960,-0.69,-155.7,221.6,-16.9,159,967,0.00,2.10,0.00,0.000,4,0.000,0.043,2195,3787,3937,0,0,0,0,0,0
$GC,1009,-0.72,-155.7,229.5,-16.0,167,1016,0.00,2.05,0.00,0.000,6,0.000,0.028,2194,2391,3937,0,0,0,0,0,0
$GC,1350,-0.74,-155.7,288.7,-15.2,228,1358,0.00,2.08,0.00,0.000,4,0.000,0.035,2194,1002,3937,0,0,0,0,0,0
$GC,1435,-0.78,-155.7,300.9,-13.8,242,1445,0.00,2.12,0.00,0.000,6,0.000,0.037,2190,2397,3937,0,0,0,0,0,0
$GC,1761,-0.81,-155.7,351.4,-14.1,273,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2397,3935,0,0,0,0,0,0
$GC,2082,-0.85,-155.7,397.2,-14.1,303,2086,0.12,2.10,0.00,0.000,4,0.085,0.035,2127,998,3933,0,0,0,0,0,0
$GC,2124,-0.85,-155.7,405.5,-18.9,306,2135,0.08,2.15,0.00,0.000,6,0.144,0.037,2144,2402,3933,0,0,0,0,0,0
$GC,2451,-0.85,-155.7,462.3,-17.0,337,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2402,3932,0,0,0,0,0,0
$STATE,2683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2683,begin apogee
$GC,2688,-0.16,0.0,500.6,15.9,359,2811,0.68,0.00,116.45,0.855,6,0.125,0.000,2370,1983,3298,0,0,0,0,0,0
$STATE,2812,end apogee,CONTROL_FINISHED_OK
$STATE,2812,begin climb
$GC,2814,0.89,155.7,507.2,0.0,369,2939,0.90,0.00,120.35,0.841,6,0.044,0.000,2722,1983,2663,0,0,0,0,0,0
$GC,3256,0.76,155.7,464.6,15.5,409,3261,0.20,2.22,0.00,0.000,4,0.181,0.040,2671,3424,2655,0,0,0,0,0,0
$GC,3508,0.66,155.7,426.7,14.2,431,3517,0.12,2.15,0.00,0.000,6,0.181,0.031,2645,2009,2652,0,0,0,0,0,0
$GC,3834,0.66,209.2,391.3,10.7,462,3882,0.00,2.25,39.92,0.788,4,0.000,0.044,2647,3405,2446,0,0,0,0,0,0
$GC,4117,0.61,209.2,348.9,16.1,487,4126,0.08,2.15,0.00,0.000,6,0.161,0.031,2630,2003,2441,0,0,0,0,0,0
$GC,4443,0.65,256.8,307.8,11.0,518,4487,0.00,2.22,36.80,0.742,4,0.000,0.041,2630,3411,2252,0,0,0,0,0,0
$GC,4527,0.63,259.4,297.3,13.7,527,4536,0.00,2.15,3.65,0.431,6,0.000,0.031,2638,2000,2240,0,0,0,0,0,0
$GC,4859,0.64,270.6,254.1,13.2,588,4874,0.00,2.20,9.73,0.636,4,0.000,0.041,2649,598,2193,0,0,0,0,0,0
$GC,4926,0.65,281.4,245.3,13.2,599,4942,0.00,2.15,9.85,0.628,6,0.000,0.034,2649,2015,2151,0,0,0,0,0,0
$GC,5267,0.68,308.1,201.2,12.3,661,5295,0.00,2.17,20.58,0.654,4,0.000,0.043,2649,3408,2042,0,0,0,0,0,0
$GC,5426,0.68,308.1,178.0,15.3,688,5435,0.00,2.15,0.00,0.000,6,0.000,0.031,2659,2004,2039,0,0,0,0,0,0
$GC,5759,0.70,323.2,129.3,13.0,749,5776,0.00,2.15,12.15,0.578,4,0.000,0.041,2671,598,1981,0,0,0,0,0,0
$GC,5827,0.73,347.8,120.7,12.4,760,5858,0.00,2.15,20.83,0.594,6,0.000,0.033,2670,2006,1877,0,0,0,0,0,0
$GC,6183,0.75,347.8,74.5,14.4,824,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2005,1871,0,0,0,0,0,0
$GC,6514,0.94,451.3,44.6,7.7,885,6599,0.15,0.00,76.25,0.552,6,0.076,0.000,2746,2006,1457,0,0,0,0,0,0
$STATE,6786,end climb,SURFACE_DEPTH_REACHED
$STATE,6786,begin surface coast
$FINISH,0.5,1.017675
$STATE,6806,end surface coast,CONTROL_FINISHED_OK
$STATE,6806,begin surface
$SM_CCo,6828,106.43,0.057,0,0,485,690.03
$SM_GC,1.25,0.00,0.00,106.43,0.000,0.000,0.057,212,2442,485,-6.91,1.19,690.03
$IRIDIUM_FIX,2354.48,12605.46,300910,171730
$TT8_MAMPS,0.027713
$HUMID,44.13
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.30
$XPDR_PINGS,1
$24V_AH,24.6,13.197
$10V_AH,10.3,14.891
$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,16.725,48.450,466.550,106.425,0.000,25.203,18.743,167.916,0.250,0.000,16.628,2235.722,1663.128,590.119,2646.000,151.387,0.000,1457.917,0.000,1454.408,0.000,0.543,0.000
$DEVICE_MAMPS,226.440,43.605,854.505,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,629.573,1422.298,1729.434,0.000,0.000,0.000,2404.370,0.000,0.000,0.000
$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,67084,934
$CAP_FILE_SIZE,93175,0
$CFSIZE,260165632,244453376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108, 68.6,1
$GPS,300910,212716,2403.388,12608.410,9,4.4,28,-3.6