version: 66.08
glider: 181
mission: 4
dive: 83
start: 9 30 110 23 34 47
data:
$ID,181
$MISSION,4
$DIVE,83
$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,-37942.398
$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,38
$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,164.0
$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
$GPS1,300910,232826,2402.731,12608.371,12,1.9,12,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-60.4
$GPS2,300910,233419,2402.781,12608.391,12,1.9,12,-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,179.8,5253,-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,-155.7,0.0,0.0,0,109,0.00,0.00,-86.55,0.000,2,0.000,0.000,202,2426,2866,0,0,0,0,0,0
$GC,111,-0.89,-155.7,3.4,-5.7,11,150,7.55,2.20,-22.80,0.000,4,0.226,0.044,2129,979,3937,0,0,0,0,0,0
$GC,197,-0.74,-155.7,33.7,-44.3,24,206,0.20,2.17,0.00,0.000,6,0.171,0.037,2176,2382,3935,0,0,0,0,0,0
$GC,531,-0.69,-155.7,143.4,-25.6,85,539,0.00,2.15,0.00,0.000,4,0.000,0.041,2167,3784,3936,0,0,0,0,0,0
$GC,559,-0.64,-155.7,149.9,-22.6,89,567,0.12,2.10,0.00,0.000,6,0.138,0.028,2207,2384,3936,0,0,0,0,0,0
$GC,910,-0.64,-155.7,215.2,-19.3,150,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2382,3937,0,0,0,0,0,0
$GC,1253,-0.67,-155.7,273.7,-15.7,211,1260,0.00,2.05,0.00,0.000,4,0.000,0.035,2207,988,3937,0,0,0,0,0,0
$GC,1290,-0.71,-155.7,279.9,-16.3,217,1297,0.00,2.12,0.00,0.000,6,0.000,0.036,2201,2407,3937,0,0,0,0,0,0
$GC,1629,-0.74,-155.7,329.7,-14.6,260,1633,0.00,2.08,0.00,0.000,4,0.000,0.034,2201,997,3936,0,0,0,0,0,0
$GC,1704,-0.80,-155.7,339.5,-12.9,266,1708,0.00,2.10,0.00,0.000,6,0.000,0.036,2192,2408,3936,0,0,0,0,0,0
$GC,2029,-0.84,-155.7,382.5,-12.5,296,2031,0.12,0.00,0.00,0.000,6,0.083,0.000,2128,2408,3934,0,0,0,0,0,0
$GC,2348,-0.83,-155.7,443.4,-19.1,326,2352,0.12,2.12,0.00,0.000,4,0.170,0.045,2152,3789,3932,0,0,0,0,0,0
$GC,2420,-0.86,-155.7,455.1,-15.5,332,2424,0.00,2.03,0.00,0.000,6,0.000,0.029,2152,2398,3931,0,0,0,0,0,0
$STATE,2687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2688,begin apogee
$GC,2692,-0.16,0.0,500.2,17.5,357,2814,0.65,0.00,115.97,0.859,6,0.122,0.000,2369,1987,3298,0,0,0,0,0,0
$STATE,2815,end apogee,CONTROL_FINISHED_OK
$STATE,2815,begin climb
$GC,2817,0.89,155.7,507.4,0.0,367,2946,0.90,2.20,120.30,0.842,4,0.041,0.037,2734,601,2662,0,0,0,0,0,0
$GC,3014,0.75,155.7,501.1,15.8,384,3019,0.25,2.15,0.00,0.000,6,0.181,0.034,2670,2006,2659,0,0,0,0,0,0
$GC,3339,0.69,174.7,455.9,12.8,414,3365,0.00,2.20,15.02,0.763,4,0.000,0.042,2670,3394,2584,0,0,0,0,0,0
$GC,3511,0.59,174.7,431.0,14.8,429,3519,0.20,2.10,0.00,0.000,6,0.167,0.031,2620,2019,2581,0,0,0,0,0,0
$GC,3837,0.61,219.6,396.8,11.2,460,3877,0.00,2.20,35.00,0.791,4,0.000,0.044,2620,3401,2402,0,0,0,0,0,0
$GC,4021,0.59,219.6,369.8,15.7,476,4025,0.00,2.15,0.00,0.000,6,0.000,0.032,2628,1987,2396,0,0,0,0,0,0
$GC,4346,0.59,232.4,325.8,13.1,506,4362,0.00,2.25,10.20,0.682,4,0.000,0.043,2628,3403,2350,0,0,0,0,0,0
$GC,4501,0.56,232.4,303.6,14.4,520,4505,0.15,2.10,0.00,0.000,6,0.172,0.032,2601,1997,2346,0,0,0,0,0,0
$GC,4830,0.64,291.1,268.7,10.4,577,4886,0.00,2.22,45.80,0.724,4,0.000,0.042,2610,594,2110,0,0,0,0,0,0
$GC,5033,0.73,336.6,245.9,11.2,612,5076,0.10,2.17,35.55,0.692,6,0.057,0.034,2664,2001,1926,0,0,0,0,0,0
$GC,5407,0.73,336.6,182.6,16.5,678,5415,0.00,2.20,0.00,0.000,4,0.000,0.043,2664,3410,1917,0,0,0,0,0,0
$GC,5460,0.73,336.6,173.7,16.3,687,5468,0.00,2.12,0.00,0.000,6,0.000,0.032,2675,2002,1916,0,0,0,0,0,0
$GC,5794,0.73,336.6,119.8,14.3,748,5802,0.00,2.15,0.00,0.000,4,0.000,0.042,2686,596,1916,0,0,0,0,0,0
$GC,5933,0.75,350.7,100.9,13.0,773,5950,0.00,2.12,10.35,0.549,6,0.000,0.034,2686,1997,1867,0,0,0,0,0,0
$GC,6276,0.91,446.7,58.9,8.1,835,6355,0.00,2.22,71.95,0.571,4,0.000,0.041,2686,3413,1476,0,0,0,0,0,0
$GC,6435,1.05,500.3,44.0,10.7,859,6483,0.15,2.17,40.65,0.541,6,0.043,0.031,2772,1998,1259,0,0,0,0,0,0
$STATE,6646,end climb,SURFACE_DEPTH_REACHED
$STATE,6646,begin surface coast
$FINISH,0.5,1.021739
$STATE,6661,end surface coast,CONTROL_FINISHED_OK
$STATE,6661,begin surface
$SM_CCo,6684,86.10,0.058,0,0,484,690.03
$SM_GC,1.24,0.00,0.00,86.10,0.000,0.000,0.058,200,2411,484,-6.95,0.31,690.03
$IRIDIUM_FIX,2352.12,12609.27,300910,212107
$TT8_MAMPS,0.027713
$HUMID,45.94
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.10
$XPDR_PINGS,4
$24V_AH,24.7,13.433
$10V_AH,10.3,15.202
$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,17.200,57.025,500.800,86.100,0.000,30.878,14.900,175.386,1.000,0.000,14.862,2153.857,1662.413,580.756,2579.075,154.116,0.000,1445.267,0.000,1418.415,0.000,0.545,0.000
$DEVICE_MAMPS,226.440,45.135,859.095,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,604.040,1365.484,1634.610,0.000,0.000,0.000,2242.980,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331436
$DATA_FILE_SIZE,63701,897
$CAP_FILE_SIZE,94235,0
$CFSIZE,260165632,244314112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055, 45.6,1
$GPS,011010,012855,2401.973,12608.591,41,1.1,41,-3.6