version: 66.08
glider: 181
mission: 4
dive: 35
start: 9 27 110 2 44 46
data:
$ID,181
$MISSION,4
$DIVE,35
$N_DIVES,45
$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,-37847.496
$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,39
$R_STBD_OVSHOOT,46
$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,68.0
$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
$GPS1,270910,023808,2407.781,12608.802,8,1.9,8,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-66.6
$GPS2,270910,024419,2407.830,12608.735,10,1.8,15,-3.6
$SPEED_LIMITS,0.241,0.296
$TGT_NAME,NWALL_N
$TGT_LATLONG,2412.000,12609.000
$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,21.7,7736,-22.5,-13.889
$D_GRID,1738
$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,-85.47,0.000,2,0.000,0.000,211,2313,2813,0,0,0,0,0,0
$GC,110,-0.89,-155.7,3.1,-4.8,11,149,7.65,2.15,-25.40,0.000,4,0.233,0.057,2117,3705,3935,0,0,0,0,0,0
$GC,232,-0.72,-155.7,46.5,-43.4,31,241,0.25,2.15,0.00,0.000,6,0.187,0.031,2188,2298,3936,0,0,0,0,0,0
$GC,566,-0.68,-155.7,145.8,-23.4,92,575,0.00,2.10,0.00,0.000,4,0.000,0.037,2186,902,3937,0,0,0,0,0,0
$GC,645,-0.68,-155.7,162.8,-18.4,105,652,0.00,2.10,0.00,0.000,6,0.000,0.037,2178,2290,3937,0,0,0,0,0,0
$GC,992,-0.68,-155.7,232.6,-19.8,166,1000,0.00,2.17,0.00,0.000,4,0.000,0.043,2167,3705,3938,0,0,0,0,0,0
$GC,1058,-0.70,-155.7,244.1,-16.6,177,1065,0.00,2.08,0.00,0.000,6,0.000,0.029,2168,2290,3938,0,0,0,0,0,0
$GC,1396,-0.70,-155.7,308.4,-18.1,234,1401,0.12,2.20,0.00,0.000,4,0.164,0.046,2191,3709,3939,0,0,0,0,0,0
$GC,1427,-0.74,-155.7,313.8,-14.4,236,1437,0.00,2.10,0.00,0.000,6,0.000,0.028,2192,2301,3937,0,0,0,0,0,0
$GC,1754,-0.78,-155.7,357.2,-12.3,267,1758,0.00,2.15,0.00,0.000,4,0.000,0.044,2183,3708,3937,0,0,0,0,0,0
$GC,1794,-0.82,-155.7,362.7,-12.6,270,1798,0.00,2.05,0.00,0.000,6,0.000,0.029,2182,2300,3935,0,0,0,0,0,0
$GC,2118,-0.86,-155.7,407.8,-14.0,300,2123,0.10,2.08,0.00,0.000,4,0.100,0.037,2130,895,3935,0,0,0,0,0,0
$GC,2160,-0.86,-155.7,415.7,-18.7,303,2168,0.00,2.15,0.00,0.000,6,0.000,0.036,2121,2308,3935,0,0,0,0,0,0
$GC,2488,-0.85,-155.7,478.2,-18.7,334,2493,0.12,2.12,0.00,0.000,4,0.184,0.046,2143,3707,3933,0,0,0,0,0,0
$STATE,2629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2629,begin apogee
$GC,2635,-0.16,0.0,500.2,13.9,346,2757,0.68,0.00,116.85,0.857,6,0.123,0.000,2368,1999,3299,0,0,0,0,0,0
$STATE,2758,end apogee,CONTROL_FINISHED_OK
$STATE,2758,begin climb
$GC,2759,0.89,155.7,505.7,0.0,356,2890,0.93,0.00,121.43,0.841,6,0.042,0.000,2729,1998,2662,0,0,0,0,0,0
$GC,3206,0.76,155.7,458.6,15.6,397,3211,0.22,2.17,0.00,0.000,4,0.189,0.041,2669,3411,2655,0,0,0,0,0,0
$GC,3348,0.68,178.5,439.2,12.5,409,3370,0.10,2.15,17.67,0.770,6,0.183,0.031,2650,2000,2570,0,0,0,0,0,0
$GC,3687,0.66,213.0,399.4,11.8,441,3723,0.00,2.22,27.52,0.783,4,0.000,0.042,2660,594,2429,0,0,0,0,0,0
$GC,3780,0.61,213.0,386.4,15.5,449,3785,0.15,2.15,0.00,0.000,6,0.174,0.035,2622,2009,2427,0,0,0,0,0,0
$GC,4106,0.64,254.3,346.7,11.4,479,4145,0.00,2.25,32.50,0.763,4,0.000,0.044,2622,3404,2260,0,0,0,0,0,0
$GC,4274,0.64,260.0,323.6,13.6,494,4288,0.00,2.15,5.53,0.571,6,0.000,0.033,2630,1992,2237,0,0,0,0,0,0
$GC,4606,0.67,285.0,278.5,12.4,539,4635,0.00,2.25,20.15,0.707,4,0.000,0.043,2630,3406,2137,0,0,0,0,0,0
$GC,4702,0.67,285.0,264.8,15.0,555,4708,0.00,2.15,0.00,0.000,6,0.000,0.033,2641,1991,2134,0,0,0,0,0,0
$GC,5029,0.67,285.0,214.2,14.4,616,5037,0.00,2.15,0.00,0.000,4,0.000,0.043,2652,595,2132,0,0,0,0,0,0
$GC,5065,0.67,285.0,208.9,14.3,622,5073,0.00,2.15,0.00,0.000,6,0.000,0.034,2652,2002,2131,0,0,0,0,0,0
$GC,5404,0.69,300.8,161.9,12.9,683,5425,0.00,0.00,13.10,0.612,6,0.000,0.000,2657,2002,2070,0,0,0,0,0,0
$GC,5750,0.74,332.9,117.9,12.0,746,5781,0.00,2.17,25.15,0.606,4,0.000,0.043,2652,3402,1939,0,0,0,0,0,0
$GC,5817,0.77,337.3,109.6,13.6,756,5827,0.00,2.15,4.68,0.430,6,0.000,0.032,2661,2003,1922,0,0,0,0,0,0
$GC,6150,0.89,403.8,74.6,9.9,817,6207,0.12,2.20,50.78,0.575,4,0.086,0.042,2740,595,1650,0,0,0,0,0,0
$GC,6226,0.87,403.8,64.3,15.6,827,6235,0.10,2.17,0.00,0.000,6,0.148,0.034,2710,1996,1648,0,0,0,0,0,0
$GC,6559,0.92,417.3,20.7,13.1,888,6577,0.00,2.20,10.85,0.489,4,0.000,0.042,2710,3413,1595,0,0,0,0,0,0
$GC,6688,0.96,427.9,3.4,13.3,910,6698,0.00,2.15,4.82,0.374,2,0.000,0.031,2718,2001,1560,0,0,0,0,0,0
$STATE,6698,end climb,SURFACE_DEPTH_REACHED
$STATE,6698,begin surface coast
$FINISH,0.4,0.998895
$STATE,6724,end surface coast,CONTROL_FINISHED_OK
$STATE,6724,begin surface
$SM_CCo,6744,116.90,0.058,0,0,485,690.03
$SM_GC,1.20,0.00,0.00,116.90,0.000,0.000,0.058,206,2314,485,-6.94,0.40,690.03
$IRIDIUM_FIX,2356.84,12605.46,270910,000024
$TT8_MAMPS,0.027713
$HUMID,43.81
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.20
$XPDR_PINGS,3
$24V_AH,24.6,8.090
$10V_AH,10.3,7.866
$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,17.075,65.475,451.025,116.900,0.000,24.229,43.861,183.495,0.750,0.000,17.789,2209.418,1648.027,598.251,2658.796,125.359,0.000,1459.451,0.000,1435.506,0.000,0.543,0.000
$DEVICE_MAMPS,233.325,56.610,856.800,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,616.967,1392.544,1707.233,0.000,0.000,0.000,2465.696,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331536
$DATA_FILE_SIZE,67108,915
$CAP_FILE_SIZE,97175,0
$CFSIZE,260165632,247570432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125,292.5,1
$GPS,270910,044024,2408.965,12608.532,41,0.9,41,-3.6