version: 66.08
glider: 181
mission: 4
dive: 46
start: 9 28 110 0 53 5
data:
$ID,181
$MISSION,4
$DIVE,46
$N_DIVES,60
$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,-37895.555
$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,37
$R_STBD_OVSHOOT,38
$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,90.0
$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
$GPS1,280910,004856,2416.083,12608.788,12,1.0,12,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-65.4
$GPS2,280910,005238,2416.145,12608.742,10,1.4,10,-3.7
$SPEED_LIMITS,0.241,0.296
$TGT_NAME,NWALL_N
$TGT_LATLONG,2420.000,12609.000
$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,26.2,7153,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.89,-155.7,0.0,0.0,0,105,0.00,0.00,-84.30,0.000,2,0.000,0.000,217,2292,2800,0,0,0,0,0,0
$GC,108,-0.89,-155.7,3.2,-5.1,11,148,7.55,2.15,-25.12,0.000,4,0.230,0.052,2120,3708,3934,0,0,0,0,0,0
$GC,189,-0.70,-155.7,31.7,-49.5,23,198,0.25,2.15,0.00,0.000,6,0.189,0.028,2188,2280,3935,0,0,0,0,0,0
$GC,522,-0.66,-155.7,141.8,-20.8,84,530,0.00,2.20,0.00,0.000,4,0.000,0.042,2180,3704,3935,0,0,0,0,0,0
$GC,666,-0.66,-155.7,170.6,-17.4,110,675,0.08,2.10,0.00,0.000,6,0.142,0.028,2203,2293,3936,0,0,0,0,0,0
$GC,1005,-0.66,-155.7,236.0,-19.4,171,1012,0.00,2.15,0.00,0.000,4,0.000,0.043,2195,3710,3936,0,0,0,0,0,0
$GC,1104,-0.72,-155.7,252.3,-13.9,189,1112,0.00,2.08,0.00,0.000,6,0.000,0.028,2194,2290,3936,0,0,0,0,0,0
$GC,1442,-0.75,-155.7,303.2,-14.0,249,1445,0.00,2.03,0.00,0.000,4,0.000,0.034,2194,898,3934,0,0,0,0,0,0
$GC,1467,-0.78,-155.7,307.8,-16.0,251,1475,0.00,2.12,0.00,0.000,6,0.000,0.035,2190,2294,3934,0,0,0,0,0,0
$GC,1795,-0.80,-155.7,354.8,-14.1,282,1799,0.00,2.15,0.00,0.000,4,0.000,0.044,2180,3711,3932,0,0,0,0,0,0
$GC,1890,-0.86,-155.7,367.0,-11.8,290,1894,0.00,2.05,0.00,0.000,6,0.000,0.028,2180,2301,3931,0,0,0,0,0,0
$GC,2221,-0.89,-155.7,413.6,-14.6,321,2226,0.12,2.17,0.00,0.000,4,0.084,0.046,2106,3708,3929,0,0,0,0,0,0
$GC,2272,-0.87,-155.7,422.3,-17.8,325,2277,0.15,2.05,0.00,0.000,6,0.158,0.030,2147,2300,3929,0,0,0,0,0,0
$GC,2598,-0.87,-155.7,474.8,-14.4,355,2602,0.00,2.17,0.00,0.000,4,0.000,0.045,2138,3717,3927,0,0,0,0,0,0
$GC,2658,-0.90,-155.7,483.8,-13.9,360,2662,0.00,2.08,0.00,0.000,6,0.000,0.030,2137,2297,3926,0,0,0,0,0,0
$STATE,2771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2771,begin apogee
$GC,2776,-0.16,0.0,500.7,15.4,370,2899,0.70,0.00,115.47,0.862,6,0.129,0.000,2368,1989,3298,0,0,0,0,0,0
$STATE,2900,end apogee,CONTROL_FINISHED_OK
$STATE,2900,begin climb
$GC,2902,0.89,155.7,506.6,0.0,380,3036,0.90,2.25,120.43,0.845,4,0.038,0.038,2739,605,2661,0,0,0,0,0,0
$GC,3070,0.74,155.7,504.9,14.0,394,3075,0.28,2.17,0.00,0.000,6,0.187,0.034,2669,2015,2658,0,0,0,0,0,0
$GC,3395,0.69,185.5,461.9,12.1,424,3423,0.00,2.17,23.00,0.796,4,0.000,0.041,2669,3407,2544,0,0,0,0,0,0
$GC,3548,0.60,185.5,438.6,17.1,437,3556,0.20,2.12,0.00,0.000,6,0.174,0.031,2620,2025,2537,0,0,0,0,0,0
$GC,3874,0.64,242.4,401.6,10.5,468,3924,0.00,2.25,44.28,0.802,4,0.000,0.043,2620,3404,2309,0,0,0,0,0,0
$GC,3961,0.61,242.4,390.4,14.8,475,3969,0.00,2.20,0.00,0.000,6,0.000,0.031,2629,1990,2306,0,0,0,0,0,0
$GC,4288,0.59,242.4,342.7,14.3,506,4292,0.00,2.17,0.00,0.000,4,0.000,0.044,2629,3408,2301,0,0,0,0,0,0
$GC,4363,0.56,242.4,331.1,14.9,512,4373,0.10,2.15,0.00,0.000,6,0.161,0.032,2609,2000,2299,0,0,0,0,0,0
$GC,4690,0.61,283.4,291.1,11.4,550,4725,0.00,0.00,31.20,0.737,6,0.000,0.000,2609,1994,2142,0,0,0,0,0,0
$GC,5047,0.65,301.7,246.3,12.8,615,5069,0.00,2.17,14.68,0.669,4,0.000,0.041,2618,588,2069,0,0,0,0,0,0
$GC,5206,0.72,334.4,227.4,11.9,643,5242,0.12,2.15,26.17,0.682,6,0.095,0.034,2671,2009,1935,0,0,0,0,0,0
$GC,5574,0.70,334.4,166.3,16.1,708,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2013,1929,0,0,0,0,0,0
$GC,5905,0.71,345.7,118.6,13.2,769,5922,0.00,2.12,9.50,0.555,4,0.000,0.041,2671,3404,1890,0,0,0,0,0,0
$GC,5969,0.71,345.7,110.2,13.9,779,5978,0.00,2.15,0.00,0.000,6,0.000,0.032,2681,1993,1886,0,0,0,0,0,0
$GC,6301,0.80,399.8,69.8,10.6,840,6348,0.00,2.22,41.03,0.578,4,0.000,0.042,2681,3408,1668,0,0,0,0,0,0
$GC,6492,0.89,436.0,48.0,11.7,872,6531,0.00,2.15,28.10,0.546,6,0.000,0.031,2692,2003,1519,0,0,0,0,0,0
$GC,6855,1.02,494.9,7.7,10.4,937,6888,0.17,0.00,29.92,0.512,2,0.067,0.000,2772,2001,1353,0,0,0,0,0,0
$STATE,6888,end climb,SURFACE_DEPTH_REACHED
$STATE,6889,begin surface coast
$FINISH,0.6,1.000480
$STATE,6907,end surface coast,CONTROL_FINISHED_OK
$STATE,6907,begin surface
$SM_CCo,6927,94.95,0.058,0,0,484,690.03
$SM_GC,1.28,0.00,0.00,94.95,0.000,0.000,0.058,198,2314,484,-6.96,0.40,690.03
$IRIDIUM_FIX,2403.92,12631.87,280910,000016
$TT8_MAMPS,0.029211
$HUMID,44.99
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.40
$XPDR_PINGS,1
$24V_AH,24.6,9.341
$10V_AH,10.3,9.582
$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,17.350,60.975,483.775,94.950,0.000,0.000,0.000,0.000,0.250,0.000,13.350,2262.447,1696.609,590.271,2439.248,108.273,0.000,1477.317,0.000,1471.596,0.000,0.543,0.000
$DEVICE_MAMPS,230.265,52.020,862.155,58.140,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,636.316,1436.609,1743.425,0.000,0.000,0.000,2388.986,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331556
$DATA_FILE_SIZE,66926,944
$CAP_FILE_SIZE,106710,0
$CFSIZE,260165632,246796288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119,307.8,1
$GPS,280910,025055,2417.242,12608.811,7,2.0,12,-3.7