version: 66.08
glider: 181
mission: 4
dive: 59
start: 9 28 110 22 46 12
data:
$ID,181
$MISSION,4
$DIVE,59
$N_DIVES,70
$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,-37911.871
$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,38
$R_STBD_OVSHOOT,60
$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,116.0
$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
$GPS1,280910,224001,2417.722,12607.870,38,1.5,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-64.9
$GPS2,280910,224544,2417.798,12607.800,11,1.5,11,-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,176.4,33024,-22.5,-13.889
$D_GRID,1432
$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,-155.7,0.0,0.0,0,105,0.00,0.00,-82.80,0.000,2,0.000,0.000,201,2331,2744,0,0,0,0,0,0
$GC,107,-0.89,-155.7,3.0,-4.8,11,149,7.53,2.17,-27.08,0.000,4,0.226,0.048,2131,885,3936,0,0,0,0,0,0
$GC,243,-0.79,-155.7,47.5,-35.6,33,251,0.15,2.15,0.00,0.000,6,0.160,0.037,2166,2279,3936,0,0,0,0,0,0
$GC,574,-0.71,-155.7,154.6,-28.5,94,583,0.10,2.22,0.00,0.000,4,0.196,0.042,2181,3714,3937,0,0,0,0,0,0
$GC,642,-0.73,-155.7,170.5,-17.9,106,651,0.00,2.12,0.00,0.000,6,0.000,0.028,2181,2295,3937,0,0,0,0,0,0
$GC,975,-0.73,-155.7,235.6,-16.0,167,982,0.00,2.15,0.00,0.000,4,0.000,0.044,2171,3709,3938,0,0,0,0,0,0
$GC,1005,-0.73,-155.7,241.1,-17.9,172,1013,0.00,2.10,0.00,0.000,6,0.000,0.028,2171,2302,3938,0,0,0,0,0,0
$GC,1337,-0.71,-155.7,306.1,-18.6,230,1340,0.00,2.17,0.00,0.000,4,0.000,0.044,2161,3711,3938,0,0,0,0,0,0
$GC,1423,-0.73,-155.7,322.0,-17.5,237,1431,0.00,2.12,0.00,0.000,6,0.000,0.028,2161,2290,3938,0,0,0,0,0,0
$GC,1749,-0.72,-155.7,383.8,-20.3,268,1754,0.12,2.20,0.00,0.000,4,0.167,0.044,2184,3714,3937,0,0,0,0,0,0
$GC,1820,-0.78,-155.7,395.2,-12.7,274,1824,0.00,2.10,0.00,0.000,6,0.000,0.028,2185,2290,3937,0,0,0,0,0,0
$GC,2148,-0.82,-155.7,439.3,-11.8,304,2151,0.00,2.03,0.00,0.000,4,0.000,0.036,2184,902,3934,0,0,0,0,0,0
$GC,2170,-0.87,-155.7,442.4,-12.5,306,2174,0.00,2.10,0.00,0.000,6,0.000,0.037,2178,2310,3934,0,0,0,0,0,0
$GC,2496,-0.91,-155.7,481.4,-12.4,336,2501,0.12,2.12,0.00,0.000,4,0.086,0.047,2104,3708,3932,0,0,0,0,0,0
$GC,2527,-0.89,-155.7,486.8,-17.3,338,2537,0.08,2.10,0.00,0.000,6,0.145,0.030,2130,2304,3931,0,0,0,0,0,0
$STATE,2619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2619,begin apogee
$GC,2623,-0.16,0.0,501.7,16.3,347,2746,0.73,0.00,116.50,0.854,6,0.131,0.000,2370,1977,3299,0,0,0,0,0,0
$STATE,2746,end apogee,CONTROL_FINISHED_OK
$STATE,2747,begin climb
$GC,2748,0.89,155.7,507.6,0.0,357,2878,0.90,2.38,120.75,0.838,4,0.044,0.041,2721,3408,2662,0,0,0,0,0,0
$GC,3023,0.74,155.7,484.3,19.0,381,3028,0.25,2.10,0.00,0.000,6,0.185,0.031,2669,2018,2656,0,0,0,0,0,0
$GC,3350,0.65,155.7,438.6,14.3,411,3355,0.12,2.12,0.00,0.000,4,0.190,0.039,2646,597,2652,0,0,0,0,0,0
$GC,3371,0.61,182.1,435.5,12.3,412,3396,0.00,2.15,20.10,0.779,6,0.000,0.034,2646,2006,2556,0,0,0,0,0,0
$GC,3716,0.61,230.2,393.8,11.0,444,3764,0.00,2.25,37.97,0.788,4,0.000,0.041,2656,595,2358,0,0,0,0,0,0
$GC,3777,0.57,230.2,385.7,14.0,449,3782,0.17,2.15,0.00,0.000,6,0.167,0.034,2611,2002,2357,0,0,0,0,0,0
$GC,4103,0.63,279.3,348.3,11.0,479,4152,0.00,2.25,38.15,0.762,4,0.000,0.044,2610,3401,2158,0,0,0,0,0,0
$GC,4190,0.63,279.3,336.9,14.7,486,4199,0.00,2.17,0.00,0.000,6,0.000,0.032,2617,2003,2156,0,0,0,0,0,0
$GC,4516,0.63,279.4,292.8,13.9,522,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2002,2152,0,0,0,0,0,0
$GC,4849,0.68,310.0,252.7,12.1,583,4878,0.00,2.25,23.65,0.694,4,0.000,0.043,2620,3406,2033,0,0,0,0,0,0
$GC,4985,0.69,310.0,233.1,16.9,607,4993,0.00,2.15,0.00,0.000,6,0.000,0.033,2631,1988,2029,0,0,0,0,0,0
$GC,5321,0.73,324.1,182.8,13.0,668,5336,0.00,0.00,11.25,0.606,6,0.000,0.000,2630,1988,1977,0,0,0,0,0,0
$GC,5664,0.82,368.9,142.4,11.2,730,5705,0.17,2.15,34.92,0.623,4,0.071,0.041,2723,596,1794,0,0,0,0,0,0
$GC,5752,0.78,368.9,126.1,21.9,743,5762,0.12,2.17,0.00,0.000,6,0.146,0.034,2684,2004,1788,0,0,0,0,0,0
$GC,6087,0.89,428.2,73.2,10.3,804,6141,0.00,2.22,44.95,0.572,4,0.000,0.041,2684,3406,1550,0,0,0,0,0,0
$GC,6156,0.98,475.5,65.2,11.1,813,6203,0.08,2.17,36.20,0.553,6,0.054,0.032,2744,2003,1359,0,0,0,0,0,0
$STATE,6500,end climb,SURFACE_DEPTH_REACHED
$STATE,6500,begin surface coast
$FINISH,0.5,1.021880
$STATE,6519,end surface coast,CONTROL_FINISHED_OK
$STATE,6519,begin surface
$SM_CCo,6539,96.15,0.058,0,0,485,690.03
$SM_GC,1.32,0.00,0.00,96.15,0.000,0.000,0.058,195,2311,485,-6.97,0.31,690.03
$IRIDIUM_FIX,2408.65,12612.94,280910,202059
$TT8_MAMPS,0.027713
$HUMID,45.58
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.6,10.687
$10V_AH,10.3,11.431
$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,17.225,61.450,484.450,96.150,0.000,23.484,24.594,173.215,0.250,0.000,15.997,2112.898,1658.314,591.541,2484.920,139.256,0.000,1436.807,0.000,1368.426,0.000,0.544,0.000
$DEVICE_MAMPS,225.675,48.195,853.740,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,590.655,1335.152,1573.291,0.000,0.000,0.000,2149.623,0.000,0.000,0.000
$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,63843,877
$CAP_FILE_SIZE,94968,0
$CFSIZE,260165632,245997568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.118,327.8,1
$GPS,290910,003732,2417.223,12607.615,8,1.7,8,-3.7