version: 66.08
glider: 181
mission: 4
dive: 60
start: 9 29 110 0 45 36
data:
$ID,181
$MISSION,4
$DIVE,60
$N_DIVES,75
$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,-37913.527
$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,41
$R_STBD_OVSHOOT,45
$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,118.0
$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
$GPS1,290910,003732,2417.223,12607.615,8,1.7,8,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-65.9
$GPS2,290910,004508,2417.385,12607.472,14,1.3,14,-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,168.5,32300,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.89,-155.7,0.0,0.0,0,106,0.00,0.00,-84.75,0.000,2,0.000,0.000,194,2311,2800,0,0,0,0,0,0
$GC,108,-0.89,-155.7,3.2,-5.5,11,148,7.65,2.15,-25.40,0.000,4,0.230,0.049,2128,885,3936,0,0,0,0,0,0
$GC,242,-0.76,-155.7,47.7,-38.3,33,251,0.17,2.15,0.00,0.000,6,0.169,0.036,2170,2283,3936,0,0,0,0,0,0
$GC,576,-0.69,-155.7,149.9,-27.0,94,585,0.12,2.20,0.00,0.000,4,0.180,0.041,2193,3707,3937,0,0,0,0,0,0
$GC,600,-0.64,-155.7,155.6,-23.7,97,607,0.00,2.10,0.00,0.000,6,0.000,0.029,2193,2289,3937,0,0,0,0,0,0
$GC,948,-0.64,-155.7,220.6,-17.1,158,956,0.00,2.20,0.00,0.000,4,0.000,0.044,2183,3701,3938,0,0,0,0,0,0
$GC,984,-0.64,-155.7,226.9,-17.2,164,994,0.08,2.10,0.00,0.000,6,0.135,0.028,2209,2296,3938,0,0,0,0,0,0
$GC,1331,-0.67,-155.7,281.1,-15.4,225,1338,0.00,2.17,0.00,0.000,4,0.000,0.044,2200,3719,3937,0,0,0,0,0,0
$GC,1471,-0.74,-155.7,296.8,-10.5,249,1477,0.00,2.10,0.00,0.000,6,0.000,0.028,2200,2288,3937,0,0,0,0,0,0
$GC,1798,-0.77,-155.7,343.9,-15.1,282,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2286,3936,0,0,0,0,0,0
$GC,2118,-0.82,-155.7,390.8,-13.2,312,2122,0.12,2.17,0.00,0.000,4,0.083,0.045,2124,3707,3934,0,0,0,0,0,0
$GC,2145,-0.82,-155.7,395.2,-16.2,314,2150,0.12,2.05,0.00,0.000,6,0.162,0.029,2157,2300,3933,0,0,0,0,0,0
$GC,2472,-0.83,-155.7,444.3,-14.0,344,2475,0.00,2.05,0.00,0.000,4,0.000,0.036,2157,899,3932,0,0,0,0,0,0
$GC,2498,-0.86,-155.7,448.3,-14.2,346,2508,0.00,2.15,0.00,0.000,6,0.000,0.037,2150,2304,3932,0,0,0,0,0,0
$GC,2827,-0.87,-155.7,498.1,-15.8,377,2831,0.00,2.15,0.00,0.000,4,0.000,0.047,2140,3713,3932,0,0,0,0,0,0
$STATE,2835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2835,begin apogee
$GC,2841,-0.16,0.0,500.6,16.1,377,2964,0.70,0.00,116.43,0.858,6,0.126,0.000,2371,1986,3298,0,0,0,0,0,0
$STATE,2964,end apogee,CONTROL_FINISHED_OK
$STATE,2964,begin climb
$GC,2966,0.89,155.7,508.6,0.0,387,3095,0.90,2.33,120.70,0.842,4,0.040,0.041,2728,3402,2662,0,0,0,0,0,0
$GC,3191,0.74,155.7,500.5,16.7,407,3196,0.30,2.15,0.00,0.000,6,0.191,0.031,2662,2002,2656,0,0,0,0,0,0
$GC,3517,0.68,181.0,459.7,12.4,437,3539,0.00,0.00,19.58,0.789,6,0.000,0.000,2663,1998,2559,0,0,0,0,0,0
$GC,3855,0.61,181.0,410.2,15.3,469,3860,0.15,2.12,0.00,0.000,4,0.184,0.041,2630,597,2554,0,0,0,0,0,0
$GC,3920,0.63,228.4,402.1,11.0,474,3965,0.00,2.15,37.00,0.794,6,0.000,0.034,2632,2006,2366,0,0,0,0,0,0
$GC,4284,0.62,235.6,355.8,13.5,508,4294,0.00,0.00,5.90,0.604,6,0.000,0.000,2633,2006,2338,0,0,0,0,0,0
$GC,4612,0.60,238.9,308.2,13.7,539,4622,0.00,0.00,4.18,0.498,6,0.000,0.000,2632,2006,2323,0,0,0,0,0,0
$GC,4943,0.60,255.9,263.5,12.9,595,4964,0.00,2.17,14.68,0.687,4,0.000,0.043,2633,3409,2253,0,0,0,0,0,0
$GC,5015,0.58,255.9,252.8,15.3,607,5023,0.00,2.12,0.00,0.000,6,0.000,0.032,2643,1998,2251,0,0,0,0,0,0
$GC,5344,0.57,255.9,205.0,14.5,668,5353,0.12,2.20,0.00,0.000,4,0.183,0.044,2612,3395,2249,0,0,0,0,0,0
$GC,5477,0.61,288.8,188.0,11.9,691,5513,0.00,2.12,25.88,0.661,6,0.000,0.032,2620,1995,2119,0,0,0,0,0,0
$GC,5841,0.74,371.8,148.7,8.9,756,5912,0.12,2.17,62.20,0.636,4,0.086,0.041,2689,601,1783,0,0,0,0,0,0
$GC,6005,0.74,371.8,123.7,16.3,782,6013,0.00,2.17,0.00,0.000,6,0.000,0.034,2689,2000,1778,0,0,0,0,0,0
$GC,6337,0.80,399.1,71.8,12.3,843,6369,0.00,2.22,20.80,0.558,4,0.000,0.043,2689,3405,1670,0,0,0,0,0,0
$GC,6400,0.83,399.2,63.6,13.9,852,6408,0.00,2.15,0.00,0.000,6,0.000,0.032,2699,2008,1669,0,0,0,0,0,0
$GC,6733,0.91,440.2,21.5,11.4,913,6772,0.00,2.20,31.50,0.528,4,0.000,0.041,2699,3418,1502,0,0,0,0,0,0
$GC,6820,1.00,463.9,10.5,12.5,926,6845,0.08,2.17,19.00,0.500,6,0.054,0.032,2759,2001,1406,0,0,0,0,0,0
$STATE,6869,end climb,SURFACE_DEPTH_REACHED
$STATE,6869,begin surface coast
$FINISH,0.4,1.006189
$STATE,6887,end surface coast,CONTROL_FINISHED_OK
$STATE,6888,begin surface
$SM_CCo,6910,102.35,0.058,0,0,485,690.27
$SM_GC,1.31,0.00,0.00,102.35,0.000,0.000,0.058,197,2334,485,-6.97,0.85,690.27
$IRIDIUM_FIX,2406.29,12813.02,280910,222251
$TT8_MAMPS,0.027713
$HUMID,44.92
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.6,10.803
$10V_AH,10.3,11.591
$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,17.325,61.275,477.825,102.350,0.000,61.175,46.597,160.075,0.250,0.000,17.902,2240.832,1841.762,600.652,2647.338,146.729,0.000,1463.109,0.000,1410.885,0.000,0.544,0.000
$DEVICE_MAMPS,229.500,48.960,857.565,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,630.718,1424.321,1690.442,0.000,0.000,0.000,2393.737,0.000,0.000,0.000
$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,67048,936
$CAP_FILE_SIZE,97585,0
$CFSIZE,260165632,245927936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,309.6,1
$GPS,290910,024337,2416.633,12607.553,32,0.9,32,-3.7