version: 66.08
glider: 181
mission: 4
dive: 68
start: 9 29 110 17 2 6
data:
$ID,181
$MISSION,4
$DIVE,68
$N_DIVES,80
$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,-37923.57
$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,43
$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,134.0
$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
$GPS1,290910,165525,2412.939,12607.487,40,1.7,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-65.0
$GPS2,290910,170138,2412.979,12607.444,15,1.3,15,-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,190.9,24181,-22.5,-13.889
$D_GRID,1503
$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,-155.7,0.0,0.0,0,108,0.00,0.00,-85.78,0.000,2,0.000,0.000,200,2323,2841,0,0,0,0,0,0
$GC,110,-0.89,-155.7,3.2,-5.4,11,150,7.65,2.17,-23.85,0.000,4,0.229,0.046,2129,884,3935,0,0,0,0,0,0
$GC,222,-0.76,-155.7,42.3,-40.6,29,231,0.17,2.17,0.00,0.000,6,0.161,0.036,2172,2289,3936,0,0,0,0,0,0
$GC,556,-0.70,-155.7,143.9,-25.7,90,565,0.00,2.17,0.00,0.000,4,0.000,0.042,2163,3705,3937,0,0,0,0,0,0
$GC,582,-0.63,-155.7,152.0,-29.0,94,592,0.17,2.12,0.00,0.000,6,0.143,0.028,2217,2296,3937,0,0,0,0,0,0
$GC,934,-0.64,-155.7,214.2,-16.2,155,941,0.00,2.17,0.00,0.000,4,0.000,0.044,2208,3718,3938,0,0,0,0,0,0
$GC,1027,-0.71,-155.7,228.1,-13.7,171,1034,0.00,2.10,0.00,0.000,6,0.000,0.028,2208,2293,3938,0,0,0,0,0,0
$GC,1370,-0.74,-155.7,278.7,-13.1,232,1378,0.00,2.08,0.00,0.000,4,0.000,0.036,2208,901,3937,0,0,0,0,0,0
$GC,1440,-0.81,-155.7,288.3,-11.5,244,1449,0.10,2.12,0.00,0.000,6,0.048,0.035,2139,2301,3937,0,0,0,0,0,0
$GC,1778,-0.78,-155.7,357.6,-20.3,281,1783,0.12,2.15,0.00,0.000,4,0.182,0.044,2164,3707,3936,0,0,0,0,0,0
$GC,1876,-0.81,-155.7,373.1,-13.8,289,1880,0.00,2.05,0.00,0.000,6,0.000,0.028,2160,2297,3936,0,0,0,0,0,0
$GC,2202,-0.81,-155.7,422.0,-16.4,319,2206,0.00,2.17,0.00,0.000,4,0.000,0.044,2149,3714,3934,0,0,0,0,0,0
$GC,2264,-0.84,-155.7,431.1,-13.9,324,2268,0.00,2.08,0.00,0.000,6,0.000,0.030,2149,2297,3934,0,0,0,0,0,0
$GC,2588,-0.84,-155.7,487.5,-16.1,354,2592,0.00,2.17,0.00,0.000,4,0.000,0.046,2138,3711,3933,0,0,0,0,0,0
$GC,2666,-0.86,-155.7,499.2,-13.3,360,2674,0.00,2.10,0.00,0.000,6,0.000,0.030,2138,2307,3931,0,0,0,0,0,0
$STATE,2681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2681,begin apogee
$GC,2685,-0.16,0.0,501.3,12.5,362,2807,0.70,0.00,116.68,0.856,6,0.126,0.000,2369,1981,3298,0,0,0,0,0,0
$STATE,2808,end apogee,CONTROL_FINISHED_OK
$STATE,2808,begin climb
$GC,2809,0.89,155.7,505.4,0.0,372,2939,0.90,2.38,120.57,0.839,4,0.039,0.041,2729,3412,2662,0,0,0,0,0,0
$GC,3008,0.73,155.7,496.4,17.9,389,3013,0.30,2.12,0.00,0.000,6,0.190,0.031,2663,2015,2658,0,0,0,0,0,0
$GC,3335,0.71,199.1,454.6,11.3,419,3373,0.00,2.20,33.28,0.801,4,0.000,0.044,2663,3407,2488,0,0,0,0,0,0
$GC,3417,0.63,199.1,442.7,15.4,426,3428,0.15,2.17,0.00,0.000,6,0.171,0.031,2628,2002,2484,0,0,0,0,0,0
$GC,3744,0.59,199.1,396.6,14.2,457,3747,0.00,2.20,0.00,0.000,4,0.000,0.044,2628,3406,2480,0,0,0,0,0,0
$GC,3917,0.55,199.1,370.2,15.2,472,3922,0.12,2.10,0.00,0.000,6,0.184,0.032,2607,1998,2479,0,0,0,0,0,0
$GC,4242,0.64,271.3,336.0,9.6,502,4305,0.00,2.25,55.10,0.767,4,0.000,0.042,2617,597,2192,0,0,0,0,0,0
$GC,4340,0.69,297.0,325.7,12.3,510,4366,0.00,2.17,21.00,0.720,6,0.000,0.034,2617,2006,2088,0,0,0,0,0,0
$GC,4688,0.70,297.0,277.4,15.0,556,4697,0.10,2.20,0.00,0.000,4,0.108,0.045,2661,3400,2081,0,0,0,0,0,0
$GC,4805,0.69,297.0,256.3,17.6,576,4813,0.00,2.15,0.00,0.000,6,0.000,0.033,2676,1997,2079,0,0,0,0,0,0
$GC,5155,0.66,297.0,197.9,15.6,637,5162,0.12,0.00,0.00,0.000,6,0.177,0.000,2641,1993,2078,0,0,0,0,0,0
$GC,5499,0.72,337.8,151.8,11.5,698,5537,0.00,2.22,30.62,0.634,4,0.000,0.042,2640,3415,1918,0,0,0,0,0,0
$GC,5595,0.75,343.8,140.2,13.5,713,5613,0.00,2.17,5.68,0.487,6,0.000,0.033,2649,2003,1897,0,0,0,0,0,0
$GC,5938,0.84,400.1,94.9,10.5,775,5993,0.12,2.22,43.08,0.591,4,0.087,0.041,2722,591,1666,0,0,0,0,0,0
$GC,6045,0.84,400.1,79.1,14.8,791,6053,0.00,2.17,0.00,0.000,6,0.000,0.034,2720,1993,1664,0,0,0,0,0,0
$GC,6377,0.84,400.1,28.5,14.5,852,6385,0.00,2.15,0.00,0.000,4,0.000,0.041,2732,596,1660,0,0,0,0,0,0
$GC,6417,0.86,400.1,22.9,14.2,858,6426,0.00,2.12,0.00,0.000,6,0.000,0.033,2732,1993,1660,0,0,0,0,0,0
$STATE,6551,end climb,SURFACE_DEPTH_REACHED
$STATE,6551,begin surface coast
$FINISH,0.4,1.001639
$STATE,6570,end surface coast,CONTROL_FINISHED_OK
$STATE,6570,begin surface
$SM_CCo,6591,127.70,0.058,0,0,485,690.03
$SM_GC,1.30,0.00,0.00,127.70,0.000,0.000,0.058,199,2316,485,-6.95,0.45,690.03
$IRIDIUM_FIX,2401.56,12606.85,290910,141408
$TT8_MAMPS,0.027713
$HUMID,45.43
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,24.6,11.705
$10V_AH,10.3,12.838
$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,17.325,65.750,426.000,127.700,0.000,25.699,39.533,179.963,0.500,0.000,17.899,2152.975,1639.115,595.641,2566.926,144.936,0.000,1443.293,0.000,1392.432,0.000,0.543,0.000
$DEVICE_MAMPS,228.735,45.900,856.035,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,596.936,1346.763,1620.748,0.000,0.000,0.000,2320.154,0.000,0.000,0.000
$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,63943,885
$CAP_FILE_SIZE,96572,0
$CFSIZE,260165632,245374976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065, 55.3,1
$GPS,290910,185510,2412.152,12607.506,9,2.5,28,-3.6