version: 66.08
glider: 181
mission: 4
dive: 70
start: 9 29 110 21 4 36
data:
$ID,181
$MISSION,4
$DIVE,70
$N_DIVES,85
$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,-37926.082
$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,42
$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,138.0
$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
$GPS1,290910,205824,2411.525,12607.477,27,1.2,44,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-65.5
$GPS2,290910,210408,2411.568,12607.436,11,1.6,11,-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,188.2,21587,-22.5,-13.889
$D_GRID,1602
$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,-84.28,0.000,2,0.000,0.000,198,2291,2782,0,0,0,0,0,0
$GC,107,-0.89,-155.7,3.1,-5.5,11,148,7.62,2.10,-25.33,0.000,4,0.228,0.045,2136,875,3934,0,0,0,0,0,0
$GC,253,-0.81,-155.7,53.1,-32.7,35,262,0.12,2.17,0.00,0.000,6,0.160,0.037,2158,2285,3935,0,0,0,0,0,0
$GC,584,-0.72,-155.7,155.0,-31.0,96,593,0.12,2.12,0.00,0.000,4,0.187,0.034,2190,886,3936,0,0,0,0,0,0
$GC,608,-0.65,-155.7,161.5,-30.4,99,616,0.15,2.12,0.00,0.000,6,0.166,0.034,2220,2306,3937,0,0,0,0,0,0
$GC,942,-0.66,-155.7,225.5,-18.2,160,950,0.00,2.15,0.00,0.000,4,0.000,0.045,2210,3702,3937,0,0,0,0,0,0
$GC,1092,-0.73,-155.7,247.0,-13.2,187,1099,0.00,2.10,0.00,0.000,6,0.000,0.028,2210,2275,3937,0,0,0,0,0,0
$GC,1419,-0.77,-155.7,292.6,-12.2,248,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2273,3937,0,0,0,0,0,0
$GC,1748,-0.81,-155.7,336.6,-14.6,284,1753,0.15,2.20,0.00,0.000,4,0.073,0.044,2125,3706,3936,0,0,0,0,0,0
$GC,1810,-0.79,-155.7,348.2,-19.4,289,1814,0.15,2.05,0.00,0.000,6,0.154,0.028,2166,2299,3935,0,0,0,0,0,0
$GC,2136,-0.81,-155.7,403.5,-15.0,319,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2298,3933,0,0,0,0,0,0
$GC,2455,-0.82,-155.7,452.8,-15.2,349,2459,0.00,2.15,0.00,0.000,4,0.000,0.045,2158,3704,3930,0,0,0,0,0,0
$GC,2626,-0.86,-155.7,477.5,-13.5,364,2630,0.00,2.05,0.00,0.000,6,0.000,0.029,2158,2301,3931,0,0,0,0,0,0
$STATE,2779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2779,begin apogee
$GC,2784,-0.16,0.0,500.6,14.9,378,2907,0.62,0.00,116.45,0.858,6,0.123,0.000,2367,1972,3298,0,0,0,0,0,0
$STATE,2907,end apogee,CONTROL_FINISHED_OK
$STATE,2907,begin climb
$GC,2909,0.89,155.7,504.1,0.0,388,3037,0.93,2.15,120.15,0.840,4,0.044,0.036,2737,612,2663,0,0,0,0,0,0
$GC,3097,0.75,155.7,494.5,17.3,403,3106,0.22,2.17,0.00,0.000,6,0.174,0.034,2674,2005,2659,0,0,0,0,0,0
$GC,3423,0.73,208.3,453.2,10.7,434,3469,0.00,2.17,40.67,0.806,4,0.000,0.037,2682,610,2449,0,0,0,0,0,0
$GC,3505,0.65,208.3,442.7,14.6,441,3510,0.17,2.15,0.00,0.000,6,0.167,0.034,2637,2001,2447,0,0,0,0,0,0
$GC,3832,0.64,231.1,401.8,12.5,471,3856,0.00,2.20,18.52,0.759,4,0.000,0.042,2626,3404,2353,0,0,0,0,0,0
$GC,4070,0.61,231.1,365.4,15.0,492,4074,0.00,2.10,0.00,0.000,6,0.000,0.031,2637,2018,2349,0,0,0,0,0,0
$GC,4396,0.60,246.8,321.5,13.0,522,4416,0.00,0.00,12.32,0.702,6,0.000,0.000,2638,2017,2292,0,0,0,0,0,0
$GC,4742,0.58,246.8,271.5,14.8,571,4749,0.00,2.15,0.00,0.000,4,0.000,0.041,2649,593,2288,0,0,0,0,0,0
$GC,4827,0.57,246.8,259.3,14.4,586,4836,0.12,2.15,0.00,0.000,6,0.147,0.035,2609,2001,2289,0,0,0,0,0,0
$GC,5170,0.69,327.9,225.9,9.0,647,5240,0.12,2.28,62.38,0.695,4,0.090,0.041,2674,591,1959,0,0,0,0,0,0
$GC,5299,0.69,327.9,209.8,14.1,667,5305,0.00,2.17,0.00,0.000,6,0.000,0.034,2674,2010,1956,0,0,0,0,0,0
$GC,5646,0.68,327.9,156.3,14.2,728,5655,0.00,2.15,0.00,0.000,4,0.000,0.043,2674,3395,1952,0,0,0,0,0,0
$GC,5670,0.67,327.9,153.3,14.3,731,5678,0.17,2.10,0.00,0.000,6,0.165,0.032,2637,2000,1951,0,0,0,0,0,0
$GC,6004,0.72,344.0,112.4,12.9,792,6021,0.00,2.15,12.27,0.563,4,0.000,0.042,2646,595,1895,0,0,0,0,0,0
$GC,6122,0.81,376.7,98.9,11.9,812,6155,0.08,2.15,25.83,0.584,6,0.059,0.034,2697,2003,1761,0,0,0,0,0,0
$GC,6481,0.88,416.0,45.3,11.5,876,6520,0.00,2.20,30.17,0.546,4,0.000,0.041,2697,3402,1601,0,0,0,0,0,0
$GC,6625,0.96,448.6,27.2,11.9,900,6657,0.00,2.15,25.15,0.526,6,0.000,0.032,2708,2001,1469,0,0,0,0,0,0
$STATE,6813,end climb,SURFACE_DEPTH_REACHED
$STATE,6813,begin surface coast
$FINISH,0.6,1.021889
$STATE,6836,end surface coast,CONTROL_FINISHED_OK
$STATE,6836,begin surface
$SM_CCo,6858,109.30,0.057,0,0,484,690.27
$SM_GC,1.37,0.00,0.00,109.30,0.000,0.000,0.057,195,2321,484,-6.97,0.59,690.27
$IRIDIUM_FIX,2359.20,12603.55,290910,181854
$TT8_MAMPS,0.027713
$HUMID,44.32
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,24.6,11.934
$10V_AH,10.3,13.155
$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,17.300,56.700,463.925,109.300,0.000,24.672,22.560,172.725,0.250,0.000,14.469,2259.448,1678.123,587.959,2642.066,150.863,0.000,1453.023,0.000,1455.470,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,45.135,857.565,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,631.655,1425.534,1721.092,0.000,0.000,0.000,2324.393,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331472
$DATA_FILE_SIZE,66902,937
$CAP_FILE_SIZE,97073,0
$CFSIZE,260165632,245231616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078, 23.4,1
$GPS,290910,230152,2410.979,12607.366,13,2.5,32,-3.6