version: 66.08
glider: 181
mission: 4
dive: 71
start: 9 29 110 23 8 32
data:
$ID,181
$MISSION,4
$DIVE,71
$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,-37927.332
$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,55
$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,140.0
$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
$GPS1,290910,230152,2410.979,12607.366,13,2.5,32,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-65.1
$GPS2,290910,230804,2411.036,12607.355,14,2.5,33,-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,183.7,20627,-22.5,-13.889
$D_GRID,1684
$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,-85.75,0.000,2,0.000,0.000,195,2322,2845,0,0,0,0,0,0
$GC,110,-0.89,-155.7,3.2,-5.3,11,150,7.65,2.15,-24.20,0.000,4,0.230,0.047,2131,883,3934,0,0,0,0,0,0
$GC,244,-0.78,-155.7,50.6,-38.8,33,254,0.15,2.15,0.00,0.000,6,0.167,0.038,2165,2274,3936,0,0,0,0,0,0
$GC,576,-0.72,-155.7,152.6,-25.7,94,586,0.10,2.22,0.00,0.000,4,0.194,0.042,2180,3711,3937,0,0,0,0,0,0
$GC,592,-0.65,-155.7,156.9,-25.4,96,601,0.10,2.12,0.00,0.000,6,0.148,0.028,2210,2294,3937,0,0,0,0,0,0
$GC,932,-0.65,-155.7,224.1,-16.6,157,940,0.00,2.05,0.00,0.000,4,0.000,0.036,2211,899,3937,0,0,0,0,0,0
$GC,990,-0.69,-155.7,233.7,-16.0,167,997,0.00,2.12,0.00,0.000,6,0.000,0.036,2204,2313,3937,0,0,0,0,0,0
$GC,1316,-0.72,-155.7,280.3,-13.6,228,1324,0.00,2.15,0.00,0.000,4,0.000,0.044,2194,3710,3937,0,0,0,0,0,0
$GC,1381,-0.77,-155.7,288.6,-12.6,239,1388,0.00,2.08,0.00,0.000,6,0.000,0.028,2190,2294,3937,0,0,0,0,0,0
$GC,1713,-0.80,-155.7,336.2,-13.9,278,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2292,3936,0,0,0,0,0,0
$GC,2032,-0.83,-155.7,381.7,-13.9,308,2037,0.12,2.20,0.00,0.000,4,0.083,0.045,2117,3717,3934,0,0,0,0,0,0
$GC,2082,-0.82,-155.7,390.3,-18.0,312,2086,0.15,2.08,0.00,0.000,6,0.159,0.029,2158,2296,3933,0,0,0,0,0,0
$GC,2407,-0.82,-155.7,447.3,-15.9,342,2410,0.00,2.17,0.00,0.000,4,0.000,0.045,2148,3714,3932,0,0,0,0,0,0
$GC,2528,-0.82,-155.7,464.9,-14.9,353,2533,0.00,2.08,0.00,0.000,6,0.000,0.030,2148,2299,3931,0,0,0,0,0,0
$STATE,2778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2778,begin apogee
$GC,2782,-0.16,0.0,501.0,13.9,376,2905,0.65,0.00,116.38,0.860,6,0.125,0.000,2366,1969,3298,0,0,0,0,0,0
$STATE,2905,end apogee,CONTROL_FINISHED_OK
$STATE,2905,begin climb
$GC,2907,0.89,155.7,504.8,0.0,386,3037,0.93,2.15,120.38,0.842,4,0.045,0.036,2735,616,2661,0,0,0,0,0,0
$GC,3282,0.75,155.7,471.0,13.9,419,3287,0.25,2.10,0.00,0.000,6,0.184,0.034,2671,2010,2657,0,0,0,0,0,0
$GC,3609,0.68,167.3,430.8,13.2,449,3619,0.00,0.00,8.80,0.700,6,0.000,0.000,2671,2010,2616,0,0,0,0,0,0
$GC,3937,0.65,209.1,389.1,11.4,480,3976,0.15,2.25,33.15,0.787,4,0.190,0.044,2632,3408,2445,0,0,0,0,0,0
$GC,4077,0.60,209.1,371.0,15.3,492,4081,0.00,2.10,0.00,0.000,6,0.000,0.032,2640,2015,2441,0,0,0,0,0,0
$GC,4402,0.59,232.9,327.7,12.5,522,4427,0.00,2.22,18.73,0.734,4,0.000,0.044,2640,3398,2348,0,0,0,0,0,0
$GC,4451,0.55,232.9,321.2,13.9,526,4456,0.17,2.12,0.00,0.000,6,0.172,0.032,2606,1993,2346,0,0,0,0,0,0
$GC,4777,0.60,275.2,287.6,11.4,567,4819,0.00,2.20,33.05,0.730,4,0.000,0.041,2615,597,2176,0,0,0,0,0,0
$GC,4879,0.65,294.7,274.9,12.7,584,4903,0.00,2.17,16.80,0.688,6,0.000,0.035,2615,1997,2096,0,0,0,0,0,0
$GC,5226,0.70,315.0,228.9,12.7,647,5249,0.10,2.25,16.23,0.662,4,0.105,0.044,2662,3407,2013,0,0,0,0,0,0
$GC,5416,0.69,315.0,198.0,16.0,680,5425,0.00,2.15,0.00,0.000,6,0.000,0.032,2672,2004,2008,0,0,0,0,0,0
$GC,5750,0.67,315.0,145.7,15.0,741,5760,0.12,2.17,0.00,0.000,4,0.170,0.042,2649,596,2010,0,0,0,0,0,0
$GC,5812,0.74,340.9,137.5,12.3,751,5838,0.00,2.15,20.12,0.615,6,0.000,0.034,2649,2004,1908,0,0,0,0,0,0
$GC,6163,0.82,377.5,93.2,11.7,814,6204,0.12,2.22,28.33,0.591,4,0.089,0.041,2721,594,1758,0,0,0,0,0,0
$GC,6230,0.82,377.5,83.6,16.2,823,6238,0.10,2.17,0.00,0.000,6,0.142,0.034,2689,2003,1758,0,0,0,0,0,0
$GC,6563,0.94,444.8,44.5,9.9,884,6619,0.12,2.20,50.10,0.554,4,0.087,0.042,2745,3406,1487,0,0,0,0,0,0
$GC,6713,0.94,444.8,21.1,16.5,908,6721,0.00,2.17,0.00,0.000,6,0.000,0.031,2756,1993,1482,0,0,0,0,0,0
$STATE,6820,end climb,SURFACE_DEPTH_REACHED
$STATE,6820,begin surface coast
$FINISH,0.4,0.998540
$STATE,6838,end surface coast,CONTROL_FINISHED_OK
$STATE,6838,begin surface
$SM_CCo,6859,110.43,0.058,0,0,484,690.03
$SM_GC,1.35,0.00,0.00,110.43,0.000,0.000,0.058,194,2337,484,-6.97,1.05,690.03
$IRIDIUM_FIX,2359.20,12600.25,290910,212117
$TT8_MAMPS,0.027713
$HUMID,44.76
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.6,12.047
$10V_AH,10.3,13.314
$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,17.650,61.300,462.050,110.425,0.000,25.191,16.945,178.908,0.500,0.000,36.619,2240.097,1715.699,585.150,2659.611,148.510,0.000,1457.686,0.000,1448.221,0.000,0.543,0.000
$DEVICE_MAMPS,230.265,47.430,859.860,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,627.276,1414.911,1695.967,0.000,0.000,0.000,2282.178,0.000,0.000,0.000
$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,67069,930
$CAP_FILE_SIZE,98053,0
$CFSIZE,260165632,245157888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049, 14.0,1
$GPS,300910,010531,2410.327,12607.454,7,2.0,13,-3.6