version: 66.08
glider: 181
mission: 4
dive: 74
start: 9 30 110 5 16 49
data:
$ID,181
$MISSION,4
$DIVE,74
$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,-37931.098
$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,61
$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,146.0
$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
$GPS1,300910,050754,2408.686,12607.765,39,2.0,39,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-64.8
$GPS2,300910,051622,2408.692,12607.710,12,2.1,31,-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,178.3,16244,-22.5,-13.889
$D_GRID,1731
$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,-82.88,0.000,2,0.000,0.000,207,2331,2745,0,0,0,0,0,0
$GC,107,-0.89,-155.7,3.0,-4.7,11,148,7.55,2.17,-27.23,0.000,4,0.228,0.047,2131,883,3935,0,0,0,0,0,0
$GC,238,-0.77,-155.7,47.9,-41.0,32,248,0.17,2.15,0.00,0.000,6,0.168,0.036,2172,2279,3937,0,0,0,0,0,0
$GC,573,-0.71,-155.7,147.3,-26.3,93,581,0.00,2.20,0.00,0.000,4,0.000,0.041,2163,3714,3938,0,0,0,0,0,0
$GC,612,-0.67,-155.7,156.8,-22.5,99,619,0.17,2.12,0.00,0.000,6,0.148,0.028,2211,2278,3938,0,0,0,0,0,0
$GC,960,-0.68,-155.7,214.5,-15.4,160,968,0.00,2.08,0.00,0.000,4,0.000,0.034,2212,892,3938,0,0,0,0,0,0
$GC,1020,-0.74,-155.7,223.0,-12.3,170,1028,0.00,2.15,0.00,0.000,6,0.000,0.036,2205,2304,3938,0,0,0,0,0,0
$GC,1365,-0.76,-155.7,277.0,-16.3,231,1372,0.00,2.12,0.00,0.000,4,0.000,0.045,2194,3708,3938,0,0,0,0,0,0
$GC,1519,-0.82,-155.7,298.1,-12.7,258,1528,0.00,2.10,0.00,0.000,6,0.000,0.028,2194,2297,3937,0,0,0,0,0,0
$GC,1854,-0.84,-155.7,347.2,-15.6,290,1859,0.12,2.17,0.00,0.000,4,0.083,0.044,2121,3720,3935,0,0,0,0,0,0
$GC,1874,-0.85,-155.7,350.2,-16.1,291,1878,0.00,2.10,0.00,0.000,6,0.000,0.028,2120,2297,3932,0,0,0,0,0,0
$GC,2201,-0.80,-155.7,427.7,-23.6,321,2205,0.15,2.20,0.00,0.000,4,0.167,0.044,2152,3714,3934,0,0,0,0,0,0
$GC,2300,-0.83,-155.7,446.7,-15.9,329,2307,0.00,2.10,0.00,0.000,6,0.000,0.030,2152,2290,3932,0,0,0,0,0,0
$GC,2625,-0.84,-155.7,497.8,-14.4,360,2629,0.00,2.05,0.00,0.000,4,0.000,0.036,2151,893,3930,0,0,0,0,0,0
$STATE,2639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2639,begin apogee
$GC,2644,-0.16,0.0,500.6,15.3,361,2766,0.68,0.00,116.25,0.854,6,0.127,0.000,2367,2007,3299,0,0,0,0,0,0
$STATE,2767,end apogee,CONTROL_FINISHED_OK
$STATE,2767,begin climb
$GC,2768,0.89,155.7,505.1,0.0,371,2897,0.90,2.30,120.40,0.837,4,0.037,0.041,2730,3407,2662,0,0,0,0,0,0
$GC,2980,0.73,155.7,491.9,19.5,389,2988,0.25,2.17,0.00,0.000,6,0.181,0.031,2662,2007,2657,0,0,0,0,0,0
$GC,3306,0.71,201.2,449.4,11.2,420,3346,0.00,2.22,35.35,0.800,4,0.000,0.040,2672,585,2477,0,0,0,0,0,0
$GC,3435,0.64,201.2,431.2,15.0,431,3444,0.12,2.20,0.00,0.000,6,0.158,0.034,2634,2009,2474,0,0,0,0,0,0
$GC,3761,0.62,219.4,388.3,12.8,462,3782,0.00,0.00,14.32,0.737,6,0.000,0.000,2635,2009,2404,0,0,0,0,0,0
$GC,4102,0.63,245.1,348.7,12.3,494,4128,0.00,2.25,20.83,0.747,4,0.000,0.044,2634,3411,2297,0,0,0,0,0,0
$GC,4174,0.60,245.5,338.9,13.9,500,4178,0.00,2.12,0.00,0.000,6,0.000,0.031,2643,1998,2296,0,0,0,0,0,0
$GC,4503,0.58,250.1,292.0,13.6,535,4518,0.12,2.22,4.70,0.520,4,0.187,0.044,2611,3399,2278,0,0,0,0,0,0
$GC,4558,0.60,264.2,284.5,13.0,544,4580,0.00,2.15,12.70,0.679,6,0.000,0.032,2621,1993,2220,0,0,0,0,0,0
$GC,4916,0.63,289.0,243.7,12.4,607,4944,0.00,2.22,20.12,0.682,4,0.000,0.043,2621,3406,2117,0,0,0,0,0,0
$GC,5128,0.63,289.0,213.3,14.7,644,5136,0.00,2.15,0.00,0.000,6,0.000,0.031,2631,2003,2115,0,0,0,0,0,0
$GC,5481,0.66,300.5,166.0,13.2,705,5497,0.00,2.15,9.73,0.584,4,0.000,0.041,2642,593,2075,0,0,0,0,0,0
$GC,5634,0.73,334.7,146.7,11.8,731,5667,0.00,2.15,26.75,0.623,6,0.000,0.034,2642,1999,1934,0,0,0,0,0,0
$GC,5992,0.76,337.4,99.5,13.7,795,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,1999,1929,0,0,0,0,0,0
$GC,6323,0.91,415.4,58.5,9.2,856,6393,0.20,2.22,60.83,0.568,4,0.068,0.041,2738,3412,1602,0,0,0,0,0,0
$GC,6440,0.91,415.4,41.3,17.1,873,6449,0.08,2.17,0.00,0.000,6,0.150,0.031,2725,2006,1597,0,0,0,0,0,0
$STATE,6746,end climb,SURFACE_DEPTH_REACHED
$STATE,6746,begin surface coast
$FINISH,0.4,1.009528
$STATE,6771,end surface coast,CONTROL_FINISHED_OK
$STATE,6771,begin surface
$SM_CCo,6793,121.97,0.058,0,0,485,690.03
$SM_GC,1.33,0.00,0.00,121.97,0.000,0.000,0.058,203,2326,485,-6.95,0.74,690.03
$IRIDIUM_FIX,2403.92,12608.24,300910,050539
$TT8_MAMPS,0.027713
$HUMID,45.07
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,24.90
$XPDR_PINGS,3
$24V_AH,24.6,12.392
$10V_AH,10.3,13.786
$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,17.000,60.600,441.975,121.975,0.000,53.746,57.455,189.065,0.750,0.000,35.571,2245.373,1714.321,595.181,2725.180,150.630,0.000,1447.726,0.000,1425.039,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,47.430,853.740,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,629.379,1419.439,1721.086,0.000,0.000,0.000,2457.009,0.000,0.000,0.000
$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,67083,933
$CAP_FILE_SIZE,96407,0
$CFSIZE,260165632,244944896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,237.0,1
$GPS,300910,071250,2407.670,12607.572,9,1.7,9,-3.6