version: 66.08
glider: 181
mission: 4
dive: 75
start: 9 30 110 7 19 34
data:
$ID,181
$MISSION,4
$DIVE,75
$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,-37932.348
$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,42
$R_STBD_OVSHOOT,53
$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,148.0
$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
$GPS1,300910,071250,2407.670,12607.572,9,1.7,9,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-64.0
$GPS2,300910,071907,2407.682,12607.474,36,1.0,36,-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,163.5,14460,-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,-155.7,0.0,0.0,0,109,0.00,0.00,-86.82,0.000,2,0.000,0.000,206,2326,2877,0,0,0,0,0,0
$GC,111,-0.89,-155.7,3.4,-5.7,11,151,7.57,2.17,-22.42,0.000,4,0.228,0.047,2132,894,3936,0,0,0,0,0,0
$GC,245,-0.74,-155.7,53.7,-42.5,33,255,0.20,2.15,0.00,0.000,6,0.171,0.037,2181,2286,3939,0,0,0,0,0,0
$GC,580,-0.69,-155.7,148.0,-22.7,94,588,0.00,2.20,0.00,0.000,4,0.000,0.043,2172,3715,3938,0,0,0,0,0,0
$GC,627,-0.67,-155.7,159.1,-20.0,102,636,0.08,2.12,0.00,0.000,6,0.143,0.028,2196,2294,3938,0,0,0,0,0,0
$GC,965,-0.66,-155.7,220.4,-21.5,163,971,0.00,2.05,0.00,0.000,4,0.000,0.034,2196,899,3938,0,0,0,0,0,0
$GC,993,-0.66,-155.7,226.6,-19.5,168,1001,0.00,2.15,0.00,0.000,6,0.000,0.036,2189,2309,3938,0,0,0,0,0,0
$GC,1323,-0.66,-155.7,288.3,-19.0,229,1330,0.00,2.12,0.00,0.000,4,0.000,0.044,2178,3714,3938,0,0,0,0,0,0
$GC,1469,-0.69,-155.7,314.9,-15.8,247,1473,0.00,2.08,0.00,0.000,6,0.000,0.028,2180,2291,3937,0,0,0,0,0,0
$GC,1795,-0.71,-155.7,372.0,-16.6,277,1799,0.00,2.15,0.00,0.000,4,0.000,0.044,2168,3708,3937,0,0,0,0,0,0
$GC,1858,-0.74,-155.7,382.0,-14.4,282,1862,0.00,2.05,0.00,0.000,6,0.000,0.028,2168,2301,3936,0,0,0,0,0,0
$GC,2183,-0.76,-155.7,434.6,-16.2,312,2187,0.00,2.08,0.00,0.000,4,0.000,0.036,2168,896,3935,0,0,0,0,0,0
$GC,2245,-0.80,-155.7,444.0,-14.6,317,2249,0.00,2.12,0.00,0.000,6,0.000,0.037,2164,2307,3934,0,0,0,0,0,0
$GC,2572,-0.83,-155.7,490.0,-12.9,347,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2310,3932,0,0,0,0,0,0
$STATE,2654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2654,begin apogee
$GC,2658,-0.16,0.0,500.9,13.2,355,2782,0.62,0.00,116.57,0.860,6,0.120,0.000,2376,1974,3298,0,0,0,0,0,0
$STATE,2782,end apogee,CONTROL_FINISHED_OK
$STATE,2783,begin climb
$GC,2784,0.89,155.7,505.3,0.0,365,2917,0.90,2.35,120.60,0.841,4,0.044,0.041,2727,3402,2661,0,0,0,0,0,0
$GC,3141,0.74,155.7,462.0,19.7,396,3146,0.28,2.10,0.00,0.000,6,0.185,0.031,2665,2006,2654,0,0,0,0,0,0
$GC,3466,0.73,220.2,423.5,10.0,426,3527,0.00,2.25,48.95,0.802,4,0.000,0.040,2675,599,2401,0,0,0,0,0,0
$GC,3610,0.67,220.2,404.4,15.9,438,3619,0.10,2.17,0.00,0.000,6,0.149,0.034,2646,2000,2397,0,0,0,0,0,0
$GC,3935,0.64,220.2,358.4,15.8,469,3939,0.00,2.17,0.00,0.000,4,0.000,0.044,2645,3409,2394,0,0,0,0,0,0
$GC,3979,0.59,220.2,350.5,16.8,472,3988,0.12,2.15,0.00,0.000,6,0.158,0.031,2615,1997,2392,0,0,0,0,0,0
$GC,4307,0.63,256.8,308.0,11.7,503,4342,0.00,2.22,27.62,0.735,4,0.000,0.044,2614,3409,2253,0,0,0,0,0,0
$GC,4412,0.65,267.7,294.7,13.2,515,4427,0.00,2.15,10.25,0.656,6,0.000,0.031,2623,1987,2206,0,0,0,0,0,0
$GC,4763,0.69,307.9,252.3,11.5,577,4806,0.00,2.28,31.65,0.698,4,0.000,0.044,2624,3400,2042,0,0,0,0,0,0
$GC,4931,0.70,308.4,229.2,13.9,605,4938,0.00,2.12,0.00,0.000,6,0.000,0.032,2634,1999,2038,0,0,0,0,0,0
$GC,5277,0.71,308.4,180.5,13.9,666,5286,0.00,2.15,0.00,0.000,4,0.000,0.042,2644,599,2035,0,0,0,0,0,0
$GC,5412,0.78,347.7,163.4,11.5,689,5447,0.00,2.12,30.27,0.638,6,0.000,0.034,2645,2013,1882,0,0,0,0,0,0
$GC,5776,0.82,353.6,117.8,13.5,754,5787,0.12,2.20,5.75,0.479,4,0.088,0.042,2706,3408,1855,0,0,0,0,0,0
$GC,5892,0.79,353.6,96.7,19.9,774,5902,0.10,2.15,0.00,0.000,6,0.142,0.031,2685,2000,1853,0,0,0,0,0,0
$GC,6227,0.97,461.0,55.1,7.5,835,6321,0.15,2.22,80.07,0.565,4,0.076,0.041,2762,596,1417,0,0,0,0,0,0
$GC,6368,0.97,461.0,34.8,17.1,855,6377,0.10,2.17,0.00,0.000,6,0.142,0.033,2734,2000,1413,0,0,0,0,0,0
$STATE,6560,end climb,SURFACE_DEPTH_REACHED
$STATE,6560,begin surface coast
$FINISH,0.6,1.021742
$STATE,6579,end surface coast,CONTROL_FINISHED_OK
$STATE,6580,begin surface
$SM_CCo,6602,102.70,0.058,0,0,484,690.03
$SM_GC,1.32,0.00,0.00,102.70,0.000,0.000,0.058,210,2338,484,-6.92,1.07,690.03
$IRIDIUM_FIX,2403.92,12606.85,300910,050554
$TT8_MAMPS,0.027713
$HUMID,44.99
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.10
$XPDR_PINGS,3
$24V_AH,24.6,12.507
$10V_AH,10.3,13.941
$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,16.875,61.350,471.750,102.700,0.000,28.849,17.350,181.493,0.750,0.000,38.783,2144.647,1606.159,601.105,2590.042,146.713,0.000,1455.034,0.000,1405.995,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,47.430,859.860,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,601.537,1359.082,1637.505,0.000,0.000,0.000,2349.765,0.000,0.000,0.000
$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,63689,893
$CAP_FILE_SIZE,94494,0
$CFSIZE,260165632,244879360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,295.5,1
$GPS,300910,091208,2406.882,12607.513,11,1.6,11,-3.6