version: 66.08
glider: 181
mission: 4
dive: 76
start: 9 30 110 9 18 29
data:
$ID,181
$MISSION,4
$DIVE,76
$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,-37933.605
$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,40
$R_STBD_OVSHOOT,62
$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,150.0
$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
$GPS1,300910,091208,2406.882,12607.513,11,1.6,11,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-62.1
$GPS2,300910,091802,2406.914,12607.451,11,1.6,11,-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,158.7,13071,-22.5,-13.889
$D_GRID,1633
$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,-155.7,0.0,0.0,0,107,0.00,0.00,-84.82,0.000,2,0.000,0.000,208,2338,2804,0,0,0,0,0,0
$GC,109,-0.89,-155.7,3.1,-4.8,11,150,7.53,2.20,-25.33,0.000,4,0.226,0.044,2132,873,3934,0,0,0,0,0,0
$GC,208,-0.76,-155.7,35.0,-40.8,26,217,0.17,2.17,0.00,0.000,6,0.157,0.038,2175,2275,3935,0,0,0,0,0,0
$GC,542,-0.69,-155.7,147.5,-26.5,87,550,0.00,2.20,0.00,0.000,4,0.000,0.042,2166,3705,3936,0,0,0,0,0,0
$GC,616,-0.66,-155.7,166.9,-23.1,100,625,0.12,2.12,0.00,0.000,6,0.139,0.028,2205,2287,3936,0,0,0,0,0,0
$GC,956,-0.66,-155.7,231.2,-17.5,161,964,0.00,2.05,0.00,0.000,4,0.000,0.034,2206,892,3937,0,0,0,0,0,0
$GC,973,-0.66,-155.7,234.2,-18.5,163,980,0.00,2.12,0.00,0.000,6,0.000,0.036,2199,2310,3937,0,0,0,0,0,0
$GC,1296,-0.67,-155.7,290.7,-18.0,224,1305,0.00,2.15,0.00,0.000,4,0.000,0.044,2188,3708,3937,0,0,0,0,0,0
$GC,1458,-0.72,-155.7,316.0,-13.2,243,1464,0.00,2.08,0.00,0.000,6,0.000,0.028,2188,2293,3937,0,0,0,0,0,0
$GC,1785,-0.75,-155.7,365.3,-14.3,274,1788,0.00,2.17,0.00,0.000,4,0.000,0.044,2178,3713,3934,0,0,0,0,0,0
$GC,1825,-0.79,-155.7,371.1,-13.3,277,1829,0.00,2.08,0.00,0.000,6,0.000,0.028,2179,2290,3935,0,0,0,0,0,0
$GC,2152,-0.82,-155.7,415.4,-12.8,307,2156,0.00,2.05,0.00,0.000,4,0.000,0.036,2178,891,3934,0,0,0,0,0,0
$GC,2198,-0.87,-155.7,421.5,-12.7,311,2202,0.00,2.12,0.00,0.000,6,0.000,0.037,2178,2298,3933,0,0,0,0,0,0
$GC,2530,-0.91,-155.7,463.6,-13.5,342,2531,0.15,0.00,0.00,0.000,6,0.079,0.000,2105,2298,3932,0,0,0,0,0,0
$STATE,2718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2718,begin apogee
$GC,2722,-0.16,0.0,502.1,20.5,360,2844,0.82,0.00,116.45,0.864,6,0.143,0.000,2368,1978,3298,0,0,0,0,0,0
$STATE,2845,end apogee,CONTROL_FINISHED_OK
$STATE,2845,begin climb
$GC,2846,0.89,155.7,508.4,0.0,370,2981,0.93,2.22,120.57,0.845,4,0.045,0.037,2734,611,2665,0,0,0,0,0,0
$GC,3027,0.75,155.7,502.5,17.9,385,3032,0.25,2.15,0.00,0.000,6,0.184,0.034,2671,2009,2658,0,0,0,0,0,0
$GC,3354,0.67,166.0,455.3,13.3,415,3367,0.12,2.22,8.10,0.687,4,0.199,0.044,2641,3403,2622,0,0,0,0,0,0
$GC,3479,0.59,166.0,437.3,14.8,426,3483,0.00,2.08,0.00,0.000,6,0.000,0.031,2649,2018,2619,0,0,0,0,0,0
$GC,3804,0.60,228.6,403.0,10.1,456,3864,0.00,2.28,49.12,0.805,4,0.000,0.041,2660,597,2364,0,0,0,0,0,0
$GC,3978,0.56,228.6,378.7,14.8,471,3986,0.17,2.17,0.00,0.000,6,0.155,0.034,2608,2000,2360,0,0,0,0,0,0
$GC,4306,0.61,272.6,338.8,11.3,502,4345,0.00,2.25,33.70,0.763,4,0.000,0.044,2607,3403,2187,0,0,0,0,0,0
$GC,4411,0.63,285.1,325.8,13.1,511,4431,0.00,2.15,10.98,0.683,6,0.000,0.032,2616,1992,2138,0,0,0,0,0,0
$GC,4749,0.69,326.8,285.0,11.4,554,4791,0.00,2.20,32.85,0.725,4,0.000,0.043,2627,601,1965,0,0,0,0,0,0
$GC,4825,0.73,338.7,275.4,13.2,566,4847,0.00,2.17,10.65,0.646,6,0.000,0.035,2627,1997,1917,0,0,0,0,0,0
$GC,5170,0.75,338.7,226.2,14.0,629,5179,0.12,2.20,0.00,0.000,4,0.092,0.044,2683,3415,1911,0,0,0,0,0,0
$GC,5266,0.73,338.7,207.1,20.0,646,5275,0.10,2.17,0.00,0.000,6,0.154,0.033,2663,1998,1910,0,0,0,0,0,0
$GC,5607,0.73,338.7,148.1,15.2,707,5615,0.00,2.15,0.00,0.000,4,0.000,0.042,2672,596,1910,0,0,0,0,0,0
$GC,5749,0.76,344.8,128.2,13.5,732,5766,0.00,2.15,5.05,0.469,6,0.000,0.034,2670,2009,1893,0,0,0,0,0,0
$GC,6091,0.85,405.0,85.2,10.3,794,6145,0.00,2.17,45.85,0.592,4,0.000,0.041,2672,3406,1648,0,0,0,0,0,0
$GC,6161,0.90,416.8,76.5,13.2,803,6178,0.00,2.17,10.80,0.523,6,0.000,0.031,2682,1997,1595,0,0,0,0,0,0
$GC,6503,1.03,478.3,37.4,10.2,865,6560,0.20,2.20,46.00,0.542,4,0.063,0.042,2783,604,1346,0,0,0,0,0,0
$GC,6601,1.02,478.3,20.0,20.3,879,6609,0.08,2.17,0.00,0.000,6,0.141,0.034,2758,2006,1343,0,0,0,0,0,0
$STATE,6686,end climb,SURFACE_DEPTH_REACHED
$STATE,6686,begin surface coast
$FINISH,0.7,1.021759
$STATE,6705,end surface coast,CONTROL_FINISHED_OK
$STATE,6705,begin surface
$SM_CCo,6726,94.65,0.058,0,0,484,690.03
$SM_GC,1.41,0.00,0.00,94.65,0.000,0.000,0.058,204,2321,484,-6.94,0.59,690.03
$IRIDIUM_FIX,2359.20,12612.06,300910,070741
$TT8_MAMPS,0.027713
$HUMID,45.27
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,24.6,12.626
$10V_AH,10.3,14.095
$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,17.450,65.675,490.125,94.650,0.000,25.730,18.858,181.229,0.250,0.000,13.845,2165.622,1696.096,603.511,2566.945,149.191,0.000,1477.739,0.000,1409.729,0.000,0.543,0.000
$DEVICE_MAMPS,226.440,44.370,863.685,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,603.945,1365.324,1642.974,0.000,0.000,0.000,2236.755,0.000,0.000,0.000
$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,63603,897
$CAP_FILE_SIZE,97913,0
$CFSIZE,260165632,244809728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125,307.4,1
$GPS,300910,111325,2406.328,12607.332,39,1.2,39,-3.6