version: 66.08
glider: 181
mission: 4
dive: 78
start: 9 30 110 13 21 34
data:
$ID,181
$MISSION,4
$DIVE,78
$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,-37936.121
$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,44
$R_STBD_OVSHOOT,66
$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,154.0
$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
$GPS1,300910,131456,2405.982,12607.335,10,1.8,10,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-62.8
$GPS2,300910,132106,2406.047,12607.303,12,1.8,28,-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,159.0,11562,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.89,-155.7,0.0,0.0,0,106,0.00,0.00,-84.78,0.000,2,0.000,0.000,210,2334,2817,0,0,0,0,0,0
$GC,108,-0.89,-155.7,3.4,-6.3,11,148,7.57,2.17,-24.02,0.000,4,0.230,0.042,2131,879,3933,0,0,0,0,0,0
$GC,184,-0.77,-155.7,27.1,-38.6,22,193,0.17,2.15,0.00,0.000,6,0.164,0.037,2173,2267,3936,0,0,0,0,0,0
$GC,518,-0.69,-155.7,140.7,-27.2,83,526,0.00,2.22,0.00,0.000,4,0.000,0.042,2164,3711,3938,0,0,0,0,0,0
$GC,628,-0.69,-155.7,164.7,-19.0,102,637,0.10,2.12,0.00,0.000,6,0.135,0.028,2196,2295,3938,0,0,0,0,0,0
$GC,977,-0.69,-155.7,228.5,-17.7,163,983,0.00,2.17,0.00,0.000,4,0.000,0.042,2187,3720,3937,0,0,0,0,0,0
$GC,1018,-0.71,-155.7,235.5,-15.3,170,1026,0.00,2.12,0.00,0.000,6,0.000,0.028,2187,2297,3937,0,0,0,0,0,0
$GC,1361,-0.71,-155.7,295.3,-15.0,231,1368,0.00,2.17,0.00,0.000,4,0.000,0.044,2177,3723,3937,0,0,0,0,0,0
$GC,1399,-0.75,-155.7,301.0,-14.6,237,1403,0.00,2.08,0.00,0.000,6,0.000,0.028,2177,2301,3936,0,0,0,0,0,0
$GC,1726,-0.76,-155.7,354.3,-16.0,267,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2299,3935,0,0,0,0,0,0
$GC,2045,-0.78,-155.7,403.4,-14.7,297,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2299,3934,0,0,0,0,0,0
$GC,2363,-0.82,-155.7,446.4,-13.3,327,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2299,3932,0,0,0,0,0,0
$GC,2681,-0.86,-155.7,488.7,-13.5,357,2685,0.00,2.17,0.00,0.000,4,0.000,0.046,2167,3713,3930,0,0,0,0,0,0
$STATE,2767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2767,begin apogee
$GC,2774,-0.16,0.0,500.2,12.1,364,2902,0.60,0.00,116.18,0.863,6,0.118,0.000,2370,1995,3298,0,0,0,0,0,0
$STATE,2903,end apogee,CONTROL_FINISHED_OK
$STATE,2903,begin climb
$GC,2904,0.89,155.7,506.2,0.0,375,3032,0.93,2.28,120.28,0.846,4,0.048,0.040,2722,3411,2664,0,0,0,0,0,0
$GC,3248,0.74,155.7,473.6,16.7,404,3259,0.22,2.17,0.00,0.000,6,0.175,0.031,2670,1997,2656,0,0,0,0,0,0
$GC,3575,0.67,181.0,434.0,12.4,435,3601,0.00,2.28,19.45,0.783,4,0.000,0.043,2670,3410,2559,0,0,0,0,0,0
$GC,3850,0.58,181.0,392.8,14.4,459,3859,0.20,2.17,0.00,0.000,6,0.164,0.032,2618,1993,2555,0,0,0,0,0,0
$GC,4178,0.64,251.0,359.8,9.7,490,4237,0.00,0.00,54.20,0.788,6,0.000,0.000,2618,1990,2273,0,0,0,0,0,0
$GC,4556,0.65,261.1,312.2,13.3,525,4569,0.00,2.28,8.23,0.649,4,0.000,0.044,2618,3408,2232,0,0,0,0,0,0
$GC,4613,0.65,261.1,303.6,15.2,530,4617,0.00,2.12,0.00,0.000,6,0.000,0.032,2627,2001,2231,0,0,0,0,0,0
$GC,4951,0.65,261.1,258.7,14.3,588,4960,0.00,2.15,0.00,0.000,4,0.000,0.042,2638,599,2228,0,0,0,0,0,0
$GC,5021,0.68,282.5,249.4,12.6,600,5044,0.00,2.15,17.65,0.690,6,0.000,0.034,2638,2007,2146,0,0,0,0,0,0
$GC,5380,0.69,289.6,200.8,13.5,663,5395,0.00,2.17,5.93,0.539,4,0.000,0.042,2638,3398,2116,0,0,0,0,0,0
$GC,5542,0.70,294.0,178.2,13.6,690,5551,0.00,2.12,4.70,0.473,6,0.000,0.032,2648,2006,2099,0,0,0,0,0,0
$GC,5882,0.73,300.9,134.1,13.5,751,5899,0.00,2.20,6.68,0.524,4,0.000,0.043,2648,3405,2072,0,0,0,0,0,0
$GC,5956,0.75,318.3,124.4,12.8,763,5981,0.00,2.15,15.15,0.592,6,0.000,0.031,2658,1993,1999,0,0,0,0,0,0
$GC,6306,0.80,345.8,82.7,12.2,826,6339,0.00,2.22,21.55,0.576,4,0.000,0.042,2658,3401,1886,0,0,0,0,0,0
$GC,6368,0.84,346.4,74.7,13.9,835,6376,0.00,2.15,0.00,0.000,6,0.000,0.032,2669,2001,1884,0,0,0,0,0,0
$GC,6701,1.04,458.3,40.9,7.2,896,6795,0.25,2.22,83.90,0.552,4,0.058,0.040,2797,598,1426,0,0,0,0,0,0
$STATE,6909,end climb,SURFACE_DEPTH_REACHED
$STATE,6910,begin surface coast
$FINISH,0.8,1.021752
$STATE,6922,end surface coast,CONTROL_FINISHED_OK
$STATE,6922,begin surface
$SM_CCo,6946,103.57,0.058,0,0,485,690.03
$SM_GC,1.31,0.00,0.00,103.57,0.000,0.000,0.058,194,2305,485,-6.97,0.14,690.03
$IRIDIUM_FIX,2401.56,12603.55,300910,111118
$TT8_MAMPS,0.027713
$HUMID,45.47
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.6,12.858
$10V_AH,10.3,14.415
$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,16.750,57.500,473.875,103.575,0.000,30.644,18.767,175.378,0.250,0.000,33.083,2232.079,1786.392,588.235,2670.505,149.882,0.000,1468.269,0.000,1456.815,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,45.900,862.920,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,628.043,1416.733,1704.319,0.000,0.000,0.000,2403.034,0.000,0.000,0.000
$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,67147,931
$CAP_FILE_SIZE,94258,0
$CFSIZE,260165632,244658176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,349.0,1
$GPS,300910,152010,2405.565,12607.526,9,3.0,28,-3.6