version: 66.08
glider: 181
mission: 4
dive: 79
start: 9 30 110 15 27 1
data:
$ID,181
$MISSION,4
$DIVE,79
$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,-37937.371
$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,37
$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,156.0
$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
$GPS1,300910,152010,2405.565,12607.526,9,3.0,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-62.3
$GPS2,300910,152634,2405.619,12607.547,10,2.5,29,-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,171.0,10693,-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,-155.7,0.0,0.0,0,106,0.00,0.00,-84.03,0.000,2,0.000,0.000,194,2305,2773,0,0,0,0,0,0
$GC,108,-0.89,-155.7,3.1,-5.2,11,149,7.62,2.12,-25.90,0.000,4,0.227,0.044,2129,890,3933,0,0,0,0,0,0
$GC,189,-0.77,-155.7,28.3,-39.9,23,198,0.17,2.17,0.00,0.000,6,0.172,0.038,2169,2291,3935,0,0,0,0,0,0
$GC,523,-0.70,-155.7,134.3,-27.3,84,532,0.10,2.20,0.00,0.000,4,0.190,0.041,2184,3713,3936,0,0,0,0,0,0
$GC,673,-0.71,-155.7,163.0,-17.3,111,680,0.00,2.10,0.00,0.000,6,0.000,0.028,2184,2295,3937,0,0,0,0,0,0
$GC,1009,-0.70,-155.7,229.5,-20.6,172,1017,0.00,2.20,0.00,0.000,4,0.000,0.042,2174,3714,3937,0,0,0,0,0,0
$GC,1082,-0.71,-155.7,243.4,-18.4,185,1090,0.00,2.10,0.00,0.000,6,0.000,0.028,2180,2286,3937,0,0,0,0,0,0
$GC,1418,-0.71,-155.7,310.9,-19.3,242,1421,0.00,2.03,0.00,0.000,4,0.000,0.035,2171,899,3936,0,0,0,0,0,0
$GC,1443,-0.71,-155.7,316.1,-18.5,244,1453,0.08,2.15,0.00,0.000,6,0.142,0.035,2192,2311,3937,0,0,0,0,0,0
$GC,1771,-0.74,-155.7,366.8,-14.7,275,1774,0.00,2.10,0.00,0.000,4,0.000,0.044,2180,3707,3936,0,0,0,0,0,0
$GC,1813,-0.79,-155.7,373.5,-13.6,278,1822,0.00,2.10,0.00,0.000,6,0.000,0.028,2180,2296,3935,0,0,0,0,0,0
$GC,2141,-0.82,-155.7,418.5,-13.1,309,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2294,3933,0,0,0,0,0,0
$GC,2459,-0.86,-155.7,457.2,-12.9,339,2463,0.00,2.15,0.00,0.000,4,0.000,0.046,2171,3707,3931,0,0,0,0,0,0
$GC,2521,-0.92,-155.7,465.0,-11.6,344,2526,0.12,2.10,0.00,0.000,6,0.086,0.029,2102,2288,3931,0,0,0,0,0,0
$STATE,2708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2708,begin apogee
$GC,2713,-0.16,0.0,500.2,19.9,361,2836,0.82,0.00,116.15,0.861,6,0.141,0.000,2366,1975,3298,0,0,0,0,0,0
$STATE,2837,end apogee,CONTROL_FINISHED_OK
$STATE,2837,begin climb
$GC,2838,0.89,155.7,506.7,0.0,371,2973,0.93,2.22,120.45,0.844,4,0.040,0.037,2743,607,2662,0,0,0,0,0,0
$GC,3219,0.74,155.7,466.6,18.1,404,3229,0.28,2.15,0.00,0.000,6,0.179,0.032,2666,2005,2656,0,0,0,0,0,0
$GC,3546,0.70,192.1,421.3,11.7,435,3582,0.00,2.17,27.88,0.793,4,0.000,0.039,2678,604,2514,0,0,0,0,0,0
$GC,3827,0.66,216.3,381.5,12.4,460,3852,0.10,2.15,19.50,0.758,6,0.155,0.034,2644,2002,2416,0,0,0,0,0,0
$GC,4179,0.69,269.7,341.6,10.7,493,4229,0.00,0.00,41.90,0.764,6,0.000,0.000,2644,2002,2197,0,0,0,0,0,0
$GC,4547,0.69,269.7,291.6,13.9,533,4555,0.00,2.12,0.00,0.000,4,0.000,0.041,2653,611,2190,0,0,0,0,0,0
$GC,4619,0.69,270.6,281.6,13.8,546,4628,0.00,2.12,0.00,0.000,6,0.000,0.034,2653,1996,2190,0,0,0,0,0,0
$GC,4950,0.68,270.6,237.0,14.2,607,4956,0.00,2.15,0.00,0.000,4,0.000,0.044,2653,3406,2188,0,0,0,0,0,0
$GC,5006,0.65,270.6,228.7,14.3,617,5014,0.00,2.08,0.00,0.000,6,0.000,0.031,2663,2020,2186,0,0,0,0,0,0
$GC,5340,0.67,303.1,181.1,11.9,678,5370,0.00,2.22,24.95,0.652,4,0.000,0.043,2663,3412,2062,0,0,0,0,0,0
$GC,5530,0.66,303.1,151.4,15.6,711,5538,0.15,2.12,0.00,0.000,6,0.163,0.031,2634,2000,2058,0,0,0,0,0,0
$GC,5864,0.72,329.7,109.6,12.3,772,5896,0.00,2.20,20.90,0.592,4,0.000,0.041,2643,597,1950,0,0,0,0,0,0
$GC,5916,0.78,347.7,102.7,12.8,779,5940,0.00,2.15,15.12,0.565,6,0.000,0.033,2643,2000,1880,0,0,0,0,0,0
$GC,6265,0.94,428.2,63.1,9.1,842,6335,0.22,2.22,60.22,0.568,4,0.063,0.042,2759,601,1551,0,0,0,0,0,0
$GC,6387,0.94,428.2,42.7,16.5,860,6395,0.10,2.17,0.00,0.000,6,0.140,0.034,2726,2003,1548,0,0,0,0,0,0
$STATE,6665,end climb,SURFACE_DEPTH_REACHED
$STATE,6665,begin surface coast
$FINISH,0.5,1.021750
$STATE,6683,end surface coast,CONTROL_FINISHED_OK
$STATE,6683,begin surface
$SM_CCo,6706,116.12,0.058,0,0,485,690.03
$SM_GC,1.34,0.00,0.00,116.12,0.000,0.000,0.058,200,2332,485,-6.95,0.90,690.03
$IRIDIUM_FIX,2356.84,12615.36,300910,131354
$TT8_MAMPS,0.028462
$HUMID,45.86
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,24.6,12.969
$10V_AH,10.3,14.574
$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,17.100,56.625,447.075,116.125,0.000,28.565,37.048,173.186,0.250,0.000,32.916,2195.908,1621.537,600.527,2650.138,145.410,0.000,1457.955,0.000,1436.387,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,45.900,861.390,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,616.185,1391.709,1690.383,0.000,0.000,0.000,2390.617,0.000,0.000,0.000
$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,63771,914
$CAP_FILE_SIZE,94387,0
$CFSIZE,260165632,244592640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.112, 55.5,1
$GPS,300910,172132,2404.976,12607.896,12,1.5,12,-3.6