version: 66.08
glider: 181
mission: 4
dive: 82
start: 9 30 110 21 34 32
data:
$ID,181
$MISSION,4
$DIVE,82
$N_DIVES,90
$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,-37941.141
$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,2400
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,54
$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,162.0
$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
$GPS1,300910,212716,2403.388,12608.410,9,4.4,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-63.3
$GPS2,300910,213404,2403.468,12608.406,12,4.8,31,-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,195.6,6500,-22.5,-13.889
$D_GRID,1664
$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,-155.7,0.0,0.0,0,108,0.00,0.00,-85.57,0.000,2,0.000,0.000,211,2443,2837,0,0,0,0,0,0
$GC,110,-0.89,-155.7,3.2,-4.9,11,150,7.50,2.22,-23.80,0.000,4,0.226,0.045,2129,985,3933,0,0,0,0,0,0
$GC,251,-0.78,-155.7,54.1,-38.2,34,260,0.15,2.15,0.00,0.000,6,0.161,0.037,2164,2376,3935,0,0,0,0,0,0
$GC,583,-0.73,-155.7,154.4,-27.0,95,590,0.00,2.05,0.00,0.000,4,0.000,0.033,2164,989,3937,0,0,0,0,0,0
$GC,620,-0.68,-155.7,164.1,-26.8,101,629,0.17,2.12,0.00,0.000,6,0.157,0.037,2207,2399,3936,0,0,0,0,0,0
$GC,958,-0.69,-155.7,228.5,-14.4,162,966,0.00,2.12,0.00,0.000,4,0.000,0.044,2195,3781,3937,0,0,0,0,0,0
$GC,1043,-0.73,-155.7,240.3,-13.0,177,1050,0.00,2.05,0.00,0.000,6,0.000,0.027,2194,2381,3937,0,0,0,0,0,0
$GC,1371,-0.75,-155.7,294.8,-16.1,238,1379,0.00,2.05,0.00,0.000,4,0.000,0.034,2194,1005,3937,0,0,0,0,0,0
$GC,1454,-0.79,-155.7,308.0,-15.7,248,1463,0.00,2.12,0.00,0.000,6,0.000,0.037,2191,2404,3937,0,0,0,0,0,0
$GC,1781,-0.82,-155.7,359.6,-14.3,279,1785,0.00,2.10,0.00,0.000,4,0.000,0.045,2181,3785,3935,0,0,0,0,0,0
$GC,1821,-0.87,-155.7,365.1,-13.6,282,1825,0.10,2.03,0.00,0.000,6,0.097,0.028,2120,2392,3934,0,0,0,0,0,0
$GC,2145,-0.84,-155.7,431.6,-21.5,312,2150,0.12,2.05,0.00,0.000,4,0.171,0.036,2152,1003,3933,0,0,0,0,0,0
$GC,2173,-0.84,-155.7,436.9,-19.1,314,2177,0.00,2.10,0.00,0.000,6,0.000,0.038,2151,2408,3933,0,0,0,0,0,0
$GC,2499,-0.85,-155.7,489.1,-15.8,344,2503,0.00,2.10,0.00,0.000,4,0.000,0.046,2140,3785,3931,0,0,0,0,0,0
$STATE,2562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2562,begin apogee
$GC,2568,-0.16,0.0,500.1,15.7,349,2690,0.70,0.00,116.22,0.855,6,0.122,0.000,2373,1999,3298,0,0,0,0,0,0
$STATE,2690,end apogee,CONTROL_FINISHED_OK
$STATE,2690,begin climb
$GC,2692,0.89,155.7,507.4,0.0,359,2825,0.90,2.30,120.20,0.839,4,0.051,0.040,2715,3401,2661,0,0,0,0,0,0
$GC,2961,0.75,155.7,488.3,18.1,382,2971,0.20,2.15,0.00,0.000,6,0.177,0.030,2669,2001,2656,0,0,0,0,0,0
$GC,3289,0.67,165.3,443.7,13.3,413,3303,0.00,2.25,7.53,0.669,4,0.000,0.041,2669,3415,2624,0,0,0,0,0,0
$GC,3548,0.56,165.3,407.0,14.2,436,3558,0.25,2.15,0.00,0.000,6,0.172,0.031,2605,2000,2621,0,0,0,0,0,0
$GC,3875,0.63,233.9,375.6,9.8,467,3936,0.00,0.00,52.88,0.788,6,0.000,0.000,2605,1997,2344,0,0,0,0,0,0
$GC,4255,0.70,281.4,331.6,11.1,503,4304,0.12,2.30,37.12,0.753,4,0.093,0.043,2658,3411,2150,0,0,0,0,0,0
$GC,4353,0.66,281.4,317.2,16.9,511,4360,0.12,2.15,0.00,0.000,6,0.177,0.031,2639,2000,2147,0,0,0,0,0,0
$GC,4678,0.67,290.1,272.1,13.4,560,4693,0.00,2.15,7.12,0.596,4,0.000,0.043,2648,597,2115,0,0,0,0,0,0
$GC,4758,0.67,291.1,260.6,13.8,574,4767,0.00,2.17,0.00,0.000,6,0.000,0.034,2648,2011,2114,0,0,0,0,0,0
$GC,5087,0.70,312.4,216.5,12.6,635,5116,0.00,2.20,18.35,0.661,4,0.000,0.043,2648,3404,2022,0,0,0,0,0,0
$GC,5212,0.70,312.4,197.7,14.7,656,5220,0.00,2.15,0.00,0.000,6,0.000,0.031,2658,1999,2018,0,0,0,0,0,0
$GC,5542,0.70,312.4,150.8,14.1,717,5550,0.00,2.15,0.00,0.000,4,0.000,0.041,2658,3406,2018,0,0,0,0,0,0
$GC,5595,0.71,318.8,143.4,13.5,726,5611,0.00,2.15,5.78,0.496,6,0.000,0.032,2669,1993,1997,0,0,0,0,0,0
$GC,5938,0.76,353.1,98.0,11.8,788,5970,0.00,2.15,26.25,0.591,4,0.000,0.041,2680,594,1861,0,0,0,0,0,0
$GC,5996,0.79,366.0,90.9,13.1,796,6014,0.00,2.17,11.48,0.539,6,0.000,0.034,2680,2009,1807,0,0,0,0,0,0
$GC,6340,0.98,473.2,52.2,7.5,858,6434,0.17,2.20,79.97,0.557,4,0.068,0.039,2760,3406,1368,0,0,0,0,0,0
$GC,6474,0.98,473.2,31.3,18.2,877,6484,0.10,2.17,0.00,0.000,6,0.145,0.031,2740,2009,1365,0,0,0,0,0,0
$STATE,6646,end climb,SURFACE_DEPTH_REACHED
$STATE,6646,begin surface coast
$FINISH,0.4,1.021836
$STATE,6664,end surface coast,CONTROL_FINISHED_OK
$STATE,6664,begin surface
$SM_CCo,6687,97.70,0.057,0,0,484,690.03
$SM_GC,1.25,0.00,0.00,97.70,0.000,0.000,0.057,202,2426,484,-6.95,0.74,690.03
$IRIDIUM_FIX,2352.12,12607.37,300910,191915
$TT8_MAMPS,0.027713
$HUMID,44.64
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.20
$XPDR_PINGS,3
$24V_AH,24.6,13.314
$10V_AH,10.3,15.049
$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,17.200,65.550,482.900,97.700,0.000,27.596,41.811,186.400,0.750,0.000,35.101,2183.904,1588.832,624.009,2657.859,146.048,0.000,1498.500,0.000,1432.095,0.000,0.544,0.000
$DEVICE_MAMPS,226.440,45.900,854.505,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,612.965,1386.413,1668.090,0.000,0.000,0.000,2300.372,0.000,0.000,0.000
$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,63844,911
$CAP_FILE_SIZE,96971,0
$CFSIZE,260165632,244383744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061, 29.1,1
$GPS,300910,232826,2402.731,12608.371,12,1.9,12,-3.6