version: 66.08
glider: 181
mission: 4
dive: 65
start: 9 29 110 10 59 43
data:
$ID,181
$MISSION,4
$DIVE,65
$N_DIVES,80
$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,-37919.805
$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,45
$R_STBD_OVSHOOT,41
$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,128.0
$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
$GPS1,290910,105252,2414.485,12607.196,8,2.6,27,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-64.8
$GPS2,290910,105916,2414.585,12607.144,15,2.3,34,-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,167.1,27194,-22.5,-13.889
$D_GRID,1429
$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,-155.7,0.0,0.0,0,105,0.00,0.00,-82.80,0.000,2,0.000,0.000,204,2307,2744,0,0,0,0,0,0
$GC,107,-0.89,-155.7,3.1,-4.9,11,149,7.65,2.12,-26.95,0.000,4,0.230,0.047,2133,892,3936,0,0,0,0,0,0
$GC,189,-0.79,-155.7,25.7,-32.3,23,198,0.12,2.17,0.00,0.000,6,0.165,0.037,2161,2298,3936,0,0,0,0,0,0
$GC,523,-0.71,-155.7,144.4,-27.8,84,532,0.15,2.17,0.00,0.000,4,0.178,0.041,2191,3708,3937,0,0,0,0,0,0
$GC,609,-0.73,-155.7,162.1,-15.4,99,617,0.00,2.10,0.00,0.000,6,0.000,0.029,2191,2288,3935,0,0,0,0,0,0
$GC,946,-0.73,-155.7,224.2,-18.1,160,954,0.00,2.20,0.00,0.000,4,0.000,0.043,2181,3709,3938,0,0,0,0,0,0
$GC,1066,-0.76,-155.7,243.3,-14.5,182,1074,0.00,2.10,0.00,0.000,6,0.000,0.029,2181,2300,3938,0,0,0,0,0,0
$GC,1397,-0.76,-155.7,296.7,-16.4,243,1404,0.00,2.08,0.00,0.000,4,0.000,0.036,2181,890,3938,0,0,0,0,0,0
$GC,1454,-0.80,-155.7,306.1,-14.9,250,1458,0.00,2.10,0.00,0.000,6,0.000,0.037,2178,2304,3938,0,0,0,0,0,0
$GC,1780,-0.82,-155.7,361.8,-17.0,280,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2305,3937,0,0,0,0,0,0
$GC,2098,-0.85,-155.7,411.2,-14.0,310,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2305,3935,0,0,0,0,0,0
$GC,2418,-0.88,-155.7,456.2,-12.7,340,2423,0.12,2.15,0.00,0.000,4,0.086,0.046,2103,3705,3933,0,0,0,0,0,0
$GC,2515,-0.88,-155.7,473.1,-17.5,348,2525,0.10,2.10,0.00,0.000,6,0.138,0.029,2142,2297,3931,0,0,0,0,0,0
$STATE,2680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2680,begin apogee
$GC,2684,-0.16,0.0,501.1,16.5,364,2806,0.70,0.00,116.72,0.857,6,0.128,0.000,2369,1988,3298,0,0,0,0,0,0
$STATE,2807,end apogee,CONTROL_FINISHED_OK
$STATE,2807,begin climb
$GC,2808,0.89,155.7,506.8,0.0,374,2936,0.93,2.17,120.35,0.841,4,0.044,0.037,2738,606,2663,0,0,0,0,0,0
$GC,3161,0.75,155.7,477.8,15.4,404,3170,0.22,2.15,0.00,0.000,6,0.176,0.034,2675,2003,2657,0,0,0,0,0,0
$GC,3488,0.71,196.7,438.2,11.4,435,3525,0.00,2.25,31.65,0.799,4,0.000,0.043,2675,3405,2496,0,0,0,0,0,0
$GC,3746,0.62,196.7,394.1,17.8,458,3751,0.22,2.08,0.00,0.000,6,0.180,0.032,2624,2015,2489,0,0,0,0,0,0
$GC,4071,0.62,213.6,349.7,12.9,488,4089,0.00,2.15,13.38,0.719,4,0.000,0.041,2633,597,2425,0,0,0,0,0,0
$GC,4195,0.62,230.2,334.5,12.9,498,4216,0.00,2.15,14.12,0.713,6,0.000,0.035,2633,1998,2358,0,0,0,0,0,0
$GC,4534,0.62,247.1,292.7,12.9,535,4555,0.00,2.20,14.05,0.695,4,0.000,0.044,2633,3410,2290,0,0,0,0,0,0
$GC,4691,0.60,247.1,269.5,14.9,563,4699,0.00,2.12,0.00,0.000,6,0.000,0.033,2643,2001,2286,0,0,0,0,0,0
$GC,5017,0.62,273.8,227.3,12.3,624,5046,0.00,2.15,21.27,0.677,4,0.000,0.040,2654,599,2182,0,0,0,0,0,0
$GC,5058,0.64,298.1,222.3,12.4,630,5086,0.00,2.15,20.60,0.660,6,0.000,0.035,2654,1993,2080,0,0,0,0,0,0
$GC,5415,0.64,298.1,174.2,14.1,694,5423,0.00,2.20,0.00,0.000,4,0.000,0.043,2654,3408,2074,0,0,0,0,0,0
$GC,5504,0.64,298.1,160.9,15.3,710,5513,0.10,2.15,0.00,0.000,6,0.146,0.032,2632,2002,2073,0,0,0,0,0,0
$GC,5837,0.69,319.5,122.4,12.6,771,5862,0.00,2.17,15.95,0.592,4,0.000,0.041,2642,597,1995,0,0,0,0,0,0
$GC,5888,0.77,344.7,116.5,12.4,778,5920,0.00,2.15,20.70,0.591,6,0.000,0.034,2642,2000,1892,0,0,0,0,0,0
$GC,6246,0.93,431.0,79.0,8.7,842,6317,0.22,2.22,64.88,0.578,4,0.063,0.042,2745,3409,1538,0,0,0,0,0,0
$GC,6406,0.93,431.0,50.9,17.1,867,6416,0.10,2.17,0.00,0.000,6,0.145,0.031,2724,2003,1534,0,0,0,0,0,0
$STATE,6718,end climb,SURFACE_DEPTH_REACHED
$STATE,6718,begin surface coast
$FINISH,0.5,1.021867
$STATE,6736,end surface coast,CONTROL_FINISHED_OK
$STATE,6736,begin surface
$SM_CCo,6758,115.88,0.058,0,0,484,690.03
$SM_GC,1.20,0.00,0.00,115.88,0.000,0.000,0.058,199,2333,484,-6.96,0.93,690.03
$IRIDIUM_FIX,2406.29,12611.55,290910,080840
$TT8_MAMPS,0.029211
$HUMID,45.15
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,24.6,11.371
$10V_AH,10.3,12.375
$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,17.225,56.800,453.675,115.875,0.000,29.953,46.101,161.569,0.250,0.000,38.003,2230.027,1622.500,590.116,2686.260,136.053,0.000,1461.572,0.000,1462.863,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,47.430,856.800,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,625.303,1411.268,1693.263,0.000,0.000,0.000,2378.658,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331436
$DATA_FILE_SIZE,66974,927
$CAP_FILE_SIZE,95746,0
$CFSIZE,260165632,245579776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126,341.4,1
$GPS,290910,125531,2414.162,12607.194,37,1.4,37,-3.6