version: 66.08
glider: 181
mission: 4
dive: 66
start: 9 29 110 13 1 48
data:
$ID,181
$MISSION,4
$DIVE,66
$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,-37921.059
$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,60
$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,130.0
$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
$GPS1,290910,125531,2414.162,12607.194,37,1.4,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-65.0
$GPS2,290910,130120,2414.223,12607.155,11,2.0,11,-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,171.8,26526,-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,-155.7,0.0,0.0,0,107,0.00,0.00,-84.75,0.000,2,0.000,0.000,198,2333,2804,0,0,0,0,0,0
$GC,109,-0.89,-155.7,3.1,-5.4,11,149,7.60,2.17,-24.98,0.000,4,0.227,0.044,2132,884,3933,0,0,0,0,0,0
$GC,189,-0.78,-155.7,27.1,-34.6,23,198,0.15,2.15,0.00,0.000,6,0.167,0.038,2167,2272,3934,0,0,0,0,0,0
$GC,523,-0.71,-155.7,135.2,-28.5,84,532,0.10,2.22,0.00,0.000,4,0.193,0.042,2181,3712,3936,0,0,0,0,0,0
$GC,599,-0.71,-155.7,151.5,-17.8,97,606,0.00,2.10,0.00,0.000,6,0.000,0.028,2181,2285,3937,0,0,0,0,0,0
$GC,949,-0.69,-155.7,222.7,-16.7,158,957,0.00,2.20,0.00,0.000,4,0.000,0.043,2170,3708,3937,0,0,0,0,0,0
$GC,1082,-0.73,-155.7,244.1,-15.5,181,1089,0.00,2.08,0.00,0.000,6,0.000,0.028,2171,2298,3937,0,0,0,0,0,0
$GC,1423,-0.72,-155.7,306.4,-20.1,239,1427,0.00,2.05,0.00,0.000,4,0.000,0.036,2170,895,3937,0,0,0,0,0,0
$GC,1439,-0.72,-155.7,310.1,-20.0,240,1443,0.00,2.10,0.00,0.000,6,0.000,0.036,2164,2307,3937,0,0,0,0,0,0
$GC,1765,-0.72,-155.7,367.2,-16.8,270,1769,0.00,2.08,0.00,0.000,4,0.000,0.035,2164,896,3935,0,0,0,0,0,0
$GC,1783,-0.73,-155.7,370.4,-17.0,271,1787,0.00,2.10,0.00,0.000,6,0.000,0.037,2165,2300,3935,0,0,0,0,0,0
$GC,2113,-0.74,-155.7,422.2,-16.3,302,2117,0.00,2.15,0.00,0.000,4,0.000,0.045,2154,3712,3933,0,0,0,0,0,0
$GC,2164,-0.77,-155.7,429.6,-13.3,306,2168,0.00,2.10,0.00,0.000,6,0.000,0.029,2153,2290,3933,0,0,0,0,0,0
$GC,2488,-0.77,-155.7,482.0,-16.3,336,2492,0.00,2.17,0.00,0.000,4,0.000,0.047,2143,3705,3936,0,0,0,0,0,0
$STATE,2607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2607,begin apogee
$GC,2614,-0.16,0.0,500.7,14.2,346,2735,0.68,0.00,115.80,0.860,6,0.122,0.000,2365,2001,3301,0,0,0,0,0,0
$STATE,2735,end apogee,CONTROL_FINISHED_OK
$STATE,2735,begin climb
$GC,2737,0.89,155.7,506.2,0.0,356,2871,0.93,2.30,120.78,0.842,4,0.047,0.041,2721,3401,2663,0,0,0,0,0,0
$GC,3062,0.74,155.7,474.0,16.5,384,3066,0.25,2.12,0.00,0.000,6,0.184,0.031,2668,1991,2657,0,0,0,0,0,0
$GC,3387,0.70,193.2,435.3,11.6,414,3424,0.00,2.22,28.95,0.795,4,0.000,0.042,2668,3409,2510,0,0,0,0,0,0
$GC,3571,0.61,193.2,407.9,16.0,430,3576,0.20,2.12,0.00,0.000,6,0.178,0.031,2625,1998,2506,0,0,0,0,0,0
$GC,3896,0.59,199.1,365.0,13.5,460,3910,0.00,2.17,4.85,0.556,4,0.000,0.042,2634,597,2487,0,0,0,0,0,0
$GC,4159,0.60,233.3,333.0,11.8,483,4192,0.00,2.15,27.65,0.753,6,0.000,0.035,2634,2005,2347,0,0,0,0,0,0
$GC,4515,0.59,233.4,286.3,13.9,525,4522,0.00,2.15,0.00,0.000,4,0.000,0.045,2634,3406,2339,0,0,0,0,0,0
$GC,4685,0.58,246.5,262.4,13.1,555,4701,0.12,2.12,10.93,0.659,6,0.181,0.033,2615,1991,2293,0,0,0,0,0,0
$GC,5037,0.65,310.6,225.2,10.0,617,5092,0.00,0.00,49.50,0.692,6,0.000,0.000,2614,1991,2032,0,0,0,0,0,0
$GC,5433,0.74,350.7,179.9,11.5,685,5476,0.15,2.25,31.08,0.647,4,0.079,0.044,2679,3414,1867,0,0,0,0,0,0
$GC,5581,0.74,350.7,154.3,18.3,709,5588,0.00,2.15,0.00,0.000,6,0.000,0.032,2690,2001,1863,0,0,0,0,0,0
$GC,5913,0.73,350.7,99.9,15.9,770,5921,0.00,2.15,0.00,0.000,4,0.000,0.042,2700,599,1860,0,0,0,0,0,0
$GC,5995,0.77,385.2,88.4,11.8,784,6028,0.00,2.15,25.95,0.580,6,0.000,0.034,2701,2009,1732,0,0,0,0,0,0
$GC,6353,0.81,399.9,35.8,13.0,848,6370,0.00,2.15,11.77,0.509,4,0.000,0.042,2701,3404,1668,0,0,0,0,0,0
$GC,6421,0.86,412.2,26.6,13.1,859,6438,0.00,2.15,11.38,0.496,6,0.000,0.031,2711,1997,1616,0,0,0,0,0,0
$STATE,6601,end climb,SURFACE_DEPTH_REACHED
$STATE,6601,begin surface coast
$FINISH,0.4,1.009127
$STATE,6626,end surface coast,CONTROL_FINISHED_OK
$STATE,6626,begin surface
$SM_CCo,6646,124.43,0.058,0,0,485,690.03
$SM_GC,1.25,0.00,0.00,124.43,0.000,0.000,0.058,203,2314,485,-6.95,0.42,690.03
$IRIDIUM_FIX,2408.65,12601.12,290910,101051
$TT8_MAMPS,0.028462
$HUMID,45.27
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.00
$XPDR_PINGS,2
$24V_AH,24.6,11.480
$10V_AH,10.3,12.529
$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,16.675,61.075,438.625,124.425,0.000,23.984,26.687,172.189,0.500,0.000,15.654,2170.468,1641.591,581.799,2594.755,139.060,0.000,1431.142,0.000,1433.793,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,46.665,859.860,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,604.055,1361.969,1637.450,0.000,0.000,0.000,2246.519,0.000,0.000,0.000
$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,63707,895
$CAP_FILE_SIZE,94380,0
$CFSIZE,260165632,245514240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,351.7,1
$GPS,290910,145525,2413.666,12607.213,8,1.8,8,-3.6