version: 66.08
glider: 181
mission: 4
dive: 67
start: 9 29 110 15 1 48
data:
$ID,181
$MISSION,4
$DIVE,67
$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,-37922.312
$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,42
$R_STBD_OVSHOOT,49
$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,132.0
$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
$GPS1,290910,145525,2413.666,12607.213,8,1.8,8,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-64.4
$GPS2,290910,150120,2413.718,12607.167,16,1.6,16,-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,176.3,25595,-22.5,-13.889
$D_GRID,1503
$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,-85.05,0.000,2,0.000,0.000,203,2315,2815,0,0,0,0,0,0
$GC,108,-0.89,-155.7,3.0,-4.4,11,149,7.53,2.12,-24.58,0.000,4,0.226,0.047,2134,892,3933,0,0,0,0,0,0
$GC,196,-0.78,-155.7,29.9,-35.5,24,205,0.12,2.15,0.00,0.000,6,0.170,0.037,2162,2284,3935,0,0,0,0,0,0
$GC,529,-0.71,-155.7,138.7,-27.4,85,539,0.12,2.20,0.00,0.000,4,0.187,0.042,2184,3707,3936,0,0,0,0,0,0
$GC,552,-0.65,-155.7,144.9,-26.4,88,561,0.08,2.12,0.00,0.000,6,0.142,0.030,2208,2298,3936,0,0,0,0,0,0
$GC,893,-0.65,-155.7,210.2,-20.0,149,900,0.00,2.17,0.00,0.000,4,0.000,0.044,2199,3714,3937,0,0,0,0,0,0
$GC,976,-0.70,-155.7,224.6,-14.0,164,984,0.00,2.12,0.00,0.000,6,0.000,0.028,2199,2293,3937,0,0,0,0,0,0
$GC,1306,-0.73,-155.7,274.2,-13.6,225,1314,0.00,2.05,0.00,0.000,4,0.000,0.036,2199,898,3937,0,0,0,0,0,0
$GC,1375,-0.79,-155.7,283.4,-11.9,237,1383,0.00,2.10,0.00,0.000,6,0.000,0.036,2191,2307,3937,0,0,0,0,0,0
$GC,1705,-0.81,-155.7,335.4,-16.8,278,1709,0.00,2.12,0.00,0.000,4,0.000,0.045,2182,3705,3938,0,0,0,0,0,0
$GC,1802,-0.86,-155.7,350.5,-14.7,286,1812,0.08,2.10,0.00,0.000,6,0.056,0.028,2122,2295,3934,0,0,0,0,0,0
$GC,2129,-0.83,-155.7,415.8,-18.1,317,2134,0.12,2.17,0.00,0.000,4,0.168,0.044,2145,3705,3933,0,0,0,0,0,0
$GC,2180,-0.86,-155.7,424.9,-15.2,321,2184,0.00,2.08,0.00,0.000,6,0.000,0.029,2146,2300,3933,0,0,0,0,0,0
$GC,2506,-0.86,-155.7,480.8,-16.9,351,2510,0.00,2.17,0.00,0.000,4,0.000,0.046,2134,3713,3931,0,0,0,0,0,0
$STATE,2623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2623,begin apogee
$GC,2630,-0.16,0.0,500.7,15.9,361,2751,0.70,0.00,115.95,0.858,6,0.125,0.000,2368,1992,3300,0,0,0,0,0,0
$STATE,2751,end apogee,CONTROL_FINISHED_OK
$STATE,2752,begin climb
$GC,2753,0.89,155.7,507.1,0.0,371,2879,0.93,0.00,121.03,0.842,6,0.041,0.000,2728,1991,2663,0,0,0,0,0,0
$GC,3196,0.77,162.6,463.4,13.5,412,3210,0.22,2.20,6.10,0.627,4,0.183,0.041,2671,3404,2633,0,0,0,0,0,0
$GC,3303,0.69,185.5,449.4,12.5,421,3327,0.00,2.12,18.77,0.776,6,0.000,0.031,2679,1993,2542,0,0,0,0,0,0
$GC,3649,0.62,193.2,402.5,13.4,453,3663,0.20,2.25,6.93,0.649,4,0.181,0.043,2626,3405,2510,0,0,0,0,0,0
$GC,3896,0.57,194.2,367.3,13.8,475,3900,0.00,2.10,0.00,0.000,6,0.000,0.031,2635,1996,2507,0,0,0,0,0,0
$GC,4222,0.60,238.0,329.3,11.3,505,4262,0.00,2.20,34.88,0.758,4,0.000,0.042,2635,3404,2328,0,0,0,0,0,0
$GC,4311,0.57,243.3,318.5,13.6,512,4323,0.10,2.17,5.57,0.565,6,0.159,0.032,2615,2001,2306,0,0,0,0,0,0
$GC,4647,0.58,247.3,278.3,13.6,559,4654,0.00,0.00,4.18,0.482,6,0.000,0.000,2615,1998,2289,0,0,0,0,0,0
$GC,4977,0.62,274.3,237.5,12.3,620,5005,0.00,2.17,22.38,0.686,4,0.000,0.040,2624,585,2178,0,0,0,0,0,0
$GC,5045,0.67,299.1,229.1,12.4,631,5073,0.00,2.15,20.45,0.666,6,0.000,0.034,2625,2003,2076,0,0,0,0,0,0
$GC,5400,0.73,326.6,184.3,12.2,695,5430,0.10,2.17,20.95,0.640,4,0.106,0.042,2669,3409,1967,0,0,0,0,0,0
$GC,5469,0.71,326.6,172.8,18.0,706,5477,0.00,2.17,0.00,0.000,6,0.000,0.031,2680,1997,1965,0,0,0,0,0,0
$GC,5802,0.71,326.6,118.0,14.3,767,5810,0.00,2.20,0.00,0.000,4,0.000,0.042,2680,3408,1963,0,0,0,0,0,0
$GC,5885,0.71,334.9,106.2,13.4,781,5903,0.12,2.15,7.43,0.513,6,0.145,0.031,2651,1993,1932,0,0,0,0,0,0
$GC,6229,0.93,469.7,68.4,5.8,843,6338,0.20,2.20,100.82,0.572,4,0.066,0.039,2751,596,1381,0,0,0,0,0,0
$GC,6428,0.94,469.7,36.4,19.9,873,6437,0.00,2.17,0.00,0.000,6,0.000,0.032,2755,2001,1379,0,0,0,0,0,0
$STATE,6599,end climb,SURFACE_DEPTH_REACHED
$STATE,6599,begin surface coast
$FINISH,0.5,1.011643
$STATE,6618,end surface coast,CONTROL_FINISHED_OK
$STATE,6619,begin surface
$SM_CCo,6642,98.40,0.058,0,0,484,690.03
$SM_GC,1.27,0.00,0.00,98.40,0.000,0.000,0.058,200,2323,484,-6.95,0.65,690.03
$IRIDIUM_FIX,2408.65,12508.62,290910,121223
$TT8_MAMPS,0.026964
$HUMID,45.74
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,24.80
$XPDR_PINGS,3
$24V_AH,24.6,11.595
$10V_AH,10.3,12.684
$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,17.225,61.200,485.425,98.400,0.000,24.202,16.768,178.056,0.750,0.000,18.785,2183.470,1585.538,596.002,2590.917,148.188,0.000,1462.749,0.000,1431.082,0.000,0.542,0.000
$DEVICE_MAMPS,225.675,46.665,857.565,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,610.907,1380.151,1640.300,0.000,0.000,0.000,2235.927,0.000,0.000,0.000
$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,63757,907
$CAP_FILE_SIZE,97071,0
$CFSIZE,260165632,245444608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083, 50.0,1
$GPS,290910,165525,2412.939,12607.487,40,1.7,40,-3.6