version: 66.08
glider: 181
mission: 4
dive: 69
start: 9 29 110 19 1 17
data:
$ID,181
$MISSION,4
$DIVE,69
$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,-37924.824
$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,47
$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,136.0
$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
$GPS1,290910,185510,2412.152,12607.506,9,2.5,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-67.1
$GPS2,290910,190050,2412.196,12607.474,14,1.8,14,-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,188.3,22734,-22.5,-13.889
$D_GRID,1602
$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,-83.62,0.000,2,0.000,0.000,202,2316,2765,0,0,0,0,0,0
$GC,108,-0.89,-155.7,3.1,-5.3,11,149,7.60,2.12,-26.15,0.000,4,0.230,0.045,2130,889,3934,0,0,0,0,0,0
$GC,229,-0.75,-155.7,44.2,-41.9,30,237,0.17,2.15,0.00,0.000,6,0.161,0.037,2173,2285,3935,0,0,0,0,0,0
$GC,562,-0.69,-155.7,143.4,-27.6,91,571,0.10,2.15,0.00,0.000,4,0.199,0.037,2197,881,3935,0,0,0,0,0,0
$GC,590,-0.64,-155.7,151.8,-27.9,95,597,0.00,2.15,0.00,0.000,6,0.000,0.036,2194,2312,3937,0,0,0,0,0,0
$GC,939,-0.61,-155.7,230.4,-21.7,156,949,0.15,2.15,0.00,0.000,4,0.171,0.043,2221,3703,3938,0,0,0,0,0,0
$GC,1152,-0.69,-155.7,259.0,-13.0,193,1159,0.00,2.08,0.00,0.000,6,0.000,0.028,2221,2288,3938,0,0,0,0,0,0
$GC,1493,-0.74,-155.7,302.8,-12.5,252,1495,0.10,0.00,0.00,0.000,6,0.099,0.000,2163,2285,3937,0,0,0,0,0,0
$GC,1811,-0.74,-155.7,360.3,-18.2,282,1815,0.00,2.17,0.00,0.000,4,0.000,0.044,2152,3710,3936,0,0,0,0,0,0
$GC,1838,-0.74,-155.7,364.9,-17.7,284,1843,0.12,2.05,0.00,0.000,6,0.152,0.028,2186,2301,3935,0,0,0,0,0,0
$GC,2165,-0.78,-155.7,409.9,-13.8,314,2169,0.00,2.17,0.00,0.000,4,0.000,0.046,2177,3714,3934,0,0,0,0,0,0
$GC,2260,-0.83,-155.7,423.2,-13.2,322,2264,0.00,2.08,0.00,0.000,6,0.000,0.029,2177,2302,3933,0,0,0,0,0,0
$GC,2586,-0.86,-155.7,470.5,-14.0,352,2590,0.00,2.17,0.00,0.000,4,0.000,0.046,2168,3711,3933,0,0,0,0,0,0
$GC,2650,-0.91,-155.7,478.8,-12.5,357,2655,0.10,2.08,0.00,0.000,6,0.097,0.030,2109,2295,3931,0,0,0,0,0,0
$STATE,2771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2772,begin apogee
$GC,2776,-0.16,0.0,501.2,19.2,368,2899,0.80,0.00,116.75,0.860,6,0.139,0.000,2367,1987,3298,0,0,0,0,0,0
$STATE,2899,end apogee,CONTROL_FINISHED_OK
$STATE,2900,begin climb
$GC,2901,0.89,155.7,507.2,0.0,378,3037,0.93,2.25,120.60,0.843,4,0.041,0.038,2741,605,2662,0,0,0,0,0,0
$GC,3198,0.75,155.7,484.0,15.8,403,3206,0.28,2.15,0.00,0.000,6,0.187,0.034,2670,2014,2657,0,0,0,0,0,0
$GC,3523,0.70,185.8,444.4,12.1,434,3551,0.00,2.17,23.42,0.792,4,0.000,0.038,2678,604,2539,0,0,0,0,0,0
$GC,3597,0.62,185.8,434.5,14.6,440,3602,0.20,2.15,0.00,0.000,6,0.170,0.034,2626,2009,2538,0,0,0,0,0,0
$GC,3923,0.62,215.1,394.9,12.1,470,3952,0.00,2.17,23.48,0.773,4,0.000,0.043,2626,3410,2418,0,0,0,0,0,0
$GC,4202,0.59,218.8,357.0,13.7,494,4211,0.00,2.12,0.00,0.000,6,0.000,0.032,2635,2016,2413,0,0,0,0,0,0
$GC,4530,0.59,237.8,318.6,12.8,525,4554,0.00,2.17,17.00,0.722,4,0.000,0.043,2634,3408,2330,0,0,0,0,0,0
$GC,4592,0.56,237.8,309.1,14.9,530,4602,0.12,2.15,0.00,0.000,6,0.155,0.032,2607,2003,2327,0,0,0,0,0,0
$GC,4929,0.62,279.1,266.5,11.4,584,4972,0.00,2.20,33.00,0.715,4,0.000,0.042,2617,601,2159,0,0,0,0,0,0
$GC,5135,0.72,336.5,243.3,10.5,619,5191,0.12,2.12,44.55,0.695,6,0.093,0.034,2669,2002,1927,0,0,0,0,0,0
$GC,5531,0.71,336.5,178.6,17.1,687,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2002,1920,0,0,0,0,0,0
$GC,5867,0.71,336.5,122.8,16.1,748,5876,0.00,2.17,0.00,0.000,4,0.000,0.044,2669,3404,1918,0,0,0,0,0,0
$GC,5889,0.71,336.5,118.9,16.7,751,5898,0.00,2.15,0.00,0.000,6,0.000,0.032,2679,1992,1917,0,0,0,0,0,0
$GC,6222,0.78,389.9,69.6,10.7,812,6270,0.00,2.12,39.72,0.578,4,0.000,0.041,2690,599,1708,0,0,0,0,0,0
$GC,6393,0.89,441.6,50.3,10.8,840,6441,0.00,2.15,39.15,0.556,6,0.000,0.033,2690,2005,1497,0,0,0,0,0,0
$GC,6766,0.99,476.5,6.2,11.8,906,6799,0.15,2.17,25.27,0.511,4,0.075,0.040,2762,3406,1353,0,0,0,0,0,0
$STATE,6805,end climb,SURFACE_DEPTH_REACHED
$STATE,6805,begin surface coast
$FINISH,0.6,1.010840
$STATE,6828,end surface coast,CONTROL_FINISHED_OK
$STATE,6829,begin surface
$SM_CCo,6852,95.20,0.058,0,0,485,690.03
$SM_GC,1.30,0.00,0.00,95.20,0.000,0.000,0.058,201,2291,485,-6.95,-0.25,690.03
$IRIDIUM_FIX,2401.56,12610.15,290910,161611
$TT8_MAMPS,0.027713
$HUMID,44.92
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.00
$XPDR_PINGS,3
$24V_AH,24.6,11.821
$10V_AH,10.3,12.995
$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,17.675,60.100,482.950,95.200,0.000,24.833,15.620,169.380,0.750,0.000,17.388,2205.457,1724.866,590.288,2624.919,148.854,0.000,1470.572,0.000,1451.993,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,45.900,859.860,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,616.671,1392.296,1684.839,0.000,0.000,0.000,2265.410,0.000,0.000,0.000
$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,63650,915
$CAP_FILE_SIZE,97286,0
$CFSIZE,260165632,245305344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082, 38.9,1
$GPS,290910,205824,2411.525,12607.477,27,1.2,44,-3.6