version: 66.08
glider: 181
mission: 4
dive: 91
start: 10 1 110 15 28 58
data:
$ID,181
$MISSION,4
$DIVE,91
$N_DIVES,100
$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,-37952.43
$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,47
$R_STBD_OVSHOOT,39
$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,180.0
$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
$GPS1,011010,152231,2404.906,12607.980,39,1.4,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-61.6
$GPS2,011010,152831,2404.971,12607.971,14,1.0,14,-3.6
$SPEED_LIMITS,0.241,0.296
$TGT_NAME,NWALL_N
$TGT_LATLONG,2420.000,12609.000
$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,22.3,27888,-22.5,-13.889
$D_GRID,1690
$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,-84.30,0.000,2,0.000,0.000,197,2414,2805,0,0,0,0,0,0
$GC,109,-0.89,-155.7,3.1,-5.0,11,149,7.65,2.08,-24.62,0.000,4,0.230,0.052,2121,3778,3930,0,0,0,0,0,0
$GC,250,-0.77,-155.7,56.2,-41.6,34,259,0.17,2.10,0.00,0.000,6,0.162,0.031,2172,2402,3931,0,0,0,0,0,0
$GC,582,-0.72,-155.7,151.7,-23.8,95,589,0.00,2.08,0.00,0.000,4,0.000,0.034,2172,995,3932,0,0,0,0,0,0
$GC,640,-0.72,-155.7,163.9,-18.4,105,648,0.00,2.12,0.00,0.000,6,0.000,0.036,2164,2402,3933,0,0,0,0,0,0
$GC,978,-0.69,-155.7,238.8,-21.7,166,986,0.12,2.12,0.00,0.000,4,0.177,0.044,2187,3771,3932,0,0,0,0,0,0
$GC,1158,-0.74,-155.7,268.1,-14.3,199,1165,0.00,2.03,0.00,0.000,6,0.000,0.027,2187,2384,3931,0,0,0,0,0,0
$GC,1489,-0.75,-155.7,319.5,-14.2,248,1492,0.00,2.00,0.00,0.000,4,0.000,0.034,2186,1008,3932,0,0,0,0,0,0
$GC,1514,-0.77,-155.7,324.1,-15.7,250,1523,0.00,2.10,0.00,0.000,6,0.000,0.036,2177,2389,3931,0,0,0,0,0,0
$GC,1841,-0.79,-155.7,374.7,-15.8,281,1845,0.00,2.12,0.00,0.000,4,0.000,0.045,2167,3789,3931,0,0,0,0,0,0
$GC,1896,-0.83,-155.7,383.7,-14.6,285,1904,0.00,2.08,0.00,0.000,6,0.000,0.028,2167,2391,3931,0,0,0,0,0,0
$GC,2221,-0.85,-155.7,436.2,-15.4,316,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2390,3928,0,0,0,0,0,0
$GC,2541,-0.88,-155.7,481.9,-13.0,346,2545,0.00,2.15,0.00,0.000,4,0.000,0.047,2157,3798,3926,0,0,0,0,0,0
$GC,2584,-0.92,-155.7,488.2,-14.0,349,2592,0.00,2.08,0.00,0.000,6,0.000,0.029,2155,2410,3926,0,0,0,0,0,0
$STATE,2675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2675,begin apogee
$GC,2679,-0.16,0.0,501.3,15.0,358,2802,0.62,0.00,115.53,0.861,6,0.120,0.000,2368,1985,3298,0,0,0,0,0,0
$STATE,2803,end apogee,CONTROL_FINISHED_OK
$STATE,2803,begin climb
$GC,2805,0.89,155.7,508.2,0.0,368,2932,0.90,2.33,119.88,0.846,4,0.041,0.039,2723,3431,2665,0,0,0,0,0,0
$GC,2969,0.73,156.9,510.2,13.8,381,2974,0.28,2.17,0.00,0.000,6,0.182,0.030,2665,2012,2661,0,0,0,0,0,0
$GC,3296,0.65,166.3,467.2,13.3,411,3311,0.00,2.22,8.82,0.713,4,0.000,0.042,2664,3412,2620,0,0,0,0,0,0
$GC,3329,0.58,187.9,462.8,12.6,414,3356,0.22,2.12,18.30,0.784,6,0.183,0.031,2615,1994,2532,0,0,0,0,0,0
$GC,3674,0.61,232.2,423.5,11.2,446,3715,0.00,2.30,35.00,0.805,4,0.000,0.043,2615,3415,2351,0,0,0,0,0,0
$GC,3781,0.60,240.7,410.1,13.4,455,3794,0.00,2.15,8.00,0.672,6,0.000,0.032,2624,1998,2316,0,0,0,0,0,0
$GC,4113,0.61,256.3,365.5,13.0,486,4130,0.00,2.22,12.93,0.730,4,0.000,0.044,2623,3419,2253,0,0,0,0,0,0
$GC,4219,0.60,256.3,349.1,15.5,495,4226,0.00,2.15,0.00,0.000,6,0.000,0.032,2634,2001,2249,0,0,0,0,0,0
$GC,4544,0.61,262.9,304.0,13.5,526,4558,0.00,2.20,5.68,0.584,4,0.000,0.041,2634,3429,2227,0,0,0,0,0,0
$GC,4583,0.60,268.6,298.9,13.5,529,4599,0.00,2.15,6.57,0.610,6,0.000,0.031,2644,1998,2202,0,0,0,0,0,0
$GC,4935,0.62,296.8,253.9,12.2,591,4964,0.00,2.22,22.92,0.702,4,0.000,0.043,2655,594,2088,0,0,0,0,0,0
$GC,5033,0.63,310.1,240.8,13.1,607,5054,0.00,2.15,11.85,0.646,6,0.000,0.034,2655,2015,2031,0,0,0,0,0,0
$GC,5391,0.63,310.1,184.9,15.3,670,5399,0.00,2.15,0.00,0.000,4,0.000,0.042,2655,3401,2029,0,0,0,0,0,0
$GC,5412,0.63,310.1,181.7,15.9,673,5420,0.12,2.12,0.00,0.000,6,0.168,0.031,2634,1987,2026,0,0,0,0,0,0
$GC,5755,0.72,360.2,140.1,10.9,734,5801,0.00,0.00,38.10,0.631,6,0.000,0.000,2634,1987,1827,0,0,0,0,0,0
$GC,6126,0.83,407.1,96.3,11.1,800,6174,0.15,2.20,35.25,0.591,4,0.076,0.041,2717,598,1638,0,0,0,0,0,0
$GC,6220,0.83,407.1,80.0,19.4,814,6229,0.00,2.17,0.00,0.000,6,0.000,0.031,2722,2009,1636,0,0,0,0,0,0
$GC,6553,0.90,440.0,32.9,11.9,875,6585,0.00,2.17,25.10,0.535,4,0.000,0.041,2717,3411,1504,0,0,0,0,0,0
$GC,6604,0.95,452.0,26.4,13.2,882,6621,0.00,2.17,10.73,0.485,6,0.000,0.031,2727,1998,1455,0,0,0,0,0,0
$STATE,6773,end climb,SURFACE_DEPTH_REACHED
$STATE,6773,begin surface coast
$FINISH,0.4,1.011023
$STATE,6798,end surface coast,CONTROL_FINISHED_OK
$STATE,6798,begin surface
$SM_CCo,6820,106.05,0.058,0,0,484,690.03
$SM_GC,1.36,0.00,0.00,106.05,0.000,0.000,0.058,194,2418,484,-6.97,0.51,690.03
$IRIDIUM_FIX,2356.84,12606.85,011010,131317
$TT8_MAMPS,0.028462
$HUMID,45.74
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.6,14.336
$10V_AH,10.3,16.441
$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,16.700,65.650,474.650,106.050,0.000,27.489,19.934,177.383,0.000,0.000,17.037,2192.876,1732.162,608.274,2590.364,168.662,0.000,1469.860,0.000,1409.523,0.000,0.543,0.000
$DEVICE_MAMPS,230.265,52.020,861.390,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,617.452,1393.879,1684.790,0.000,0.000,0.000,2353.159,0.000,0.000,0.000
$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,66968,916
$CAP_FILE_SIZE,97436,0
$CFSIZE,260165632,243761152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083,359.5,1
$GPS,011010,172513,2406.181,12608.389,7,1.6,12,-3.6