version: 66.08
glider: 181
mission: 4
dive: 97
start: 10 2 110 3 31 36
data:
$ID,181
$MISSION,4
$DIVE,97
$N_DIVES,110
$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,-37959.973
$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,43
$R_STBD_OVSHOOT,43
$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,192.0
$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
$GPS1,021010,032102,2411.285,12608.756,8,2.0,8,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-66.1
$GPS2,021010,033108,2411.283,12608.797,14,1.4,14,-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,1.8,16148,-22.5,-13.889
$D_GRID,1584
$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,-83.07,0.000,2,0.000,0.000,207,2416,2754,0,0,0,0,0,0
$GC,107,-0.89,-155.7,3.2,-5.0,11,149,7.53,2.10,-27.17,0.000,4,0.226,0.054,2123,3783,3936,0,0,0,0,0,0
$GC,282,-0.82,-155.7,61.8,-30.2,40,291,0.08,2.10,0.00,0.000,6,0.157,0.029,2146,2397,3937,0,0,0,0,0,0
$GC,616,-0.76,-155.7,160.9,-25.4,101,623,0.12,2.08,0.00,0.000,4,0.176,0.034,2179,994,3938,0,0,0,0,0,0
$GC,717,-0.77,-155.7,181.5,-17.6,119,725,0.00,2.10,0.00,0.000,6,0.000,0.035,2171,2395,3938,0,0,0,0,0,0
$GC,1057,-0.75,-155.7,249.0,-18.4,180,1065,0.00,2.12,0.00,0.000,4,0.000,0.043,2160,3778,3937,0,0,0,0,0,0
$GC,1125,-0.77,-155.7,261.2,-17.4,192,1133,0.00,2.08,0.00,0.000,6,0.000,0.027,2160,2388,3937,0,0,0,0,0,0
$GC,1459,-0.77,-155.7,323.0,-17.9,242,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2385,3937,0,0,0,0,0,0
$GC,1779,-0.77,-155.7,381.7,-18.1,272,1783,0.00,2.03,0.00,0.000,4,0.000,0.034,2160,1000,3936,0,0,0,0,0,0
$GC,1825,-0.79,-155.7,389.9,-17.1,276,1829,0.00,2.10,0.00,0.000,6,0.000,0.037,2152,2408,3935,0,0,0,0,0,0
$GC,2149,-0.79,-155.7,448.6,-17.7,306,2153,0.00,2.08,0.00,0.000,4,0.000,0.045,2142,3786,3933,0,0,0,0,0,0
$GC,2180,-0.80,-155.7,454.1,-16.1,308,2189,0.00,2.08,0.00,0.000,6,0.000,0.028,2142,2389,3932,0,0,0,0,0,0
$STATE,2454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2454,begin apogee
$GC,2458,-0.16,0.0,500.5,16.1,334,2579,0.68,0.00,115.93,0.858,6,0.125,0.000,2366,1973,3299,0,0,0,0,0,0
$STATE,2579,end apogee,CONTROL_FINISHED_OK
$STATE,2580,begin climb
$GC,2581,0.89,155.7,505.8,0.0,344,2713,0.90,2.35,120.12,0.839,4,0.037,0.038,2732,3411,2658,0,0,0,0,0,0
$GC,2904,0.73,155.7,468.0,19.9,372,2914,0.28,2.15,0.00,0.000,6,0.176,0.030,2664,2015,2656,0,0,0,0,0,0
$GC,3232,0.67,179.9,426.5,12.4,403,3258,0.00,2.17,18.48,0.770,4,0.000,0.041,2664,3411,2564,0,0,0,0,0,0
$GC,3440,0.59,183.5,396.8,13.7,421,3451,0.22,2.15,4.35,0.526,6,0.177,0.031,2613,1981,2550,0,0,0,0,0,0
$GC,3778,0.65,253.1,363.0,9.7,453,3838,0.00,2.22,53.90,0.781,4,0.000,0.041,2622,597,2266,0,0,0,0,0,0
$GC,3887,0.67,266.2,350.0,13.1,462,3908,0.00,2.20,11.50,0.691,6,0.000,0.033,2623,2008,2212,0,0,0,0,0,0
$GC,4226,0.67,268.0,304.2,13.8,494,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2008,2205,0,0,0,0,0,0
$GC,4549,0.68,277.3,260.0,13.3,551,4565,0.00,2.15,8.65,0.630,4,0.000,0.041,2622,3406,2167,0,0,0,0,0,0
$GC,4603,0.68,277.3,252.1,14.6,560,4611,0.00,2.15,0.00,0.000,6,0.000,0.031,2632,2000,2166,0,0,0,0,0,0
$GC,4934,0.71,294.0,206.4,12.9,621,4955,0.00,2.17,14.15,0.647,4,0.000,0.041,2632,3406,2099,0,0,0,0,0,0
$GC,5108,0.73,294.0,181.9,14.1,651,5116,0.00,2.12,0.00,0.000,6,0.000,0.032,2643,1992,2096,0,0,0,0,0,0
$GC,5445,0.76,306.1,139.0,13.2,712,5462,0.00,2.17,10.45,0.578,4,0.000,0.041,2654,597,2048,0,0,0,0,0,0
$GC,5478,0.79,321.3,134.7,13.0,716,5501,0.00,2.15,12.62,0.582,6,0.000,0.032,2653,2007,1989,0,0,0,0,0,0
$GC,5828,0.88,371.3,90.2,10.9,779,5876,0.15,2.20,38.42,0.591,4,0.078,0.040,2728,3404,1783,0,0,0,0,0,0
$GC,5884,0.84,371.3,81.3,17.3,786,5893,0.12,2.17,0.00,0.000,6,0.145,0.031,2700,1998,1781,0,0,0,0,0,0
$GC,6219,0.95,430.9,40.4,10.3,847,6274,0.00,2.20,44.33,0.549,4,0.000,0.041,2705,599,1540,0,0,0,0,0,0
$GC,6428,1.07,485.1,17.0,10.6,882,6477,0.12,2.15,40.95,0.522,6,0.049,0.031,2777,2006,1320,0,0,0,0,0,0
$STATE,6511,end climb,SURFACE_DEPTH_REACHED
$STATE,6511,begin surface coast
$FINISH,0.6,1.018921
$STATE,6530,end surface coast,CONTROL_FINISHED_OK
$STATE,6530,begin surface
$SM_CCo,6552,93.70,0.058,0,0,484,690.03
$SM_GC,1.38,0.00,0.00,93.70,0.000,0.000,0.058,209,2407,484,-6.93,0.20,690.03
$IRIDIUM_FIX,2403.92,12613.45,021010,030356
$TT8_MAMPS,0.027713
$HUMID,44.99
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.20
$XPDR_PINGS,3
$24V_AH,24.7,15.039
$10V_AH,10.3,17.368
$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,16.900,56.900,493.850,93.700,0.000,50.661,88.294,234.588,0.750,0.000,16.518,2142.181,1600.436,594.132,2756.962,167.194,0.000,1454.186,0.000,1399.178,0.000,0.543,0.000
$DEVICE_MAMPS,225.675,54.315,857.565,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,604.055,1365.170,1662.461,0.000,0.000,0.000,2409.001,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331424
$DATA_FILE_SIZE,63824,897
$CAP_FILE_SIZE,95228,0
$CFSIZE,260165632,243351552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,109.5,1
$GPS,021010,052337,2412.097,12608.758,38,0.9,38,-3.6