version: 66.08
glider: 181
mission: 4
dive: 101
start: 10 2 110 11 28 22
data:
$ID,181
$MISSION,4
$DIVE,101
$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,-37964.996
$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,38
$R_STBD_OVSHOOT,38
$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,200.0
$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
$GPS1,021010,112137,2414.567,12608.469,8,1.9,13,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-64.9
$GPS2,021010,112755,2414.581,12608.426,10,2.0,15,-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,20.4,10083,-22.5,-13.889
$D_GRID,1512
$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,-155.7,0.0,0.0,0,105,0.00,0.00,-83.85,0.000,2,0.000,0.000,194,2400,2788,0,0,0,0,0,0
$GC,107,-0.89,-155.7,3.3,-5.3,11,148,7.60,2.12,-25.30,0.000,4,0.226,0.052,2122,3784,3933,0,0,0,0,0,0
$GC,259,-0.78,-155.7,58.9,-37.7,36,268,0.15,2.10,0.00,0.000,6,0.168,0.028,2165,2396,3934,0,0,0,0,0,0
$GC,592,-0.72,-155.7,163.0,-27.4,97,599,0.00,2.10,0.00,0.000,4,0.000,0.041,2156,3777,3936,0,0,0,0,0,0
$GC,611,-0.66,-155.7,168.1,-23.9,100,620,0.15,2.08,0.00,0.000,6,0.138,0.027,2204,2387,3936,0,0,0,0,0,0
$GC,946,-0.66,-155.7,228.5,-18.2,161,954,0.00,2.12,0.00,0.000,4,0.000,0.044,2197,3777,3937,0,0,0,0,0,0
$GC,1005,-0.71,-155.7,237.7,-13.8,171,1012,0.00,2.03,0.00,0.000,6,0.000,0.028,2195,2395,3940,0,0,0,0,0,0
$GC,1332,-0.73,-155.7,290.7,-15.5,232,1341,0.00,2.08,0.00,0.000,4,0.000,0.034,2195,1002,3936,0,0,0,0,0,0
$GC,1466,-0.80,-155.7,309.5,-13.2,250,1470,0.00,2.10,0.00,0.000,6,0.000,0.036,2191,2399,3936,0,0,0,0,0,0
$GC,1791,-0.82,-155.7,354.5,-14.2,280,1795,0.00,2.08,0.00,0.000,4,0.000,0.044,2181,3778,3934,0,0,0,0,0,0
$GC,1841,-0.88,-155.7,361.1,-13.2,284,1846,0.12,2.03,0.00,0.000,6,0.082,0.028,2109,2398,3934,0,0,0,0,0,0
$GC,2166,-0.84,-155.7,428.2,-20.3,314,2171,0.17,2.08,0.00,0.000,4,0.164,0.035,2155,997,3932,0,0,0,0,0,0
$GC,2200,-0.84,-155.7,434.4,-17.3,317,2204,0.00,2.12,0.00,0.000,6,0.000,0.037,2149,2405,3932,0,0,0,0,0,0
$GC,2526,-0.85,-155.7,483.2,-14.1,347,2530,0.00,2.08,0.00,0.000,4,0.000,0.046,2139,3779,3930,0,0,0,0,0,0
$GC,2601,-0.87,-155.7,494.9,-14.8,353,2610,0.00,2.05,0.00,0.000,6,0.000,0.028,2139,2402,3930,0,0,0,0,0,0
$STATE,2640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2640,begin apogee
$GC,2645,-0.16,0.0,500.2,14.5,357,2767,0.70,0.00,116.12,0.860,6,0.125,0.000,2370,1975,3298,0,0,0,0,0,0
$STATE,2768,end apogee,CONTROL_FINISHED_OK
$STATE,2768,begin climb
$GC,2769,0.89,155.7,507.0,0.0,367,2896,0.88,0.00,120.12,0.845,6,0.035,0.000,2730,1974,2664,0,0,0,0,0,0
$GC,3213,0.75,155.7,463.2,17.3,408,3218,0.22,2.20,0.00,0.000,4,0.184,0.039,2671,3408,2656,0,0,0,0,0,0
$GC,3287,0.64,155.7,451.0,15.5,414,3292,0.17,2.08,0.00,0.000,6,0.190,0.030,2637,2015,2655,0,0,0,0,0,0
$GC,3612,0.63,198.2,413.9,11.3,444,3650,0.00,2.25,32.35,0.799,4,0.000,0.043,2637,3404,2489,0,0,0,0,0,0
$GC,3788,0.58,198.2,388.4,15.9,459,3792,0.12,2.12,0.00,0.000,6,0.180,0.031,2616,1994,2485,0,0,0,0,0,0
$GC,4114,0.61,238.4,348.6,11.5,489,4153,0.00,0.00,31.20,0.767,6,0.000,0.000,2615,1991,2326,0,0,0,0,0,0
$GC,4473,0.68,291.0,307.8,10.7,523,4522,0.00,2.25,41.30,0.744,4,0.000,0.041,2616,3411,2109,0,0,0,0,0,0
$GC,4652,0.69,291.0,281.4,15.3,549,4659,0.00,2.15,0.00,0.000,6,0.000,0.031,2624,2002,2105,0,0,0,0,0,0
$GC,4993,0.71,291.0,233.0,14.4,610,5001,0.00,2.17,0.00,0.000,4,0.000,0.041,2635,586,2101,0,0,0,0,0,0
$GC,5053,0.76,313.1,225.1,12.6,620,5076,0.00,2.17,17.08,0.665,6,0.000,0.034,2635,2010,2020,0,0,0,0,0,0
$GC,5416,0.84,368.0,180.4,10.6,683,5466,0.17,2.20,42.08,0.658,4,0.076,0.041,2716,3406,1796,0,0,0,0,0,0
$GC,5545,0.81,368.0,156.8,20.5,704,5554,0.12,2.17,0.00,0.000,6,0.148,0.031,2687,2004,1792,0,0,0,0,0,0
$GC,5877,0.81,368.0,102.3,15.4,765,5886,0.00,2.17,0.00,0.000,4,0.000,0.041,2695,590,1787,0,0,0,0,0,0
$GC,5933,0.83,368.0,94.1,15.3,774,5942,0.00,2.15,0.00,0.000,6,0.000,0.033,2697,2000,1792,0,0,0,0,0,0
$GC,6267,0.94,430.1,55.4,10.2,835,6321,0.00,2.17,46.20,0.565,4,0.000,0.040,2696,3411,1540,0,0,0,0,0,0
$GC,6380,1.05,476.2,43.3,11.1,852,6427,0.12,2.17,35.17,0.541,6,0.047,0.031,2773,2000,1355,0,0,0,0,0,0
$STATE,6590,end climb,SURFACE_DEPTH_REACHED
$STATE,6591,begin surface coast
$FINISH,0.7,1.021701
$STATE,6604,end surface coast,CONTROL_FINISHED_OK
$STATE,6604,begin surface
$SM_CCo,6627,95.47,0.057,0,0,486,690.03
$SM_GC,1.33,0.00,0.00,95.47,0.000,0.000,0.057,199,2406,486,-6.96,0.17,690.03
$IRIDIUM_FIX,2408.65,12606.33,021010,090900
$TT8_MAMPS,0.028462
$HUMID,45.66
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.6,15.491
$10V_AH,10.3,17.987
$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,17.375,60.775,481.625,95.475,0.000,26.331,38.130,171.010,0.500,0.000,17.997,2133.111,1676.206,594.501,2544.817,158.621,0.000,1439.532,0.000,1381.669,0.000,0.544,0.000
$DEVICE_MAMPS,226.440,52.020,859.860,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,599.695,1355.360,1615.229,0.000,0.000,0.000,2184.409,0.000,0.000,0.000
$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,63598,890
$CAP_FILE_SIZE,94177,0
$CFSIZE,260165632,243077120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,289.6,1
$GPS,021010,132136,2415.539,12608.320,33,1.0,33,-3.7