version: 66.08
glider: 181
mission: 4
dive: 102
start: 10 2 110 13 27 59
data:
$ID,181
$MISSION,4
$DIVE,102
$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,-37966.25
$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,40
$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,202.0
$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
$GPS1,021010,132136,2415.539,12608.320,33,1.0,33,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-66.9
$GPS2,021010,132732,2415.565,12608.296,10,1.5,10,-3.7
$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,27.4,8299,-22.5,-13.889
$D_GRID,1432
$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,-155.7,0.0,0.0,0,107,0.00,0.00,-84.62,0.000,2,0.000,0.000,198,2408,2810,0,0,0,0,0,0
$GC,109,-0.89,-155.7,3.4,-5.9,11,149,7.62,2.12,-24.20,0.000,4,0.229,0.053,2124,3785,3933,0,0,0,0,0,0
$GC,218,-0.79,-155.7,39.7,-35.0,28,228,0.15,2.12,0.00,0.000,6,0.166,0.030,2167,2392,3935,0,0,0,0,0,0
$GC,552,-0.72,-155.7,146.6,-26.4,89,560,0.00,2.15,0.00,0.000,4,0.000,0.041,2159,3781,3935,0,0,0,0,0,0
$GC,568,-0.66,-155.7,151.0,-24.7,91,576,0.20,2.05,0.00,0.000,6,0.152,0.027,2213,2385,3935,0,0,0,0,0,0
$GC,919,-0.67,-155.7,218.5,-19.7,152,928,0.00,2.17,0.00,0.000,4,0.000,0.044,2204,3778,3937,0,0,0,0,0,0
$GC,1001,-0.73,-155.7,232.0,-14.5,166,1009,0.00,2.05,0.00,0.000,6,0.000,0.028,2204,2403,3937,0,0,0,0,0,0
$GC,1346,-0.76,-155.7,286.7,-14.0,227,1353,0.00,2.08,0.00,0.000,4,0.000,0.034,2204,1001,3937,0,0,0,0,0,0
$GC,1463,-0.83,-155.7,302.6,-12.8,246,1472,0.10,2.12,0.00,0.000,6,0.046,0.037,2134,2396,3936,0,0,0,0,0,0
$GC,1790,-0.80,-155.7,367.7,-20.6,277,1795,0.12,2.10,0.00,0.000,4,0.184,0.044,2155,3781,3935,0,0,0,0,0,0
$GC,1887,-0.83,-155.7,384.0,-14.6,285,1891,0.00,2.05,0.00,0.000,6,0.000,0.028,2155,2389,3935,0,0,0,0,0,0
$GC,2213,-0.83,-155.7,438.5,-16.4,315,2217,0.00,2.12,0.00,0.000,4,0.000,0.044,2145,3777,3932,0,0,0,0,0,0
$GC,2288,-0.86,-155.7,451.3,-16.7,321,2292,0.00,2.00,0.00,0.000,6,0.000,0.028,2145,2401,3931,0,0,0,0,0,0
$STATE,2597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2597,begin apogee
$GC,2601,-0.16,0.0,500.8,15.4,350,2722,0.68,0.00,116.00,0.859,6,0.124,0.000,2368,1987,3300,0,0,0,0,0,0
$STATE,2723,end apogee,CONTROL_FINISHED_OK
$STATE,2723,begin climb
$GC,2725,0.89,155.7,506.9,0.0,360,2856,0.90,2.22,120.10,0.843,4,0.036,0.036,2742,603,2663,0,0,0,0,0,0
$GC,2924,0.74,155.7,500.6,16.3,377,2929,0.30,2.17,0.00,0.000,6,0.184,0.033,2661,2012,2659,0,0,0,0,0,0
$GC,3251,0.69,182.2,457.0,12.3,407,3276,0.00,2.22,20.35,0.787,4,0.000,0.039,2674,611,2557,0,0,0,0,0,0
$GC,3336,0.63,196.6,446.1,13.0,414,3354,0.17,2.10,12.98,0.747,6,0.174,0.034,2628,2001,2496,0,0,0,0,0,0
$GC,3675,0.63,222.5,403.7,12.3,445,3701,0.00,2.25,20.73,0.775,4,0.000,0.043,2630,3404,2390,0,0,0,0,0,0
$GC,3836,0.59,222.5,380.2,16.1,459,3840,0.00,2.12,0.00,0.000,6,0.000,0.031,2638,2002,2386,0,0,0,0,0,0
$GC,4162,0.56,222.5,332.4,14.2,489,4167,0.12,2.15,0.00,0.000,4,0.179,0.042,2607,3399,2383,0,0,0,0,0,0
$GC,4204,0.56,236.7,326.4,13.0,492,4226,0.00,2.12,10.95,0.693,6,0.000,0.031,2615,2001,2335,0,0,0,0,0,0
$GC,4543,0.58,250.6,282.1,13.1,537,4559,0.00,0.00,12.48,0.687,6,0.000,0.000,2615,2000,2275,0,0,0,0,0,0
$GC,4880,0.61,271.6,241.2,12.6,599,4902,0.00,2.20,17.30,0.684,4,0.000,0.041,2626,598,2189,0,0,0,0,0,0
$GC,4987,0.67,314.1,229.5,11.3,617,5029,0.00,2.12,33.55,0.690,6,0.000,0.034,2626,2007,2017,0,0,0,0,0,0
$GC,5359,0.73,340.1,184.0,12.3,683,5389,0.00,2.22,20.25,0.643,4,0.000,0.043,2626,3405,1911,0,0,0,0,0,0
$GC,5489,0.76,340.1,167.0,13.9,705,5498,0.10,2.12,0.00,0.000,6,0.097,0.031,2682,2002,1906,0,0,0,0,0,0
$GC,5821,0.75,340.1,112.6,17.6,766,5829,0.00,2.15,0.00,0.000,4,0.000,0.042,2692,604,1906,0,0,0,0,0,0
$GC,5919,0.75,340.1,96.9,15.7,783,5927,0.00,2.12,0.00,0.000,6,0.000,0.033,2693,1997,1906,0,0,0,0,0,0
$GC,6250,0.87,425.0,54.9,8.8,844,6320,0.00,2.22,63.35,0.571,4,0.000,0.041,2693,3412,1563,0,0,0,0,0,0
$GC,6358,0.94,447.8,43.3,12.5,859,6382,0.00,2.17,17.95,0.526,6,0.000,0.031,2703,2004,1472,0,0,0,0,0,0
$STATE,6687,end climb,SURFACE_DEPTH_REACHED
$STATE,6687,begin surface coast
$FINISH,0.6,1.021712
$STATE,6719,end surface coast,CONTROL_FINISHED_OK
$STATE,6719,begin surface
$SM_CCo,6741,107.55,0.057,0,0,484,690.03
$SM_GC,1.41,0.00,0.00,107.55,0.000,0.000,0.057,205,2409,484,-6.94,0.25,690.03
$IRIDIUM_FIX,2408.65,12609.64,021010,111132
$TT8_MAMPS,0.027713
$HUMID,45.15
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,24.6,15.604
$10V_AH,10.3,18.146
$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,16.975,61.025,465.975,107.550,0.000,31.189,20.393,168.920,0.250,0.000,13.126,2216.420,1627.589,585.727,2610.796,171.074,0.000,1446.880,0.000,1433.289,0.000,0.543,0.000
$DEVICE_MAMPS,228.735,52.785,859.095,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,623.158,1406.451,1693.167,0.000,0.000,0.000,2357.317,0.000,0.000,0.000
$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,67186,924
$CAP_FILE_SIZE,95411,0
$CFSIZE,260165632,242999296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,329.8,1
$GPS,021010,152256,2416.667,12608.544,11,2.0,11,-3.7