version: 66.08
glider: 181
mission: 4
dive: 117
start: 10 3 110 19 46 39
data:
$ID,181
$MISSION,4
$DIVE,117
$N_DIVES,130
$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,-37985.074
$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,44
$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,232.0
$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
$GPS1,031010,193943,2411.312,12609.373,6,1.6,11,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-66.7
$GPS2,031010,194613,2411.330,12609.429,12,1.6,17,-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,202.5,20995,-22.5,-13.889
$D_GRID,1710
$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,-83.28,0.000,2,0.000,0.000,199,2423,2763,0,0,0,0,0,0
$GC,108,-0.89,-155.7,3.0,-4.9,11,148,7.60,2.17,-26.50,0.000,4,0.224,0.047,2130,982,3935,0,0,0,0,0,0
$GC,285,-0.79,-155.7,63.6,-35.1,41,294,0.12,2.15,0.00,0.000,6,0.153,0.033,2160,2389,3937,0,0,0,0,0,0
$GC,617,-0.73,-155.7,153.7,-24.9,102,625,0.00,2.10,0.00,0.000,4,0.000,0.032,2161,992,3938,0,0,0,0,0,0
$GC,639,-0.68,-155.7,158.5,-22.8,105,647,0.20,2.12,0.00,0.000,6,0.157,0.034,2206,2405,3938,0,0,0,0,0,0
$GC,992,-0.70,-155.7,220.4,-14.6,166,1000,0.00,2.12,0.00,0.000,4,0.000,0.033,2205,989,3939,0,0,0,0,0,0
$GC,1047,-0.75,-155.7,229.3,-14.6,175,1054,0.00,2.12,0.00,0.000,6,0.000,0.035,2199,2407,3939,0,0,0,0,0,0
$GC,1390,-0.76,-155.7,284.4,-15.9,236,1399,0.00,2.10,0.00,0.000,4,0.000,0.044,2189,3772,3939,0,0,0,0,0,0
$GC,1460,-0.80,-155.7,295.3,-13.7,248,1469,0.00,2.05,0.00,0.000,6,0.000,0.027,2189,2390,3939,0,0,0,0,0,0
$GC,1791,-0.82,-155.7,354.1,-17.4,281,1795,0.00,2.03,0.00,0.000,4,0.000,0.034,2189,1003,3938,0,0,0,0,0,0
$GC,1828,-0.86,-155.7,360.5,-15.2,284,1838,0.00,2.12,0.00,0.000,6,0.000,0.035,2180,2398,3938,0,0,0,0,0,0
$GC,2155,-0.87,-155.7,412.0,-14.8,315,2160,0.10,2.10,0.00,0.000,4,0.099,0.044,2117,3781,3936,0,0,0,0,0,0
$GC,2198,-0.85,-155.7,420.9,-20.4,318,2208,0.10,2.05,0.00,0.000,6,0.144,0.028,2148,2407,3936,0,0,0,0,0,0
$GC,2526,-0.85,-155.7,477.6,-17.3,349,2529,0.00,2.05,0.00,0.000,4,0.000,0.033,2149,999,3933,0,0,0,0,0,0
$GC,2552,-0.85,-155.7,483.3,-18.9,351,2560,0.00,2.15,0.00,0.000,6,0.000,0.036,2141,2405,3934,0,0,0,0,0,0
$STATE,2655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2655,begin apogee
$GC,2660,-0.16,0.0,501.4,17.4,361,2782,0.70,0.00,116.50,0.856,6,0.132,0.000,2368,1962,3299,0,0,0,0,0,0
$STATE,2783,end apogee,CONTROL_FINISHED_OK
$STATE,2783,begin climb
$GC,2784,0.89,155.7,508.1,0.0,371,2912,0.90,0.00,119.62,0.842,6,0.043,0.000,2722,1962,2665,0,0,0,0,0,0
$GC,3231,0.76,155.7,464.5,16.3,412,3236,0.20,2.22,0.00,0.000,4,0.181,0.038,2670,3414,2657,0,0,0,0,0,0
$GC,3316,0.65,155.7,451.1,15.6,419,3321,0.17,2.12,0.00,0.000,6,0.190,0.029,2635,2000,2656,0,0,0,0,0,0
$GC,3643,0.68,230.6,415.8,9.4,449,3706,0.00,2.22,57.30,0.805,4,0.000,0.039,2644,598,2356,0,0,0,0,0,0
$GC,3748,0.66,233.4,403.1,13.7,458,3763,0.00,2.15,3.17,0.393,6,0.000,0.031,2644,2011,2346,0,0,0,0,0,0
$GC,4079,0.62,233.4,351.7,15.5,489,4083,0.00,2.15,0.00,0.000,4,0.000,0.041,2644,3412,2341,0,0,0,0,0,0
$GC,4167,0.58,233.4,336.1,17.3,496,4177,0.12,2.12,0.00,0.000,6,0.151,0.031,2617,2010,2339,0,0,0,0,0,0
$GC,4494,0.64,287.9,295.9,10.6,530,4543,0.00,2.17,42.03,0.735,4,0.000,0.038,2617,3405,2124,0,0,0,0,0,0
$GC,4636,0.66,291.9,278.6,13.6,553,4651,0.00,2.15,3.95,0.452,6,0.000,0.031,2624,1988,2108,0,0,0,0,0,0
$GC,4985,0.69,318.7,231.9,12.3,615,5014,0.00,2.22,21.98,0.675,4,0.000,0.038,2624,3412,1998,0,0,0,0,0,0
$GC,5118,0.72,318.7,212.6,14.3,637,5125,0.00,2.15,0.00,0.000,6,0.000,0.031,2635,1991,1994,0,0,0,0,0,0
$GC,5465,0.75,325.0,167.3,13.5,698,5475,0.00,2.12,5.35,0.495,4,0.000,0.041,2646,593,1973,0,0,0,0,0,0
$GC,5601,0.79,332.0,149.0,13.5,721,5617,0.00,2.12,7.18,0.535,6,0.000,0.031,2646,1996,1944,0,0,0,0,0,0
$GC,5943,0.86,371.9,103.8,11.5,783,5984,0.15,2.15,31.23,0.597,4,0.078,0.038,2730,590,1780,0,0,0,0,0,0
$GC,6036,0.85,371.9,87.5,18.5,797,6044,0.10,2.15,0.00,0.000,6,0.144,0.031,2698,2003,1778,0,0,0,0,0,0
$GC,6371,1.02,477.6,42.4,7.6,858,6457,0.15,2.20,78.03,0.554,4,0.077,0.039,2777,598,1350,0,0,0,0,0,0
$GC,6477,1.02,477.6,27.0,17.2,872,6486,0.00,2.17,0.00,0.000,6,0.000,0.031,2776,1998,1348,0,0,0,0,0,0
$STATE,6609,end climb,SURFACE_DEPTH_REACHED
$STATE,6609,begin surface coast
$FINISH,0.5,1.021663
$STATE,6629,end surface coast,CONTROL_FINISHED_OK
$STATE,6629,begin surface
$SM_CCo,6655,97.22,0.058,0,0,484,690.03
$SM_GC,1.14,0.00,0.00,97.22,0.000,0.000,0.058,198,2416,484,-6.96,0.45,690.03
$IRIDIUM_FIX,2401.56,12606.85,031010,171709
$TT8_MAMPS,0.027713
$HUMID,46.65
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.7,17.323
$10V_AH,10.3,20.511
$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,17.400,65.275,486.325,97.225,0.000,28.012,40.093,173.990,0.000,0.000,20.295,2145.635,1659.601,609.039,2561.403,172.393,0.000,1465.141,0.000,1373.019,0.000,0.545,0.000
$DEVICE_MAMPS,224.145,47.430,856.035,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,604.745,1368.099,1642.975,0.000,0.000,0.000,2335.826,0.000,0.000,0.000
$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,63640,899
$CAP_FILE_SIZE,95944,0
$CFSIZE,260165632,241963008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120,102.3,1
$GPS,031010,214030,2410.322,12609.650,36,1.1,41,-3.6