version: 66.08
glider: 181
mission: 4
dive: 194
start: 10 10 110 6 16 59
data:
$ID,181
$MISSION,4
$DIVE,194
$N_DIVES,207
$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,375
$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,-38089.246
$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,50
$R_STBD_OVSHOOT,37
$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,386.0
$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
$GPS1,101010,061001,2416.907,12609.577,41,1.2,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-69.7
$GPS2,101010,061631,2416.841,12609.550,9,1.2,14,-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,346.6,5923,-22.5,-13.889
$D_GRID,1566
$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,20,-0.89,-155.7,0.0,0.0,0,67,0.00,0.00,-45.25,0.000,2,0.000,0.000,201,2391,2846,0,0,0,0,0,0
$GC,70,-0.89,-155.7,3.3,-5.5,6,110,7.57,2.17,-23.62,0.000,4,0.225,0.051,2122,3777,3934,0,0,0,0,0,0
$GC,243,-0.82,-155.7,58.1,-29.1,35,253,0.10,2.08,0.00,0.000,6,0.155,0.028,2149,2404,3936,0,0,0,0,0,0
$GC,576,-0.76,-155.7,152.1,-24.7,96,584,0.00,2.15,0.00,0.000,4,0.000,0.042,2142,3781,3937,0,0,0,0,0,0
$GC,620,-0.71,-155.7,162.5,-23.8,103,629,0.17,2.05,0.00,0.000,6,0.148,0.028,2191,2396,3937,0,0,0,0,0,0
$GC,961,-0.71,-155.7,223.9,-17.1,164,969,0.00,2.10,0.00,0.000,4,0.000,0.034,2190,994,3938,0,0,0,0,0,0
$GC,1029,-0.75,-155.7,234.6,-15.0,176,1037,0.00,2.15,0.00,0.000,6,0.000,0.035,2184,2404,3938,0,0,0,0,0,0
$GC,1363,-0.76,-155.7,292.2,-18.3,237,1370,0.00,2.08,0.00,0.000,4,0.000,0.043,2173,3780,3937,0,0,0,0,0,0
$GC,1404,-0.79,-155.7,299.8,-17.1,244,1413,0.00,2.08,0.00,0.000,6,0.000,0.028,2173,2391,3938,0,0,0,0,0,0
$GC,1730,-0.79,-155.7,356.2,-17.4,275,1734,0.00,2.03,0.00,0.000,4,0.000,0.033,2173,1002,3937,0,0,0,0,0,0
$GC,1754,-0.80,-155.7,360.3,-17.2,277,1758,0.00,2.12,0.00,0.000,6,0.000,0.035,2160,2413,3940,0,0,0,0,0,0
$GC,2081,-0.81,-155.7,415.8,-16.8,307,2085,0.00,2.08,0.00,0.000,4,0.000,0.044,2153,3780,3936,0,0,0,0,0,0
$GC,2147,-0.85,-155.7,426.3,-14.2,312,2155,0.00,2.05,0.00,0.000,6,0.000,0.028,2153,2402,3935,0,0,0,0,0,0
$GC,2474,-0.86,-155.7,477.3,-14.4,343,2478,0.00,2.05,0.00,0.000,4,0.000,0.034,2153,1003,3933,0,0,0,0,0,0
$GC,2501,-0.88,-155.7,481.6,-14.0,345,2508,0.00,2.12,0.00,0.000,6,0.000,0.037,2149,2394,3933,0,0,0,0,0,0
$STATE,2633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2633,begin apogee
$GC,2638,-0.16,0.0,500.9,15.4,358,2761,0.68,0.00,116.60,0.872,6,0.122,0.000,2372,1974,3298,0,0,0,0,0,0
$STATE,2761,end apogee,CONTROL_FINISHED_OK
$STATE,2762,begin climb
$GC,2763,0.89,155.7,505.5,0.0,368,2891,0.90,2.15,119.40,0.856,4,0.044,0.036,2732,605,2662,0,0,0,0,0,0
$GC,3006,0.76,155.7,490.7,16.2,388,3015,0.17,2.17,0.00,0.000,6,0.166,0.032,2680,2009,2657,0,0,0,0,0,0
$GC,3333,0.66,155.7,445.0,13.9,419,3335,0.15,0.00,0.00,0.000,6,0.183,0.000,2642,2011,2654,0,0,0,0,0,0
$GC,3652,0.64,187.5,407.2,12.0,449,3680,0.00,2.15,23.98,0.797,4,0.000,0.037,2651,604,2533,0,0,0,0,0,0
$GC,3793,0.59,187.5,389.5,14.2,461,3798,0.12,2.10,0.00,0.000,6,0.176,0.034,2620,2000,2530,0,0,0,0,0,0
$GC,4120,0.65,259.7,355.7,9.6,491,4182,0.00,2.28,55.45,0.790,4,0.000,0.042,2620,3398,2238,0,0,0,0,0,0
$GC,4265,0.66,264.4,338.6,13.6,503,4275,0.00,2.15,4.12,0.489,6,0.000,0.031,2628,2011,2222,0,0,0,0,0,0
$GC,4593,0.67,271.6,294.9,13.5,537,4607,0.00,2.15,7.05,0.620,4,0.000,0.039,2640,595,2191,0,0,0,0,0,0
$GC,4675,0.69,287.2,284.1,13.0,551,4696,0.00,2.12,13.70,0.692,6,0.000,0.033,2640,2002,2127,0,0,0,0,0,0
$GC,5020,0.71,305.5,235.8,12.8,614,5042,0.00,0.00,14.98,0.674,6,0.000,0.000,2639,2002,2053,0,0,0,0,0,0
$GC,5372,0.75,341.2,190.6,11.8,677,5407,0.00,2.17,27.67,0.667,4,0.000,0.039,2650,601,1908,0,0,0,0,0,0
$GC,5421,0.81,374.3,184.5,11.9,684,5458,0.08,2.17,26.38,0.648,6,0.055,0.034,2699,2004,1772,0,0,0,0,0,0
$GC,5784,0.79,374.3,119.8,17.9,749,5793,0.00,2.17,0.00,0.000,4,0.000,0.041,2699,3405,1766,0,0,0,0,0,0
$GC,5877,0.79,374.3,102.6,18.3,765,5886,0.10,2.15,0.00,0.000,6,0.151,0.031,2679,1999,1764,0,0,0,0,0,0
$GC,6213,0.85,390.4,59.3,12.9,826,6231,0.00,2.15,12.32,0.542,4,0.000,0.041,2689,594,1705,0,0,0,0,0,0
$GC,6247,0.95,443.6,55.7,10.7,830,6296,0.10,2.15,40.92,0.570,6,0.053,0.032,2747,2004,1489,0,0,0,0,0,0
$STATE,6599,end climb,SURFACE_DEPTH_REACHED
$STATE,6599,begin surface coast
$FINISH,0.6,1.011405
$STATE,6617,end surface coast,CONTROL_FINISHED_OK
$STATE,6617,begin surface
$SM_CCo,6704,0.00,0.000,0,0,1480,445.71
$SM_GC,1.76,6.62,0.00,0.00,0.042,0.000,0.000,208,2427,1480,-6.84,0.76,445.71
$IRIDIUM_FIX,2411.01,12607.73,101010,040410
$TT8_MAMPS,0.027713
$HUMID,48.54
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,24.6,26.096
$10V_AH,10.2,32.535
$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,16.775,60.725,462.575,0.000,0.000,30.499,14.728,182.905,0.500,0.000,17.416,2158.017,1728.070,458.465,2541.176,211.013,0.000,1287.498,0.000,1387.600,0.000,0.543,0.000
$DEVICE_MAMPS,224.910,51.255,872.100,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,603.897,1362.580,1626.204,0.000,0.000,0.000,2204.219,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331436
$DATA_FILE_SIZE,63704,895
$CAP_FILE_SIZE,93028,0
$CFSIZE,260165632,236650496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107, 46.3,1
$GPS,101010,080932,2418.013,12609.611,13,1.8,13,-3.7