version: 66.08
glider: 181
mission: 4
dive: 219
start: 10 12 110 8 57 24
data:
$ID,181
$MISSION,4
$DIVE,219
$N_DIVES,223
$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,-38121.621
$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,49
$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,436.0
$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
$GPS1,121010,085001,2401.947,12608.566,40,1.4,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-71.7
$GPS2,121010,085656,2402.024,12608.584,13,1.0,13,-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,19.9,33299,-22.5,-13.889
$D_GRID,1575
$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,19,-0.89,-155.7,0.0,0.0,0,73,0.00,0.00,-52.12,0.000,2,0.000,0.000,196,2421,2753,0,0,0,0,0,0
$GC,76,-0.89,-155.7,3.3,-5.0,7,117,7.57,2.10,-25.90,0.000,4,0.223,0.052,2120,3785,3930,0,0,0,0,0,0
$GC,293,-0.81,-155.7,75.0,-32.8,44,303,0.12,2.10,0.00,0.000,6,0.154,0.029,2157,2407,3932,0,0,0,0,0,0
$GC,632,-0.75,-155.7,170.7,-22.8,105,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2405,3933,0,0,0,0,0,0
$GC,984,-0.72,-155.7,242.5,-20.4,166,993,0.12,2.15,0.00,0.000,4,0.165,0.034,2191,987,3934,0,0,0,0,0,0
$GC,1022,-0.74,-155.7,249.4,-17.9,172,1031,0.00,2.15,0.00,0.000,6,0.000,0.035,2184,2395,3934,0,0,0,0,0,0
$GC,1369,-0.75,-155.7,311.9,-17.1,228,1373,0.00,2.12,0.00,0.000,4,0.000,0.043,2174,3785,3934,0,0,0,0,0,0
$GC,1424,-0.79,-155.7,321.4,-15.5,232,1433,0.00,2.08,0.00,0.000,6,0.000,0.027,2174,2391,3934,0,0,0,0,0,0
$GC,1750,-0.81,-155.7,371.7,-13.2,263,1754,0.00,2.05,0.00,0.000,4,0.000,0.034,2180,993,3934,0,0,0,0,0,0
$GC,1784,-0.84,-155.7,376.4,-12.4,265,1791,0.00,2.12,0.00,0.000,6,0.000,0.035,2164,2403,3934,0,0,0,0,0,0
$GC,2109,-0.85,-155.7,423.2,-15.9,296,2113,0.00,2.08,0.00,0.000,4,0.000,0.044,2154,3780,3931,0,0,0,0,0,0
$GC,2176,-0.89,-155.7,433.6,-14.7,301,2183,0.00,2.03,0.00,0.000,6,0.000,0.028,2154,2397,3930,0,0,0,0,0,0
$GC,2501,-0.90,-155.7,485.7,-15.0,332,2505,0.00,2.08,0.00,0.000,4,0.000,0.035,2154,1003,3929,0,0,0,0,0,0
$GC,2583,-0.94,-155.7,497.2,-13.7,339,2587,0.00,2.12,0.00,0.000,6,0.000,0.037,2150,2402,3928,0,0,0,0,0,0
$STATE,2605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2605,begin apogee
$GC,2610,-0.16,0.0,500.7,13.4,341,2733,0.65,0.00,115.70,0.874,6,0.120,0.000,2367,1982,3298,0,0,0,0,0,0
$STATE,2733,end apogee,CONTROL_FINISHED_OK
$STATE,2734,begin climb
$GC,2735,0.89,155.7,506.1,0.0,351,2863,0.93,2.20,119.53,0.856,4,0.044,0.037,2736,604,2663,0,0,0,0,0,0
$GC,3008,0.75,155.7,486.7,16.5,374,3017,0.22,2.17,0.00,0.000,6,0.165,0.032,2670,2010,2657,0,0,0,0,0,0
$GC,3336,0.70,181.2,445.6,12.4,405,3361,0.00,2.22,19.35,0.795,4,0.000,0.037,2679,604,2559,0,0,0,0,0,0
$GC,3468,0.61,181.2,426.3,15.3,416,3478,0.20,2.15,0.00,0.000,6,0.154,0.033,2619,1996,2557,0,0,0,0,0,0
$GC,3794,0.65,230.5,388.5,10.9,447,3835,0.00,0.00,38.33,0.805,6,0.000,0.000,2619,1997,2361,0,0,0,0,0,0
$GC,4153,0.67,249.6,345.6,12.7,481,4178,0.00,2.22,15.23,0.743,4,0.000,0.044,2618,3399,2280,0,0,0,0,0,0
$GC,4251,0.66,249.6,332.4,13.9,489,4257,0.00,2.10,0.00,0.000,6,0.000,0.031,2627,2015,2278,0,0,0,0,0,0
$GC,4579,0.67,261.1,292.4,13.2,525,4595,0.00,2.22,9.85,0.678,4,0.000,0.042,2627,3410,2233,0,0,0,0,0,0
$GC,4613,0.67,263.9,287.7,13.7,530,4622,0.00,2.15,3.70,0.445,6,0.000,0.031,2638,2005,2222,0,0,0,0,0,0
$GC,4957,0.67,265.2,239.4,13.8,591,4964,0.00,2.12,0.00,0.000,4,0.000,0.041,2649,596,2219,0,0,0,0,0,0
$GC,4995,0.66,265.2,233.9,14.5,597,5001,0.00,2.12,0.00,0.000,6,0.000,0.033,2649,2008,2219,0,0,0,0,0,0
$GC,5339,0.70,308.3,187.1,11.3,658,5381,0.00,2.20,34.42,0.679,4,0.000,0.038,2659,593,2040,0,0,0,0,0,0
$GC,5424,0.72,323.2,176.3,13.0,671,5446,0.00,2.15,12.38,0.616,6,0.000,0.033,2659,2006,1980,0,0,0,0,0,0
$GC,5777,0.73,328.1,130.3,13.6,734,5787,0.00,2.17,4.53,0.444,4,0.000,0.041,2659,3409,1962,0,0,0,0,0,0
$GC,5827,0.73,328.1,122.7,14.2,742,5835,0.00,2.15,0.00,0.000,6,0.000,0.031,2669,2003,1961,0,0,0,0,0,0
$GC,6160,0.77,353.3,79.1,12.4,803,6192,0.00,2.20,20.73,0.580,4,0.000,0.040,2680,596,1855,0,0,0,0,0,0
$GC,6320,0.89,408.7,60.9,10.6,830,6374,0.00,2.15,42.38,0.574,6,0.000,0.032,2680,2002,1628,0,0,0,0,0,0
$GC,6701,1.02,465.6,24.5,10.5,897,6756,0.20,2.20,42.50,0.537,4,0.060,0.040,2773,3411,1398,0,0,0,0,0,0
$GC,6815,1.00,465.6,4.0,19.1,914,6824,0.10,2.17,0.00,0.000,6,0.145,0.031,2753,2002,1394,0,0,0,0,0,0
$STATE,6831,end climb,SURFACE_DEPTH_REACHED
$STATE,6831,begin surface coast
$FINISH,0.7,0.998382
$STATE,6850,end surface coast,CONTROL_FINISHED_OK
$STATE,6851,begin surface
$SM_CCo,6941,0.00,0.000,0,0,1391,467.79
$SM_GC,1.71,6.65,0.00,0.00,0.039,0.000,0.000,201,2402,1391,-6.84,0.06,467.79
$IRIDIUM_FIX,2356.84,12610.66,121010,060600
$TT8_MAMPS,0.027713
$HUMID,47.79
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.6,28.983
$10V_AH,10.1,36.447
$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,16.775,65.450,478.600,0.000,0.000,28.953,37.308,180.974,0.000,0.000,16.189,2205.648,1779.277,486.693,2651.545,235.729,0.000,1357.042,0.000,1432.636,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,52.020,873.630,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,619.232,1398.360,1704.319,0.000,0.000,0.000,2457.746,0.000,0.000,0.000
$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,67101,919
$CAP_FILE_SIZE,96966,0
$CFSIZE,260165632,234913792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,326.8,1
$GPS,121010,105350,2403.052,12608.806,9,1.3,9,-3.6