version: 66.08
glider: 181
mission: 4
dive: 248
start: 10 14 110 19 34 13
data:
$ID,181
$MISSION,4
$DIVE,248
$N_DIVES,255
$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,-38158.039
$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,42
$R_STBD_OVSHOOT,43
$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,494.0
$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
$GPS1,141010,192621,2420.083,12609.682,7,2.4,26,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-71.2
$GPS2,141010,193345,2420.086,12609.738,11,2.9,30,-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,277.5,1256,-22.5,-13.889
$D_GRID,1664
$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,-155.7,0.0,0.0,0,78,0.00,0.00,-55.58,0.000,2,0.000,0.000,193,2412,2882,0,0,0,0,0,0
$GC,81,-0.89,-155.7,3.6,-6.4,7,121,7.75,2.17,-21.92,0.000,4,0.227,0.047,2134,992,3936,0,0,0,0,0,0
$GC,216,-0.80,-155.7,47.8,-30.7,29,226,0.12,2.17,0.00,0.000,6,0.167,0.037,2160,2393,3936,0,0,0,0,0,0
$GC,552,-0.74,-155.7,147.3,-24.1,90,560,0.00,2.15,0.00,0.000,4,0.000,0.041,2152,3787,3937,0,0,0,0,0,0
$GC,596,-0.68,-155.7,158.2,-23.8,97,604,0.20,2.08,0.00,0.000,6,0.149,0.025,2207,2375,3937,0,0,0,0,0,0
$GC,942,-0.70,-155.7,218.5,-15.9,158,950,0.00,2.20,0.00,0.000,4,0.000,0.042,2198,3781,3942,0,0,0,0,0,0
$GC,965,-0.72,-155.7,221.7,-15.3,161,973,0.00,2.03,0.00,0.000,6,0.000,0.026,2198,2395,3938,0,0,0,0,0,0
$GC,1294,-0.74,-155.7,276.2,-16.5,222,1302,0.00,2.15,0.00,0.000,4,0.000,0.043,2188,3778,3938,0,0,0,0,0,0
$GC,1363,-0.79,-155.7,286.6,-13.4,234,1371,0.00,2.05,0.00,0.000,6,0.000,0.027,2188,2400,3939,0,0,0,0,0,0
$GC,1691,-0.81,-155.7,341.9,-15.3,272,1694,0.00,2.03,0.00,0.000,4,0.000,0.032,2187,1010,3938,0,0,0,0,0,0
$GC,1718,-0.84,-155.7,346.4,-15.6,274,1726,0.00,2.12,0.00,0.000,6,0.000,0.034,2178,2400,3937,0,0,0,0,0,0
$GC,2045,-0.86,-155.7,398.5,-16.3,305,2049,0.00,2.12,0.00,0.000,4,0.000,0.044,2168,3777,3936,0,0,0,0,0,0
$GC,2088,-0.90,-155.7,406.0,-14.9,308,2097,0.08,2.05,0.00,0.000,6,0.053,0.027,2105,2402,3936,0,0,0,0,0,0
$GC,2415,-0.85,-155.7,475.3,-22.7,339,2420,0.17,2.10,0.00,0.000,4,0.162,0.033,2152,995,3932,0,0,0,0,0,0
$GC,2455,-0.85,-155.7,483.0,-17.0,342,2459,0.00,2.10,0.00,0.000,6,0.000,0.035,2148,2399,3937,0,0,0,0,0,0
$STATE,2556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2556,begin apogee
$GC,2562,-0.16,0.0,500.1,17.2,351,2685,0.68,0.00,116.85,0.870,6,0.126,0.000,2366,1973,3299,0,0,0,0,0,0
$STATE,2685,end apogee,CONTROL_FINISHED_OK
$STATE,2686,begin climb
$GC,2687,0.89,155.7,507.5,0.0,361,2818,0.93,2.15,119.30,0.858,4,0.047,0.036,2731,611,2662,0,0,0,0,0,0
$GC,3065,0.76,155.7,473.7,15.5,394,3074,0.20,2.15,0.00,0.000,6,0.161,0.031,2672,2013,2656,0,0,0,0,0,0
$GC,3392,0.69,177.4,434.7,12.6,425,3418,0.00,2.17,16.67,0.780,4,0.000,0.037,2681,617,2573,0,0,0,0,0,0
$GC,3555,0.67,226.2,413.7,11.0,439,3600,0.15,2.08,38.50,0.806,6,0.168,0.031,2642,2001,2375,0,0,0,0,0,0
$GC,3918,0.66,241.7,369.2,13.0,473,3935,0.00,2.15,12.68,0.727,4,0.000,0.038,2642,3397,2312,0,0,0,0,0,0
$GC,3949,0.64,251.1,364.8,13.3,475,3965,0.00,2.08,8.52,0.668,6,0.000,0.029,2651,2017,2275,0,0,0,0,0,0
$GC,4292,0.61,251.1,315.1,14.2,507,4296,0.00,2.15,0.00,0.000,4,0.000,0.038,2662,597,2270,0,0,0,0,0,0
$GC,4353,0.58,251.1,306.4,14.5,512,4358,0.17,2.10,0.00,0.000,6,0.157,0.031,2614,2002,2269,0,0,0,0,0,0
$GC,4682,0.63,278.5,267.0,12.2,567,4711,0.00,2.17,21.67,0.713,4,0.000,0.039,2614,3410,2161,0,0,0,0,0,0
$GC,4736,0.65,288.8,260.1,13.3,575,4752,0.00,2.12,9.25,0.631,6,0.000,0.029,2623,1998,2121,0,0,0,0,0,0
$GC,5075,0.67,288.8,214.9,14.1,637,5083,0.00,2.15,0.00,0.000,4,0.000,0.039,2623,3401,2117,0,0,0,0,0,0
$GC,5138,0.69,288.8,205.2,14.5,648,5146,0.00,2.12,0.00,0.000,6,0.000,0.030,2633,2007,2116,0,0,0,0,0,0
$GC,5480,0.73,322.3,155.4,11.9,709,5516,0.00,2.20,25.88,0.649,4,0.000,0.039,2644,592,1982,0,0,0,0,0,0
$GC,5542,0.83,381.5,148.7,10.3,718,5597,0.10,2.15,45.70,0.640,6,0.050,0.031,2705,1998,1741,0,0,0,0,0,0
$GC,5924,0.83,381.5,78.7,14.9,785,5933,0.00,2.17,0.00,0.000,4,0.000,0.039,2705,3401,1732,0,0,0,0,0,0
$GC,5979,0.83,381.5,69.5,16.6,794,5987,0.00,2.15,0.00,0.000,6,0.000,0.030,2715,1993,1732,0,0,0,0,0,0
$GC,6312,0.86,401.2,27.1,12.7,855,6336,0.00,2.15,14.30,0.524,4,0.000,0.039,2726,597,1662,0,0,0,0,0,0
$GC,6388,0.92,428.4,17.5,12.3,867,6420,0.00,2.12,21.80,0.529,6,0.000,0.031,2726,2001,1550,0,0,0,0,0,0
$STATE,6497,end climb,SURFACE_DEPTH_REACHED
$STATE,6497,begin surface coast
$FINISH,0.7,1.009679
$STATE,6524,end surface coast,CONTROL_FINISHED_OK
$STATE,6524,begin surface
$SM_CCo,6615,0.00,0.000,0,0,1545,430.01
$SM_GC,1.75,6.57,0.00,0.00,0.041,0.000,0.000,203,2427,1545,-6.83,0.76,430.01
$IRIDIUM_FIX,2406.29,12606.33,141010,171739
$TT8_MAMPS,0.027713
$HUMID,48.54
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.6,32.365
$10V_AH,10.2,40.990
$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,17.125,69.250,451.125,0.000,0.000,24.862,36.682,188.355,0.000,0.000,33.958,2151.571,1602.424,472.674,2592.736,241.790,0.000,1323.956,0.000,1401.869,0.000,0.544,0.000
$DEVICE_MAMPS,227.205,46.665,869.805,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,599.141,1352.489,1609.528,0.000,0.000,0.000,2252.803,0.000,0.000,0.000
$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,63727,889
$CAP_FILE_SIZE,97205,0
$CFSIZE,260165632,232906752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.181, 82.9,1
$GPS,141010,212537,2420.288,12609.350,33,1.2,33,-3.7