version: 66.08
glider: 181
mission: 4
dive: 103
start: 10 2 110 15 29 55
data:
$ID,181
$MISSION,4
$DIVE,103
$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,-37967.504
$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,204.0
$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
$GPS1,021010,152256,2416.667,12608.544,11,2.0,11,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-65.6
$GPS2,021010,152928,2416.708,12608.508,12,2.1,31,-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,19.5,6154,-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,19,-0.89,-155.7,0.0,0.0,0,106,0.00,0.00,-84.12,0.000,2,0.000,0.000,205,2409,2795,0,0,0,0,0,0
$GC,109,-0.89,-155.7,3.3,-5.9,11,149,7.60,2.10,-24.88,0.000,4,0.229,0.054,2120,3784,3934,0,0,0,0,0,0
$GC,282,-0.75,-155.7,65.8,-42.7,40,290,0.20,2.12,0.00,0.000,6,0.160,0.031,2178,2391,3935,0,0,0,0,0,0
$GC,616,-0.71,-155.7,154.5,-23.3,101,623,0.00,2.08,0.00,0.000,4,0.000,0.034,2178,982,3937,0,0,0,0,0,0
$GC,674,-0.69,-155.7,168.1,-21.8,111,681,0.12,2.12,0.00,0.000,6,0.159,0.036,2201,2394,3937,0,0,0,0,0,0
$GC,1011,-0.69,-155.7,226.4,-19.2,172,1020,0.00,2.12,0.00,0.000,4,0.000,0.044,2193,3773,3937,0,0,0,0,0,0
$GC,1203,-0.75,-155.7,255.9,-13.3,207,1210,0.00,2.03,0.00,0.000,6,0.000,0.027,2193,2388,3940,0,0,0,0,0,0
$GC,1533,-0.78,-155.7,308.8,-15.6,263,1537,0.00,2.05,0.00,0.000,4,0.000,0.034,2193,997,3936,0,0,0,0,0,0
$GC,1624,-0.84,-155.7,321.5,-12.8,271,1629,0.12,2.12,0.00,0.000,6,0.082,0.037,2129,2407,3937,0,0,0,0,0,0
$GC,1954,-0.81,-155.7,386.1,-18.7,302,1959,0.12,2.10,0.00,0.000,4,0.184,0.044,2151,3778,3935,0,0,0,0,0,0
$GC,2030,-0.84,-155.7,398.4,-13.4,308,2039,0.00,2.05,0.00,0.000,6,0.000,0.028,2151,2400,3934,0,0,0,0,0,0
$GC,2356,-0.84,-155.7,448.9,-15.6,339,2359,0.00,2.05,0.00,0.000,4,0.000,0.035,2151,1001,3932,0,0,0,0,0,0
$GC,2404,-0.87,-155.7,457.3,-16.1,343,2412,0.00,2.12,0.00,0.000,6,0.000,0.037,2142,2391,3932,0,0,0,0,0,0
$STATE,2643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2644,begin apogee
$GC,2648,-0.16,0.0,500.0,17.7,366,2769,0.68,0.00,116.28,0.862,6,0.126,0.000,2365,1984,3298,0,0,0,0,0,0
$STATE,2770,end apogee,CONTROL_FINISHED_OK
$STATE,2770,begin climb
$GC,2772,0.89,155.7,507.7,0.0,376,2900,0.93,2.15,120.10,0.845,4,0.041,0.037,2740,617,2662,0,0,0,0,0,0
$GC,2948,0.75,155.7,504.5,15.9,390,2958,0.25,2.17,0.00,0.000,6,0.177,0.032,2670,2004,2658,0,0,0,0,0,0
$GC,3275,0.66,155.7,459.5,14.1,421,3279,0.12,2.15,0.00,0.000,4,0.193,0.043,2639,3411,2655,0,0,0,0,0,0
$GC,3524,0.62,187.1,426.7,12.0,443,3553,0.00,2.08,23.65,0.794,6,0.000,0.031,2647,2011,2536,0,0,0,0,0,0
$GC,3874,0.60,219.0,385.0,12.0,475,3910,0.00,2.25,25.38,0.779,4,0.000,0.043,2647,3408,2404,0,0,0,0,0,0
$GC,3978,0.54,219.0,369.2,16.9,484,3983,0.22,2.12,0.00,0.000,6,0.171,0.031,2599,2001,2400,0,0,0,0,0,0
$GC,4303,0.60,270.5,331.8,10.8,514,4345,0.00,0.00,40.28,0.763,6,0.000,0.000,2598,1996,2195,0,0,0,0,0,0
$GC,4664,0.68,314.6,291.1,11.2,555,4706,0.12,2.22,34.30,0.731,4,0.088,0.041,2655,3411,2015,0,0,0,0,0,0
$GC,4762,0.68,314.6,274.7,18.5,571,4769,0.00,2.17,0.00,0.000,6,0.000,0.031,2666,1992,2011,0,0,0,0,0,0
$GC,5088,0.66,314.6,217.7,17.6,632,5096,0.00,2.15,0.00,0.000,4,0.000,0.042,2677,597,2007,0,0,0,0,0,0
$GC,5167,0.65,314.6,205.5,14.6,646,5176,0.12,2.15,0.00,0.000,6,0.141,0.033,2637,2003,2007,0,0,0,0,0,0
$GC,5507,0.67,316.8,161.2,13.8,707,5514,0.00,2.12,0.00,0.000,4,0.000,0.042,2637,3405,2006,0,0,0,0,0,0
$GC,5587,0.69,316.8,149.4,14.0,721,5596,0.00,2.12,0.00,0.000,6,0.000,0.031,2645,2000,2006,0,0,0,0,0,0
$GC,5921,0.72,316.8,105.1,15.3,782,5929,0.00,2.15,0.00,0.000,4,0.000,0.042,2656,592,2005,0,0,0,0,0,0
$GC,6003,0.79,345.2,94.3,12.2,796,6035,0.00,2.12,23.15,0.592,6,0.000,0.034,2656,1996,1888,0,0,0,0,0,0
$GC,6361,1.00,461.9,59.7,6.9,860,6456,0.25,2.20,86.82,0.568,4,0.057,0.041,2773,3413,1413,0,0,0,0,0,0
$GC,6493,0.98,461.9,37.9,20.3,878,6502,0.12,2.20,0.00,0.000,6,0.143,0.031,2745,2007,1410,0,0,0,0,0,0
$STATE,6695,end climb,SURFACE_DEPTH_REACHED
$STATE,6695,begin surface coast
$FINISH,0.4,1.021732
$STATE,6714,end surface coast,CONTROL_FINISHED_OK
$STATE,6714,begin surface
$SM_CCo,6738,102.07,0.058,0,0,486,690.03
$SM_GC,1.26,0.00,0.00,102.07,0.000,0.000,0.058,204,2403,486,-6.94,0.08,690.03
$IRIDIUM_FIX,2413.38,12602.51,021010,131339
$TT8_MAMPS,0.027713
$HUMID,46.29
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,24.6,15.720
$10V_AH,10.3,18.306
$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,17.625,60.775,469.950,102.075,0.000,25.747,39.006,174.283,0.250,0.000,35.217,2204.676,1624.313,589.234,2662.735,157.793,0.000,1454.608,0.000,1436.589,0.000,0.543,0.000
$DEVICE_MAMPS,228.735,53.550,862.155,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,619.072,1396.818,1693.146,0.000,0.000,0.000,2419.868,0.000,0.000,0.000
$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,63859,918
$CAP_FILE_SIZE,95256,0
$CFSIZE,260165632,242933760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,352.6,1
$GPS,021010,172506,2417.718,12608.777,34,1.2,34,-3.7