version: 66.08
glider: 181
mission: 4
dive: 104
start: 10 2 110 17 31 29
data:
$ID,181
$MISSION,4
$DIVE,104
$N_DIVES,115
$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,-37968.762
$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,34
$R_STBD_OVSHOOT,39
$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,206.0
$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
$GPS1,021010,172506,2417.718,12608.777,34,1.2,34,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-67.7
$GPS2,021010,173102,2417.757,12608.746,13,1.6,13,-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,12.1,4177,-22.5,-13.889
$D_GRID,1619
$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,-155.7,0.0,0.0,0,107,0.00,0.00,-84.40,0.000,2,0.000,0.000,203,2404,2799,0,0,0,0,0,0
$GC,109,-0.89,-155.7,3.3,-5.8,11,150,7.65,2.10,-24.60,0.000,4,0.230,0.052,2124,3784,3933,0,0,0,0,0,0
$GC,275,-0.77,-155.7,63.7,-38.7,39,284,0.15,2.12,0.00,0.000,6,0.164,0.031,2173,2387,3935,0,0,0,0,0,0
$GC,606,-0.71,-155.7,155.8,-26.3,100,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2385,3937,0,0,0,0,0,0
$GC,944,-0.68,-155.7,233.8,-20.8,161,953,0.12,2.15,0.00,0.000,4,0.167,0.042,2193,3787,3937,0,0,0,0,0,0
$GC,1020,-0.72,-155.7,245.7,-13.2,174,1028,0.00,2.08,0.00,0.000,6,0.000,0.028,2193,2391,3937,0,0,0,0,0,0
$GC,1351,-0.75,-155.7,295.0,-15.6,235,1358,0.00,2.05,0.00,0.000,4,0.000,0.034,2193,994,3936,0,0,0,0,0,0
$GC,1441,-0.80,-155.7,308.1,-13.4,246,1445,0.00,2.10,0.00,0.000,6,0.000,0.037,2191,2401,3937,0,0,0,0,0,0
$GC,1767,-0.83,-155.7,356.7,-15.0,276,1771,0.00,2.10,0.00,0.000,4,0.000,0.044,2181,3781,3935,0,0,0,0,0,0
$GC,1885,-0.89,-155.7,373.0,-12.9,286,1890,0.12,2.00,0.00,0.000,6,0.082,0.028,2110,2404,3937,0,0,0,0,0,0
$GC,2211,-0.85,-155.7,443.4,-21.9,316,2216,0.15,2.12,0.00,0.000,4,0.168,0.044,2141,3788,3932,0,0,0,0,0,0
$GC,2260,-0.87,-155.7,452.4,-15.9,320,2264,0.00,2.05,0.00,0.000,6,0.000,0.028,2140,2402,3932,0,0,0,0,0,0
$STATE,2564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2564,begin apogee
$GC,2568,-0.16,0.0,501.4,16.3,348,2691,0.70,0.00,116.40,0.858,6,0.125,0.000,2370,1973,3298,0,0,0,0,0,0
$STATE,2692,end apogee,CONTROL_FINISHED_OK
$STATE,2692,begin climb
$GC,2694,0.89,155.7,506.1,0.0,358,2824,0.90,2.15,119.68,0.845,4,0.037,0.037,2741,609,2664,0,0,0,0,0,0
$GC,2858,0.74,155.7,501.6,16.0,372,2863,0.30,2.15,0.00,0.000,6,0.182,0.033,2665,2007,2661,0,0,0,0,0,0
$GC,3184,0.69,188.5,460.0,11.9,402,3220,0.00,2.22,25.92,0.799,4,0.000,0.042,2664,3401,2528,0,0,0,0,0,0
$GC,3369,0.61,188.5,431.9,14.9,418,3378,0.17,2.12,0.00,0.000,6,0.164,0.031,2622,2019,2523,0,0,0,0,0,0
$GC,3696,0.63,230.6,394.3,11.4,449,3735,0.00,2.25,32.45,0.788,4,0.000,0.043,2622,3402,2358,0,0,0,0,0,0
$GC,3800,0.60,230.6,380.1,15.2,458,3804,0.00,2.12,0.00,0.000,6,0.000,0.031,2630,1996,2354,0,0,0,0,0,0
$GC,4125,0.62,259.5,337.6,12.2,488,4154,0.00,2.25,22.77,0.747,4,0.000,0.042,2630,3402,2239,0,0,0,0,0,0
$GC,4215,0.61,259.5,324.8,15.1,496,4219,0.00,2.12,0.00,0.000,6,0.000,0.031,2641,1996,2239,0,0,0,0,0,0
$GC,4541,0.60,262.7,277.8,13.7,540,4549,0.00,2.15,0.00,0.000,4,0.000,0.041,2651,596,2233,0,0,0,0,0,0
$GC,4667,0.60,262.7,259.6,14.1,563,4675,0.12,2.12,0.00,0.000,6,0.171,0.033,2620,2013,2233,0,0,0,0,0,0
$GC,5000,0.66,302.2,218.1,11.5,624,5043,0.00,2.22,33.10,0.688,4,0.000,0.041,2629,601,2064,0,0,0,0,0,0
$GC,5067,0.73,340.5,210.6,11.6,634,5104,0.00,2.15,30.08,0.673,6,0.000,0.034,2629,1994,1909,0,0,0,0,0,0
$GC,5435,0.79,357.3,162.9,12.9,699,5458,0.15,2.20,13.50,0.605,4,0.081,0.040,2699,3414,1839,0,0,0,0,0,0
$GC,5488,0.76,357.3,154.3,19.4,707,5496,0.15,2.15,0.00,0.000,6,0.167,0.032,2670,1988,1836,0,0,0,0,0,0
$GC,5821,0.77,357.3,99.0,15.3,768,5829,0.00,2.12,0.00,0.000,4,0.000,0.042,2680,602,1835,0,0,0,0,0,0
$GC,5902,0.81,364.4,86.9,13.5,782,5918,0.00,2.12,5.85,0.472,6,0.000,0.033,2680,2000,1814,0,0,0,0,0,0
$GC,6244,0.97,460.1,51.6,8.2,844,6323,0.15,2.22,72.12,0.564,4,0.075,0.040,2752,3414,1421,0,0,0,0,0,0
$GC,6360,0.97,460.1,35.6,17.1,860,6368,0.00,2.20,0.00,0.000,6,0.000,0.031,2761,2006,1418,0,0,0,0,0,0
$STATE,6537,end climb,SURFACE_DEPTH_REACHED
$STATE,6537,begin surface coast
$FINISH,0.5,1.000585
$STATE,6555,end surface coast,CONTROL_FINISHED_OK
$STATE,6555,begin surface
$SM_CCo,6577,102.85,0.058,0,0,484,690.03
$SM_GC,1.31,0.00,0.00,102.85,0.000,0.000,0.058,198,2413,484,-6.95,0.37,690.03
$IRIDIUM_FIX,2406.29,12608.24,021010,151551
$TT8_MAMPS,0.027713
$HUMID,46.33
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.00
$XPDR_PINGS,3
$24V_AH,24.7,15.835
$10V_AH,10.3,18.461
$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,17.525,61.150,471.875,102.850,0.000,24.374,20.482,176.465,0.750,0.000,15.871,2150.299,1580.355,588.038,2560.563,163.432,0.000,1443.878,0.000,1405.968,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,52.020,858.330,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,603.010,1361.807,1640.179,0.000,0.000,0.000,2251.906,0.000,0.000,0.000
$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,63801,895
$CAP_FILE_SIZE,95262,0
$CFSIZE,260165632,242864128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063, 60.1,1
$GPS,021010,192337,2418.773,12609.194,5,1.5,10,-3.7