version: 66.08
glider: 181
mission: 4
dive: 107
start: 10 2 110 23 22 36
data:
$ID,181
$MISSION,4
$DIVE,107
$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,-37972.527
$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,41
$R_STBD_OVSHOOT,40
$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,212.0
$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
$GPS1,021010,231556,2419.005,12609.416,10,1.4,10,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-67.2
$GPS2,021010,232208,2419.037,12609.466,10,1.9,10,-3.7
$SPEED_LIMITS,0.241,0.296
$TGT_NAME,NWALL_S
$TGT_LATLONG,2400.000,12609.000
$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,211.2,35266,-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,-155.7,0.0,0.0,0,105,0.00,0.00,-83.00,0.000,2,0.000,0.000,201,2406,2755,0,0,0,0,0,0
$GC,107,-0.89,-155.7,3.3,-5.6,11,148,7.62,2.12,-26.12,0.000,4,0.230,0.046,2131,984,3933,0,0,0,0,0,0
$GC,253,-0.79,-155.7,52.5,-37.0,35,262,0.15,2.17,0.00,0.000,6,0.162,0.036,2166,2395,3935,0,0,0,0,0,0
$GC,588,-0.73,-155.7,144.4,-24.4,96,596,0.00,2.12,0.00,0.000,4,0.000,0.041,2158,3777,3935,0,0,0,0,0,0
$GC,625,-0.69,-155.7,154.9,-26.7,102,634,0.12,2.08,0.00,0.000,6,0.138,0.028,2196,2393,3937,0,0,0,0,0,0
$GC,963,-0.69,-155.7,221.8,-20.4,163,970,0.00,2.05,0.00,0.000,4,0.000,0.033,2197,989,3937,0,0,0,0,0,0
$GC,982,-0.69,-155.7,225.7,-19.8,166,990,0.00,2.15,0.00,0.000,6,0.000,0.036,2189,2398,3937,0,0,0,0,0,0
$GC,1310,-0.69,-155.7,285.5,-16.0,227,1317,0.00,2.10,0.00,0.000,4,0.000,0.044,2179,3787,3937,0,0,0,0,0,0
$GC,1479,-0.72,-155.7,311.7,-16.2,251,1487,0.00,2.08,0.00,0.000,6,0.000,0.027,2179,2393,3937,0,0,0,0,0,0
$GC,1806,-0.72,-155.7,369.4,-16.6,282,1810,0.00,2.03,0.00,0.000,4,0.000,0.034,2179,1004,3935,0,0,0,0,0,0
$GC,1865,-0.77,-155.7,378.8,-13.6,287,1873,0.00,2.12,0.00,0.000,6,0.000,0.036,2170,2398,3934,0,0,0,0,0,0
$GC,2193,-0.78,-155.7,429.4,-16.7,318,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2397,3931,0,0,0,0,0,0
$GC,2510,-0.81,-155.7,479.3,-15.2,348,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2397,3932,0,0,0,0,0,0
$STATE,2656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2656,begin apogee
$GC,2661,-0.16,0.0,500.6,13.8,362,2784,0.60,0.00,115.97,0.858,6,0.120,0.000,2372,1977,3298,0,0,0,0,0,0
$STATE,2784,end apogee,CONTROL_FINISHED_OK
$STATE,2785,begin climb
$GC,2786,0.89,155.7,506.9,0.0,372,2921,0.90,2.38,119.88,0.842,4,0.045,0.039,2720,3414,2660,0,0,0,0,0,0
$GC,3083,0.74,155.7,480.0,17.7,397,3091,0.25,2.12,0.00,0.000,6,0.182,0.030,2667,2013,2656,0,0,0,0,0,0
$GC,3408,0.71,199.9,441.0,11.2,428,3449,0.00,2.25,33.80,0.802,4,0.000,0.038,2677,596,2483,0,0,0,0,0,0
$GC,3469,0.66,219.0,433.9,12.7,433,3495,0.15,2.17,16.17,0.752,6,0.170,0.034,2640,2010,2405,0,0,0,0,0,0
$GC,3812,0.62,219.0,382.7,14.7,465,3815,0.00,2.12,0.00,0.000,4,0.000,0.043,2639,3402,2397,0,0,0,0,0,0
$GC,4065,0.61,244.8,346.5,12.3,487,4090,0.00,2.10,20.02,0.744,6,0.000,0.031,2647,2001,2300,0,0,0,0,0,0
$GC,4407,0.63,287.9,303.3,11.3,519,4451,0.00,2.20,33.90,0.736,4,0.000,0.040,2658,603,2121,0,0,0,0,0,0
$GC,4480,0.61,287.9,293.1,14.6,528,4489,0.10,2.15,0.00,0.000,6,0.149,0.033,2627,1990,2122,0,0,0,0,0,0
$GC,4825,0.62,302.1,246.7,13.0,589,4841,0.00,0.00,11.57,0.649,6,0.000,0.000,2627,1991,2066,0,0,0,0,0,0
$GC,5177,0.65,310.7,202.4,13.4,651,5192,0.00,2.20,7.50,0.571,4,0.000,0.041,2627,3415,2031,0,0,0,0,0,0
$GC,5376,0.69,323.3,173.7,13.1,685,5393,0.00,2.12,10.85,0.598,6,0.000,0.031,2636,1997,1980,0,0,0,0,0,0
$GC,5725,0.73,337.0,132.1,13.1,747,5742,0.00,2.15,11.80,0.578,4,0.000,0.042,2646,589,1924,0,0,0,0,0,0
$GC,5886,0.82,375.3,113.6,11.6,775,5926,0.08,2.15,29.85,0.599,6,0.056,0.033,2699,2002,1768,0,0,0,0,0,0
$GC,6252,0.92,429.3,56.0,10.7,840,6300,0.00,2.20,40.67,0.561,4,0.000,0.041,2699,3404,1548,0,0,0,0,0,0
$GC,6369,1.02,467.4,43.5,11.6,858,6410,0.08,2.15,29.80,0.536,6,0.056,0.031,2760,2005,1394,0,0,0,0,0,0
$STATE,6609,end climb,SURFACE_DEPTH_REACHED
$STATE,6609,begin surface coast
$FINISH,0.5,1.021779
$STATE,6629,end surface coast,CONTROL_FINISHED_OK
$STATE,6629,begin surface
$SM_CCo,6653,100.20,0.058,0,0,485,690.27
$SM_GC,1.35,0.00,0.00,100.20,0.000,0.000,0.058,201,2411,485,-6.95,0.31,690.27
$IRIDIUM_FIX,2408.65,12604.42,021010,212154
$TT8_MAMPS,0.027713
$HUMID,45.70
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.7,16.180
$10V_AH,10.3,18.921
$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,16.725,52.675,481.800,100.200,0.000,30.403,37.399,169.955,0.500,0.000,13.365,2167.920,1618.603,589.396,2595.778,161.929,0.000,1444.177,0.000,1414.673,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,45.900,858.330,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,608.308,1374.294,1651.375,0.000,0.000,0.000,2333.769,0.000,0.000,0.000
$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,63690,903
$CAP_FILE_SIZE,92668,0
$CFSIZE,260165632,242667520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096, 67.3,1
$GPS,031010,011625,2418.447,12609.392,39,1.4,39,-3.7