version: 66.08
glider: 181
mission: 4
dive: 109
start: 10 3 110 3 24 53
data:
$ID,181
$MISSION,4
$DIVE,109
$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,-37975.039
$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,44
$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,216.0
$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
$GPS1,031010,031756,2417.746,12609.567,8,2.0,8,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-67.2
$GPS2,031010,032426,2417.751,12609.584,10,1.7,10,-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,204.6,32891,-22.5,-13.889
$D_GRID,1528
$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,-84.00,0.000,2,0.000,0.000,206,2414,2795,0,0,0,0,0,0
$GC,109,-0.89,-155.7,3.3,-5.4,11,149,7.57,2.15,-25.50,0.000,4,0.227,0.047,2130,989,3936,0,0,0,0,0,0
$GC,243,-0.78,-155.7,48.3,-37.4,33,252,0.15,2.17,0.00,0.000,6,0.161,0.037,2166,2399,3936,0,0,0,0,0,0
$GC,577,-0.72,-155.7,144.4,-25.9,94,586,0.00,2.12,0.00,0.000,4,0.000,0.041,2159,3784,3936,0,0,0,0,0,0
$GC,633,-0.70,-155.7,159.1,-24.5,103,641,0.15,2.05,0.00,0.000,6,0.148,0.027,2198,2391,3938,0,0,0,0,0,0
$GC,985,-0.70,-155.7,228.3,-19.4,164,993,0.00,2.15,0.00,0.000,4,0.000,0.042,2190,3778,3938,0,0,0,0,0,0
$GC,1077,-0.72,-155.7,244.4,-15.3,180,1087,0.00,2.05,0.00,0.000,6,0.000,0.027,2189,2402,3938,0,0,0,0,0,0
$GC,1421,-0.73,-155.7,304.2,-17.6,239,1425,0.00,2.08,0.00,0.000,4,0.000,0.034,2189,996,3937,0,0,0,0,0,0
$GC,1515,-0.77,-155.7,319.8,-15.8,247,1522,0.00,2.15,0.00,0.000,6,0.000,0.037,2179,2405,3937,0,0,0,0,0,0
$GC,1840,-0.77,-155.7,371.9,-15.5,278,1844,0.00,2.10,0.00,0.000,4,0.000,0.044,2169,3786,3937,0,0,0,0,0,0
$GC,1883,-0.80,-155.7,378.9,-14.5,281,1890,0.00,2.08,0.00,0.000,6,0.000,0.028,2169,2393,3936,0,0,0,0,0,0
$GC,2210,-0.81,-155.7,428.6,-14.1,312,2214,0.00,2.15,0.00,0.000,4,0.000,0.045,2159,3788,3934,0,0,0,0,0,0
$GC,2242,-0.83,-155.7,434.0,-14.5,314,2251,0.00,2.08,0.00,0.000,6,0.000,0.028,2159,2391,3933,0,0,0,0,0,0
$GC,2569,-0.85,-155.7,482.9,-14.4,345,2573,0.00,2.05,0.00,0.000,4,0.000,0.034,2159,1004,3932,0,0,0,0,0,0
$GC,2596,-0.87,-155.7,487.9,-16.0,347,2604,0.00,2.15,0.00,0.000,6,0.000,0.038,2151,2404,3931,0,0,0,0,0,0
$STATE,2677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2677,begin apogee
$GC,2682,-0.16,0.0,500.3,16.2,355,2804,0.65,0.00,115.85,0.858,6,0.124,0.000,2367,1984,3300,0,0,0,0,0,0
$STATE,2805,end apogee,CONTROL_FINISHED_OK
$STATE,2805,begin climb
$GC,2807,0.89,155.7,507.5,0.0,365,2935,0.93,2.17,119.80,0.843,4,0.042,0.036,2741,601,2664,0,0,0,0,0,0
$GC,3106,0.75,155.7,483.4,15.3,390,3116,0.25,2.17,0.00,0.000,6,0.177,0.033,2670,2007,2658,0,0,0,0,0,0
$GC,3434,0.68,173.0,439.5,12.9,421,3459,0.00,2.17,13.73,0.758,4,0.000,0.038,2679,617,2592,0,0,0,0,0,0
$GC,3494,0.60,179.8,431.2,13.5,426,3509,0.22,2.12,6.88,0.652,6,0.168,0.034,2619,2014,2564,0,0,0,0,0,0
$GC,3826,0.63,232.1,393.2,10.8,457,3875,0.00,2.17,40.97,0.792,4,0.000,0.041,2619,3398,2347,0,0,0,0,0,0
$GC,3957,0.61,232.1,375.7,15.8,468,3967,0.00,2.12,0.00,0.000,6,0.000,0.031,2626,2023,2345,0,0,0,0,0,0
$GC,4284,0.61,246.6,333.4,13.0,499,4300,0.00,2.12,11.62,0.700,4,0.000,0.041,2627,3399,2290,0,0,0,0,0,0
$GC,4395,0.59,246.6,317.4,14.0,508,4404,0.00,2.15,0.00,0.000,6,0.000,0.031,2635,1995,2288,0,0,0,0,0,0
$GC,4728,0.57,246.6,271.6,15.0,556,4737,0.00,2.15,0.00,0.000,4,0.000,0.040,2648,592,2285,0,0,0,0,0,0
$GC,4854,0.55,246.6,252.4,14.8,578,4862,0.12,2.12,0.00,0.000,6,0.148,0.033,2609,1993,2285,0,0,0,0,0,0
$GC,5198,0.65,315.9,214.6,9.7,639,5260,0.00,2.25,52.60,0.686,4,0.000,0.041,2609,3401,2009,0,0,0,0,0,0
$GC,5295,0.71,334.9,203.9,12.8,654,5319,0.08,2.17,15.62,0.630,6,0.060,0.030,2662,1995,1932,0,0,0,0,0,0
$GC,5659,0.71,334.9,141.1,15.6,717,5667,0.00,2.17,0.00,0.000,4,0.000,0.040,2663,3395,1929,0,0,0,0,0,0
$GC,5696,0.71,334.9,135.3,16.3,723,5704,0.00,2.12,0.00,0.000,6,0.000,0.031,2674,2003,1925,0,0,0,0,0,0
$GC,6028,0.71,334.9,86.6,14.9,784,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2001,1924,0,0,0,0,0,0
$GC,6361,0.89,439.8,53.3,7.6,845,6446,0.10,2.20,77.22,0.563,4,0.101,0.037,2740,583,1505,0,0,0,0,0,0
$GC,6477,0.92,440.8,39.4,13.8,861,6486,0.00,2.17,0.00,0.000,6,0.000,0.031,2740,1993,1497,0,0,0,0,0,0
$STATE,6712,end climb,SURFACE_DEPTH_REACHED
$STATE,6712,begin surface coast
$FINISH,0.4,1.004955
$STATE,6730,end surface coast,CONTROL_FINISHED_OK
$STATE,6731,begin surface
$SM_CCo,6756,112.05,0.057,0,0,484,690.03
$SM_GC,1.35,0.00,0.00,112.05,0.000,0.000,0.057,209,2427,484,-6.93,0.76,690.03
$IRIDIUM_FIX,2406.29,12608.24,031010,010122
$TT8_MAMPS,0.027713
$HUMID,45.07
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,24.7,16.403
$10V_AH,10.3,19.240
$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,16.800,65.325,454.300,112.050,0.000,29.224,39.181,185.316,0.250,0.000,13.534,2176.535,1674.583,609.218,2637.738,165.912,0.000,1479.546,0.000,1426.371,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,47.430,857.565,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,610.827,1380.164,1679.241,0.000,0.000,0.000,2308.948,0.000,0.000,0.000
$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,63830,907
$CAP_FILE_SIZE,96640,0
$CFSIZE,260165632,242524160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083, 79.7,1
$GPS,031010,052037,2416.924,12609.477,39,0.9,39,-3.7