version: 66.08
glider: 181
mission: 4
dive: 113
start: 10 3 110 11 33 29
data:
$ID,181
$MISSION,4
$DIVE,113
$N_DIVES,125
$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,-37980.059
$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,43
$R_STBD_OVSHOOT,49
$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,224.0
$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
$GPS1,031010,112419,2413.931,12608.840,9,1.3,9,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-68.2
$GPS2,031010,113302,2413.959,12608.808,15,1.2,15,-3.6
$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,177.6,25855,-22.5,-13.889
$D_GRID,1503
$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,-82.53,0.000,2,0.000,0.000,205,2421,2765,0,0,0,0,0,0
$GC,107,-0.89,-155.7,3.3,-5.4,11,148,7.62,2.12,-26.35,0.000,4,0.229,0.044,2132,990,3930,0,0,0,0,0,0
$GC,243,-0.77,-155.7,48.9,-39.6,33,252,0.15,2.15,0.00,0.000,6,0.156,0.037,2168,2383,3931,0,0,0,0,0,0
$GC,577,-0.71,-155.7,140.1,-24.4,94,586,0.00,2.10,0.00,0.000,4,0.000,0.032,2168,984,3932,0,0,0,0,0,0
$GC,600,-0.66,-155.7,146.1,-25.1,97,609,0.15,2.17,0.00,0.000,6,0.145,0.035,2206,2408,3931,0,0,0,0,0,0
$GC,952,-0.66,-155.7,214.5,-15.9,158,960,0.00,2.10,0.00,0.000,4,0.000,0.044,2198,3774,3932,0,0,0,0,0,0
$GC,1067,-0.71,-155.7,231.8,-13.7,178,1076,0.00,2.05,0.00,0.000,6,0.000,0.026,2198,2388,3932,0,0,0,0,0,0
$GC,1412,-0.73,-155.7,287.3,-15.8,239,1419,0.00,2.05,0.00,0.000,4,0.000,0.033,2198,1004,3932,0,0,0,0,0,0
$GC,1431,-0.75,-155.7,290.4,-15.4,242,1439,0.00,2.12,0.00,0.000,6,0.000,0.036,2191,2400,3932,0,0,0,0,0,0
$GC,1768,-0.76,-155.7,343.8,-16.8,279,1772,0.00,2.10,0.00,0.000,4,0.000,0.043,2181,3785,3930,0,0,0,0,0,0
$GC,1857,-0.81,-155.7,356.5,-13.1,286,1865,0.00,2.05,0.00,0.000,6,0.000,0.027,2181,2399,3931,0,0,0,0,0,0
$GC,2184,-0.83,-155.7,401.1,-12.9,317,2188,0.00,2.10,0.00,0.000,4,0.000,0.044,2170,3790,3928,0,0,0,0,0,0
$GC,2240,-0.87,-155.7,408.8,-12.5,321,2246,0.00,2.03,0.00,0.000,6,0.000,0.028,2171,2400,3928,0,0,0,0,0,0
$GC,2564,-0.89,-155.7,456.7,-14.6,352,2568,0.00,2.05,0.00,0.000,4,0.000,0.034,2170,1006,3926,0,0,0,0,0,0
$GC,2610,-0.93,-155.7,463.1,-13.3,356,2615,0.12,2.10,0.00,0.000,6,0.087,0.037,2104,2413,3926,0,0,0,0,0,0
$STATE,2797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2797,begin apogee
$GC,2801,-0.16,0.0,500.2,20.8,373,2925,0.82,0.00,115.00,0.860,6,0.142,0.000,2365,1973,3298,0,0,0,0,0,0
$STATE,2925,end apogee,CONTROL_FINISHED_OK
$STATE,2925,begin climb
$GC,2927,0.89,155.7,508.5,0.0,383,3055,0.90,2.15,119.88,0.844,4,0.037,0.035,2742,600,2662,0,0,0,0,0,0
$GC,3266,0.75,155.7,483.2,14.2,412,3276,0.25,2.17,0.00,0.000,6,0.175,0.032,2670,2014,2656,0,0,0,0,0,0
$GC,3594,0.68,170.0,441.8,13.0,443,3610,0.00,2.12,10.98,0.734,4,0.000,0.040,2670,3402,2603,0,0,0,0,0,0
$GC,3786,0.57,170.0,411.7,15.4,460,3791,0.25,2.08,0.00,0.000,6,0.184,0.030,2613,2003,2601,0,0,0,0,0,0
$GC,4118,0.62,233.4,374.8,10.1,491,4176,0.00,2.28,48.75,0.789,4,0.000,0.041,2613,3405,2346,0,0,0,0,0,0
$GC,4260,0.63,254.1,357.1,12.7,503,4283,0.00,2.12,17.17,0.734,6,0.000,0.031,2621,2002,2261,0,0,0,0,0,0
$GC,4608,0.65,269.0,311.6,13.0,536,4625,0.00,2.15,12.15,0.691,4,0.000,0.039,2632,600,2201,0,0,0,0,0,0
$GC,4668,0.65,271.2,303.6,13.8,541,4678,0.00,2.15,3.40,0.409,6,0.000,0.032,2632,2000,2192,0,0,0,0,0,0
$GC,4997,0.64,271.2,256.1,15.0,600,5005,0.00,2.20,0.00,0.000,4,0.000,0.042,2632,3402,2188,0,0,0,0,0,0
$GC,5211,0.64,271.2,223.1,15.5,639,5218,0.00,2.10,0.00,0.000,6,0.000,0.031,2642,1998,2186,0,0,0,0,0,0
$GC,5545,0.68,301.0,180.3,12.1,700,5573,0.00,0.00,23.65,0.652,6,0.000,0.000,2642,1995,2069,0,0,0,0,0,0
$GC,5899,0.70,319.6,134.2,12.8,764,5924,0.00,2.22,14.62,0.597,4,0.000,0.041,2643,3405,1994,0,0,0,0,0,0
$GC,5982,0.72,319.6,122.9,14.0,777,5991,0.00,2.15,0.00,0.000,6,0.000,0.031,2653,2002,1992,0,0,0,0,0,0
$GC,6314,0.77,341.3,81.9,12.6,838,6338,0.00,2.15,17.60,0.567,4,0.000,0.040,2664,595,1906,0,0,0,0,0,0
$GC,6454,0.87,387.7,65.7,11.1,862,6502,0.08,2.15,35.62,0.568,6,0.057,0.031,2717,2009,1715,0,0,0,0,0,0
$GC,6828,0.94,430.4,22.6,11.3,928,6867,0.00,2.15,31.90,0.528,4,0.000,0.038,2717,3408,1542,0,0,0,0,0,0
$GC,6936,0.99,434.8,8.5,13.6,945,6947,0.00,2.15,4.47,0.364,6,0.000,0.029,2727,2001,1529,0,0,0,0,0,0
$STATE,6974,end climb,SURFACE_DEPTH_REACHED
$STATE,6974,begin surface coast
$FINISH,0.6,1.021548
$STATE,6997,end surface coast,CONTROL_FINISHED_OK
$STATE,6997,begin surface
$SM_CCo,7021,116.45,0.057,0,0,484,690.03
$SM_GC,1.52,0.00,0.00,116.45,0.000,0.000,0.057,201,2406,484,-6.95,0.17,690.03
$IRIDIUM_FIX,2408.65,12609.64,031010,111122
$TT8_MAMPS,0.027713
$HUMID,45.27
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.40
$XPDR_PINGS,4
$24V_AH,24.7,16.869
$10V_AH,10.3,19.878
$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,16.925,65.000,455.200,116.450,0.000,53.187,89.289,176.572,1.000,0.000,18.792,2308.268,1742.375,595.416,2838.537,183.110,0.000,1502.667,0.000,1513.956,0.000,0.543,0.000
$DEVICE_MAMPS,228.735,44.370,859.860,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,644.169,1453.136,1765.723,0.000,0.000,0.000,2531.505,0.000,0.000,0.000
$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,67149,955
$CAP_FILE_SIZE,101468,0
$CFSIZE,260165632,242237440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,305.1,1
$GPS,031010,133337,2413.265,12608.706,33,0.9,33,-3.6