version: 66.08
glider: 181
mission: 4
dive: 178
start: 10 8 110 22 8 59
data:
$ID,181
$MISSION,4
$DIVE,178
$N_DIVES,183
$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,375
$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,-38069.152
$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,35
$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,354.0
$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
$GPS1,081010,220137,2404.173,12608.653,34,1.4,34,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-68.4
$GPS2,081010,220832,2404.216,12608.698,15,1.5,15,-3.6
$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,14.4,29237,-22.5,-13.889
$D_GRID,1697
$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,20,-0.89,-155.7,0.0,0.0,0,69,0.00,0.00,-46.85,0.000,2,0.000,0.000,198,2408,2881,0,0,0,0,0,0
$GC,71,-0.89,-155.7,3.6,-6.4,6,111,7.57,2.17,-21.52,0.000,4,0.224,0.048,2131,996,3936,0,0,0,0,0,0
$GC,260,-0.83,-155.7,69.1,-31.5,38,268,0.08,2.17,0.00,0.000,6,0.158,0.038,2145,2398,3937,0,0,0,0,0,0
$GC,593,-0.77,-155.7,157.7,-26.4,99,601,0.12,2.12,0.00,0.000,4,0.193,0.041,2167,3792,3939,0,0,0,0,0,0
$GC,632,-0.73,-155.7,167.1,-24.2,105,639,0.00,2.08,0.00,0.000,6,0.000,0.027,2168,2386,3939,0,0,0,0,0,0
$GC,982,-0.70,-155.7,244.0,-23.4,166,991,0.12,2.20,0.00,0.000,4,0.164,0.043,2192,3787,3940,0,0,0,0,0,0
$GC,1027,-0.73,-155.7,252.8,-17.6,173,1034,0.00,2.05,0.00,0.000,6,0.000,0.028,2192,2393,3940,0,0,0,0,0,0
$GC,1375,-0.75,-155.7,311.1,-16.7,229,1379,0.00,2.03,0.00,0.000,4,0.000,0.034,2192,1004,3940,0,0,0,0,0,0
$GC,1446,-0.80,-155.7,322.5,-13.9,235,1453,0.00,2.12,0.00,0.000,6,0.000,0.036,2184,2396,3939,0,0,0,0,0,0
$GC,1772,-0.82,-155.7,374.2,-16.1,266,1776,0.00,2.05,0.00,0.000,4,0.000,0.034,2184,1006,3938,0,0,0,0,0,0
$GC,1821,-0.87,-155.7,382.3,-14.8,270,1830,0.00,2.15,0.00,0.000,6,0.000,0.037,2177,2405,3938,0,0,0,0,0,0
$GC,2149,-0.89,-155.7,432.7,-16.0,301,2153,0.12,2.12,0.00,0.000,4,0.084,0.046,2105,3780,3937,0,0,0,0,0,0
$GC,2236,-0.88,-155.7,450.3,-19.8,308,2247,0.10,2.08,0.00,0.000,6,0.133,0.029,2137,2394,3936,0,0,0,0,0,0
$STATE,2540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2540,begin apogee
$GC,2545,-0.16,0.0,501.5,16.0,337,2666,0.70,0.00,116.32,0.864,6,0.125,0.000,2369,1982,3302,0,0,0,0,0,0
$STATE,2667,end apogee,CONTROL_FINISHED_OK
$STATE,2667,begin climb
$GC,2670,0.89,155.7,506.9,0.0,347,2798,0.90,2.15,120.12,0.850,4,0.043,0.036,2731,612,2661,0,0,0,0,0,0
$GC,2890,0.76,155.7,495.9,17.3,365,2895,0.22,2.12,0.00,0.000,6,0.174,0.032,2673,2009,2658,0,0,0,0,0,0
$GC,3217,0.70,187.8,454.8,12.0,395,3249,0.00,0.00,24.92,0.803,6,0.000,0.000,2673,2010,2531,0,0,0,0,0,0
$GC,3569,0.63,192.2,404.0,13.6,428,3584,0.15,2.20,4.03,0.506,4,0.181,0.043,2633,3408,2514,0,0,0,0,0,0
$GC,3745,0.61,221.9,380.7,12.1,443,3777,0.00,2.08,23.92,0.779,6,0.000,0.031,2642,2014,2393,0,0,0,0,0,0
$GC,4096,0.63,261.3,339.7,11.5,476,4134,0.00,2.20,30.95,0.764,4,0.000,0.038,2652,595,2232,0,0,0,0,0,0
$GC,4239,0.63,275.8,320.5,13.0,488,4260,0.00,2.15,12.20,0.695,6,0.000,0.032,2652,1992,2174,0,0,0,0,0,0
$GC,4586,0.61,275.8,268.3,15.3,538,4594,0.12,2.20,0.00,0.000,4,0.169,0.041,2621,3395,2169,0,0,0,0,0,0
$GC,4612,0.61,275.8,264.3,14.8,542,4621,0.00,2.12,0.00,0.000,6,0.000,0.031,2630,2003,2168,0,0,0,0,0,0
$GC,4956,0.62,281.6,217.5,13.5,603,4972,0.00,2.20,5.32,0.525,4,0.000,0.041,2629,3398,2150,0,0,0,0,0,0
$GC,4989,0.62,285.3,212.7,13.7,608,4999,0.00,2.12,4.62,0.484,6,0.000,0.031,2639,2006,2135,0,0,0,0,0,0
$GC,5344,0.67,322.8,170.3,11.6,669,5380,0.00,2.20,29.52,0.652,4,0.000,0.041,2639,3409,1981,0,0,0,0,0,0
$GC,5404,0.70,337.5,162.4,13.0,678,5427,0.00,2.17,12.18,0.595,6,0.000,0.031,2650,2000,1922,0,0,0,0,0,0
$GC,5757,0.72,342.7,115.3,13.6,741,5773,0.00,2.20,5.47,0.475,4,0.000,0.040,2661,592,1899,0,0,0,0,0,0
$GC,5845,0.75,342.7,101.8,15.0,756,5854,0.00,2.15,0.00,0.000,6,0.000,0.032,2660,1998,1898,0,0,0,0,0,0
$GC,6180,0.91,426.1,60.3,8.9,817,6252,0.17,2.22,62.08,0.576,4,0.070,0.038,2746,3414,1562,0,0,0,0,0,0
$GC,6335,0.91,426.1,38.6,16.8,841,6344,0.10,2.20,0.00,0.000,6,0.147,0.031,2724,1994,1557,0,0,0,0,0,0
$STATE,6603,end climb,SURFACE_DEPTH_REACHED
$STATE,6603,begin surface coast
$FINISH,0.6,1.021846
$STATE,6628,end surface coast,CONTROL_FINISHED_OK
$STATE,6628,begin surface
$SM_CCo,6717,0.00,0.000,0,0,1551,428.54
$SM_GC,1.57,6.55,0.00,0.00,0.041,0.000,0.000,196,2418,1551,-6.86,0.48,428.54
$IRIDIUM_FIX,2352.12,12617.26,081010,202001
$TT8_MAMPS,0.027713
$HUMID,47.59
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.7,24.288
$10V_AH,10.3,30.029
$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,17.050,61.225,451.675,0.000,0.000,23.784,50.086,183.772,0.000,0.000,18.438,2155.069,1698.410,463.863,2603.720,214.224,0.000,1302.799,0.000,1402.987,0.000,0.542,0.000
$DEVICE_MAMPS,224.145,48.195,864.450,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,603.035,1360.546,1656.894,0.000,0.000,0.000,2390.637,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331472
$DATA_FILE_SIZE,63773,894
$CAP_FILE_SIZE,93563,0
$CFSIZE,260165632,237764608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040, 94.9,1
$GPS,091010,000204,2405.119,12609.033,13,2.8,32,-3.6