version: 66.08
glider: 181
mission: 4
dive: 190
start: 10 9 110 22 15 53
data:
$ID,181
$MISSION,4
$DIVE,190
$N_DIVES,200
$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,-38084.223
$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,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,378.0
$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
$GPS1,091010,220834,2414.008,12609.882,9,2.6,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-66.3
$GPS2,091010,221525,2414.084,12609.950,12,1.2,12,-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,338.0,11074,-22.5,-13.889
$D_GRID,1512
$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,-155.7,0.0,0.0,0,78,0.00,0.00,-55.62,0.000,2,0.000,0.000,196,2406,2849,0,0,0,0,0,0
$GC,80,-0.89,-155.7,3.5,-6.2,7,121,7.57,2.15,-22.85,0.000,4,0.223,0.055,2123,3774,3931,0,0,0,0,0,0
$GC,226,-0.80,-155.7,53.0,-35.9,31,235,0.12,2.10,0.00,0.000,6,0.148,0.031,2161,2404,3934,0,0,0,0,0,0
$GC,561,-0.74,-155.7,144.1,-26.2,92,570,0.00,2.12,0.00,0.000,4,0.000,0.034,2166,988,3936,0,0,0,0,0,0
$GC,692,-0.72,-155.7,172.8,-20.3,115,700,0.15,2.12,0.00,0.000,6,0.151,0.035,2193,2399,3937,0,0,0,0,0,0
$GC,1035,-0.72,-155.7,237.8,-18.1,176,1043,0.00,2.15,0.00,0.000,4,0.000,0.043,2184,3781,3937,0,0,0,0,0,0
$GC,1137,-0.76,-155.7,253.9,-14.4,194,1145,0.00,2.08,0.00,0.000,6,0.000,0.027,2184,2392,3937,0,0,0,0,0,0
$GC,1467,-0.76,-155.7,310.0,-15.9,249,1471,0.00,2.03,0.00,0.000,4,0.000,0.032,2184,998,3937,0,0,0,0,0,0
$GC,1501,-0.78,-155.7,315.5,-15.1,252,1505,0.00,2.10,0.00,0.000,6,0.000,0.035,2175,2405,3937,0,0,0,0,0,0
$GC,1827,-0.80,-155.7,366.7,-15.0,282,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2406,3936,0,0,0,0,0,0
$GC,2147,-0.83,-155.7,416.4,-14.9,312,2151,0.00,2.08,0.00,0.000,4,0.000,0.044,2165,3778,3935,0,0,0,0,0,0
$GC,2213,-0.87,-155.7,425.7,-12.7,317,2221,0.00,2.05,0.00,0.000,6,0.000,0.028,2166,2385,3934,0,0,0,0,0,0
$GC,2538,-0.90,-155.7,472.2,-15.1,348,2542,0.00,2.03,0.00,0.000,4,0.000,0.034,2165,1003,3932,0,0,0,0,0,0
$GC,2609,-0.95,-155.7,483.0,-14.4,354,2618,0.10,2.15,0.00,0.000,6,0.052,0.037,2101,2399,3931,0,0,0,0,0,0
$STATE,2699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2699,begin apogee
$GC,2704,-0.16,0.0,500.5,21.6,363,2826,0.82,0.00,116.45,0.870,6,0.137,0.000,2365,1975,3298,0,0,0,0,0,0
$STATE,2827,end apogee,CONTROL_FINISHED_OK
$STATE,2827,begin climb
$GC,2829,0.89,155.7,509.4,0.0,373,2959,0.90,2.17,119.45,0.855,4,0.034,0.035,2743,615,2662,0,0,0,0,0,0
$GC,3207,0.74,155.7,474.7,15.7,406,3212,0.28,2.12,0.00,0.000,6,0.179,0.031,2670,2014,2657,0,0,0,0,0,0
$GC,3534,0.71,201.2,434.7,11.2,436,3578,0.00,2.20,34.90,0.816,4,0.000,0.037,2679,620,2476,0,0,0,0,0,0
$GC,3604,0.63,201.2,424.7,15.0,442,3614,0.15,2.15,0.00,0.000,6,0.153,0.033,2634,2002,2474,0,0,0,0,0,0
$GC,3932,0.64,233.6,387.3,11.9,473,3961,0.00,2.17,25.02,0.786,4,0.000,0.041,2633,3402,2345,0,0,0,0,0,0
$GC,4032,0.60,233.6,374.0,14.5,481,4036,0.00,2.12,0.00,0.000,6,0.000,0.031,2642,2011,2342,0,0,0,0,0,0
$GC,4358,0.56,233.6,326.0,14.9,511,4363,0.12,2.15,0.00,0.000,4,0.178,0.039,2620,589,2339,0,0,0,0,0,0
$GC,4402,0.59,252.8,319.7,12.7,514,4422,0.00,2.15,15.48,0.725,6,0.000,0.033,2620,1996,2267,0,0,0,0,0,0
$GC,4743,0.60,264.1,274.7,13.2,563,4758,0.00,2.20,9.62,0.657,4,0.000,0.039,2630,597,2219,0,0,0,0,0,0
$GC,4808,0.63,278.2,266.3,13.0,574,4830,0.00,2.15,12.82,0.677,6,0.000,0.034,2631,1994,2162,0,0,0,0,0,0
$GC,5151,0.66,298.6,221.1,12.7,637,5172,0.00,0.00,16.42,0.667,6,0.000,0.000,2630,1994,2080,0,0,0,0,0,0
$GC,5505,0.73,337.3,174.3,11.6,700,5542,0.00,2.20,29.90,0.653,4,0.000,0.040,2630,3403,1923,0,0,0,0,0,0
$GC,5620,0.78,347.6,159.5,13.3,719,5636,0.10,2.12,9.50,0.571,6,0.099,0.031,2696,2001,1880,0,0,0,0,0,0
$GC,5961,0.78,347.6,100.6,16.0,781,5971,0.00,2.15,0.00,0.000,4,0.000,0.040,2702,599,1876,0,0,0,0,0,0
$GC,6049,0.81,375.6,88.3,12.2,796,6081,0.00,2.15,21.27,0.579,6,0.000,0.033,2702,2014,1770,0,0,0,0,0,0
$GC,6408,0.92,436.8,45.4,10.2,860,6463,0.00,2.20,46.47,0.558,4,0.000,0.038,2712,596,1516,0,0,0,0,0,0
$GC,6576,1.02,474.9,26.3,11.6,887,6616,0.08,2.15,29.42,0.529,6,0.057,0.031,2760,1993,1360,0,0,0,0,0,0
$STATE,6719,end climb,SURFACE_DEPTH_REACHED
$STATE,6719,begin surface coast
$FINISH,0.8,1.021970
$STATE,6739,end surface coast,CONTROL_FINISHED_OK
$STATE,6739,begin surface
$SM_CCo,6827,0.00,0.000,0,0,1354,476.86
$SM_GC,1.48,6.72,0.00,0.00,0.044,0.000,0.000,209,2407,1354,-6.85,0.20,476.86
$IRIDIUM_FIX,2401.56,12606.85,091010,202029
$TT8_MAMPS,0.027713
$HUMID,47.24
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.6,25.649
$10V_AH,10.2,31.912
$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,17.125,60.925,486.750,0.000,0.000,24.148,43.875,182.284,0.000,0.000,15.012,2204.838,1712.741,470.813,2629.474,223.352,0.000,1335.562,0.000,1431.908,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,55.080,869.805,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,616.151,1391.037,1665.281,0.000,0.000,0.000,2322.651,0.000,0.000,0.000
$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,63815,914
$CAP_FILE_SIZE,95700,0
$CFSIZE,260165632,236920832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107,131.3,1
$GPS,101010,001026,2414.662,12609.930,10,1.6,10,-3.6