version: 66.08
glider: 181
mission: 4
dive: 197
start: 10 10 110 12 19 34
data:
$ID,181
$MISSION,4
$DIVE,197
$N_DIVES,207
$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,-38093.012
$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,42
$R_STBD_OVSHOOT,44
$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,392.0
$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
$GPS1,101010,121228,2419.305,12609.584,10,2.3,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-69.6
$GPS2,101010,121906,2419.292,12609.587,12,1.5,28,-3.7
$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,316.7,1643,-22.5,-13.889
$D_GRID,1664
$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,-155.7,0.0,0.0,0,76,0.00,0.00,-53.80,0.000,2,0.000,0.000,200,2421,2914,0,0,0,0,0,0
$GC,78,-0.89,-155.7,3.8,-7.2,7,112,7.50,2.10,-20.58,0.000,4,0.222,0.053,2120,3780,3936,0,0,0,0,0,0
$GC,288,-0.80,-155.7,76.7,-30.2,43,297,0.12,2.10,0.00,0.000,6,0.145,0.028,2158,2390,3940,0,0,0,0,0,0
$GC,622,-0.74,-155.7,158.8,-23.8,104,630,0.00,2.08,0.00,0.000,4,0.000,0.034,2158,1001,3937,0,0,0,0,0,0
$GC,644,-0.67,-155.7,164.4,-24.8,107,652,0.20,2.10,0.00,0.000,6,0.159,0.033,2203,2405,3938,0,0,0,0,0,0
$GC,986,-0.70,-155.7,221.7,-14.8,168,994,0.00,2.12,0.00,0.000,4,0.000,0.033,2204,993,3940,0,0,0,0,0,0
$GC,1011,-0.73,-155.7,225.9,-16.2,172,1020,0.00,2.15,0.00,0.000,6,0.000,0.036,2200,2401,3940,0,0,0,0,0,0
$GC,1341,-0.75,-155.7,280.2,-15.2,233,1349,0.00,2.10,0.00,0.000,4,0.000,0.043,2187,3786,3940,0,0,0,0,0,0
$GC,1389,-0.81,-155.7,287.3,-14.3,241,1397,0.00,2.05,0.00,0.000,6,0.000,0.027,2186,2389,3939,0,0,0,0,0,0
$GC,1717,-0.83,-155.7,338.9,-14.6,279,1721,0.00,2.03,0.00,0.000,4,0.000,0.034,2186,1002,3939,0,0,0,0,0,0
$GC,1766,-0.87,-155.7,346.5,-13.9,283,1773,0.00,2.12,0.00,0.000,6,0.000,0.035,2177,2414,3939,0,0,0,0,0,0
$GC,2093,-0.89,-155.7,393.2,-14.4,314,2095,0.12,0.00,0.00,0.000,6,0.083,0.000,2114,2415,3937,0,0,0,0,0,0
$GC,2410,-0.86,-155.7,454.1,-19.0,344,2412,0.12,0.00,0.00,0.000,6,0.171,0.000,2146,2415,3936,0,0,0,0,0,0
$STATE,2686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2686,begin apogee
$GC,2691,-0.16,0.0,500.5,17.0,370,2817,0.68,0.00,116.57,0.872,6,0.125,0.000,2370,1978,3300,0,0,0,0,0,0
$STATE,2818,end apogee,CONTROL_FINISHED_OK
$STATE,2818,begin climb
$GC,2820,0.89,155.7,508.8,0.0,380,2948,0.90,2.17,119.72,0.859,4,0.044,0.034,2733,598,2663,0,0,0,0,0,0
$GC,3138,0.76,155.7,485.7,16.7,407,3143,0.22,2.12,0.00,0.000,6,0.176,0.032,2675,2007,2661,0,0,0,0,0,0
$GC,3465,0.70,182.8,442.1,12.3,437,3492,0.00,2.20,21.08,0.796,4,0.000,0.038,2683,611,2552,0,0,0,0,0,0
$GC,3588,0.61,182.8,424.9,15.4,448,3593,0.22,2.12,0.00,0.000,6,0.165,0.034,2623,2007,2550,0,0,0,0,0,0
$GC,3915,0.68,257.1,390.1,9.4,478,3979,0.00,2.25,57.30,0.809,4,0.000,0.042,2623,3397,2249,0,0,0,0,0,0
$GC,4108,0.68,257.1,365.1,15.4,495,4112,0.00,2.12,0.00,0.000,6,0.000,0.031,2631,2009,2243,0,0,0,0,0,0
$GC,4434,0.66,257.1,315.5,15.3,525,4438,0.00,2.12,0.00,0.000,4,0.000,0.041,2646,597,2240,0,0,0,0,0,0
$GC,4487,0.66,257.1,306.9,14.8,529,4495,0.00,2.15,0.00,0.000,6,0.000,0.034,2642,2004,2240,0,0,0,0,0,0
$GC,4817,0.65,260.8,260.2,13.7,586,4825,0.00,2.17,0.00,0.000,4,0.000,0.043,2642,3409,2235,0,0,0,0,0,0
$GC,4949,0.63,260.8,241.3,15.2,610,4957,0.00,2.12,0.00,0.000,6,0.000,0.031,2653,2006,2236,0,0,0,0,0,0
$GC,5288,0.62,273.0,193.2,13.2,671,5304,0.00,2.15,11.20,0.632,4,0.000,0.040,2663,597,2185,0,0,0,0,0,0
$GC,5410,0.65,289.9,177.0,12.9,692,5432,0.08,2.15,14.25,0.638,6,0.145,0.032,2639,2008,2119,0,0,0,0,0,0
$GC,5759,0.71,334.6,139.3,11.2,755,5799,0.00,2.17,34.45,0.640,4,0.000,0.041,2639,3401,1934,0,0,0,0,0,0
$GC,5904,0.74,337.6,119.9,13.7,779,5914,0.00,2.15,3.50,0.362,6,0.000,0.030,2647,2001,1920,0,0,0,0,0,0
$GC,6241,0.92,440.7,87.3,7.7,840,6327,0.20,2.25,77.62,0.597,4,0.063,0.038,2753,579,1499,0,0,0,0,0,0
$GC,6493,0.93,441.0,51.6,13.9,881,6502,0.08,2.17,0.00,0.000,6,0.142,0.031,2728,1994,1492,0,0,0,0,0,0
$GC,6829,0.94,441.2,3.6,13.9,942,6837,0.00,2.15,0.00,0.000,4,0.000,0.037,2738,590,1490,0,0,0,0,0,0
$STATE,6844,end climb,SURFACE_DEPTH_REACHED
$STATE,6844,begin surface coast
$FINISH,0.7,1.021866
$STATE,6856,end surface coast,CONTROL_FINISHED_OK
$STATE,6856,begin surface
$SM_CCo,6945,0.00,0.000,0,0,1488,443.99
$SM_GC,1.67,6.55,0.00,0.00,0.038,0.000,0.000,197,2396,1488,-6.85,-0.11,443.99
$IRIDIUM_FIX,2415.74,12600.60,101010,101035
$TT8_MAMPS,0.027713
$HUMID,47.40
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,24.6,26.435
$10V_AH,10.2,33.012
$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,17.000,61.100,455.700,0.000,0.000,28.216,16.537,176.779,0.250,0.000,30.677,2296.042,1684.152,447.822,2696.612,221.201,0.000,1314.157,0.000,1472.112,0.000,0.544,0.000
$DEVICE_MAMPS,221.850,52.785,872.100,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,639.111,1440.114,1746.191,0.000,0.000,0.000,2527.989,0.000,0.000,0.000
$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,67013,946
$CAP_FILE_SIZE,95841,0
$CFSIZE,260165632,236433408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.116,140.9,1
$GPS,101010,141625,2419.601,12609.241,13,2.0,30,-3.7