version: 66.08
glider: 181
mission: 4
dive: 201
start: 10 10 110 20 33 28
data:
$ID,181
$MISSION,4
$DIVE,201
$N_DIVES,211
$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,-38098.031
$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,41
$R_STBD_OVSHOOT,55
$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,400.0
$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
$GPS1,101010,202602,2416.857,12609.604,7,1.7,7,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-68.6
$GPS2,101010,203301,2416.864,12609.538,10,1.2,15,-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,213.1,31245,-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,20,-0.89,-155.7,0.0,0.0,0,76,0.00,0.00,-53.80,0.000,2,0.000,0.000,200,2430,2878,0,0,0,0,0,0
$GC,79,-0.89,-155.7,3.6,-6.7,7,119,7.50,2.20,-21.77,0.000,4,0.221,0.047,2131,998,3936,0,0,0,0,0,0
$GC,193,-0.77,-155.7,46.2,-41.3,25,203,0.15,2.12,0.00,0.000,6,0.163,0.034,2166,2378,3937,0,0,0,0,0,0
$GC,529,-0.72,-155.7,141.5,-23.6,86,537,0.00,2.10,0.00,0.000,4,0.000,0.034,2165,989,3939,0,0,0,0,0,0
$GC,568,-0.69,-155.7,151.1,-23.2,92,577,0.12,2.15,0.00,0.000,6,0.134,0.034,2198,2396,3940,0,0,0,0,0,0
$GC,913,-0.69,-155.7,214.5,-17.6,153,921,0.00,2.10,0.00,0.000,4,0.000,0.042,2190,3782,3941,0,0,0,0,0,0
$GC,954,-0.71,-155.7,221.7,-17.2,160,962,0.00,2.10,0.00,0.000,6,0.000,0.028,2189,2381,3940,0,0,0,0,0,0
$GC,1284,-0.71,-155.7,278.9,-17.9,221,1291,0.00,2.05,0.00,0.000,4,0.000,0.034,2189,985,3940,0,0,0,0,0,0
$GC,1346,-0.74,-155.7,289.5,-15.5,232,1354,0.00,2.17,0.00,0.000,6,0.000,0.035,2180,2411,3940,0,0,0,0,0,0
$GC,1675,-0.75,-155.7,344.8,-17.1,268,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2411,3940,0,0,0,0,0,0
$GC,1995,-0.77,-155.7,394.2,-15.0,298,1999,0.00,2.10,0.00,0.000,4,0.000,0.044,2169,3788,3938,0,0,0,0,0,0
$GC,2047,-0.82,-155.7,401.4,-13.1,302,2051,0.00,2.05,0.00,0.000,6,0.000,0.028,2170,2397,3938,0,0,0,0,0,0
$GC,2379,-0.84,-155.7,447.3,-14.3,333,2383,0.00,2.05,0.00,0.000,4,0.000,0.035,2169,998,3937,0,0,0,0,0,0
$GC,2434,-0.89,-155.7,455.3,-14.2,337,2442,0.00,2.12,0.00,0.000,6,0.000,0.037,2165,2411,3934,0,0,0,0,0,0
$STATE,2759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2759,begin apogee
$GC,2764,-0.16,0.0,501.1,13.5,368,2887,0.60,0.00,117.35,0.874,6,0.116,0.000,2367,1977,3298,0,0,0,0,0,0
$STATE,2888,end apogee,CONTROL_FINISHED_OK
$STATE,2888,begin climb
$GC,2890,0.89,155.7,506.2,0.0,378,3023,0.90,2.33,119.75,0.855,4,0.040,0.040,2725,3414,2658,0,0,0,0,0,0
$GC,3090,0.74,155.7,496.2,17.6,396,3095,0.28,2.17,0.00,0.000,6,0.183,0.029,2665,2000,2658,0,0,0,0,0,0
$GC,3416,0.69,188.3,456.6,11.9,426,3453,0.00,2.22,25.33,0.806,4,0.000,0.039,2674,597,2530,0,0,0,0,0,0
$GC,3532,0.62,188.3,440.4,16.3,436,3537,0.17,2.15,0.00,0.000,6,0.164,0.033,2629,2013,2527,0,0,0,0,0,0
$GC,3864,0.65,245.0,399.1,10.5,467,3913,0.00,2.28,43.78,0.809,4,0.000,0.039,2638,601,2299,0,0,0,0,0,0
$GC,3963,0.67,264.9,387.1,12.7,475,3985,0.00,2.15,16.80,0.754,6,0.000,0.033,2638,2002,2217,0,0,0,0,0,0
$GC,4311,0.65,266.6,338.6,13.8,508,4315,0.00,2.17,0.00,0.000,4,0.000,0.042,2638,3404,2210,0,0,0,0,0,0
$GC,4431,0.63,266.6,319.3,16.7,518,4440,0.00,2.15,0.00,0.000,6,0.000,0.031,2648,2001,2206,0,0,0,0,0,0
$GC,4760,0.64,290.8,272.1,12.4,567,4789,0.00,2.22,19.73,0.715,4,0.000,0.043,2648,3401,2112,0,0,0,0,0,0
$GC,4829,0.61,290.8,262.5,14.1,578,4837,0.10,2.15,0.00,0.000,6,0.148,0.031,2627,2002,2109,0,0,0,0,0,0
$GC,5162,0.64,315.1,221.1,12.4,639,5190,0.00,0.00,19.58,0.680,6,0.000,0.000,2630,2002,2012,0,0,0,0,0,0
$GC,5521,0.72,362.9,178.1,11.0,703,5563,0.00,2.20,36.47,0.662,4,0.000,0.041,2636,592,1819,0,0,0,0,0,0
$GC,5603,0.80,388.8,167.5,12.3,716,5633,0.10,2.17,21.10,0.630,6,0.051,0.033,2695,1992,1711,0,0,0,0,0,0
$GC,5962,0.78,388.8,101.0,19.2,780,5970,0.00,2.15,0.00,0.000,4,0.000,0.039,2706,601,1705,0,0,0,0,0,0
$GC,6021,0.78,388.8,89.6,17.6,790,6030,0.08,2.15,0.00,0.000,6,0.136,0.033,2681,2005,1704,0,0,0,0,0,0
$GC,6357,0.95,476.8,47.3,8.6,851,6428,0.15,2.22,64.97,0.568,4,0.073,0.040,2763,590,1353,0,0,0,0,0,0
$GC,6540,0.95,476.8,18.7,17.6,880,6549,0.08,2.17,0.00,0.000,6,0.142,0.031,2738,2003,1349,0,0,0,0,0,0
$STATE,6635,end climb,SURFACE_DEPTH_REACHED
$STATE,6635,begin surface coast
$FINISH,0.5,1.021871
$STATE,6654,end surface coast,CONTROL_FINISHED_OK
$STATE,6655,begin surface
$SM_CCo,6741,0.00,0.000,0,0,1345,479.07
$SM_GC,1.42,6.53,0.00,0.00,0.034,0.000,0.000,199,2420,1345,-6.84,0.57,479.07
$IRIDIUM_FIX,2406.29,12613.45,101010,181824
$TT8_MAMPS,0.027713
$HUMID,48.18
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.80
$XPDR_PINGS,4
$24V_AH,24.6,26.909
$10V_AH,10.2,33.641
$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,16.750,61.600,484.850,0.000,0.000,25.513,43.694,184.340,1.000,0.000,17.951,2159.968,1730.090,486.379,2567.091,218.653,0.000,1328.516,0.000,1390.320,0.000,0.544,0.000
$DEVICE_MAMPS,221.085,47.430,874.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,606.802,1369.659,1617.868,0.000,0.000,0.000,2205.463,0.000,0.000,0.000
$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,63617,900
$CAP_FILE_SIZE,94362,0
$CFSIZE,260165632,236158976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125, 95.1,1
$GPS,101010,222706,2415.941,12609.544,41,0.8,41,-3.7