version: 66.08
glider: 181
mission: 4
dive: 216
start: 10 12 110 2 58 48
data:
$ID,181
$MISSION,4
$DIVE,216
$N_DIVES,223
$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,-38117.859
$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,48
$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,430.0
$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
$GPS1,121010,024743,2401.454,12608.900,8,1.4,8,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-71.8
$GPS2,121010,025814,2401.377,12608.870,14,1.4,14,-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,183.8,2559,-23.6,-13.889
$D_GRID,1773
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.91,-141.0,0.0,0.0,0,75,0.00,0.00,-53.67,0.000,2,0.000,0.000,194,2424,2851,0,0,0,0,0,0
$GC,78,-0.93,-155.7,3.6,-6.3,7,117,7.55,2.17,-22.95,0.000,4,0.222,0.044,2121,995,3935,0,0,0,0,0,0
$GC,148,-0.77,-155.7,27.3,-45.7,17,157,0.20,2.15,0.00,0.000,6,0.164,0.037,2169,2380,3935,0,0,0,0,0,0
$GC,484,-0.72,-155.7,131.1,-25.8,78,492,0.00,2.17,0.00,0.000,4,0.000,0.041,2160,3787,3937,0,0,0,0,0,0
$GC,537,-0.72,-155.7,144.6,-20.5,87,545,0.00,2.10,0.00,0.000,6,0.000,0.028,2160,2392,3937,0,0,0,0,0,0
$GC,891,-0.69,-155.7,224.7,-21.8,148,900,0.15,2.17,0.00,0.000,4,0.158,0.041,2192,3778,3938,0,0,0,0,0,0
$GC,914,-0.68,-155.7,229.4,-20.8,151,921,0.00,2.05,0.00,0.000,6,0.000,0.027,2192,2385,3938,0,0,0,0,0,0
$GC,1254,-0.71,-155.7,285.2,-16.2,212,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2382,3938,0,0,0,0,0,0
$GC,1587,-0.75,-155.7,337.6,-15.9,251,1591,0.00,2.03,0.00,0.000,4,0.000,0.034,2192,1003,3937,0,0,0,0,0,0
$GC,1644,-0.81,-155.7,346.9,-14.7,256,1648,0.00,2.10,0.00,0.000,6,0.000,0.036,2185,2405,3937,0,0,0,0,0,0
$GC,1969,-0.85,-155.7,398.5,-15.9,286,1974,0.10,2.12,0.00,0.000,4,0.094,0.044,2122,3779,3935,0,0,0,0,0,0
$GC,2023,-0.85,-155.7,409.4,-20.6,290,2032,0.00,2.08,0.00,0.000,6,0.000,0.028,2122,2396,3934,0,0,0,0,0,0
$GC,2351,-0.84,-155.7,471.6,-17.8,321,2356,0.12,2.10,0.00,0.000,4,0.164,0.035,2155,993,3932,0,0,0,0,0,0
$GC,2399,-0.88,-155.7,478.9,-13.6,325,2403,0.00,2.15,0.00,0.000,6,0.000,0.037,2151,2407,3932,0,0,0,0,0,0
$STATE,2548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2548,begin apogee
$GC,2553,-0.16,0.0,501.2,14.9,339,2676,0.65,0.00,116.12,0.870,6,0.122,0.000,2366,1973,3299,0,0,0,0,0,0
$STATE,2677,end apogee,CONTROL_FINISHED_OK
$STATE,2677,begin climb
$GC,2679,0.93,155.7,506.8,0.0,349,2806,0.95,0.00,119.80,0.853,6,0.044,0.000,2736,1973,2669,0,0,0,0,0,0
$GC,3124,0.79,155.7,454.0,17.3,390,3128,0.20,2.22,0.00,0.000,4,0.184,0.038,2684,3418,2655,0,0,0,0,0,0
$GC,3210,0.69,155.7,439.5,16.0,397,3215,0.17,2.12,0.00,0.000,6,0.190,0.031,2649,2010,2652,0,0,0,0,0,0
$GC,3537,0.71,222.5,404.6,9.5,427,3597,0.00,2.25,49.95,0.811,4,0.000,0.041,2649,3406,2391,0,0,0,0,0,0
$GC,3626,0.67,222.5,394.4,14.0,434,3634,0.00,2.20,0.00,0.000,6,0.000,0.031,2659,1993,2389,0,0,0,0,0,0
$GC,3953,0.63,222.5,348.2,14.9,465,3957,0.00,2.20,0.00,0.000,4,0.000,0.042,2658,3414,2383,0,0,0,0,0,0
$GC,4000,0.58,222.5,340.6,16.5,469,4004,0.20,2.15,0.00,0.000,6,0.163,0.031,2615,1990,2382,0,0,0,0,0,0
$GC,4331,0.62,242.0,299.8,12.6,500,4354,0.00,2.12,15.12,0.717,4,0.000,0.040,2623,601,2311,0,0,0,0,0,0
$GC,4506,0.67,266.8,277.8,12.2,530,4535,0.00,2.15,20.30,0.717,6,0.000,0.034,2624,2004,2209,0,0,0,0,0,0
$GC,4872,0.73,300.8,232.3,11.6,594,4908,0.10,2.20,27.10,0.698,4,0.103,0.041,2673,3396,2070,0,0,0,0,0,0
$GC,4949,0.71,300.8,220.5,16.5,606,4957,0.10,2.15,0.00,0.000,6,0.149,0.031,2653,2006,2066,0,0,0,0,0,0
$GC,5302,0.72,300.8,170.7,14.7,667,5308,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2004,2063,0,0,0,0,0,0
$GC,5637,0.76,319.7,124.6,12.6,728,5662,0.00,2.17,14.23,0.598,4,0.000,0.040,2662,601,1993,0,0,0,0,0,0
$GC,5747,0.83,346.7,111.6,12.1,746,5779,0.00,2.15,21.25,0.602,6,0.000,0.032,2662,2008,1886,0,0,0,0,0,0
$GC,6106,0.95,393.7,67.9,10.8,810,6154,0.20,2.20,35.80,0.578,4,0.063,0.040,2754,3398,1692,0,0,0,0,0,0
$GC,6196,0.94,393.7,53.1,17.7,823,6205,0.10,2.17,0.00,0.000,6,0.151,0.031,2734,1993,1690,0,0,0,0,0,0
$GC,6533,0.96,399.0,8.0,13.5,884,6542,0.00,0.00,4.90,0.391,6,0.000,0.000,2734,1992,1671,0,0,0,0,0,0
$STATE,6569,end climb,SURFACE_DEPTH_REACHED
$STATE,6569,begin surface coast
$FINISH,0.7,1.004150
$STATE,6593,end surface coast,CONTROL_FINISHED_OK
$STATE,6593,begin surface
$SM_CCo,6683,0.00,0.000,0,0,1668,399.84
$SM_GC,1.54,6.53,0.00,0.00,0.038,0.000,0.000,204,2426,1668,-6.84,0.74,399.84
$IRIDIUM_FIX,2354.48,12613.96,121010,020215
$TT8_MAMPS,0.027713
$HUMID,48.42
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.6,28.632
$10V_AH,10.2,35.977
$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,17.325,57.100,424.575,0.000,0.000,46.623,71.081,253.181,0.000,0.000,16.588,2166.695,1774.876,440.747,2703.399,236.566,0.000,1264.302,0.000,1365.589,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,44.370,869.805,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,602.880,1360.564,1656.905,0.000,0.000,0.000,2350.599,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331376
$DATA_FILE_SIZE,63813,894
$CAP_FILE_SIZE,95431,0
$CFSIZE,260165632,235122688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083,183.3,1
$GPS,121010,045125,2400.123,12608.803,38,1.5,38,-3.6