version: 66.08
glider: 181
mission: 4
dive: 220
start: 10 12 110 11 1 29
data:
$ID,181
$MISSION,4
$DIVE,220
$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,-38122.875
$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,38
$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,438.0
$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
$GPS1,121010,105350,2403.052,12608.806,9,1.3,9,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-72.0
$GPS2,121010,110101,2403.069,12608.815,11,1.2,16,-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,10.5,31358,-22.5,-13.889
$D_GRID,1638
$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,-0.89,-155.7,0.0,0.0,0,74,0.00,0.00,-53.00,0.000,2,0.000,0.000,200,2402,2855,0,0,0,0,0,0
$GC,77,-0.89,-155.7,3.7,-6.5,7,117,7.55,2.15,-22.25,0.000,4,0.221,0.054,2123,3777,3936,0,0,0,0,0,0
$GC,276,-0.83,-155.7,68.9,-28.0,41,284,0.00,2.10,0.00,0.000,6,0.000,0.031,2123,2404,3937,0,0,0,0,0,0
$GC,612,-0.72,-155.7,171.5,-32.8,102,620,0.25,2.15,0.00,0.000,4,0.170,0.037,2188,3781,3939,0,0,0,0,0,0
$GC,684,-0.75,-155.7,187.9,-16.0,114,692,0.00,2.10,0.00,0.000,6,0.000,0.027,2188,2387,3939,0,0,0,0,0,0
$GC,1039,-0.75,-155.7,249.4,-16.1,175,1046,0.00,2.05,0.00,0.000,4,0.000,0.033,2188,982,3939,0,0,0,0,0,0
$GC,1077,-0.77,-155.7,255.4,-15.6,181,1084,0.00,2.12,0.00,0.000,6,0.000,0.034,2178,2398,3940,0,0,0,0,0,0
$GC,1414,-0.77,-155.7,316.4,-17.4,233,1418,0.00,2.08,0.00,0.000,4,0.000,0.042,2168,3778,3939,0,0,0,0,0,0
$GC,1455,-0.79,-155.7,323.6,-16.9,236,1459,0.00,2.03,0.00,0.000,6,0.000,0.028,2167,2392,3938,0,0,0,0,0,0
$GC,1780,-0.80,-155.7,383.6,-17.8,266,1784,0.00,2.05,0.00,0.000,4,0.000,0.033,2168,1003,3941,0,0,0,0,0,0
$GC,1816,-0.82,-155.7,389.5,-17.3,269,1820,0.00,2.10,0.00,0.000,6,0.000,0.036,2164,2401,3936,0,0,0,0,0,0
$GC,2147,-0.84,-155.7,441.9,-14.5,300,2151,0.00,2.10,0.00,0.000,4,0.000,0.044,2153,3778,3937,0,0,0,0,0,0
$GC,2213,-0.88,-155.7,451.6,-12.6,305,2220,0.00,2.03,0.00,0.000,6,0.000,0.028,2154,2402,3936,0,0,0,0,0,0
$STATE,2527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2528,begin apogee
$GC,2533,-0.16,0.0,500.8,15.5,335,2656,0.65,0.00,116.85,0.871,6,0.121,0.000,2369,1972,3298,0,0,0,0,0,0
$STATE,2657,end apogee,CONTROL_FINISHED_OK
$STATE,2657,begin climb
$GC,2659,0.89,155.7,505.7,0.0,345,2795,0.90,2.38,119.75,0.853,4,0.043,0.037,2722,3410,2660,0,0,0,0,0,0
$GC,2852,0.74,155.7,497.9,16.8,362,2857,0.25,2.12,0.00,0.000,6,0.179,0.028,2668,2009,2657,0,0,0,0,0,0
$GC,3177,0.70,192.2,455.1,11.7,392,3215,0.00,2.20,28.10,0.812,4,0.000,0.038,2678,608,2513,0,0,0,0,0,0
$GC,3254,0.62,192.2,445.1,14.8,398,3263,0.15,2.15,0.00,0.000,6,0.149,0.031,2632,2003,2511,0,0,0,0,0,0
$GC,3582,0.62,218.4,403.6,12.3,429,3612,0.00,2.25,20.73,0.781,4,0.000,0.041,2632,3409,2406,0,0,0,0,0,0
$GC,3618,0.62,249.8,398.8,12.0,432,3651,0.00,2.17,25.52,0.779,6,0.000,0.031,2641,2004,2279,0,0,0,0,0,0
$GC,3969,0.60,249.8,345.1,15.8,465,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2003,2273,0,0,0,0,0,0
$GC,4288,0.60,266.3,302.3,12.9,495,4307,0.00,0.00,12.68,0.704,6,0.000,0.000,2641,2003,2212,0,0,0,0,0,0
$GC,4642,0.60,279.8,253.0,13.1,557,4657,0.00,2.20,11.05,0.664,4,0.000,0.039,2652,598,2158,0,0,0,0,0,0
$GC,4683,0.60,290.1,247.4,13.3,563,4699,0.15,2.12,10.07,0.644,6,0.158,0.031,2612,2006,2115,0,0,0,0,0,0
$GC,5037,0.68,325.7,204.7,11.8,625,5072,0.00,2.17,27.52,0.679,4,0.000,0.040,2612,3402,1972,0,0,0,0,0,0
$GC,5144,0.74,341.7,192.1,12.9,641,5166,0.12,2.12,13.88,0.628,6,0.086,0.031,2679,2000,1904,0,0,0,0,0,0
$GC,5498,0.73,341.7,131.4,15.0,704,5508,0.00,2.15,0.00,0.000,4,0.000,0.040,2690,600,1900,0,0,0,0,0,0
$GC,5533,0.73,341.7,126.5,14.0,709,5542,0.10,2.12,0.00,0.000,6,0.126,0.032,2656,1993,1900,0,0,0,0,0,0
$GC,5867,0.76,349.5,82.7,13.4,770,5884,0.00,2.17,6.55,0.490,4,0.000,0.040,2656,3394,1876,0,0,0,0,0,0
$GC,5932,0.81,359.5,74.5,13.3,780,5949,0.00,2.12,9.30,0.526,6,0.000,0.031,2665,2000,1831,0,0,0,0,0,0
$GC,6276,0.98,457.0,38.0,8.1,842,6362,0.20,2.22,72.78,0.558,4,0.063,0.038,2769,595,1432,0,0,0,0,0,0
$GC,6372,0.96,457.0,24.8,17.3,854,6381,0.10,2.17,0.00,0.000,6,0.142,0.031,2738,1998,1431,0,0,0,0,0,0
$STATE,6507,end climb,SURFACE_DEPTH_REACHED
$STATE,6507,begin surface coast
$FINISH,0.7,0.999281
$STATE,6530,end surface coast,CONTROL_FINISHED_OK
$STATE,6530,begin surface
$SM_CCo,6618,0.00,0.000,0,0,1425,459.45
$SM_GC,1.61,6.62,0.00,0.00,0.040,0.000,0.000,195,2402,1425,-6.86,0.06,459.45
$IRIDIUM_FIX,2354.48,12607.37,121010,080833
$TT8_MAMPS,0.027713
$HUMID,47.55
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,24.6,29.100
$10V_AH,10.2,36.599
$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,17.050,61.100,474.775,0.000,0.000,22.686,40.210,196.660,0.500,0.000,19.334,2107.179,1703.126,483.455,2529.314,228.595,0.000,1300.387,0.000,1336.920,0.000,0.543,0.000
$DEVICE_MAMPS,221.085,53.550,870.570,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,594.190,1342.127,1634.585,0.000,0.000,0.000,2274.284,0.000,0.000,0.000
$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,63661,882
$CAP_FILE_SIZE,92032,0
$CFSIZE,260165632,234852352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,  3.0,1
$GPS,121010,125306,2404.155,12609.077,36,0.8,42,-3.6