version: 66.08
glider: 181
mission: 4
dive: 222
start: 10 12 110 14 58 18
data:
$ID,181
$MISSION,4
$DIVE,222
$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,-38125.387
$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,442.0
$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
$GPS1,121010,145126,2404.994,12609.363,9,1.3,9,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-72.5
$GPS2,121010,145750,2404.948,12609.364,12,1.3,12,-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,355.8,27883,-22.5,-13.889
$D_GRID,1747
$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,-155.7,0.0,0.0,0,66,0.00,0.00,-43.70,0.000,2,0.000,0.000,207,2411,2771,0,0,0,0,0,0
$GC,68,-0.89,-155.7,3.3,-5.7,6,109,7.53,2.10,-25.12,0.000,4,0.223,0.051,2120,3789,3933,0,0,0,0,0,0
$GC,296,-0.84,-155.7,72.3,-26.7,45,305,0.10,2.12,0.00,0.000,6,0.157,0.028,2150,2383,3934,0,0,0,0,0,0
$GC,631,-0.78,-155.7,157.5,-22.9,106,639,0.00,2.08,0.00,0.000,4,0.000,0.034,2149,1001,3937,0,0,0,0,0,0
$GC,665,-0.74,-155.7,164.8,-22.0,111,673,0.15,2.12,0.00,0.000,6,0.153,0.036,2182,2408,3937,0,0,0,0,0,0
$GC,1019,-0.74,-155.7,231.1,-18.7,172,1028,0.00,2.12,0.00,0.000,4,0.000,0.043,2173,3780,3938,0,0,0,0,0,0
$GC,1054,-0.76,-155.7,236.8,-17.7,177,1061,0.00,2.05,0.00,0.000,6,0.000,0.027,2173,2394,3938,0,0,0,0,0,0
$GC,1395,-0.76,-155.7,298.9,-16.6,238,1403,0.00,2.08,0.00,0.000,4,0.000,0.034,2174,1003,3937,0,0,0,0,0,0
$GC,1447,-0.78,-155.7,308.4,-16.6,243,1454,0.00,2.12,0.00,0.000,6,0.000,0.036,2164,2394,3937,0,0,0,0,0,0
$GC,1773,-0.78,-155.7,364.0,-16.9,274,1777,0.00,2.12,0.00,0.000,4,0.000,0.044,2153,3786,3937,0,0,0,0,0,0
$GC,1838,-0.82,-155.7,374.8,-15.3,279,1846,0.00,2.08,0.00,0.000,6,0.000,0.028,2153,2399,3936,0,0,0,0,0,0
$GC,2164,-0.82,-155.7,430.7,-16.8,310,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2396,3935,0,0,0,0,0,0
$GC,2483,-0.82,-155.7,484.8,-16.9,340,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2395,3933,0,0,0,0,0,0
$STATE,2578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2578,begin apogee
$GC,2584,-0.16,0.0,500.3,16.7,349,2706,0.65,0.00,116.62,0.874,6,0.122,0.000,2369,1971,3298,0,0,0,0,0,0
$STATE,2707,end apogee,CONTROL_FINISHED_OK
$STATE,2707,begin climb
$GC,2709,0.89,155.7,506.9,0.0,359,2837,0.90,2.20,119.55,0.857,4,0.041,0.037,2733,610,2662,0,0,0,0,0,0
$GC,2978,0.76,155.7,488.7,16.6,382,2983,0.25,2.12,0.00,0.000,6,0.174,0.032,2666,2009,2658,0,0,0,0,0,0
$GC,3303,0.69,174.0,444.5,12.8,412,3322,0.00,2.17,14.57,0.771,4,0.000,0.039,2667,3407,2588,0,0,0,0,0,0
$GC,3392,0.59,174.0,431.7,15.6,419,3396,0.22,2.10,0.00,0.000,6,0.173,0.030,2618,2005,2584,0,0,0,0,0,0
$GC,3719,0.63,224.0,394.9,10.9,449,3768,0.00,2.25,38.70,0.802,4,0.000,0.042,2616,3397,2383,0,0,0,0,0,0
$GC,3840,0.60,224.0,378.8,14.3,459,3844,0.00,2.12,0.00,0.000,6,0.000,0.031,2625,1993,2380,0,0,0,0,0,0
$GC,4168,0.61,246.0,334.4,12.6,489,4193,0.00,2.15,17.15,0.741,4,0.000,0.039,2636,586,2296,0,0,0,0,0,0
$GC,4232,0.63,264.4,325.9,12.8,494,4254,0.00,2.17,16.05,0.723,6,0.000,0.033,2636,1994,2218,0,0,0,0,0,0
$GC,4582,0.62,264.4,279.1,14.2,540,4591,0.00,2.20,0.00,0.000,4,0.000,0.042,2636,3404,2213,0,0,0,0,0,0
$GC,4616,0.60,264.4,274.1,15.5,545,4623,0.00,2.12,0.00,0.000,6,0.000,0.031,2646,1993,2212,0,0,0,0,0,0
$GC,4957,0.59,270.7,226.9,13.5,606,4967,0.00,2.17,4.62,0.499,4,0.000,0.041,2657,597,2196,0,0,0,0,0,0
$GC,5047,0.58,270.7,214.2,14.1,621,5055,0.17,2.12,0.00,0.000,6,0.158,0.033,2612,2011,2196,0,0,0,0,0,0
$GC,5397,0.67,320.9,172.3,10.9,682,5449,0.00,2.20,39.08,0.669,4,0.000,0.041,2609,3397,1989,0,0,0,0,0,0
$GC,5565,0.75,346.6,151.8,12.3,709,5594,0.15,2.12,20.45,0.632,6,0.077,0.031,2686,1991,1886,0,0,0,0,0,0
$GC,5921,0.73,346.6,96.4,14.0,773,5929,0.00,2.15,0.00,0.000,4,0.000,0.041,2697,598,1880,0,0,0,0,0,0
$GC,6015,0.77,375.5,83.8,12.2,789,6047,0.00,2.15,22.60,0.591,6,0.000,0.032,2697,2003,1766,0,0,0,0,0,0
$GC,6374,0.90,456.3,40.0,9.1,853,6444,0.00,2.22,60.08,0.564,4,0.000,0.041,2697,3393,1437,0,0,0,0,0,0
$GC,6530,1.00,490.2,22.2,11.9,877,6562,0.08,2.15,26.38,0.529,6,0.055,0.030,2764,2003,1299,0,0,0,0,0,0
$STATE,6644,end climb,SURFACE_DEPTH_REACHED
$STATE,6644,begin surface coast
$FINISH,0.7,1.003407
$STATE,6663,end surface coast,CONTROL_FINISHED_OK
$STATE,6663,begin surface
$SM_CCo,6751,0.00,0.000,0,0,1290,491.58
$SM_GC,1.55,6.70,0.00,0.00,0.040,0.000,0.000,208,2407,1290,-6.84,0.23,491.58
$IRIDIUM_FIX,2354.48,12634.26,121010,121239
$TT8_MAMPS,0.027713
$HUMID,48.74
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.6,29.329
$10V_AH,10.2,36.908
$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,16.900,61.125,495.850,0.000,0.000,23.921,18.743,180.246,0.000,0.000,14.536,2159.675,1713.984,476.029,2556.952,231.823,0.000,1325.823,0.000,1394.925,0.000,0.542,0.000
$DEVICE_MAMPS,222.615,51.255,873.630,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,606.345,1367.990,1654.078,0.000,0.000,0.000,2424.599,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331424
$DATA_FILE_SIZE,63658,899
$CAP_FILE_SIZE,93407,0
$CFSIZE,260165632,234717184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.122, 99.0,1
$GPS,121010,165206,2405.709,12609.699,35,1.0,41,-3.6