version: 66.08
glider: 181
mission: 4
dive: 225
start: 10 12 110 20 59 54
data:
$ID,181
$MISSION,4
$DIVE,225
$N_DIVES,236
$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,-38129.152
$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,41
$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,448.0
$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
$GPS1,121010,205254,2407.093,12609.973,37,1.4,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-72.8
$GPS2,121010,205926,2407.128,12610.021,10,1.9,10,-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,342.2,23901,-22.5,-13.889
$D_GRID,1758
$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,-155.7,0.0,0.0,0,69,0.00,0.00,-47.20,0.000,2,0.000,0.000,197,2424,2704,0,0,0,0,0,0
$GC,72,-0.89,-155.7,3.2,-4.7,6,120,7.53,2.15,-27.80,0.000,4,0.220,0.052,2123,3786,3935,0,0,0,0,0,0
$GC,246,-0.78,-155.7,60.6,-37.1,35,256,0.15,2.10,0.00,0.000,6,0.164,0.027,2166,2393,3936,0,0,0,0,0,0
$GC,580,-0.74,-155.7,153.3,-20.8,96,589,0.00,2.10,0.00,0.000,4,0.000,0.034,2166,992,3936,0,0,0,0,0,0
$GC,628,-0.71,-155.7,162.6,-18.6,104,637,0.12,2.15,0.00,0.000,6,0.138,0.034,2198,2399,3938,0,0,0,0,0,0
$GC,973,-0.71,-155.7,221.8,-17.5,165,980,0.00,2.10,0.00,0.000,4,0.000,0.042,2189,3780,3938,0,0,0,0,0,0
$GC,1117,-0.76,-155.7,243.4,-13.5,191,1125,0.00,2.03,0.00,0.000,6,0.000,0.027,2188,2398,3938,0,0,0,0,0,0
$GC,1448,-0.77,-155.7,294.4,-15.2,252,1456,0.00,2.10,0.00,0.000,4,0.000,0.034,2188,995,3938,0,0,0,0,0,0
$GC,1561,-0.81,-155.7,311.1,-14.3,265,1565,0.00,2.10,0.00,0.000,6,0.000,0.035,2179,2402,3938,0,0,0,0,0,0
$GC,1893,-0.82,-155.7,362.2,-16.0,296,1897,0.00,2.08,0.00,0.000,4,0.000,0.032,2179,989,3937,0,0,0,0,0,0
$GC,1922,-0.84,-155.7,367.1,-17.0,298,1926,0.00,2.12,0.00,0.000,6,0.000,0.036,2170,2407,3936,0,0,0,0,0,0
$GC,2247,-0.85,-155.7,417.3,-15.1,328,2251,0.00,2.10,0.00,0.000,4,0.000,0.044,2160,3784,3936,0,0,0,0,0,0
$GC,2289,-0.89,-155.7,423.9,-14.4,331,2298,0.00,2.08,0.00,0.000,6,0.000,0.028,2159,2392,3936,0,0,0,0,0,0
$GC,2615,-0.90,-155.7,478.3,-16.4,362,2619,0.00,2.05,0.00,0.000,4,0.000,0.035,2160,1000,3934,0,0,0,0,0,0
$GC,2653,-0.93,-155.7,484.7,-15.9,365,2660,0.00,2.15,0.00,0.000,6,0.000,0.037,2151,2397,3933,0,0,0,0,0,0
$STATE,2754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2754,begin apogee
$GC,2760,-0.16,0.0,500.5,15.7,375,2883,0.65,0.00,116.75,0.871,6,0.122,0.000,2366,1983,3298,0,0,0,0,0,0
$STATE,2884,end apogee,CONTROL_FINISHED_OK
$STATE,2884,begin climb
$GC,2886,0.89,155.7,506.3,0.0,385,3014,0.93,2.15,119.40,0.855,4,0.046,0.035,2732,614,2663,0,0,0,0,0,0
$GC,3072,0.75,155.7,500.7,16.7,400,3077,0.25,2.15,0.00,0.000,6,0.172,0.031,2668,2015,2659,0,0,0,0,0,0
$GC,3397,0.69,173.9,454.2,12.8,430,3422,0.00,2.22,14.45,0.770,4,0.000,0.041,2667,3412,2589,0,0,0,0,0,0
$GC,3570,0.59,173.9,427.9,15.0,445,3578,0.22,2.10,0.00,0.000,6,0.172,0.029,2616,2012,2585,0,0,0,0,0,0
$GC,3897,0.63,224.1,393.4,10.9,476,3945,0.00,2.22,38.62,0.802,4,0.000,0.039,2625,599,2384,0,0,0,0,0,0
$GC,3961,0.64,244.3,385.3,12.7,481,3983,0.00,2.15,17.25,0.750,6,0.000,0.032,2626,2002,2301,0,0,0,0,0,0
$GC,4310,0.64,258.1,339.2,13.1,514,4327,0.00,2.20,10.98,0.701,4,0.000,0.041,2626,3395,2247,0,0,0,0,0,0
$GC,4357,0.62,258.1,332.6,15.1,518,4361,0.00,2.10,0.00,0.000,6,0.000,0.031,2636,1999,2245,0,0,0,0,0,0
$GC,4685,0.61,258.1,285.0,15.0,557,4692,0.00,2.12,0.00,0.000,4,0.000,0.040,2647,593,2242,0,0,0,0,0,0
$GC,4769,0.60,258.1,271.9,13.9,572,4776,0.00,2.15,0.00,0.000,6,0.000,0.032,2647,2000,2242,0,0,0,0,0,0
$GC,5099,0.63,298.3,224.9,11.5,633,5142,0.00,2.22,31.40,0.698,4,0.000,0.041,2647,3402,2080,0,0,0,0,0,0
$GC,5166,0.63,314.7,216.7,12.9,643,5188,0.00,2.12,13.82,0.644,6,0.000,0.031,2657,2001,2014,0,0,0,0,0,0
$GC,5520,0.62,314.7,166.9,16.2,706,5528,0.12,2.20,0.00,0.000,4,0.170,0.041,2625,3397,2008,0,0,0,0,0,0
$GC,5588,0.66,330.5,157.4,12.9,718,5611,0.00,2.12,12.55,0.607,6,0.000,0.031,2634,2005,1950,0,0,0,0,0,0
$GC,5939,0.72,355.6,114.8,12.4,781,5964,0.00,2.22,19.77,0.604,4,0.000,0.040,2645,588,1849,0,0,0,0,0,0
$GC,6133,0.87,429.9,93.8,9.4,815,6196,0.12,2.15,56.45,0.599,6,0.047,0.031,2719,1998,1546,0,0,0,0,0,0
$GC,6524,0.89,429.9,38.4,14.6,883,6533,0.00,2.17,0.00,0.000,4,0.000,0.040,2719,3402,1537,0,0,0,0,0,0
$GC,6567,0.91,429.9,31.5,15.2,890,6576,0.00,2.15,0.00,0.000,6,0.000,0.031,2729,1995,1537,0,0,0,0,0,0
$STATE,6766,end climb,SURFACE_DEPTH_REACHED
$STATE,6766,begin surface coast
$FINISH,0.7,1.009517
$STATE,6791,end surface coast,CONTROL_FINISHED_OK
$STATE,6791,begin surface
$SM_CCo,6879,0.00,0.000,0,0,1534,432.71
$SM_GC,1.61,6.57,0.00,0.00,0.043,0.000,0.000,198,2422,1534,-6.85,0.62,432.71
$IRIDIUM_FIX,2356.84,12602.16,121010,181809
$TT8_MAMPS,0.027713
$HUMID,47.71
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.6,29.670
$10V_AH,10.2,37.378
$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,16.675,69.550,451.450,0.000,0.000,29.522,17.689,179.869,0.000,0.000,12.674,2246.484,1681.288,467.841,2642.093,237.118,0.000,1331.974,0.000,1444.363,0.000,0.543,0.000
$DEVICE_MAMPS,219.555,52.020,870.570,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,627.529,1415.255,1712.660,0.000,0.000,0.000,2399.548,0.000,0.000,0.000
$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,67099,930
$CAP_FILE_SIZE,97796,0
$CFSIZE,260165632,234504192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,100.7,1
$GPS,121010,225536,2407.900,12610.250,27,2.0,27,-3.6