version: 66.08
glider: 181
mission: 4
dive: 227
start: 10 13 110 1 4 30
data:
$ID,181
$MISSION,4
$DIVE,227
$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,-38131.66
$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,36
$R_STBD_OVSHOOT,45
$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,452.0
$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
$GPS1,131010,005637,2408.463,12610.388,24,1.4,24,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-72.3
$GPS2,131010,010402,2408.447,12610.429,10,1.5,10,-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,345.2,21531,-22.5,-13.889
$D_GRID,1712
$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,-53.72,0.000,2,0.000,0.000,201,2406,2809,0,0,0,0,0,0
$GC,79,-0.89,-155.7,3.4,-6.0,7,119,7.53,2.12,-24.40,0.000,4,0.220,0.050,2119,3779,3933,0,0,0,0,0,0
$GC,246,-0.80,-155.7,59.8,-34.5,35,255,0.15,2.10,0.00,0.000,6,0.163,0.028,2162,2390,3935,0,0,0,0,0,0
$GC,582,-0.75,-155.7,151.1,-21.3,96,590,0.00,2.08,0.00,0.000,4,0.000,0.032,2162,998,3936,0,0,0,0,0,0
$GC,603,-0.70,-155.7,156.1,-21.1,99,611,0.15,2.10,0.00,0.000,6,0.157,0.033,2193,2397,3937,0,0,0,0,0,0
$GC,946,-0.70,-155.7,226.3,-20.1,160,954,0.00,2.12,0.00,0.000,4,0.000,0.041,2185,3772,3938,0,0,0,0,0,0
$GC,1089,-0.75,-155.7,249.6,-14.4,186,1097,0.00,2.05,0.00,0.000,6,0.000,0.027,2185,2398,3936,0,0,0,0,0,0
$GC,1419,-0.75,-155.7,303.5,-16.3,245,1422,0.00,2.05,0.00,0.000,4,0.000,0.032,2185,995,3937,0,0,0,0,0,0
$GC,1453,-0.78,-155.7,308.8,-14.5,248,1457,0.00,2.10,0.00,0.000,6,0.000,0.034,2176,2400,3937,0,0,0,0,0,0
$GC,1778,-0.78,-155.7,362.7,-18.1,278,1782,0.00,2.10,0.00,0.000,4,0.000,0.042,2166,3779,3936,0,0,0,0,0,0
$GC,1874,-0.82,-155.7,378.0,-14.7,286,1877,0.00,2.05,0.00,0.000,6,0.000,0.028,2162,2396,3935,0,0,0,0,0,0
$GC,2206,-0.82,-155.7,431.5,-15.7,317,2209,0.00,2.08,0.00,0.000,4,0.000,0.034,2165,996,3935,0,0,0,0,0,0
$GC,2266,-0.86,-155.7,441.1,-13.8,322,2274,0.00,2.15,0.00,0.000,6,0.000,0.035,2164,2397,3934,0,0,0,0,0,0
$GC,2593,-0.88,-155.7,488.6,-13.8,353,2597,0.00,2.12,0.00,0.000,4,0.000,0.044,2153,3787,3932,0,0,0,0,0,0
$STATE,2678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2678,begin apogee
$GC,2686,-0.16,0.0,500.8,12.4,360,2814,0.65,0.00,116.35,0.872,6,0.116,0.000,2371,1990,3298,0,0,0,0,0,0
$STATE,2815,end apogee,CONTROL_FINISHED_OK
$STATE,2815,begin climb
$GC,2817,0.89,155.7,505.5,0.0,371,2951,0.90,2.35,119.55,0.855,4,0.047,0.039,2718,3410,2662,0,0,0,0,0,0
$GC,3085,0.75,155.7,484.8,16.7,394,3090,0.25,2.15,0.00,0.000,6,0.180,0.029,2664,1987,2656,0,0,0,0,0,0
$GC,3411,0.72,201.0,446.8,11.2,424,3451,0.00,2.30,34.85,0.820,4,0.000,0.041,2664,3411,2478,0,0,0,0,0,0
$GC,3538,0.64,201.0,429.3,15.8,435,3542,0.15,2.12,0.00,0.000,6,0.173,0.030,2635,2003,2473,0,0,0,0,0,0
$GC,3865,0.65,240.9,387.5,11.5,465,3902,0.00,2.17,30.38,0.796,4,0.000,0.037,2645,597,2317,0,0,0,0,0,0
$GC,3972,0.65,257.8,373.7,12.9,474,3996,0.00,2.15,14.62,0.737,6,0.000,0.031,2645,2017,2246,0,0,0,0,0,0
$GC,4316,0.62,257.8,324.9,14.6,506,4320,0.00,2.15,0.00,0.000,4,0.000,0.041,2645,3412,2241,0,0,0,0,0,0
$GC,4458,0.60,257.8,301.5,17.2,518,4467,0.10,2.15,0.00,0.000,6,0.147,0.031,2623,2005,2239,0,0,0,0,0,0
$GC,4789,0.64,296.3,262.1,11.6,578,4824,0.00,2.22,29.48,0.724,4,0.000,0.040,2633,595,2089,0,0,0,0,0,0
$GC,4882,0.68,309.1,250.5,13.1,593,4898,0.00,2.15,11.40,0.653,6,0.000,0.031,2633,2012,2037,0,0,0,0,0,0
$GC,5225,0.72,331.3,204.6,12.6,655,5254,0.00,2.22,17.58,0.659,4,0.000,0.039,2643,598,1946,0,0,0,0,0,0
$GC,5304,0.76,343.3,194.2,13.2,667,5320,0.00,2.12,10.60,0.609,6,0.000,0.031,2643,2004,1897,0,0,0,0,0,0
$GC,5651,0.80,358.5,149.9,13.0,729,5670,0.12,2.17,12.82,0.601,4,0.089,0.041,2705,3411,1835,0,0,0,0,0,0
$GC,5711,0.76,358.5,139.2,20.9,738,5720,0.12,2.17,0.00,0.000,6,0.148,0.032,2676,2001,1834,0,0,0,0,0,0
$GC,6047,0.78,358.5,83.2,14.5,799,6055,0.00,2.17,0.00,0.000,4,0.000,0.040,2685,593,1831,0,0,0,0,0,0
$GC,6092,0.81,358.5,76.5,14.3,806,6100,0.00,2.15,0.00,0.000,6,0.000,0.032,2685,2007,1831,0,0,0,0,0,0
$GC,6425,0.97,456.0,44.9,8.1,867,6511,0.15,2.22,72.15,0.564,4,0.073,0.038,2769,593,1437,0,0,0,0,0,0
$GC,6520,0.95,456.0,31.8,16.3,879,6529,0.10,2.17,0.00,0.000,6,0.141,0.031,2738,1994,1436,0,0,0,0,0,0
$STATE,6697,end climb,SURFACE_DEPTH_REACHED
$STATE,6698,begin surface coast
$FINISH,0.6,1.009171
$STATE,6717,end surface coast,CONTROL_FINISHED_OK
$STATE,6717,begin surface
$SM_CCo,6805,0.00,0.000,0,0,1430,458.22
$SM_GC,1.55,6.57,0.00,0.00,0.038,0.000,0.000,211,2403,1430,-6.84,0.08,458.22
$IRIDIUM_FIX,2356.84,12608.76,121010,222213
$TT8_MAMPS,0.027713
$HUMID,47.55
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.6,29.906
$10V_AH,10.2,37.693
$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,16.950,69.900,469.775,0.000,0.000,31.143,42.233,203.685,0.000,0.000,13.627,2212.449,1649.453,471.416,2659.118,260.035,0.000,1347.250,0.000,1453.195,0.000,0.542,0.000
$DEVICE_MAMPS,220.320,50.490,872.100,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,616.522,1391.812,1668.072,0.000,0.000,0.000,2344.999,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331492
$DATA_FILE_SIZE,63878,914
$CAP_FILE_SIZE,98004,0
$CFSIZE,260165632,234360832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109,167.3,1
$GPS,131010,025906,2408.960,12610.259,25,1.1,35,-3.6