version: 66.08
glider: 181
mission: 4
dive: 230
start: 10 13 110 7 12 53
data:
$ID,181
$MISSION,4
$DIVE,230
$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,-38135.434
$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,44
$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,458.0
$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
$GPS1,131010,070500,2410.198,12610.122,40,1.1,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-69.7
$GPS2,131010,071225,2410.140,12610.090,11,1.3,17,-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,359.4,18354,-22.5,-13.889
$D_GRID,1666
$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,-155.7,0.0,0.0,0,74,0.00,0.00,-52.28,0.000,2,0.000,0.000,197,2408,2886,0,0,0,0,0,0
$GC,78,-0.89,-155.7,3.4,-5.7,7,118,7.70,2.15,-22.55,0.000,4,0.226,0.054,2123,3778,3936,0,0,0,0,0,0
$GC,288,-0.82,-155.7,68.0,-24.9,43,297,0.10,2.10,0.00,0.000,6,0.154,0.028,2153,2389,3937,0,0,0,0,0,0
$GC,623,-0.76,-155.7,163.3,-25.8,104,632,0.00,2.15,0.00,0.000,4,0.000,0.041,2144,3770,3939,0,0,0,0,0,0
$GC,672,-0.73,-155.7,175.1,-22.5,112,682,0.12,2.05,0.00,0.000,6,0.134,0.027,2184,2401,3939,0,0,0,0,0,0
$GC,1028,-0.73,-155.7,244.1,-17.7,173,1036,0.00,2.08,0.00,0.000,4,0.000,0.034,2184,985,3940,0,0,0,0,0,0
$GC,1116,-0.75,-155.7,259.2,-17.8,188,1125,0.00,2.15,0.00,0.000,6,0.000,0.034,2177,2395,3939,0,0,0,0,0,0
$GC,1457,-0.75,-155.7,319.6,-18.3,239,1460,0.00,2.10,0.00,0.000,4,0.000,0.042,2166,3775,3940,0,0,0,0,0,0
$GC,1609,-0.79,-155.7,343.2,-14.9,252,1613,0.00,2.03,0.00,0.000,6,0.000,0.027,2166,2390,3939,0,0,0,0,0,0
$GC,1941,-0.79,-155.7,394.4,-16.4,283,1945,0.00,2.03,0.00,0.000,4,0.000,0.033,2166,1004,3938,0,0,0,0,0,0
$GC,1967,-0.80,-155.7,398.3,-16.3,285,1971,0.00,2.10,0.00,0.000,6,0.000,0.035,2164,2410,3938,0,0,0,0,0,0
$GC,2293,-0.82,-155.7,450.8,-15.7,315,2297,0.00,2.10,0.00,0.000,4,0.000,0.044,2153,3778,3936,0,0,0,0,0,0
$GC,2369,-0.87,-155.7,463.0,-15.4,321,2372,0.00,2.05,0.00,0.000,6,0.000,0.028,2153,2398,3936,0,0,0,0,0,0
$STATE,2591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2591,begin apogee
$GC,2597,-0.16,0.0,501.9,16.4,342,2720,0.65,0.00,116.93,0.876,6,0.120,0.000,2368,1980,3298,0,0,0,0,0,0
$STATE,2721,end apogee,CONTROL_FINISHED_OK
$STATE,2721,begin climb
$GC,2723,0.89,155.7,509.4,0.0,352,2856,0.93,0.00,119.65,0.859,6,0.045,0.000,2731,1980,2661,0,0,0,0,0,0
$GC,3173,0.76,155.7,457.2,16.5,393,3178,0.20,2.20,0.00,0.000,4,0.184,0.037,2676,3413,2655,0,0,0,0,0,0
$GC,3214,0.65,155.7,450.5,15.2,396,3219,0.17,2.10,0.00,0.000,6,0.188,0.029,2640,2009,2654,0,0,0,0,0,0
$GC,3540,0.65,208.6,413.4,10.7,426,3582,0.00,0.00,40.00,0.816,6,0.000,0.000,2640,2007,2447,0,0,0,0,0,0
$GC,3899,0.64,234.3,371.8,12.4,460,3925,0.00,2.25,20.25,0.774,4,0.000,0.041,2640,3406,2342,0,0,0,0,0,0
$GC,4009,0.62,241.0,358.2,13.5,469,4021,0.00,2.15,6.45,0.630,6,0.000,0.031,2650,1992,2315,0,0,0,0,0,0
$GC,4343,0.60,257.4,313.4,12.9,500,4361,0.00,2.15,13.57,0.720,4,0.000,0.038,2660,590,2249,0,0,0,0,0,0
$GC,4389,0.58,263.9,306.9,13.5,503,4401,0.17,2.15,6.80,0.620,6,0.162,0.032,2613,2012,2222,0,0,0,0,0,0
$GC,4736,0.63,291.5,265.9,12.2,559,4765,0.00,2.22,22.02,0.720,4,0.000,0.041,2613,3404,2110,0,0,0,0,0,0
$GC,4862,0.69,326.5,249.8,11.8,580,4898,0.00,2.15,27.83,0.708,6,0.000,0.031,2622,2007,1968,0,0,0,0,0,0
$GC,5233,0.77,369.1,204.2,11.3,645,5274,0.15,2.22,32.42,0.679,4,0.077,0.038,2703,596,1792,0,0,0,0,0,0
$GC,5399,0.75,369.1,174.5,17.6,672,5407,0.10,2.15,0.00,0.000,6,0.142,0.031,2672,1995,1789,0,0,0,0,0,0
$GC,5737,0.75,369.1,118.4,17.0,733,5745,0.00,2.17,0.00,0.000,4,0.000,0.040,2671,3399,1786,0,0,0,0,0,0
$GC,5764,0.76,369.1,113.7,17.1,737,5773,0.00,2.15,0.00,0.000,6,0.000,0.032,2680,1998,1785,0,0,0,0,0,0
$GC,6098,0.81,398.1,63.1,12.2,798,6130,0.00,2.17,21.98,0.572,4,0.000,0.040,2696,599,1673,0,0,0,0,0,0
$GC,6156,0.85,413.4,55.9,13.0,806,6175,0.00,2.15,13.25,0.536,6,0.000,0.032,2691,1996,1615,0,0,0,0,0,0
$GC,6502,1.00,488.9,20.7,9.4,868,6567,0.15,2.20,56.45,0.542,4,0.073,0.037,2763,3413,1303,0,0,0,0,0,0
$STATE,6607,end climb,SURFACE_DEPTH_REACHED
$STATE,6607,begin surface coast
$FINISH,0.5,1.019573
$STATE,6626,end surface coast,CONTROL_FINISHED_OK
$STATE,6626,begin surface
$SM_CCo,6715,0.00,0.000,0,0,1297,490.85
$SM_GC,1.42,6.72,0.00,0.00,0.039,0.000,0.000,200,2388,1297,-6.84,-0.34,490.85
$IRIDIUM_FIX,2403.92,12613.45,131010,050529
$TT8_MAMPS,0.027713
$HUMID,48.03
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,24.6,30.255
$10V_AH,10.2,38.165
$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,17.175,59.800,497.600,0.000,0.000,25.183,37.491,206.568,0.250,0.000,19.866,2133.057,1754.293,476.083,2557.138,241.659,0.000,1306.595,0.000,1366.224,0.000,0.543,0.000
$DEVICE_MAMPS,226.440,53.550,875.925,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,597.664,1347.935,1629.015,0.000,0.000,0.000,2208.184,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331592
$DATA_FILE_SIZE,63875,886
$CAP_FILE_SIZE,92898,0
$CFSIZE,260165632,234151936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.023, 14.2,1
$GPS,131010,090537,2410.900,12610.058,8,1.8,13,-3.6