version: 66.08
glider: 181
mission: 4
dive: 233
start: 10 13 110 13 14 56
data:
$ID,181
$MISSION,4
$DIVE,233
$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,-38139.207
$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,464.0
$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
$GPS1,131010,130646,2412.420,12610.371,10,3.3,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-73.6
$GPS2,131010,131428,2412.446,12610.385,12,3.4,31,-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,336.9,14183,-22.5,-13.889
$D_GRID,1600
$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,-155.7,0.0,0.0,0,67,0.00,0.00,-45.22,0.000,2,0.000,0.000,213,2416,2679,0,0,0,0,0,0
$GC,71,-0.89,-155.7,3.2,-5.2,6,119,7.55,2.20,-28.83,0.000,4,0.221,0.046,2134,983,3936,0,0,0,0,0,0
$GC,235,-0.80,-155.7,55.9,-33.2,33,244,0.10,2.17,0.00,0.000,6,0.160,0.035,2154,2390,3937,0,0,0,0,0,0
$GC,568,-0.74,-155.7,152.1,-22.4,94,577,0.12,2.15,0.00,0.000,4,0.184,0.041,2178,3775,3938,0,0,0,0,0,0
$GC,753,-0.76,-155.7,184.9,-17.1,127,761,0.00,2.05,0.00,0.000,6,0.000,0.027,2178,2381,3939,0,0,0,0,0,0
$GC,1098,-0.75,-155.7,250.0,-18.8,188,1106,0.00,2.05,0.00,0.000,4,0.000,0.033,2178,1005,3939,0,0,0,0,0,0
$GC,1134,-0.75,-155.7,256.6,-17.4,194,1142,0.00,2.12,0.00,0.000,6,0.000,0.035,2169,2400,3939,0,0,0,0,0,0
$GC,1463,-0.75,-155.7,314.3,-15.8,247,1467,0.00,2.10,0.00,0.000,4,0.000,0.042,2159,3778,3939,0,0,0,0,0,0
$GC,1490,-0.76,-155.7,318.9,-15.9,249,1497,0.00,2.05,0.00,0.000,6,0.000,0.028,2159,2411,3938,0,0,0,0,0,0
$GC,1815,-0.76,-155.7,376.2,-17.3,280,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2407,3936,0,0,0,0,0,0
$GC,2135,-0.76,-155.7,427.6,-15.8,310,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2407,3936,0,0,0,0,0,0
$GC,2455,-0.77,-155.7,473.0,-14.0,340,2459,0.00,2.10,0.00,0.000,4,0.000,0.034,2158,998,3934,0,0,0,0,0,0
$GC,2518,-0.81,-155.7,481.8,-12.8,345,2522,0.00,2.12,0.00,0.000,6,0.000,0.037,2151,2410,3934,0,0,0,0,0,0
$STATE,2640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2640,begin apogee
$GC,2646,-0.16,0.0,500.6,16.5,356,2767,0.65,0.00,116.75,0.879,6,0.122,0.000,2366,1972,3298,0,0,0,0,0,0
$STATE,2768,end apogee,CONTROL_FINISHED_OK
$STATE,2768,begin climb
$GC,2770,0.89,155.7,508.0,0.0,366,2899,0.93,2.17,119.65,0.858,4,0.043,0.036,2736,601,2662,0,0,0,0,0,0
$GC,3148,0.73,155.7,477.5,16.3,399,3153,0.28,2.12,0.00,0.000,6,0.176,0.031,2664,2013,2656,0,0,0,0,0,0
$GC,3475,0.69,185.8,437.5,12.1,429,3503,0.00,2.17,22.65,0.804,4,0.000,0.038,2672,600,2541,0,0,0,0,0,0
$GC,3567,0.62,185.8,424.7,15.0,437,3572,0.17,2.15,0.00,0.000,6,0.166,0.032,2627,2009,2540,0,0,0,0,0,0
$GC,3894,0.66,246.8,386.6,10.2,467,3944,0.00,0.00,47.67,0.805,6,0.000,0.000,2627,2010,2291,0,0,0,0,0,0
$GC,4263,0.69,282.7,342.6,11.7,502,4300,0.00,2.22,28.17,0.768,4,0.000,0.041,2628,3401,2144,0,0,0,0,0,0
$GC,4380,0.69,282.7,326.3,15.4,512,4384,0.00,2.12,0.00,0.000,6,0.000,0.031,2636,2006,2140,0,0,0,0,0,0
$GC,4709,0.69,282.7,272.9,14.2,558,4717,0.00,2.17,0.00,0.000,4,0.000,0.040,2647,593,2137,0,0,0,0,0,0
$GC,4773,0.70,288.2,264.5,13.6,569,4788,0.00,2.12,4.80,0.522,6,0.000,0.031,2647,2005,2122,0,0,0,0,0,0
$GC,5112,0.70,290.7,220.0,13.7,631,5120,0.00,2.15,0.00,0.000,4,0.000,0.039,2657,589,2120,0,0,0,0,0,0
$GC,5143,0.70,290.7,215.0,14.7,636,5152,0.00,2.15,0.00,0.000,6,0.000,0.032,2663,1996,2120,0,0,0,0,0,0
$GC,5485,0.72,315.1,170.4,12.4,697,5514,0.00,2.20,20.65,0.647,4,0.000,0.040,2657,3402,2016,0,0,0,0,0,0
$GC,5624,0.72,315.1,150.0,14.9,721,5631,0.00,2.12,0.00,0.000,6,0.000,0.030,2667,1991,2012,0,0,0,0,0,0
$GC,5957,0.79,376.4,106.1,10.2,782,6012,0.00,2.17,47.10,0.617,4,0.000,0.038,2679,589,1762,0,0,0,0,0,0
$GC,6097,0.86,410.5,90.6,11.9,804,6129,0.00,2.17,26.25,0.580,6,0.000,0.031,2678,1998,1626,0,0,0,0,0,0
$GC,6457,1.04,504.0,49.6,8.3,868,6536,0.22,2.20,70.03,0.558,4,0.059,0.037,2781,3408,1242,0,0,0,0,0,0
$GC,6599,1.03,504.0,22.9,21.1,889,6608,0.10,2.20,0.00,0.000,6,0.153,0.031,2762,1998,1241,0,0,0,0,0,0
$STATE,6706,end climb,SURFACE_DEPTH_REACHED
$STATE,6706,begin surface coast
$FINISH,0.6,1.008998
$STATE,6725,end surface coast,CONTROL_FINISHED_OK
$STATE,6725,begin surface
$SM_CCo,6815,0.00,0.000,0,0,1233,506.54
$SM_GC,1.52,6.65,0.00,0.00,0.037,0.000,0.000,211,2415,1233,-6.83,0.40,506.54
$IRIDIUM_FIX,2403.92,12608.24,131010,111104
$TT8_MAMPS,0.027713
$HUMID,47.83
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.6,30.614
$10V_AH,10.2,38.637
$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,16.775,57.000,503.725,0.000,0.000,25.645,46.102,202.520,0.250,0.000,35.504,2180.631,1729.480,476.445,2643.384,249.760,0.000,1333.853,0.000,1413.116,0.000,0.543,0.000
$DEVICE_MAMPS,221.085,45.900,878.985,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,614.448,1387.006,1662.522,0.000,0.000,0.000,2374.330,0.000,0.000,0.000
$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,63688,911
$CAP_FILE_SIZE,92320,0
$CFSIZE,260165632,233943040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107,137.2,1
$GPS,131010,150936,2412.916,12610.384,29,0.9,29,-3.6