version: 66.08
glider: 181
mission: 4
dive: 238
start: 10 13 110 23 24 55
data:
$ID,181
$MISSION,4
$DIVE,238
$N_DIVES,247
$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,-38145.488
$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,44
$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,474.0
$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
$GPS1,131010,231508,2415.158,12611.023,11,1.2,11,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-72.6
$GPS2,131010,232428,2415.181,12611.109,9,2.4,28,-3.7
$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,306.0,9609,-22.5,-13.889
$D_GRID,1588
$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,-155.7,0.0,0.0,0,75,0.00,0.00,-52.95,0.000,2,0.000,0.000,203,2413,2814,0,0,0,0,0,0
$GC,78,-0.89,-155.7,3.5,-6.0,7,118,7.55,2.10,-24.25,0.000,4,0.220,0.050,2125,3778,3933,0,0,0,0,0,0
$GC,199,-0.78,-155.7,42.9,-35.8,26,208,0.15,2.10,0.00,0.000,6,0.159,0.027,2168,2394,3935,0,0,0,0,0,0
$GC,534,-0.71,-155.7,145.8,-26.6,87,542,0.00,2.10,0.00,0.000,4,0.000,0.032,2168,987,3936,0,0,0,0,0,0
$GC,596,-0.71,-155.7,158.6,-17.8,97,603,0.12,2.12,0.00,0.000,6,0.160,0.032,2192,2403,3936,0,0,0,0,0,0
$GC,951,-0.71,-155.7,223.2,-17.3,158,959,0.00,2.12,0.00,0.000,4,0.000,0.033,2192,994,3937,0,0,0,0,0,0
$GC,1018,-0.75,-155.7,234.5,-15.7,169,1025,0.00,2.12,0.00,0.000,6,0.000,0.034,2186,2408,3937,0,0,0,0,0,0
$GC,1360,-0.77,-155.7,294.9,-17.8,230,1368,0.00,2.10,0.00,0.000,4,0.000,0.042,2176,3774,3937,0,0,0,0,0,0
$GC,1394,-0.79,-155.7,300.5,-17.4,235,1401,0.00,2.03,0.00,0.000,6,0.000,0.027,2176,2388,3937,0,0,0,0,0,0
$GC,1719,-0.79,-155.7,357.7,-16.3,266,1722,0.00,2.05,0.00,0.000,4,0.000,0.033,2176,1002,3936,0,0,0,0,0,0
$GC,1757,-0.82,-155.7,364.3,-15.6,269,1764,0.00,2.15,0.00,0.000,6,0.000,0.035,2166,2405,3936,0,0,0,0,0,0
$GC,2083,-0.83,-155.7,415.2,-15.1,300,2087,0.00,2.10,0.00,0.000,4,0.000,0.043,2155,3779,3934,0,0,0,0,0,0
$GC,2104,-0.84,-155.7,418.6,-15.0,301,2111,0.00,2.05,0.00,0.000,6,0.000,0.027,2155,2407,3934,0,0,0,0,0,0
$GC,2430,-0.86,-155.7,465.8,-14.1,332,2434,0.00,2.12,0.00,0.000,4,0.000,0.044,2145,3777,3932,0,0,0,0,0,0
$GC,2462,-0.87,-155.7,471.3,-16.7,334,2471,0.00,2.08,0.00,0.000,6,0.000,0.028,2150,2390,3930,0,0,0,0,0,0
$STATE,2647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2647,begin apogee
$GC,2653,-0.16,0.0,501.1,16.7,352,2776,0.68,0.00,116.45,0.873,6,0.127,0.000,2365,1970,3298,0,0,0,0,0,0
$STATE,2777,end apogee,CONTROL_FINISHED_OK
$STATE,2777,begin climb
$GC,2779,0.89,155.7,509.1,0.0,362,2909,0.93,2.38,119.68,0.858,4,0.045,0.037,2725,3412,2662,0,0,0,0,0,0
$GC,2922,0.86,256.2,511.4,7.9,374,3009,0.12,2.17,79.05,0.842,6,0.191,0.028,2708,2004,2254,0,0,0,0,0,0
$GC,3327,0.77,256.2,427.9,21.2,411,3332,0.12,2.15,0.00,0.000,4,0.188,0.040,2677,3410,2245,0,0,0,0,0,0
$GC,3439,0.71,256.2,404.9,19.1,420,3448,0.10,2.15,0.00,0.000,6,0.160,0.030,2656,2003,2242,0,0,0,0,0,0
$GC,3765,0.69,272.5,358.5,12.9,451,3782,0.00,2.12,11.88,0.721,4,0.000,0.037,2665,594,2187,0,0,0,0,0,0
$GC,3820,0.66,272.5,350.5,14.2,455,3827,0.00,2.15,0.00,0.000,6,0.000,0.031,2665,2004,2186,0,0,0,0,0,0
$GC,4146,0.63,272.5,299.1,16.9,486,4155,0.15,2.20,0.00,0.000,4,0.165,0.041,2625,3409,2183,0,0,0,0,0,0
$GC,4183,0.63,272.5,293.0,15.6,492,4192,0.00,2.15,0.00,0.000,6,0.000,0.030,2634,1991,2182,0,0,0,0,0,0
$GC,4527,0.64,285.4,244.8,13.1,553,4542,0.00,2.17,10.43,0.653,4,0.000,0.039,2644,593,2136,0,0,0,0,0,0
$GC,4572,0.65,288.2,238.5,13.7,560,4582,0.00,2.15,3.88,0.446,6,0.000,0.031,2645,2004,2124,0,0,0,0,0,0
$GC,4926,0.67,307.9,192.2,12.7,621,4955,0.00,2.17,16.62,0.657,4,0.000,0.041,2645,3410,2041,0,0,0,0,0,0
$GC,4968,0.67,307.9,185.8,14.2,627,4975,0.00,2.12,0.00,0.000,6,0.000,0.030,2655,1998,2042,0,0,0,0,0,0
$GC,5314,0.69,322.9,140.2,13.0,688,5331,0.00,2.15,12.10,0.596,4,0.000,0.039,2666,591,1982,0,0,0,0,0,0
$GC,5459,0.74,349.6,120.6,12.3,713,5490,0.00,2.15,22.12,0.608,6,0.000,0.031,2665,2006,1871,0,0,0,0,0,0
$GC,5818,0.85,404.3,76.5,10.6,777,5865,0.00,2.20,40.92,0.585,4,0.000,0.040,2666,3409,1649,0,0,0,0,0,0
$GC,5903,0.98,451.6,67.5,11.1,789,5951,0.15,2.17,35.75,0.566,6,0.039,0.029,2755,1998,1458,0,0,0,0,0,0
$GC,6277,0.96,451.6,8.3,17.8,855,6285,0.00,2.15,0.00,0.000,4,0.000,0.040,2765,598,1453,0,0,0,0,0,0
$STATE,6308,end climb,SURFACE_DEPTH_REACHED
$STATE,6308,begin surface coast
$FINISH,0.6,1.004421
$STATE,6327,end surface coast,CONTROL_FINISHED_OK
$STATE,6327,begin surface
$SM_CCo,6418,0.00,0.000,0,0,1450,453.31
$SM_GC,1.60,6.65,0.00,0.00,0.040,0.000,0.000,205,2396,1450,-6.84,-0.08,453.31
$IRIDIUM_FIX,2403.92,12638.48,131010,212143
$TT8_MAMPS,0.027713
$HUMID,48.34
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.6,31.192
$10V_AH,10.2,39.416
$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,16.725,69.600,468.875,0.000,0.000,64.291,51.792,189.840,0.250,0.000,32.790,2073.222,1627.573,480.127,2547.172,251.397,0.000,1296.606,0.000,1317.439,0.000,0.543,0.000
$DEVICE_MAMPS,220.320,50.490,872.865,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,581.038,1313.422,1592.750,0.000,0.000,0.000,2342.922,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331436
$DATA_FILE_SIZE,60453,863
$CAP_FILE_SIZE,92690,0
$CFSIZE,260165632,233603072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.167,117.8,1
$GPS,141010,011306,2415.352,12610.895,37,0.9,37,-3.7