version: 66.08
glider: 181
mission: 4
dive: 239
start: 10 14 110 1 20 29
data:
$ID,181
$MISSION,4
$DIVE,239
$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,-38146.742
$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,32
$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,476.0
$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
$GPS1,141010,011306,2415.352,12610.895,37,0.9,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-72.5
$GPS2,141010,012001,2415.353,12610.950,10,1.0,15,-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,321.0,9214,-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,-155.7,0.0,0.0,0,69,0.00,0.00,-47.00,0.000,2,0.000,0.000,204,2396,2719,0,0,0,0,0,0
$GC,72,-0.89,-155.7,3.3,-5.1,6,120,7.57,2.15,-27.62,0.000,4,0.223,0.050,2120,3793,3934,0,0,0,0,0,0
$GC,225,-0.79,-155.7,55.1,-37.0,31,235,0.15,2.12,0.00,0.000,6,0.153,0.028,2164,2396,3935,0,0,0,0,0,0
$GC,561,-0.73,-155.7,146.6,-23.4,92,569,0.00,2.10,0.00,0.000,4,0.000,0.031,2165,988,3937,0,0,0,0,0,0
$GC,584,-0.67,-155.7,152.0,-21.8,95,593,0.17,2.15,0.00,0.000,6,0.154,0.034,2203,2415,3937,0,0,0,0,0,0
$GC,931,-0.67,-155.7,219.5,-18.1,156,939,0.00,2.12,0.00,0.000,4,0.000,0.031,2203,996,3938,0,0,0,0,0,0
$GC,963,-0.69,-155.7,225.4,-18.5,161,970,0.00,2.12,0.00,0.000,6,0.000,0.034,2196,2412,3938,0,0,0,0,0,0
$GC,1295,-0.71,-155.7,281.7,-16.8,222,1303,0.00,2.10,0.00,0.000,4,0.000,0.042,2185,3778,3938,0,0,0,0,0,0
$GC,1369,-0.77,-155.7,291.7,-12.7,235,1377,0.00,2.05,0.00,0.000,6,0.000,0.026,2185,2375,3938,0,0,0,0,0,0
$GC,1700,-0.79,-155.7,341.0,-15.7,271,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2374,3937,0,0,0,0,0,0
$GC,2019,-0.81,-155.7,389.9,-15.4,301,2023,0.00,2.00,0.00,0.000,4,0.000,0.033,2185,1005,3936,0,0,0,0,0,0
$GC,2067,-0.87,-155.7,397.1,-14.4,305,2071,0.00,2.10,0.00,0.000,6,0.000,0.034,2177,2398,3936,0,0,0,0,0,0
$GC,2398,-0.89,-155.7,448.0,-15.4,336,2402,0.12,2.12,0.00,0.000,4,0.083,0.044,2102,3784,3934,0,0,0,0,0,0
$GC,2441,-0.86,-155.7,456.8,-20.9,339,2450,0.15,2.05,0.00,0.000,6,0.153,0.028,2142,2391,3933,0,0,0,0,0,0
$STATE,2682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2682,begin apogee
$GC,2687,-0.16,0.0,501.2,18.8,362,2812,0.70,0.00,116.68,0.871,6,0.126,0.000,2372,1973,3298,0,0,0,0,0,0
$STATE,2813,end apogee,CONTROL_FINISHED_OK
$STATE,2813,begin climb
$GC,2815,0.89,155.7,509.9,0.0,372,2945,0.90,2.15,119.55,0.858,4,0.044,0.034,2734,610,2662,0,0,0,0,0,0
$GC,3192,0.75,155.7,478.3,17.0,405,3200,0.20,2.15,0.00,0.000,6,0.167,0.031,2666,2015,2656,0,0,0,0,0,0
$GC,3519,0.71,190.0,436.9,11.8,436,3550,0.00,0.00,26.23,0.808,6,0.000,0.000,2666,2015,2522,0,0,0,0,0,0
$GC,3869,0.64,193.8,389.5,13.7,469,3882,0.12,2.17,3.40,0.436,4,0.184,0.036,2643,615,2509,0,0,0,0,0,0
$GC,3952,0.64,224.4,379.0,12.1,476,3988,0.00,2.10,25.12,0.783,6,0.000,0.031,2643,2007,2382,0,0,0,0,0,0
$GC,4307,0.62,237.7,332.1,13.1,509,4319,0.00,0.00,11.00,0.703,6,0.000,0.000,2643,2008,2328,0,0,0,0,0,0
$GC,4640,0.60,237.7,287.6,14.7,548,4648,0.00,2.15,0.00,0.000,4,0.000,0.037,2653,610,2325,0,0,0,0,0,0
$GC,4683,0.57,237.7,281.0,15.5,555,4691,0.15,2.10,0.00,0.000,6,0.162,0.031,2613,2010,2325,0,0,0,0,0,0
$GC,5014,0.66,309.6,242.2,9.6,616,5077,0.00,2.20,55.10,0.718,4,0.000,0.039,2613,3404,2035,0,0,0,0,0,0
$GC,5135,0.75,355.3,229.7,11.1,635,5179,0.12,2.12,35.78,0.685,6,0.086,0.029,2680,2005,1849,0,0,0,0,0,0
$GC,5508,0.73,355.3,162.9,19.2,701,5515,0.00,2.15,0.00,0.000,4,0.000,0.039,2690,597,1841,0,0,0,0,0,0
$GC,5630,0.73,355.3,138.9,18.6,723,5639,0.00,2.12,0.00,0.000,6,0.000,0.030,2691,1994,1841,0,0,0,0,0,0
$GC,5965,0.76,375.8,84.1,12.7,784,5989,0.00,2.20,15.23,0.569,4,0.000,0.038,2690,3405,1766,0,0,0,0,0,0
$GC,6029,0.78,395.4,75.8,12.7,794,6054,0.00,2.15,16.38,0.562,6,0.000,0.030,2701,1998,1685,0,0,0,0,0,0
$GC,6381,0.87,436.4,42.5,11.4,857,6420,0.00,2.12,30.88,0.553,4,0.000,0.037,2712,596,1519,0,0,0,0,0,0
$GC,6579,0.97,475.6,18.6,11.5,891,6619,0.00,2.15,30.38,0.528,6,0.000,0.030,2712,2007,1358,0,0,0,0,0,0
$STATE,6701,end climb,SURFACE_DEPTH_REACHED
$STATE,6701,begin surface coast
$FINISH,0.7,1.006675
$STATE,6724,end surface coast,CONTROL_FINISHED_OK
$STATE,6724,begin surface
$SM_CCo,6814,0.00,0.000,0,0,1352,477.11
$SM_GC,1.63,6.55,0.00,0.00,0.041,0.000,0.000,210,2406,1352,-6.84,0.17,477.11
$IRIDIUM_FIX,2406.29,12604.94,131010,232338
$TT8_MAMPS,0.027713
$HUMID,48.03
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.6,31.309
$10V_AH,10.2,39.574
$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,16.925,56.375,485.700,0.000,0.000,22.589,44.076,177.027,0.000,0.000,18.511,2180.962,1715.309,489.435,2611.847,234.282,0.000,1337.918,0.000,1405.879,0.000,0.542,0.000
$DEVICE_MAMPS,222.615,49.725,871.335,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,616.283,1392.571,1690.411,0.000,0.000,0.000,2309.328,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331468
$DATA_FILE_SIZE,63758,915
$CAP_FILE_SIZE,93094,0
$CFSIZE,260165632,233533440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170,140.6,1
$GPS,141010,031455,2415.589,12610.849,10,1.4,16,-3.7