version: 66.08
glider: 181
mission: 4
dive: 240
start: 10 14 110 3 29 34
data:
$ID,181
$MISSION,4
$DIVE,240
$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,-38148
$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,43
$R_STBD_OVSHOOT,48
$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,478.0
$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
$GPS1,141010,031455,2415.589,12610.849,10,1.4,16,-3.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-72.3
$GPS2,141010,032907,2415.497,12610.884,9,1.9,14,-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,332.4,8926,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.89,-155.7,0.0,0.0,0,75,0.00,0.00,-52.20,0.000,2,0.000,0.000,206,2406,2777,0,0,0,0,0,0
$GC,78,-0.89,-155.7,3.2,-5.4,7,118,7.50,2.10,-26.60,0.000,4,0.220,0.054,2125,3769,3934,0,0,0,0,0,0
$GC,245,-0.81,-155.7,57.8,-30.8,35,254,0.10,2.08,0.00,0.000,6,0.148,0.027,2156,2391,3936,0,0,0,0,0,0
$GC,581,-0.74,-155.7,147.5,-23.5,96,590,0.12,2.15,0.00,0.000,4,0.174,0.041,2180,3762,3937,0,0,0,0,0,0
$GC,626,-0.73,-155.7,157.3,-18.9,103,633,0.00,2.00,0.00,0.000,6,0.000,0.026,2180,2395,3937,0,0,0,0,0,0
$GC,984,-0.73,-155.7,231.3,-17.1,164,993,0.00,2.08,0.00,0.000,4,0.000,0.031,2180,1000,3937,0,0,0,0,0,0
$GC,1100,-0.76,-155.7,250.1,-14.1,184,1110,0.00,2.12,0.00,0.000,6,0.000,0.034,2171,2395,3937,0,0,0,0,0,0
$GC,1447,-0.76,-155.7,308.8,-15.9,241,1451,0.00,2.10,0.00,0.000,4,0.000,0.043,2160,3787,3936,0,0,0,0,0,0
$GC,1476,-0.76,-155.7,313.8,-16.7,243,1480,0.00,2.05,0.00,0.000,6,0.000,0.028,2160,2397,3934,0,0,0,0,0,0
$GC,1807,-0.76,-155.7,373.2,-17.3,274,1811,0.00,2.08,0.00,0.000,4,0.000,0.033,2160,989,3934,0,0,0,0,0,0
$GC,1851,-0.78,-155.7,380.9,-17.0,277,1858,0.00,2.12,0.00,0.000,6,0.000,0.037,2151,2397,3933,0,0,0,0,0,0
$GC,2176,-0.78,-155.7,432.8,-14.5,308,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2398,3931,0,0,0,0,0,0
$GC,2498,-0.78,-155.7,480.1,-14.6,338,2502,0.00,2.10,0.00,0.000,4,0.000,0.045,2141,3777,3930,0,0,0,0,0,0
$GC,2594,-0.80,-155.7,495.3,-14.8,346,2598,0.00,2.03,0.00,0.000,6,0.000,0.028,2141,2402,3928,0,0,0,0,0,0
$STATE,2627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2627,begin apogee
$GC,2632,-0.16,0.0,500.7,15.9,349,2758,0.70,0.00,115.80,0.871,6,0.127,0.000,2368,1974,3298,0,0,0,0,0,0
$STATE,2759,end apogee,CONTROL_FINISHED_OK
$STATE,2759,begin climb
$GC,2761,0.89,155.7,507.9,0.0,359,2889,0.93,2.20,119.35,0.854,4,0.048,0.036,2732,603,2663,0,0,0,0,0,0
$GC,2896,0.92,297.1,513.5,5.4,370,3019,0.00,2.17,110.30,0.842,6,0.000,0.031,2737,2008,2086,0,0,0,0,0,0
$GC,3338,0.82,297.1,414.0,26.0,410,3343,0.17,2.12,0.00,0.000,4,0.173,0.041,2687,3405,2078,0,0,0,0,0,0
$GC,3426,0.76,297.1,392.4,21.8,417,3433,0.00,2.12,0.00,0.000,6,0.000,0.031,2695,2015,2077,0,0,0,0,0,0
$GC,3751,0.69,297.1,323.5,20.0,448,3756,0.17,2.12,0.00,0.000,4,0.177,0.039,2659,596,2075,0,0,0,0,0,0
$GC,3825,0.69,297.1,310.8,15.0,454,3829,0.00,2.12,0.00,0.000,6,0.000,0.032,2659,2005,2074,0,0,0,0,0,0
$GC,4163,0.67,297.1,255.6,15.2,508,4171,0.00,2.15,0.00,0.000,4,0.000,0.041,2659,3398,2072,0,0,0,0,0,0
$GC,4189,0.64,297.1,251.0,16.9,512,4198,0.10,2.12,0.00,0.000,6,0.151,0.031,2638,2001,2072,0,0,0,0,0,0
$GC,4535,0.64,301.9,200.8,13.6,573,4548,0.00,2.12,0.00,0.000,4,0.000,0.039,2647,596,2071,0,0,0,0,0,0
$GC,4583,0.66,301.9,193.7,14.8,580,4591,0.00,2.12,0.00,0.000,6,0.000,0.032,2647,2002,2072,0,0,0,0,0,0
$GC,4930,0.66,303.6,144.8,13.8,641,4940,0.00,2.15,3.65,0.389,4,0.000,0.041,2657,593,2060,0,0,0,0,0,0
$GC,4959,0.66,304.0,140.9,13.9,645,4967,0.00,2.15,0.00,0.000,6,0.000,0.034,2658,2002,2060,0,0,0,0,0,0
$GC,5293,0.73,360.9,102.3,10.5,706,5348,0.00,2.25,43.80,0.611,4,0.000,0.041,2658,3420,1827,0,0,0,0,0,0
$GC,5368,0.79,388.2,93.5,12.3,716,5399,0.00,2.20,22.00,0.577,6,0.000,0.031,2668,1997,1712,0,0,0,0,0,0
$GC,5728,0.97,480.6,52.4,8.4,780,5806,0.17,2.20,68.55,0.564,4,0.066,0.038,2764,602,1339,0,0,0,0,0,0
$GC,5971,0.97,480.6,13.9,16.3,820,5980,0.00,2.15,0.00,0.000,6,0.000,0.031,2765,1997,1333,0,0,0,0,0,0
$STATE,6036,end climb,SURFACE_DEPTH_REACHED
$STATE,6036,begin surface coast
$FINISH,0.5,1.010361
$STATE,6055,end surface coast,CONTROL_FINISHED_OK
$STATE,6055,begin surface
$SM_CCo,6144,0.00,0.000,0,0,1330,482.75
$SM_GC,1.44,6.70,0.00,0.00,0.041,0.000,0.000,195,2427,1330,-6.86,0.62,482.75
$IRIDIUM_FIX,2406.29,12620.06,141010,030333
$TT8_MAMPS,0.027713
$HUMID,48.50
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,24.6,31.439
$10V_AH,10.2,39.727
$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,16.675,60.700,483.450,0.000,0.000,113.716,85.442,279.125,0.250,0.000,17.497,2002.969,1597.514,471.147,2679.908,245.414,0.000,1284.432,0.000,1294.195,0.000,0.543,0.000
$DEVICE_MAMPS,219.555,53.550,870.570,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,561.754,1269.308,1578.815,0.000,0.000,0.000,2411.334,0.000,0.000,0.000
$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,60368,834
$CAP_FILE_SIZE,91380,0
$CFSIZE,260165632,233467904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106,150.2,1
$GPS,141010,051306,2415.942,12610.627,32,0.9,32,-3.7