version: 66.08
glider: 181
mission: 4
dive: 241
start: 10 14 110 5 20 30
data:
$ID,181
$MISSION,4
$DIVE,241
$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,-38149.258
$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,39
$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,480.0
$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
$GPS1,141010,051306,2415.942,12610.627,32,0.9,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.1
$GPS2,141010,052002,2415.883,12610.624,11,1.3,11,-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,340.4,8103,-22.5,-13.889
$D_GRID,1597
$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,-155.7,0.0,0.0,0,76,0.00,0.00,-53.75,0.000,2,0.000,0.000,194,2423,2792,0,0,0,0,0,0
$GC,79,-0.89,-155.7,3.3,-5.6,7,119,7.55,2.10,-25.50,0.000,4,0.220,0.051,2120,3781,3934,0,0,0,0,0,0
$GC,253,-0.83,-155.7,58.5,-25.9,36,262,0.10,2.10,0.00,0.000,6,0.153,0.028,2150,2398,3934,0,0,0,0,0,0
$GC,588,-0.77,-155.7,147.7,-23.2,97,597,0.00,2.15,0.00,0.000,4,0.000,0.042,2141,3777,3938,0,0,0,0,0,0
$GC,641,-0.74,-155.7,160.1,-21.7,106,651,0.12,2.08,0.00,0.000,6,0.136,0.028,2180,2398,3938,0,0,0,0,0,0
$GC,984,-0.74,-155.7,228.8,-19.0,167,991,0.00,2.08,0.00,0.000,4,0.000,0.032,2181,982,3938,0,0,0,0,0,0
$GC,1078,-0.76,-155.7,245.4,-17.0,184,1087,0.00,2.17,0.00,0.000,6,0.000,0.037,2174,2402,3938,0,0,0,0,0,0
$GC,1411,-0.76,-155.7,307.8,-17.7,241,1415,0.00,2.10,0.00,0.000,4,0.000,0.043,2163,3783,3938,0,0,0,0,0,0
$GC,1493,-0.79,-155.7,321.1,-14.5,248,1497,0.00,2.05,0.00,0.000,6,0.000,0.027,2163,2391,3937,0,0,0,0,0,0
$GC,1825,-0.79,-155.7,379.9,-17.0,279,1828,0.00,2.03,0.00,0.000,4,0.000,0.032,2163,1003,3937,0,0,0,0,0,0
$GC,1859,-0.79,-155.7,385.9,-16.7,282,1863,0.00,2.10,0.00,0.000,6,0.000,0.036,2153,2404,3936,0,0,0,0,0,0
$GC,2191,-0.79,-155.7,441.4,-15.4,313,2195,0.00,2.10,0.00,0.000,4,0.000,0.044,2142,3775,3934,0,0,0,0,0,0
$GC,2254,-0.81,-155.7,451.2,-14.9,318,2258,0.00,2.03,0.00,0.000,6,0.000,0.028,2143,2403,3934,0,0,0,0,0,0
$STATE,2563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2563,begin apogee
$GC,2569,-0.16,0.0,501.6,15.7,347,2692,0.70,0.00,116.80,0.870,6,0.127,0.000,2370,1972,3297,0,0,0,0,0,0
$STATE,2693,end apogee,CONTROL_FINISHED_OK
$STATE,2693,begin climb
$GC,2695,0.89,155.7,508.1,0.0,357,2829,0.90,2.35,118.93,0.855,4,0.047,0.037,2718,3407,2663,0,0,0,0,0,0
$GC,2834,0.85,239.2,508.4,8.9,369,2906,0.12,2.17,65.93,0.839,6,0.187,0.028,2705,1999,2323,0,0,0,0,0,0
$GC,3233,0.76,239.2,434.9,18.1,406,3237,0.12,2.17,0.00,0.000,4,0.192,0.042,2670,3414,2315,0,0,0,0,0,0
$GC,3295,0.68,239.2,423.1,19.2,411,3300,0.12,2.12,0.00,0.000,6,0.184,0.030,2649,2001,2313,0,0,0,0,0,0
$GC,3626,0.64,239.2,371.1,14.8,442,3630,0.00,2.10,0.00,0.000,4,0.000,0.038,2658,592,2311,0,0,0,0,0,0
$GC,3689,0.60,239.2,361.2,15.3,447,3694,0.15,2.12,0.00,0.000,6,0.165,0.032,2619,2004,2310,0,0,0,0,0,0
$GC,4016,0.63,259.5,319.4,12.7,477,4041,0.00,2.20,14.68,0.728,4,0.000,0.042,2619,3399,2239,0,0,0,0,0,0
$GC,4076,0.63,263.8,311.5,13.6,482,4090,0.00,2.12,4.93,0.542,6,0.000,0.030,2628,1992,2222,0,0,0,0,0,0
$GC,4408,0.67,292.2,268.9,12.2,536,4436,0.00,0.00,23.17,0.719,6,0.000,0.000,2628,1991,2105,0,0,0,0,0,0
$GC,4761,0.69,309.7,224.5,12.8,600,4784,0.00,2.22,14.27,0.664,4,0.000,0.041,2628,3394,2034,0,0,0,0,0,0
$GC,4797,0.71,324.0,219.7,13.0,605,4819,0.00,2.12,11.85,0.636,6,0.000,0.030,2639,1987,1980,0,0,0,0,0,0
$GC,5148,0.73,329.5,174.8,13.6,668,5164,0.00,2.15,5.72,0.516,4,0.000,0.039,2649,596,1953,0,0,0,0,0,0
$GC,5227,0.79,361.5,164.8,12.0,681,5263,0.00,2.12,25.62,0.645,6,0.000,0.031,2649,2011,1823,0,0,0,0,0,0
$GC,5592,0.84,378.3,116.9,12.9,746,5617,0.12,2.17,13.52,0.583,4,0.087,0.041,2713,3396,1755,0,0,0,0,0,0
$GC,5643,0.81,378.3,108.4,18.9,753,5653,0.12,2.15,0.00,0.000,6,0.148,0.031,2685,1996,1753,0,0,0,0,0,0
$GC,5979,0.92,440.8,60.6,10.1,814,6035,0.12,2.15,47.03,0.575,4,0.084,0.037,2757,593,1501,0,0,0,0,0,0
$GC,6162,0.92,440.8,32.9,15.5,844,6170,0.10,2.15,0.00,0.000,6,0.140,0.031,2725,1996,1496,0,0,0,0,0,0
$STATE,6377,end climb,SURFACE_DEPTH_REACHED
$STATE,6377,begin surface coast
$FINISH,0.6,1.006699
$STATE,6402,end surface coast,CONTROL_FINISHED_OK
$STATE,6402,begin surface
$SM_CCo,6491,0.00,0.000,0,0,1492,443.01
$SM_GC,1.78,6.57,0.00,0.00,0.043,0.000,0.000,198,2408,1492,-6.85,0.23,443.01
$IRIDIUM_FIX,2413.38,12542.16,141010,030329
$TT8_MAMPS,0.027713
$HUMID,48.62
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.6,31.554
$10V_AH,10.2,39.881
$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,16.950,60.875,462.450,0.000,0.000,25.658,41.444,181.087,0.000,0.000,13.920,2132.571,1534.739,463.063,2542.725,237.891,0.000,1290.558,0.000,1366.359,0.000,0.543,0.000
$DEVICE_MAMPS,219.555,51.255,869.805,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,598.250,1350.101,1634.559,0.000,0.000,0.000,2345.620,0.000,0.000,0.000
$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,63608,887
$CAP_FILE_SIZE,91649,0
$CFSIZE,260165632,233398272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,185.1,1
$GPS,141010,070926,2416.627,12610.435,9,1.9,9,-3.7