version: 66.08
glider: 181
mission: 4
dive: 243
start: 10 14 110 9 18 42
data:
$ID,181
$MISSION,4
$DIVE,243
$N_DIVES,255
$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,-38151.762
$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,42
$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,484.0
$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
$GPS1,141010,091124,2417.401,12610.197,41,0.9,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-73.4
$GPS2,141010,091814,2417.376,12610.139,9,1.7,9,-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,343.2,5225,-22.5,-13.889
$D_GRID,1566
$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,-155.7,0.0,0.0,0,60,0.00,0.00,-38.10,0.000,2,0.000,0.000,204,2411,2704,0,0,0,0,0,0
$GC,63,-0.89,-155.7,3.3,-5.7,5,104,7.60,2.15,-28.02,0.000,4,0.224,0.045,2134,987,3934,0,0,0,0,0,0
$GC,228,-0.81,-155.7,53.9,-29.6,32,237,0.10,2.17,0.00,0.000,6,0.166,0.037,2155,2390,3936,0,0,0,0,0,0
$GC,562,-0.75,-155.7,145.4,-25.5,93,571,0.10,2.17,0.00,0.000,4,0.201,0.043,2170,3781,3939,0,0,0,0,0,0
$GC,681,-0.75,-155.7,170.9,-20.7,113,688,0.00,2.08,0.00,0.000,6,0.000,0.026,2170,2393,3939,0,0,0,0,0,0
$GC,1036,-0.73,-155.7,246.8,-19.1,174,1045,0.00,2.08,0.00,0.000,4,0.000,0.032,2170,1001,3940,0,0,0,0,0,0
$GC,1093,-0.76,-155.7,256.8,-16.4,183,1100,0.00,2.12,0.00,0.000,6,0.000,0.034,2164,2414,3939,0,0,0,0,0,0
$GC,1437,-0.75,-155.7,320.3,-18.2,235,1441,0.00,2.05,0.00,0.000,4,0.000,0.042,2153,3775,3939,0,0,0,0,0,0
$GC,1504,-0.77,-155.7,332.2,-15.3,240,1512,0.00,2.05,0.00,0.000,6,0.000,0.028,2152,2409,3939,0,0,0,0,0,0
$GC,1831,-0.76,-155.7,389.3,-17.7,271,1835,0.00,2.10,0.00,0.000,4,0.000,0.032,2153,984,3938,0,0,0,0,0,0
$GC,1894,-0.79,-155.7,400.2,-16.1,276,1898,0.00,2.12,0.00,0.000,6,0.000,0.037,2151,2396,3938,0,0,0,0,0,0
$GC,2219,-0.79,-155.7,455.3,-17.8,306,2223,0.00,2.12,0.00,0.000,4,0.000,0.046,2141,3778,3936,0,0,0,0,0,0
$GC,2393,-0.81,-155.7,482.6,-14.7,321,2397,0.00,2.05,0.00,0.000,6,0.000,0.028,2140,2394,3935,0,0,0,0,0,0
$STATE,2509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2509,begin apogee
$GC,2515,-0.16,0.0,500.8,16.0,332,2637,0.70,0.00,117.15,0.874,6,0.129,0.000,2367,1979,3298,0,0,0,0,0,0
$STATE,2638,end apogee,CONTROL_FINISHED_OK
$STATE,2638,begin climb
$GC,2641,0.89,155.7,505.3,0.0,342,2771,0.93,2.15,119.32,0.854,4,0.046,0.035,2735,607,2663,0,0,0,0,0,0
$GC,3022,0.75,155.7,463.2,16.5,375,3030,0.20,2.15,0.00,0.000,6,0.171,0.032,2669,2006,2656,0,0,0,0,0,0
$GC,3348,0.70,185.8,426.2,12.1,406,3376,0.00,2.20,22.85,0.798,4,0.000,0.041,2669,3397,2541,0,0,0,0,0,0
$GC,3445,0.60,185.8,413.0,15.7,414,3454,0.17,2.12,0.00,0.000,6,0.168,0.029,2626,2021,2538,0,0,0,0,0,0
$GC,3771,0.59,202.6,372.8,12.9,445,3797,0.00,2.17,13.62,0.745,4,0.000,0.043,2626,3389,2472,0,0,0,0,0,0
$GC,3810,0.58,225.2,367.9,12.5,448,3834,0.00,2.10,18.90,0.757,6,0.000,0.031,2635,1995,2380,0,0,0,0,0,0
$GC,4154,0.61,273.8,324.0,11.0,480,4202,0.00,2.22,38.10,0.765,4,0.000,0.039,2646,595,2181,0,0,0,0,0,0
$GC,4263,0.64,298.6,309.9,12.4,489,4288,0.00,2.15,20.25,0.721,6,0.000,0.032,2649,2000,2079,0,0,0,0,0,0
$GC,4619,0.62,298.6,260.5,14.2,546,4628,0.00,2.20,0.00,0.000,4,0.000,0.041,2645,3395,2073,0,0,0,0,0,0
$GC,4691,0.61,298.6,249.8,14.7,558,4700,0.10,2.15,0.00,0.000,6,0.148,0.031,2624,1997,2071,0,0,0,0,0,0
$GC,5036,0.65,321.9,204.9,12.5,619,5064,0.00,2.17,17.90,0.664,4,0.000,0.040,2634,596,1984,0,0,0,0,0,0
$GC,5130,0.70,331.6,192.8,13.3,633,5146,0.00,2.12,8.40,0.584,6,0.000,0.031,2634,2003,1948,0,0,0,0,0,0
$GC,5484,0.72,331.6,144.1,13.9,695,5492,0.00,2.17,0.00,0.000,4,0.000,0.042,2633,3404,1944,0,0,0,0,0,0
$GC,5513,0.75,336.8,140.1,13.6,699,5529,0.00,2.15,5.35,0.486,6,0.000,0.031,2644,1995,1925,0,0,0,0,0,0
$GC,5857,0.81,362.1,93.5,12.4,761,5890,0.12,2.17,20.88,0.594,4,0.084,0.039,2720,593,1820,0,0,0,0,0,0
$GC,5927,0.78,362.1,81.5,19.4,771,5936,0.12,2.15,0.00,0.000,6,0.141,0.032,2681,1995,1819,0,0,0,0,0,0
$GC,6264,0.97,481.0,44.1,6.8,832,6359,0.17,2.22,88.10,0.565,4,0.069,0.040,2760,3403,1336,0,0,0,0,0,0
$GC,6460,0.97,481.0,12.8,19.0,862,6470,0.08,2.17,0.00,0.000,6,0.148,0.031,2747,2005,1331,0,0,0,0,0,0
$STATE,6514,end climb,SURFACE_DEPTH_REACHED
$STATE,6514,begin surface coast
$FINISH,0.6,1.021643
$STATE,6531,end surface coast,CONTROL_FINISHED_OK
$STATE,6531,begin surface
$SM_CCo,6623,0.00,0.000,0,0,1327,483.24
$SM_GC,1.59,6.65,0.00,0.00,0.039,0.000,0.000,197,2406,1327,-6.85,0.17,483.24
$IRIDIUM_FIX,2408.65,12609.64,141010,070710
$TT8_MAMPS,0.027713
$HUMID,49.29
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,24.6,31.781
$10V_AH,10.2,40.194
$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,17.050,65.400,490.825,0.000,0.000,30.167,19.459,189.461,0.250,0.000,12.376,2114.690,1632.826,482.644,2561.742,243.165,0.000,1336.340,0.000,1398.841,0.000,0.543,0.000
$DEVICE_MAMPS,224.145,45.900,873.630,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,589.122,1330.144,1615.054,0.000,0.000,0.000,2340.656,0.000,0.000,0.000
$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,63677,874
$CAP_FILE_SIZE,95014,0
$CFSIZE,260165632,233254912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047, 69.2,1
$GPS,141010,110949,2418.168,12610.098,8,1.4,8,-3.7