version: 66.08
glider: 181
mission: 4
dive: 80
start: 9 30 110 17 30 5
data:
$ID,181
$MISSION,4
$DIVE,80
$N_DIVES,90
$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,690
$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,-37938.625
$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,70
$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,158.0
$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
$GPS1,300910,172132,2404.976,12607.896,12,1.5,12,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-63.7
$GPS2,300910,172938,2404.950,12607.879,11,1.6,11,-3.6
$SPEED_LIMITS,0.241,0.296
$TGT_NAME,NWALL_S
$TGT_LATLONG,2400.000,12609.000
$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,192.3,9362,-22.5,-13.889
$D_GRID,1638
$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,19,-0.89,-155.7,0.0,0.0,0,105,0.00,0.00,-82.97,0.000,2,0.000,0.000,200,2332,2756,0,0,0,0,0,0
$GC,107,-0.89,-155.7,3.2,-5.3,11,149,7.65,2.03,-26.30,0.000,4,0.228,0.046,2130,992,3935,0,0,0,0,0,0
$GC,232,-0.75,-155.7,47.7,-42.1,31,242,0.17,2.12,0.00,0.000,6,0.166,0.037,2173,2367,3937,0,0,0,0,0,0
$GC,567,-0.70,-155.7,144.9,-23.0,92,575,0.00,2.17,0.00,0.000,4,0.000,0.043,2164,3777,3937,0,0,0,0,0,0
$GC,617,-0.68,-155.7,157.1,-22.5,100,626,0.12,2.08,0.00,0.000,6,0.129,0.028,2201,2391,3938,0,0,0,0,0,0
$GC,958,-0.68,-155.7,215.2,-16.4,161,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2389,3938,0,0,0,0,0,0
$GC,1284,-0.70,-155.7,273.4,-17.7,222,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2389,3938,0,0,0,0,0,0
$GC,1611,-0.73,-155.7,325.6,-14.9,268,1615,0.00,2.05,0.00,0.000,4,0.000,0.034,2205,996,3937,0,0,0,0,0,0
$GC,1668,-0.80,-155.7,333.3,-13.6,273,1673,0.12,2.10,0.00,0.000,6,0.083,0.037,2140,2406,3936,0,0,0,0,0,0
$GC,1994,-0.78,-155.7,394.8,-18.0,303,1999,0.12,2.10,0.00,0.000,4,0.177,0.034,2171,990,3934,0,0,0,0,0,0
$GC,2059,-0.83,-155.7,404.6,-12.2,308,2067,0.00,2.15,0.00,0.000,6,0.000,0.037,2164,2398,3934,0,0,0,0,0,0
$GC,2385,-0.85,-155.7,451.6,-15.0,339,2389,0.00,2.10,0.00,0.000,4,0.000,0.045,2154,3779,3932,0,0,0,0,0,0
$GC,2414,-0.87,-155.7,455.7,-14.5,341,2418,0.00,2.03,0.00,0.000,6,0.000,0.029,2154,2392,3932,0,0,0,0,0,0
$STATE,2722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2722,begin apogee
$GC,2726,-0.16,0.0,500.2,13.1,370,2849,0.65,0.00,115.97,0.856,6,0.123,0.000,2370,1977,3300,0,0,0,0,0,0
$STATE,2850,end apogee,CONTROL_FINISHED_OK
$STATE,2850,begin climb
$GC,2852,0.89,155.7,504.6,0.0,380,2986,0.90,2.35,120.65,0.839,4,0.040,0.040,2728,3408,2661,0,0,0,0,0,0
$GC,3021,0.73,155.7,500.6,16.2,394,3026,0.30,2.15,0.00,0.000,6,0.187,0.030,2663,2006,2658,0,0,0,0,0,0
$GC,3346,0.71,204.8,460.7,11.0,424,3395,0.00,2.28,38.05,0.809,4,0.000,0.042,2663,3407,2462,0,0,0,0,0,0
$GC,3641,0.63,204.8,419.2,16.2,450,3651,0.12,2.15,0.00,0.000,6,0.165,0.031,2634,2006,2456,0,0,0,0,0,0
$GC,3967,0.60,210.9,375.7,13.5,481,3977,0.00,0.00,4.55,0.535,6,0.000,0.000,2634,2003,2439,0,0,0,0,0,0
$GC,4297,0.57,210.9,331.1,14.2,512,4301,0.00,2.15,0.00,0.000,4,0.000,0.041,2643,582,2437,0,0,0,0,0,0
$GC,4361,0.55,210.9,321.6,15.1,517,4369,0.12,2.17,0.00,0.000,6,0.151,0.034,2604,2012,2437,0,0,0,0,0,0
$GC,4687,0.65,297.2,291.2,8.7,557,4763,0.00,2.20,66.85,0.741,4,0.000,0.041,2604,3404,2089,0,0,0,0,0,0
$GC,4793,0.70,318.0,279.8,12.6,573,4817,0.12,2.15,16.98,0.679,6,0.089,0.031,2663,1997,2002,0,0,0,0,0,0
$GC,5144,0.68,318.0,221.9,16.8,636,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1997,1996,0,0,0,0,0,0
$GC,5485,0.67,318.0,165.7,15.8,697,5492,0.00,2.15,0.00,0.000,4,0.000,0.042,2663,3404,1994,0,0,0,0,0,0
$GC,5546,0.67,318.0,154.9,16.7,708,5555,0.10,2.15,0.00,0.000,6,0.142,0.032,2642,1996,1990,0,0,0,0,0,0
$GC,5880,0.76,372.5,114.0,10.6,769,5926,0.00,2.17,40.80,0.610,4,0.000,0.043,2651,595,1778,0,0,0,0,0,0
$GC,5967,0.85,404.8,103.3,12.0,782,6000,0.10,2.17,25.25,0.581,6,0.054,0.034,2711,2001,1648,0,0,0,0,0,0
$GC,6326,0.91,426.0,42.0,12.6,846,6350,0.00,2.15,16.48,0.528,4,0.000,0.041,2711,3403,1561,0,0,0,0,0,0
$GC,6401,0.97,449.4,32.3,12.5,858,6426,0.00,2.15,19.00,0.522,6,0.000,0.031,2721,1999,1466,0,0,0,0,0,0
$STATE,6621,end climb,SURFACE_DEPTH_REACHED
$STATE,6621,begin surface coast
$FINISH,0.5,1.009962
$STATE,6646,end surface coast,CONTROL_FINISHED_OK
$STATE,6646,begin surface
$SM_CCo,6669,108.53,0.058,0,0,485,690.03
$SM_GC,1.31,0.00,0.00,108.53,0.000,0.000,0.058,207,2421,485,-6.93,0.59,690.03
$IRIDIUM_FIX,2354.48,12607.37,300910,171721
$TT8_MAMPS,0.027713
$HUMID,46.14
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.00
$XPDR_PINGS,2
$24V_AH,24.6,13.085
$10V_AH,10.3,14.729
$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,17.175,52.625,464.575,108.525,0.000,51.262,77.174,168.813,0.500,0.000,14.053,2159.670,1734.161,589.588,2641.002,145.993,0.000,1435.761,0.000,1399.604,0.000,0.545,0.000
$DEVICE_MAMPS,227.970,45.900,856.035,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,607.256,1370.997,1648.553,0.000,0.000,0.000,2293.345,0.000,0.000,0.000
$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,63761,901
$CAP_FILE_SIZE,94248,0
$CFSIZE,260165632,244523008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128, 75.4,1
$GPS,300910,192424,2404.092,12608.257,27,0.9,44,-3.6