version: 66.08
glider: 181
mission: 4
dive: 90
start: 10 1 110 13 27 29
data:
$ID,181
$MISSION,4
$DIVE,90
$N_DIVES,100
$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,-37951.176
$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,37
$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,178.0
$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
$GPS1,011010,132132,2403.717,12607.814,13,1.5,13,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-63.1
$GPS2,011010,132702,2403.773,12607.760,12,2.0,12,-3.6
$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,32.2,30125,-22.5,-13.889
$D_GRID,1633
$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,-155.7,0.0,0.0,0,108,0.00,0.00,-85.90,0.000,2,0.000,0.000,199,2404,2845,0,0,0,0,0,0
$GC,110,-0.89,-155.7,3.5,-6.6,11,151,7.62,2.15,-22.90,0.000,4,0.230,0.057,2120,3775,3936,0,0,0,0,0,0
$GC,213,-0.77,-155.7,41.2,-39.2,27,222,0.17,2.10,0.00,0.000,6,0.172,0.030,2169,2400,3936,0,0,0,0,0,0
$GC,546,-0.73,-155.7,143.5,-22.4,88,554,0.00,2.10,0.00,0.000,4,0.000,0.034,2169,998,3938,0,0,0,0,0,0
$GC,626,-0.73,-155.7,162.1,-18.5,102,634,0.00,2.15,0.00,0.000,6,0.000,0.036,2161,2405,3938,0,0,0,0,0,0
$GC,962,-0.70,-155.7,234.7,-21.4,163,970,0.15,2.10,0.00,0.000,4,0.165,0.043,2191,3782,3939,0,0,0,0,0,0
$GC,1144,-0.75,-155.7,262.2,-13.9,196,1152,0.00,2.08,0.00,0.000,6,0.000,0.028,2192,2386,3939,0,0,0,0,0,0
$GC,1471,-0.78,-155.7,316.6,-16.2,248,1474,0.00,2.03,0.00,0.000,4,0.000,0.034,2191,998,3938,0,0,0,0,0,0
$GC,1551,-0.84,-155.7,328.3,-12.7,255,1558,0.00,2.12,0.00,0.000,6,0.000,0.037,2184,2393,3938,0,0,0,0,0,0
$GC,1879,-0.87,-155.7,378.2,-14.8,286,1883,0.12,2.12,0.00,0.000,4,0.083,0.045,2111,3777,3937,0,0,0,0,0,0
$GC,1910,-0.86,-155.7,384.4,-19.0,288,1919,0.10,2.05,0.00,0.000,6,0.144,0.028,2142,2404,3937,0,0,0,0,0,0
$GC,2237,-0.86,-155.7,442.6,-17.7,319,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2402,3935,0,0,0,0,0,0
$GC,2556,-0.86,-155.7,496.1,-16.6,349,2560,0.00,2.12,0.00,0.000,4,0.000,0.046,2134,3783,3933,0,0,0,0,0,0
$STATE,2584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2584,begin apogee
$GC,2591,-0.16,0.0,500.9,16.8,351,2714,0.70,0.00,116.95,0.861,6,0.124,0.000,2367,2001,3298,0,0,0,0,0,0
$STATE,2715,end apogee,CONTROL_FINISHED_OK
$STATE,2715,begin climb
$GC,2717,0.89,155.7,507.1,0.0,361,2846,0.90,2.33,120.07,0.842,4,0.042,0.039,2723,3409,2663,0,0,0,0,0,0
$GC,2881,0.73,155.7,502.1,16.3,375,2886,0.28,2.20,0.00,0.000,6,0.184,0.029,2665,1991,2659,0,0,0,0,0,0
$GC,3208,0.67,174.0,457.4,12.8,405,3232,0.00,2.25,14.10,0.757,4,0.000,0.042,2665,3402,2593,0,0,0,0,0,0
$GC,3279,0.57,174.0,447.0,15.1,411,3284,0.25,2.12,0.00,0.000,6,0.181,0.031,2607,2002,2588,0,0,0,0,0,0
$GC,3606,0.59,219.3,411.8,11.2,441,3647,0.00,2.22,35.88,0.797,4,0.000,0.041,2608,3414,2404,0,0,0,0,0,0
$GC,3783,0.58,219.3,388.1,14.0,456,3793,0.00,2.17,0.00,0.000,6,0.000,0.031,2617,2002,2399,0,0,0,0,0,0
$GC,4111,0.63,263.8,350.0,11.2,487,4150,0.00,2.17,34.65,0.767,4,0.000,0.042,2627,593,2222,0,0,0,0,0,0
$GC,4210,0.67,298.0,338.1,11.8,495,4243,0.00,2.15,27.65,0.744,6,0.000,0.034,2627,2005,2083,0,0,0,0,0,0
$GC,4560,0.67,298.0,289.1,15.9,534,4568,0.00,2.17,0.00,0.000,4,0.000,0.043,2627,3398,2075,0,0,0,0,0,0
$GC,4617,0.69,298.0,279.3,17.2,544,4626,0.00,2.15,0.00,0.000,6,0.000,0.032,2637,2000,2077,0,0,0,0,0,0
$GC,4943,0.69,302.4,232.3,13.6,605,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1999,2074,0,0,0,0,0,0
$GC,5275,0.69,302.4,186.9,14.5,666,5283,0.00,2.17,0.00,0.000,4,0.000,0.042,2637,3402,2071,0,0,0,0,0,0
$GC,5317,0.69,302.4,180.7,15.5,673,5325,0.00,2.10,3.20,0.358,6,0.000,0.032,2647,1996,2065,0,0,0,0,0,0
$GC,5653,0.71,302.4,129.2,13.9,734,5661,0.00,2.17,0.00,0.000,4,0.000,0.043,2647,3401,2064,0,0,0,0,0,0
$GC,5670,0.72,302.4,126.5,14.5,736,5678,0.00,2.12,0.00,0.000,6,0.000,0.031,2658,1997,2063,0,0,0,0,0,0
$GC,6001,0.77,343.6,88.0,11.4,797,6040,0.00,0.00,32.12,0.591,6,0.000,0.000,2658,1996,1897,0,0,0,0,0,0
$GC,6366,0.99,468.2,52.2,6.4,862,6467,0.22,2.20,92.20,0.559,4,0.060,0.040,2771,599,1389,0,0,0,0,0,0
$GC,6487,0.98,468.2,34.7,16.9,878,6495,0.10,2.20,0.00,0.000,6,0.141,0.032,2743,2007,1386,0,0,0,0,0,0
$STATE,6679,end climb,SURFACE_DEPTH_REACHED
$STATE,6680,begin surface coast
$FINISH,0.5,1.021767
$STATE,6705,end surface coast,CONTROL_FINISHED_OK
$STATE,6705,begin surface
$SM_CCo,6727,99.07,0.058,0,0,485,690.03
$SM_GC,1.32,0.00,0.00,99.07,0.000,0.000,0.058,198,2417,485,-6.96,0.48,690.03
$IRIDIUM_FIX,2356.84,12605.46,011010,111128
$TT8_MAMPS,0.027713
$HUMID,45.27
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,24.6,14.220
$10V_AH,10.3,16.282
$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,17.250,61.350,476.825,99.075,0.000,22.474,15.595,165.405,0.250,0.000,14.769,2193.643,1630.929,593.615,2586.386,159.516,0.000,1460.964,0.000,1422.608,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,56.610,861.390,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,618.156,1395.384,1698.738,0.000,0.000,0.000,2372.631,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331444
$DATA_FILE_SIZE,66978,917
$CAP_FILE_SIZE,93801,0
$CFSIZE,260165632,243834880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.118,322.2,1
$GPS,011010,152231,2404.906,12607.980,39,1.4,39,-3.6