version: 66.08
glider: 181
mission: 4
dive: 111
start: 10 3 110 7 30 53
data:
$ID,181
$MISSION,4
$DIVE,111
$N_DIVES,125
$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,-37977.551
$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,47
$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,220.0
$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
$GPS1,031010,072202,2416.068,12609.418,10,1.5,10,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-69.0
$GPS2,031010,073026,2416.094,12609.373,10,1.4,10,-3.7
$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,199.0,29812,-22.5,-13.889
$D_GRID,1512
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.89,-155.7,0.0,0.0,0,106,0.00,0.00,-84.90,0.000,2,0.000,0.000,203,2421,2822,0,0,0,0,0,0
$GC,109,-0.89,-155.7,3.2,-5.5,11,148,7.57,2.15,-25.17,0.000,4,0.226,0.045,2132,981,3931,0,0,0,0,0,0
$GC,196,-0.77,-155.7,29.2,-37.4,24,205,0.17,2.15,0.00,0.000,6,0.164,0.034,2172,2382,3931,0,0,0,0,0,0
$GC,530,-0.71,-155.7,128.7,-26.6,85,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2383,3932,0,0,0,0,0,0
$GC,875,-0.66,-155.7,210.6,-24.8,146,883,0.15,2.15,0.00,0.000,4,0.170,0.043,2204,3770,3933,0,0,0,0,0,0
$GC,999,-0.73,-155.7,230.9,-13.4,167,1006,0.00,2.03,0.00,0.000,6,0.000,0.026,2204,2385,3933,0,0,0,0,0,0
$GC,1340,-0.75,-155.7,283.8,-16.2,228,1349,0.00,2.05,0.00,0.000,4,0.000,0.034,2204,1005,3933,0,0,0,0,0,0
$GC,1418,-0.81,-155.7,294.9,-13.7,241,1425,0.00,2.10,0.00,0.000,6,0.000,0.036,2197,2408,3932,0,0,0,0,0,0
$GC,1753,-0.83,-155.7,345.1,-14.0,275,1757,0.12,2.10,0.00,0.000,4,0.083,0.044,2123,3775,3931,0,0,0,0,0,0
$GC,1840,-0.82,-155.7,361.7,-19.1,282,1850,0.10,2.05,0.00,0.000,6,0.138,0.028,2156,2391,3930,0,0,0,0,0,0
$GC,2168,-0.82,-155.7,419.6,-16.7,313,2172,0.00,2.12,0.00,0.000,4,0.000,0.044,2147,3777,3928,0,0,0,0,0,0
$GC,2252,-0.84,-155.7,434.5,-16.9,320,2256,0.00,2.00,0.00,0.000,6,0.000,0.028,2147,2404,3927,0,0,0,0,0,0
$GC,2583,-0.84,-155.7,489.7,-17.9,351,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2402,3926,0,0,0,0,0,0
$STATE,2646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2646,begin apogee
$GC,2651,-0.16,0.0,500.1,15.6,357,2774,0.68,0.00,115.18,0.857,6,0.126,0.000,2370,1973,3298,0,0,0,0,0,0
$STATE,2775,end apogee,CONTROL_FINISHED_OK
$STATE,2775,begin climb
$GC,2776,0.89,155.7,506.8,0.0,367,2904,0.90,2.17,119.78,0.841,4,0.039,0.037,2739,605,2662,0,0,0,0,0,0
$GC,3044,0.75,155.7,488.2,18.5,389,3051,0.28,2.15,0.00,0.000,6,0.178,0.032,2666,2014,2657,0,0,0,0,0,0
$GC,3369,0.66,155.7,444.2,14.2,420,3373,0.00,2.12,0.00,0.000,4,0.000,0.043,2666,3413,2653,0,0,0,0,0,0
$GC,3534,0.61,200.1,421.0,11.2,434,3579,0.17,2.12,33.67,0.799,6,0.171,0.030,2623,2006,2482,0,0,0,0,0,0
$GC,3897,0.62,238.0,381.1,11.6,468,3935,0.00,2.20,29.67,0.779,4,0.000,0.041,2624,3409,2327,0,0,0,0,0,0
$GC,4019,0.59,238.0,364.2,14.7,478,4027,0.00,2.17,0.00,0.000,6,0.000,0.031,2632,2001,2323,0,0,0,0,0,0
$GC,4345,0.58,243.8,318.0,13.5,509,4357,0.00,2.17,4.82,0.543,4,0.000,0.042,2632,3401,2304,0,0,0,0,0,0
$GC,4394,0.55,247.3,311.4,13.7,513,4407,0.15,2.12,4.60,0.524,6,0.169,0.031,2605,1995,2289,0,0,0,0,0,0
$GC,4736,0.62,291.3,272.5,11.3,565,4779,0.00,2.17,35.03,0.722,4,0.000,0.039,2613,595,2109,0,0,0,0,0,0
$GC,4905,0.65,292.1,250.6,13.8,593,4912,0.00,2.12,0.00,0.000,6,0.000,0.033,2613,2000,2106,0,0,0,0,0,0
$GC,5247,0.73,335.3,207.3,11.3,654,5291,0.12,2.22,33.78,0.673,4,0.088,0.041,2682,599,1930,0,0,0,0,0,0
$GC,5315,0.71,335.3,198.2,15.0,663,5322,0.00,2.12,0.00,0.000,6,0.000,0.032,2682,2001,1928,0,0,0,0,0,0
$GC,5658,0.68,335.3,139.9,15.4,724,5667,0.15,2.17,0.00,0.000,4,0.158,0.041,2642,3397,1925,0,0,0,0,0,0
$GC,5812,0.78,392.3,122.0,10.5,751,5866,0.00,2.12,42.72,0.613,6,0.000,0.031,2650,2003,1700,0,0,0,0,0,0
$GC,6192,0.85,405.7,71.5,13.1,818,6210,0.15,2.15,10.98,0.526,4,0.076,0.038,2738,594,1644,0,0,0,0,0,0
$GC,6322,0.92,461.1,51.6,10.6,840,6369,0.00,2.15,42.12,0.556,6,0.000,0.032,2738,2003,1419,0,0,0,0,0,0
$STATE,6654,end climb,SURFACE_DEPTH_REACHED
$STATE,6654,begin surface coast
$FINISH,0.5,1.021117
$STATE,6674,end surface coast,CONTROL_FINISHED_OK
$STATE,6674,begin surface
$SM_CCo,6696,103.75,0.058,0,0,485,690.52
$SM_GC,1.47,0.00,0.00,103.75,0.000,0.000,0.058,206,2414,485,-6.93,0.40,690.52
$IRIDIUM_FIX,2411.01,12607.73,031010,070705
$TT8_MAMPS,0.028462
$HUMID,46.85
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.00
$XPDR_PINGS,2
$24V_AH,24.7,16.637
$10V_AH,10.3,19.556
$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,17.300,56.575,472.350,103.750,0.000,56.197,66.164,184.600,0.500,0.000,13.648,2166.138,1711.742,594.915,2670.628,166.882,0.000,1451.884,0.000,1418.846,0.000,0.543,0.000
$DEVICE_MAMPS,226.440,45.135,856.800,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,607.795,1373.199,1662.536,0.000,0.000,0.000,2256.117,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331472
$DATA_FILE_SIZE,63826,902
$CAP_FILE_SIZE,95540,0
$CFSIZE,260165632,242384896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,143.5,1
$GPS,031010,092530,2415.022,12609.189,40,1.0,40,-3.6