version: 66.08
glider: 181
mission: 4
dive: 112
start: 10 3 110 9 32 17
data:
$ID,181
$MISSION,4
$DIVE,112
$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,-37978.805
$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,42
$R_STBD_OVSHOOT,40
$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,222.0
$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
$GPS1,031010,092530,2415.022,12609.189,40,1.0,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-68.0
$GPS2,031010,093150,2415.024,12609.181,11,1.4,11,-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,191.1,27826,-22.5,-13.889
$D_GRID,1525
$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,-155.7,0.0,0.0,0,107,0.00,0.00,-84.55,0.000,2,0.000,0.000,205,2415,2813,0,0,0,0,0,0
$GC,109,-0.89,-155.7,3.1,-4.9,11,149,7.57,2.17,-25.30,0.000,4,0.230,0.047,2129,991,3934,0,0,0,0,0,0
$GC,265,-0.75,-155.7,58.0,-40.1,37,273,0.20,2.15,0.00,0.000,6,0.158,0.036,2180,2392,3935,0,0,0,0,0,0
$GC,599,-0.71,-155.7,144.0,-23.7,98,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2394,3937,0,0,0,0,0,0
$GC,952,-0.68,-155.7,222.7,-22.0,159,959,0.00,2.10,0.00,0.000,4,0.000,0.042,2171,3783,3936,0,0,0,0,0,0
$GC,1049,-0.70,-155.7,243.0,-18.0,176,1058,0.00,2.08,0.00,0.000,6,0.000,0.027,2171,2390,3937,0,0,0,0,0,0
$GC,1393,-0.69,-155.7,310.6,-19.5,232,1397,0.12,2.05,0.00,0.000,4,0.162,0.034,2203,996,3937,0,0,0,0,0,0
$GC,1421,-0.70,-155.7,316.2,-18.9,234,1425,0.00,2.10,0.00,0.000,6,0.000,0.037,2197,2397,3937,0,0,0,0,0,0
$GC,1747,-0.74,-155.7,364.2,-12.9,264,1751,0.00,2.10,0.00,0.000,4,0.000,0.044,2186,3780,3935,0,0,0,0,0,0
$GC,1790,-0.79,-155.7,369.8,-11.5,267,1797,0.00,2.05,0.00,0.000,6,0.000,0.028,2186,2394,3935,0,0,0,0,0,0
$GC,2117,-0.82,-155.7,416.0,-14.4,298,2121,0.00,2.12,0.00,0.000,4,0.000,0.044,2176,3778,3932,0,0,0,0,0,0
$GC,2161,-0.88,-155.7,422.1,-12.5,301,2169,0.08,2.05,0.00,0.000,6,0.053,0.028,2119,2403,3932,0,0,0,0,0,0
$GC,2487,-0.85,-155.7,484.7,-19.8,332,2488,0.10,0.00,0.00,0.000,6,0.177,0.000,2145,2400,3930,0,0,0,0,0,0
$STATE,2582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2582,begin apogee
$GC,2586,-0.16,0.0,500.5,15.4,341,2710,0.68,0.00,116.10,0.858,6,0.124,0.000,2371,1973,3297,0,0,0,0,0,0
$STATE,2711,end apogee,CONTROL_FINISHED_OK
$STATE,2711,begin climb
$GC,2713,0.89,155.7,505.6,0.0,351,2840,0.90,2.22,119.60,0.842,4,0.041,0.037,2736,601,2663,0,0,0,0,0,0
$GC,2874,0.75,155.7,501.8,14.8,364,2879,0.28,2.17,0.00,0.000,6,0.180,0.032,2666,2014,2660,0,0,0,0,0,0
$GC,3199,0.67,168.5,457.0,13.1,394,3216,0.00,2.17,10.23,0.722,4,0.000,0.042,2666,3394,2611,0,0,0,0,0,0
$GC,3312,0.59,179.6,440.9,13.2,404,3329,0.22,2.08,10.38,0.721,6,0.178,0.030,2616,2001,2564,0,0,0,0,0,0
$GC,3654,0.64,247.3,408.4,9.8,436,3712,0.00,2.28,52.42,0.803,4,0.000,0.041,2616,3398,2290,0,0,0,0,0,0
$GC,3747,0.62,247.3,396.6,15.5,444,3751,0.00,2.12,0.00,0.000,6,0.000,0.031,2624,2006,2286,0,0,0,0,0,0
$GC,4072,0.60,247.3,346.1,14.8,474,4076,0.00,2.15,0.00,0.000,4,0.000,0.041,2623,3409,2282,0,0,0,0,0,0
$GC,4104,0.58,247.3,341.1,14.5,476,4113,0.00,2.15,0.00,0.000,6,0.000,0.031,2634,2002,2280,0,0,0,0,0,0
$GC,4432,0.56,247.3,295.9,15.8,509,4440,0.00,2.15,0.00,0.000,4,0.000,0.042,2634,3405,2279,0,0,0,0,0,0
$GC,4532,0.53,247.3,280.1,15.1,527,4540,0.17,2.10,0.00,0.000,6,0.168,0.029,2600,1994,2277,0,0,0,0,0,0
$GC,4863,0.62,300.4,241.2,10.7,588,4914,0.00,2.22,39.60,0.704,4,0.000,0.041,2608,588,2073,0,0,0,0,0,0
$GC,4985,0.73,344.0,227.6,11.3,608,5028,0.10,2.17,34.60,0.678,6,0.057,0.032,2664,2003,1894,0,0,0,0,0,0
$GC,5356,0.73,344.0,165.1,16.8,674,5365,0.00,2.17,0.00,0.000,4,0.000,0.041,2664,3406,1888,0,0,0,0,0,0
$GC,5431,0.73,344.0,152.1,17.2,687,5438,0.00,2.12,0.00,0.000,6,0.000,0.031,2675,1994,1886,0,0,0,0,0,0
$GC,5761,0.73,344.0,100.3,15.4,748,5769,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1993,1885,0,0,0,0,0,0
$GC,6093,0.78,365.4,56.4,12.6,809,6118,0.00,2.15,16.02,0.545,4,0.000,0.039,2686,595,1806,0,0,0,0,0,0
$GC,6285,0.97,476.9,40.8,7.2,842,6378,0.12,2.12,82.62,0.552,6,0.049,0.031,2755,2002,1352,0,0,0,0,0,0
$STATE,6535,end climb,SURFACE_DEPTH_REACHED
$STATE,6535,begin surface coast
$FINISH,0.5,1.015719
$STATE,6554,end surface coast,CONTROL_FINISHED_OK
$STATE,6555,begin surface
$SM_CCo,6579,96.50,0.057,0,0,486,690.03
$SM_GC,1.27,0.00,0.00,96.50,0.000,0.000,0.057,209,2420,486,-6.94,0.57,690.03
$IRIDIUM_FIX,2408.65,12606.33,031010,070718
$TT8_MAMPS,0.027713
$HUMID,45.78
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.10
$XPDR_PINGS,3
$24V_AH,24.7,16.754
$10V_AH,10.3,19.711
$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,17.200,56.725,481.575,96.500,0.000,27.317,37.199,179.830,0.750,0.000,14.521,2123.035,1639.646,588.649,2542.481,168.326,0.000,1424.023,0.000,1359.405,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,47.430,857.565,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,596.716,1348.298,1654.137,0.000,0.000,0.000,2303.838,0.000,0.000,0.000
$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,63845,886
$CAP_FILE_SIZE,93411,0
$CFSIZE,260165632,242319360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,210.4,1
$GPS,031010,112419,2413.931,12608.840,9,1.3,9,-3.6