version: 66.08
glider: 181
mission: 4
dive: 114
start: 10 3 110 13 40 35
data:
$ID,181
$MISSION,4
$DIVE,114
$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,-37981.312
$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,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,226.0
$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
$GPS1,031010,133337,2413.265,12608.706,33,0.9,33,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-68.3
$GPS2,031010,134008,2413.299,12608.718,12,1.5,12,-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,169.1,24634,-22.5,-13.889
$D_GRID,1584
$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,-155.7,0.0,0.0,0,106,0.00,0.00,-84.32,0.000,2,0.000,0.000,202,2407,2807,0,0,0,0,0,0
$GC,109,-0.89,-155.7,3.3,-5.6,11,149,7.55,2.12,-24.95,0.000,4,0.225,0.044,2131,990,3932,0,0,0,0,0,0
$GC,229,-0.77,-155.7,43.4,-36.7,30,238,0.15,2.15,0.00,0.000,6,0.165,0.034,2166,2394,3934,0,0,0,0,0,0
$GC,563,-0.71,-155.7,136.3,-25.7,91,572,0.12,2.15,0.00,0.000,4,0.182,0.041,2190,3788,3936,0,0,0,0,0,0
$GC,612,-0.71,-155.7,148.1,-20.6,99,621,0.00,2.08,0.00,0.000,6,0.000,0.027,2190,2395,3936,0,0,0,0,0,0
$GC,967,-0.69,-155.7,219.9,-19.6,160,976,0.00,2.15,0.00,0.000,4,0.000,0.041,2180,3787,3936,0,0,0,0,0,0
$GC,982,-0.69,-155.7,222.7,-18.1,162,990,0.00,2.08,0.00,0.000,6,0.000,0.026,2180,2391,3936,0,0,0,0,0,0
$GC,1327,-0.69,-155.7,284.6,-16.0,223,1333,0.00,2.12,0.00,0.000,4,0.000,0.041,2169,3787,3936,0,0,0,0,0,0
$GC,1375,-0.71,-155.7,292.6,-16.0,231,1382,0.00,2.05,0.00,0.000,6,0.000,0.027,2169,2387,3936,0,0,0,0,0,0
$GC,1702,-0.71,-155.7,347.0,-16.4,266,1706,0.00,2.05,0.00,0.000,4,0.000,0.034,2169,994,3933,0,0,0,0,0,0
$GC,1751,-0.74,-155.7,354.7,-14.6,270,1760,0.00,2.15,0.00,0.000,6,0.000,0.035,2164,2402,3934,0,0,0,0,0,0
$GC,2079,-0.74,-155.7,410.2,-16.5,301,2083,0.00,2.10,0.00,0.000,4,0.000,0.044,2153,3784,3932,0,0,0,0,0,0
$GC,2176,-0.77,-155.7,425.9,-14.6,309,2180,0.00,2.03,0.00,0.000,6,0.000,0.028,2154,2394,3931,0,0,0,0,0,0
$GC,2506,-0.77,-155.7,479.3,-16.0,340,2510,0.00,2.12,0.00,0.000,4,0.000,0.044,2143,3781,3929,0,0,0,0,0,0
$GC,2584,-0.80,-155.7,491.4,-13.8,346,2592,0.00,2.05,0.00,0.000,6,0.000,0.028,2143,2402,3929,0,0,0,0,0,0
$STATE,2655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2655,begin apogee
$GC,2659,-0.16,0.0,501.4,15.1,353,2780,0.68,0.00,115.95,0.859,6,0.125,0.000,2366,1973,3298,0,0,0,0,0,0
$STATE,2781,end apogee,CONTROL_FINISHED_OK
$STATE,2781,begin climb
$GC,2782,0.89,155.7,507.7,0.0,363,2911,0.93,2.17,119.95,0.845,4,0.042,0.037,2740,618,2662,0,0,0,0,0,0
$GC,3123,0.75,155.7,473.5,15.4,393,3131,0.25,2.15,0.00,0.000,6,0.172,0.031,2668,2015,2656,0,0,0,0,0,0
$GC,3449,0.68,173.7,432.1,12.8,424,3467,0.00,2.15,13.98,0.757,4,0.000,0.039,2668,3417,2589,0,0,0,0,0,0
$GC,3591,0.58,173.7,411.3,14.1,436,3596,0.25,2.12,0.00,0.000,6,0.179,0.029,2609,2005,2586,0,0,0,0,0,0
$GC,3918,0.62,226.4,378.3,10.7,466,3963,0.00,0.00,40.80,0.787,6,0.000,0.000,2611,2003,2374,0,0,0,0,0,0
$GC,4282,0.64,244.2,330.1,12.8,500,4301,0.00,2.17,14.20,0.715,4,0.000,0.039,2611,3409,2302,0,0,0,0,0,0
$GC,4350,0.64,244.2,320.1,14.0,505,4358,0.00,2.15,0.00,0.000,6,0.000,0.030,2619,2007,2300,0,0,0,0,0,0
$GC,4685,0.65,252.1,277.5,13.4,551,4701,0.00,2.15,7.28,0.615,4,0.000,0.040,2620,3408,2269,0,0,0,0,0,0
$GC,4794,0.64,252.1,261.2,16.1,569,4801,0.00,2.12,0.00,0.000,6,0.000,0.031,2630,1992,2268,0,0,0,0,0,0
$GC,5134,0.68,289.9,213.4,11.6,630,5170,0.00,2.20,29.62,0.682,4,0.000,0.041,2641,597,2117,0,0,0,0,0,0
$GC,5240,0.74,329.8,201.2,11.5,647,5282,0.00,2.12,30.60,0.662,6,0.000,0.031,2641,2008,1954,0,0,0,0,0,0
$GC,5619,0.76,329.8,147.1,14.2,712,5628,0.00,2.15,0.00,0.000,4,0.000,0.041,2641,3397,1947,0,0,0,0,0,0
$GC,5658,0.77,329.8,141.1,16.1,718,5666,0.00,2.12,0.00,0.000,6,0.000,0.031,2651,2006,1946,0,0,0,0,0,0
$GC,5991,0.81,351.4,94.5,12.6,779,6016,0.00,2.17,15.98,0.575,4,0.000,0.039,2658,595,1869,0,0,0,0,0,0
$GC,6100,0.90,390.3,81.2,11.6,797,6140,0.12,2.12,30.85,0.583,6,0.048,0.031,2733,1996,1707,0,0,0,0,0,0
$GC,6465,0.91,397.9,30.5,13.4,862,6482,0.00,2.20,6.50,0.451,4,0.000,0.040,2733,3406,1676,0,0,0,0,0,0
$GC,6550,0.91,397.9,18.9,14.0,876,6559,0.00,2.15,0.00,0.000,6,0.000,0.029,2744,1990,1674,0,0,0,0,0,0
$STATE,6667,end climb,SURFACE_DEPTH_REACHED
$STATE,6667,begin surface coast
$FINISH,0.5,1.007945
$STATE,6691,end surface coast,CONTROL_FINISHED_OK
$STATE,6691,begin surface
$SM_CCo,6716,131.20,0.058,0,0,485,690.03
$SM_GC,1.37,0.00,0.00,131.20,0.000,0.000,0.058,198,2420,485,-6.96,0.57,690.03
$IRIDIUM_FIX,2406.29,12611.55,031010,111103
$TT8_MAMPS,0.027713
$HUMID,45.47
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,24.7,16.978
$10V_AH,10.3,20.036
$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,16.650,65.050,425.700,131.200,0.000,31.187,42.621,176.659,0.250,0.000,15.176,2177.187,1677.389,598.718,2621.001,168.654,0.000,1455.107,0.000,1414.743,0.000,0.543,0.000
$DEVICE_MAMPS,224.910,44.370,859.095,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,607.680,1371.871,1665.266,0.000,0.000,0.000,2360.536,0.000,0.000,0.000
$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,63838,901
$CAP_FILE_SIZE,95477,0
$CFSIZE,260165632,242171904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082,339.4,1
$GPS,031010,153526,2412.667,12608.841,6,1.7,6,-3.6