version: 66.08
glider: 181
mission: 4
dive: 115
start: 10 3 110 15 42 28
data:
$ID,181
$MISSION,4
$DIVE,115
$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,-37982.566
$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,46
$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,228.0
$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
$GPS1,031010,153526,2412.667,12608.841,6,1.7,6,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-67.6
$GPS2,031010,154201,2412.683,12608.852,10,1.6,15,-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,177.5,23489,-22.5,-13.889
$D_GRID,1648
$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,-155.7,0.0,0.0,0,104,0.00,0.00,-82.22,0.000,2,0.000,0.000,197,2420,2736,0,0,0,0,0,0
$GC,107,-0.89,-155.7,3.2,-5.0,11,148,7.60,2.15,-26.75,0.000,4,0.227,0.046,2130,989,3936,0,0,0,0,0,0
$GC,270,-0.78,-155.7,58.8,-36.7,38,279,0.15,2.15,0.00,0.000,6,0.164,0.034,2164,2394,3936,0,0,0,0,0,0
$GC,605,-0.72,-155.7,148.5,-24.4,99,613,0.00,2.12,0.00,0.000,4,0.000,0.041,2156,3781,3938,0,0,0,0,0,0
$GC,655,-0.70,-155.7,160.7,-22.1,107,663,0.15,2.05,0.00,0.000,6,0.151,0.027,2196,2390,3939,0,0,0,0,0,0
$GC,1005,-0.70,-155.7,230.7,-18.6,168,1015,0.00,2.08,0.00,0.000,4,0.000,0.033,2196,994,3939,0,0,0,0,0,0
$GC,1072,-0.74,-155.7,241.8,-15.3,179,1079,0.00,2.10,0.00,0.000,6,0.000,0.034,2189,2403,3939,0,0,0,0,0,0
$GC,1414,-0.75,-155.7,299.1,-16.6,240,1423,0.00,2.10,0.00,0.000,4,0.000,0.043,2179,3772,3938,0,0,0,0,0,0
$GC,1478,-0.79,-155.7,309.7,-14.6,246,1487,0.00,2.05,0.00,0.000,6,0.000,0.026,2179,2391,3938,0,0,0,0,0,0
$GC,1806,-0.80,-155.7,361.1,-15.3,277,1810,0.00,2.05,0.00,0.000,4,0.000,0.034,2179,1000,3938,0,0,0,0,0,0
$GC,1840,-0.83,-155.7,366.7,-15.3,280,1844,0.00,2.10,0.00,0.000,6,0.000,0.036,2170,2399,3937,0,0,0,0,0,0
$GC,2165,-0.84,-155.7,422.7,-17.7,310,2169,0.00,2.10,0.00,0.000,4,0.000,0.044,2160,3781,3936,0,0,0,0,0,0
$GC,2183,-0.85,-155.7,425.5,-17.1,311,2187,0.00,2.03,0.00,0.000,6,0.000,0.028,2160,2391,3935,0,0,0,0,0,0
$GC,2514,-0.85,-155.7,484.9,-17.5,342,2518,0.00,2.12,0.00,0.000,4,0.000,0.043,2149,3776,3933,0,0,0,0,0,0
$GC,2578,-0.89,-155.7,495.5,-14.7,347,2586,0.00,2.05,0.00,0.000,6,0.000,0.027,2149,2399,3932,0,0,0,0,0,0
$STATE,2617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2617,begin apogee
$GC,2622,-0.16,0.0,501.0,15.2,351,2744,0.68,0.00,116.57,0.861,6,0.125,0.000,2372,1979,3298,0,0,0,0,0,0
$STATE,2745,end apogee,CONTROL_FINISHED_OK
$STATE,2745,begin climb
$GC,2747,0.89,155.7,507.6,0.0,361,2875,0.90,2.30,119.95,0.845,4,0.038,0.038,2733,3413,2662,0,0,0,0,0,0
$GC,3128,0.73,155.7,464.8,16.9,395,3133,0.30,2.10,0.00,0.000,6,0.188,0.028,2666,2018,2655,0,0,0,0,0,0
$GC,3455,0.67,179.0,423.2,12.5,425,3480,0.00,2.15,17.45,0.770,4,0.000,0.038,2665,3408,2568,0,0,0,0,0,0
$GC,3673,0.60,201.3,392.8,12.6,444,3699,0.20,2.10,18.40,0.763,6,0.180,0.029,2623,1989,2477,0,0,0,0,0,0
$GC,4018,0.62,242.3,355.3,11.4,476,4057,0.00,2.28,32.33,0.766,4,0.000,0.040,2623,3406,2310,0,0,0,0,0,0
$GC,4136,0.60,242.3,338.5,15.0,486,4141,0.00,2.15,0.00,0.000,6,0.000,0.031,2631,1995,2306,0,0,0,0,0,0
$GC,4464,0.58,243.1,295.2,13.8,519,4471,0.00,2.12,0.00,0.000,4,0.000,0.039,2642,583,2302,0,0,0,0,0,0
$GC,4513,0.57,247.3,288.5,13.6,527,4529,0.12,2.15,4.03,0.476,6,0.173,0.032,2612,2015,2291,0,0,0,0,0,0
$GC,4865,0.64,296.9,247.3,10.9,589,4912,0.00,2.17,39.35,0.708,4,0.000,0.042,2612,3402,2088,0,0,0,0,0,0
$GC,5113,0.67,296.9,215.5,13.9,632,5123,0.00,2.15,0.00,0.000,6,0.000,0.031,2619,2002,2081,0,0,0,0,0,0
$GC,5465,0.73,331.2,170.7,11.8,693,5501,0.12,2.20,26.02,0.643,4,0.088,0.040,2689,593,1948,0,0,0,0,0,0
$GC,5572,0.71,331.2,154.0,16.2,710,5581,0.10,2.15,0.00,0.000,6,0.137,0.031,2657,1996,1946,0,0,0,0,0,0
$GC,5907,0.71,331.2,105.9,14.1,771,5914,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1997,1943,0,0,0,0,0,0
$GC,6239,0.86,416.3,67.0,8.8,832,6309,0.12,0.00,63.40,0.579,6,0.085,0.000,2720,1999,1601,0,0,0,0,0,0
$GC,6634,0.88,416.3,18.3,13.9,901,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1997,1594,0,0,0,0,0,0
$STATE,6756,end climb,SURFACE_DEPTH_REACHED
$STATE,6756,begin surface coast
$FINISH,0.5,1.008327
$STATE,6781,end surface coast,CONTROL_FINISHED_OK
$STATE,6782,begin surface
$SM_CCo,6808,122.18,0.057,0,0,484,690.03
$SM_GC,1.43,0.00,0.00,122.18,0.000,0.000,0.057,194,2412,484,-6.97,0.34,690.03
$IRIDIUM_FIX,2411.01,12604.42,031010,131346
$TT8_MAMPS,0.027713
$HUMID,44.72
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.6,17.088
$10V_AH,10.3,20.199
$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,16.975,56.425,437.500,122.175,0.000,29.835,45.678,179.277,0.000,0.000,17.924,2238.708,1623.272,591.521,2706.901,170.141,0.000,1457.995,0.000,1460.638,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,45.900,861.390,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,625.384,1410.251,1729.401,0.000,0.000,0.000,2463.397,0.000,0.000,0.000
$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,66863,927
$CAP_FILE_SIZE,95890,0
$CFSIZE,260165632,242098176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088, 21.4,1
$GPS,031010,173907,2412.138,12609.156,32,1.0,32,-3.6