version: 66.08
glider: 181
mission: 4
dive: 116
start: 10 3 110 17 46 5
data:
$ID,181
$MISSION,4
$DIVE,116
$N_DIVES,130
$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,-37983.82
$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,41
$R_STBD_OVSHOOT,42
$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,230.0
$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
$GPS1,031010,173907,2412.138,12609.156,32,1.0,32,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-67.8
$GPS2,031010,174538,2412.146,12609.170,12,1.8,12,-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,190.4,22497,-22.5,-13.889
$D_GRID,1666
$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,-84.38,0.000,2,0.000,0.000,194,2412,2811,0,0,0,0,0,0
$GC,109,-0.89,-155.7,3.3,-5.9,11,149,7.55,2.12,-24.38,0.000,4,0.223,0.045,2133,987,3931,0,0,0,0,0,0
$GC,254,-0.79,-155.7,52.2,-33.5,35,263,0.12,2.15,0.00,0.000,6,0.164,0.034,2162,2392,3938,0,0,0,0,0,0
$GC,589,-0.73,-155.7,145.3,-25.8,96,597,0.00,2.10,0.00,0.000,4,0.000,0.032,2161,992,3936,0,0,0,0,0,0
$GC,606,-0.67,-155.7,149.6,-25.1,98,615,0.15,2.15,0.00,0.000,6,0.142,0.034,2200,2401,3936,0,0,0,0,0,0
$GC,948,-0.67,-155.7,216.1,-16.5,159,955,0.00,2.10,0.00,0.000,4,0.000,0.033,2200,981,3934,0,0,0,0,0,0
$GC,999,-0.71,-155.7,224.7,-15.9,168,1007,0.00,2.17,0.00,0.000,6,0.000,0.035,2192,2407,3937,0,0,0,0,0,0
$GC,1329,-0.71,-155.7,279.7,-15.0,229,1337,0.00,2.08,0.00,0.000,4,0.000,0.043,2182,3781,3936,0,0,0,0,0,0
$GC,1370,-0.73,-155.7,286.0,-15.3,236,1378,0.00,2.08,0.00,0.000,6,0.000,0.027,2182,2389,3937,0,0,0,0,0,0
$GC,1699,-0.73,-155.7,343.3,-19.8,275,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2387,3935,0,0,0,0,0,0
$GC,2019,-0.74,-155.7,400.3,-17.0,305,2022,0.00,2.03,0.00,0.000,4,0.000,0.033,2182,998,3932,0,0,0,0,0,0
$GC,2044,-0.76,-155.7,404.3,-15.5,307,2048,0.00,2.10,0.00,0.000,6,0.000,0.037,2177,2402,3933,0,0,0,0,0,0
$GC,2370,-0.78,-155.7,452.2,-14.4,337,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2403,3931,0,0,0,0,0,0
$GC,2690,-0.81,-155.7,498.2,-15.3,367,2693,0.00,2.10,0.00,0.000,4,0.000,0.045,2168,3778,3924,0,0,0,0,0,0
$STATE,2698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2698,begin apogee
$GC,2704,-0.16,0.0,500.2,14.8,367,2825,0.60,0.00,115.70,0.860,6,0.119,0.000,2369,2000,3298,0,0,0,0,0,0
$STATE,2826,end apogee,CONTROL_FINISHED_OK
$STATE,2826,begin climb
$GC,2827,0.89,155.7,505.6,0.0,377,2955,0.90,2.25,119.72,0.842,4,0.040,0.036,2735,597,2662,0,0,0,0,0,0
$GC,3193,0.75,155.7,470.9,16.0,409,3198,0.28,2.12,0.00,0.000,6,0.179,0.031,2663,2012,2656,0,0,0,0,0,0
$GC,3520,0.69,173.7,427.8,12.8,439,3544,0.00,2.17,13.90,0.751,4,0.000,0.041,2663,3392,2588,0,0,0,0,0,0
$GC,3645,0.60,173.7,410.4,14.9,450,3650,0.20,2.08,0.00,0.000,6,0.179,0.030,2620,1999,2586,0,0,0,0,0,0
$GC,3971,0.63,228.1,374.3,10.6,480,4020,0.00,2.20,41.85,0.780,4,0.000,0.038,2620,3398,2369,0,0,0,0,0,0
$GC,4091,0.61,228.1,358.4,14.6,490,4099,0.00,2.15,0.00,0.000,6,0.000,0.031,2628,2005,2364,0,0,0,0,0,0
$GC,4418,0.65,277.8,318.2,10.9,521,4467,0.00,2.22,38.80,0.746,4,0.000,0.040,2639,597,2164,0,0,0,0,0,0
$GC,4504,0.68,298.4,307.0,12.7,528,4526,0.00,2.17,17.27,0.698,6,0.000,0.031,2639,2001,2082,0,0,0,0,0,0
$GC,4842,0.68,298.4,257.9,13.9,586,4850,0.00,2.17,0.00,0.000,4,0.000,0.041,2639,3401,2074,0,0,0,0,0,0
$GC,5027,0.67,298.4,228.4,17.3,620,5035,0.00,2.12,0.00,0.000,6,0.000,0.031,2650,2004,2073,0,0,0,0,0,0
$GC,5366,0.67,302.8,178.4,13.6,681,5374,0.00,2.12,0.00,0.000,4,0.000,0.040,2661,587,2071,0,0,0,0,0,0
$GC,5480,0.69,313.9,162.2,13.2,701,5496,0.00,2.12,11.77,0.599,6,0.000,0.031,2661,2013,2018,0,0,0,0,0,0
$GC,5822,0.70,329.2,111.4,13.0,763,5847,0.00,2.17,12.73,0.571,4,0.000,0.040,2661,3405,1955,0,0,0,0,0,0
$GC,5886,0.72,329.2,102.3,14.2,773,5895,0.00,2.15,0.00,0.000,6,0.000,0.030,2670,1991,1954,0,0,0,0,0,0
$GC,6221,0.81,384.6,61.3,10.6,834,6269,0.00,2.15,42.17,0.569,4,0.000,0.039,2682,595,1728,0,0,0,0,0,0
$GC,6353,1.01,487.1,50.3,7.8,855,6439,0.15,2.15,75.82,0.552,6,0.046,0.031,2760,2002,1313,0,0,0,0,0,0
$STATE,6634,end climb,SURFACE_DEPTH_REACHED
$STATE,6635,begin surface coast
$FINISH,0.5,0.999364
$STATE,6653,end surface coast,CONTROL_FINISHED_OK
$STATE,6653,begin surface
$SM_CCo,6678,91.68,0.057,0,0,484,690.03
$SM_GC,1.21,0.00,0.00,91.68,0.000,0.000,0.057,199,2422,484,-6.95,0.74,690.03
$IRIDIUM_FIX,2401.56,12606.85,031010,151536
$TT8_MAMPS,0.027713
$HUMID,45.86
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.7,17.206
$10V_AH,10.3,20.356
$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,16.625,61.000,489.750,91.675,0.000,25.897,38.817,182.244,0.000,0.000,14.654,2165.839,1627.216,587.912,2615.272,170.215,0.000,1452.788,0.000,1412.998,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,45.135,859.860,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,609.974,1377.067,1662.471,0.000,0.000,0.000,2355.664,0.000,0.000,0.000
$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,63765,905
$CAP_FILE_SIZE,93761,0
$CFSIZE,260165632,242036736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090, 74.8,1
$GPS,031010,193943,2411.312,12609.373,6,1.6,11,-3.6