version: 66.08
glider: 181
mission: 4
dive: 121
start: 10 4 110 3 49 30
data:
$ID,181
$MISSION,4
$DIVE,121
$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,-37990.098
$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,45
$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,240.0
$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
$GPS1,041010,034300,2408.159,12609.412,31,1.1,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-59.1
$GPS2,041010,034902,2408.155,12609.396,9,1.9,9,-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,199.1,15118,-22.5,-13.889
$D_GRID,1776
$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,-83.93,0.000,2,0.000,0.000,207,2410,2780,0,0,0,0,0,0
$GC,108,-0.89,-155.7,3.2,-5.5,11,149,7.57,2.12,-25.52,0.000,4,0.227,0.042,2134,980,3933,0,0,0,0,0,0
$GC,293,-0.80,-155.7,62.3,-34.0,42,302,0.12,2.17,0.00,0.000,6,0.158,0.036,2162,2393,3934,0,0,0,0,0,0
$GC,627,-0.74,-155.7,151.5,-23.0,103,634,0.00,2.10,0.00,0.000,4,0.000,0.040,2154,3786,3936,0,0,0,0,0,0
$GC,731,-0.70,-155.7,175.5,-23.2,122,740,0.10,2.08,0.00,0.000,6,0.133,0.027,2187,2394,3936,0,0,0,0,0,0
$GC,1073,-0.70,-155.7,237.3,-17.6,183,1079,0.00,2.05,0.00,0.000,4,0.000,0.032,2187,985,3936,0,0,0,0,0,0
$GC,1108,-0.72,-155.7,243.8,-17.5,189,1117,0.00,2.15,0.00,0.000,6,0.000,0.035,2179,2401,3937,0,0,0,0,0,0
$GC,1446,-0.72,-155.7,308.9,-18.5,247,1450,0.00,2.10,0.00,0.000,4,0.000,0.043,2168,3784,3935,0,0,0,0,0,0
$GC,1621,-0.75,-155.7,336.4,-14.1,262,1629,0.00,2.05,0.00,0.000,6,0.000,0.027,2168,2401,3935,0,0,0,0,0,0
$GC,1947,-0.75,-155.7,391.0,-17.9,293,1951,0.00,2.05,0.00,0.000,4,0.000,0.033,2168,1004,3933,0,0,0,0,0,0
$GC,1993,-0.77,-155.7,398.7,-15.8,297,1997,0.00,2.10,0.00,0.000,6,0.000,0.037,2164,2411,3933,0,0,0,0,0,0
$GC,2324,-0.79,-155.7,451.7,-15.1,328,2327,0.00,2.08,0.00,0.000,4,0.000,0.045,2154,3775,3932,0,0,0,0,0,0
$GC,2350,-0.81,-155.7,455.8,-14.8,330,2359,0.00,2.05,0.00,0.000,6,0.000,0.028,2153,2395,3931,0,0,0,0,0,0
$STATE,2654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2654,begin apogee
$GC,2658,-0.16,0.0,501.3,15.3,359,2780,0.65,0.00,115.80,0.858,6,0.122,0.000,2369,1980,3298,0,0,0,0,0,0
$STATE,2781,end apogee,CONTROL_FINISHED_OK
$STATE,2781,begin climb
$GC,2782,0.89,155.7,507.1,0.0,369,2910,0.90,2.20,119.60,0.842,4,0.039,0.036,2738,614,2663,0,0,0,0,0,0
$GC,3052,0.75,155.7,489.0,16.2,392,3061,0.22,2.15,0.00,0.000,6,0.174,0.031,2674,2007,2657,0,0,0,0,0,0
$GC,3379,0.67,162.7,443.9,13.5,423,3392,0.12,2.15,5.68,0.614,4,0.189,0.040,2642,3402,2634,0,0,0,0,0,0
$GC,3517,0.62,195.5,425.7,11.9,435,3550,0.00,2.10,26.38,0.792,6,0.000,0.031,2651,2022,2502,0,0,0,0,0,0
$GC,3868,0.58,213.9,379.8,12.8,468,3894,0.15,2.22,14.98,0.746,4,0.182,0.039,2622,596,2425,0,0,0,0,0,0
$GC,4008,0.62,251.3,362.5,11.7,480,4044,0.00,2.15,30.00,0.767,6,0.000,0.031,2622,2001,2272,0,0,0,0,0,0
$GC,4370,0.62,251.3,312.1,15.0,514,4374,0.00,2.15,0.00,0.000,4,0.000,0.042,2622,3412,2265,0,0,0,0,0,0
$GC,4434,0.61,251.3,302.4,14.6,519,4442,0.00,2.17,0.00,0.000,6,0.000,0.031,2633,1988,2264,0,0,0,0,0,0
$GC,4763,0.62,277.1,260.4,12.3,578,4785,0.00,0.00,19.65,0.700,6,0.000,0.000,2632,1985,2168,0,0,0,0,0,0
$GC,5105,0.62,277.1,215.1,14.4,641,5113,0.00,2.17,0.00,0.000,4,0.000,0.041,2632,3407,2163,0,0,0,0,0,0
$GC,5198,0.62,277.1,200.9,15.6,658,5212,0.00,2.12,0.00,0.000,6,0.000,0.031,2643,2006,2162,0,0,0,0,0,0
$GC,5539,0.63,278.9,149.4,13.8,719,5547,0.00,2.15,0.00,0.000,4,0.000,0.040,2654,595,2161,0,0,0,0,0,0
$GC,5578,0.64,289.9,144.4,13.2,725,5596,0.00,2.12,10.60,0.584,6,0.000,0.031,2654,2001,2116,0,0,0,0,0,0
$GC,5922,0.70,336.6,105.2,11.1,787,5969,0.00,2.20,36.00,0.605,4,0.000,0.041,2654,3395,1925,0,0,0,0,0,0
$GC,6028,0.73,336.6,91.8,14.1,803,6036,0.00,2.15,0.00,0.000,6,0.000,0.031,2664,1992,1921,0,0,0,0,0,0
$GC,6362,0.94,455.8,54.9,6.8,864,6457,0.17,2.20,87.78,0.564,4,0.068,0.039,2760,590,1439,0,0,0,0,0,0
$GC,6516,0.95,455.8,35.1,14.8,886,6524,0.00,2.17,0.00,0.000,6,0.000,0.031,2761,1995,1434,0,0,0,0,0,0
$STATE,6715,end climb,SURFACE_DEPTH_REACHED
$STATE,6715,begin surface coast
$FINISH,0.5,1.021942
$STATE,6740,end surface coast,CONTROL_FINISHED_OK
$STATE,6740,begin surface
$SM_CCo,6765,106.00,0.057,0,0,484,690.03
$SM_GC,1.27,0.00,0.00,106.00,0.000,0.000,0.057,199,2421,484,-6.96,0.59,690.03
$IRIDIUM_FIX,2401.56,12606.85,041010,010142
$TT8_MAMPS,0.028462
$HUMID,45.70
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.7,17.787
$10V_AH,10.3,21.143
$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,16.675,60.850,466.450,106.000,0.000,30.251,21.923,174.367,0.500,0.000,11.663,2233.506,1573.955,586.736,2665.873,180.983,0.000,1477.665,0.000,1467.073,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,45.135,857.565,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,624.085,1409.370,1723.894,0.000,0.000,0.000,2450.085,0.000,0.000,0.000
$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,67138,926
$CAP_FILE_SIZE,95477,0
$CFSIZE,260165632,241680384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044, 53.0,1
$GPS,041010,054510,2407.380,12609.177,11,2.1,30,-3.6