version: 66.08
glider: 181
mission: 4
dive: 122
start: 10 4 110 5 54 7
data:
$ID,181
$MISSION,4
$DIVE,122
$N_DIVES,135
$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,-37991.352
$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,46
$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,242.0
$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
$GPS1,041010,054510,2407.380,12609.177,11,2.1,30,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-59.6
$GPS2,041010,055340,2407.359,12609.091,9,2.6,28,-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,191.1,13630,-22.5,-13.889
$D_GRID,1747
$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,-83.75,0.000,2,0.000,0.000,199,2421,2781,0,0,0,0,0,0
$GC,108,-0.89,-155.7,3.2,-5.6,11,149,7.60,2.15,-25.77,0.000,4,0.226,0.043,2131,982,3934,0,0,0,0,0,0
$GC,261,-0.78,-155.7,52.7,-36.6,36,270,0.15,2.17,0.00,0.000,6,0.161,0.035,2166,2395,3938,0,0,0,0,0,0
$GC,595,-0.72,-155.7,147.5,-27.8,97,604,0.00,2.12,0.00,0.000,4,0.000,0.041,2158,3777,3937,0,0,0,0,0,0
$GC,660,-0.70,-155.7,163.3,-22.7,108,669,0.10,2.08,0.00,0.000,6,0.133,0.028,2190,2389,3937,0,0,0,0,0,0
$GC,997,-0.70,-155.7,228.1,-17.1,169,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2387,3937,0,0,0,0,0,0
$GC,1325,-0.70,-155.7,288.6,-19.1,230,1334,0.00,2.15,0.00,0.000,4,0.000,0.043,2182,3780,3936,0,0,0,0,0,0
$GC,1408,-0.75,-155.7,303.1,-15.3,243,1415,0.00,2.05,0.00,0.000,6,0.000,0.027,2182,2401,3936,0,0,0,0,0,0
$GC,1736,-0.77,-155.7,355.1,-15.9,274,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2402,3934,0,0,0,0,0,0
$GC,2052,-0.80,-155.7,401.5,-14.1,304,2056,0.00,2.12,0.00,0.000,4,0.000,0.044,2172,3781,3932,0,0,0,0,0,0
$GC,2081,-0.83,-155.7,405.5,-13.9,306,2085,0.00,2.05,0.00,0.000,6,0.000,0.028,2172,2389,3932,0,0,0,0,0,0
$GC,2413,-0.86,-155.7,452.9,-14.9,337,2417,0.00,2.03,0.00,0.000,4,0.000,0.033,2172,998,3931,0,0,0,0,0,0
$GC,2439,-0.89,-155.7,457.4,-15.1,339,2447,0.00,2.15,0.00,0.000,6,0.000,0.036,2164,2405,3929,0,0,0,0,0,0
$STATE,2734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2734,begin apogee
$GC,2738,-0.16,0.0,500.8,15.5,367,2863,0.60,0.00,115.78,0.861,6,0.119,0.000,2366,1978,3298,0,0,0,0,0,0
$STATE,2863,end apogee,CONTROL_FINISHED_OK
$STATE,2863,begin climb
$GC,2865,0.89,155.7,508.1,0.0,377,2992,0.90,2.15,119.70,0.844,4,0.035,0.034,2746,605,2664,0,0,0,0,0,0
$GC,3216,0.75,155.7,477.5,15.6,407,3225,0.25,2.15,0.00,0.000,6,0.173,0.032,2673,2011,2657,0,0,0,0,0,0
$GC,3543,0.66,162.2,434.4,13.5,438,3558,0.12,2.17,5.32,0.597,4,0.192,0.041,2642,3399,2635,0,0,0,0,0,0
$GC,3648,0.60,180.7,419.3,12.8,447,3674,0.12,2.08,15.50,0.760,6,0.184,0.030,2621,2015,2560,0,0,0,0,0,0
$GC,3991,0.64,235.9,381.2,10.6,479,4041,0.00,0.00,43.08,0.786,6,0.000,0.000,2621,2019,2339,0,0,0,0,0,0
$GC,4359,0.65,248.0,332.6,13.2,514,4374,0.00,2.15,9.68,0.677,4,0.000,0.040,2621,3406,2288,0,0,0,0,0,0
$GC,4400,0.64,248.0,326.1,15.5,517,4408,0.00,2.15,0.00,0.000,6,0.000,0.031,2629,2006,2286,0,0,0,0,0,0
$GC,4729,0.64,258.6,279.9,13.3,562,4744,0.00,2.20,9.68,0.653,4,0.000,0.038,2640,594,2242,0,0,0,0,0,0
$GC,4805,0.66,274.9,269.7,12.9,575,4827,0.00,2.10,13.80,0.676,6,0.000,0.031,2640,1995,2178,0,0,0,0,0,0
$GC,5151,0.67,282.2,223.4,13.4,638,5166,0.00,2.17,7.03,0.578,4,0.000,0.041,2640,3404,2147,0,0,0,0,0,0
$GC,5285,0.67,282.2,202.5,15.3,662,5293,0.00,2.15,0.00,0.000,6,0.000,0.031,2651,1996,2145,0,0,0,0,0,0
$GC,5626,0.67,282.2,153.1,13.9,723,5634,0.00,2.15,0.00,0.000,4,0.000,0.041,2650,3408,2144,0,0,0,0,0,0
$GC,5652,0.66,282.2,149.4,14.1,727,5662,0.00,2.12,0.00,0.000,6,0.000,0.031,2660,2001,2144,0,0,0,0,0,0
$GC,5988,0.70,316.6,106.2,11.8,788,6020,0.00,2.15,26.75,0.602,4,0.000,0.038,2672,597,2004,0,0,0,0,0,0
$GC,6061,0.76,354.1,97.8,11.6,799,6100,0.00,2.15,29.42,0.590,6,0.000,0.031,2672,2006,1853,0,0,0,0,0,0
$GC,6427,0.94,449.0,56.0,8.2,864,6506,0.15,2.20,70.50,0.563,4,0.074,0.037,2746,3408,1466,0,0,0,0,0,0
$GC,6546,0.94,449.0,39.2,16.4,881,6554,0.00,2.17,0.00,0.000,6,0.000,0.031,2756,2008,1461,0,0,0,0,0,0
$STATE,6761,end climb,SURFACE_DEPTH_REACHED
$STATE,6761,begin surface coast
$FINISH,0.7,1.021675
$STATE,6779,end surface coast,CONTROL_FINISHED_OK
$STATE,6779,begin surface
$SM_CCo,6804,106.80,0.057,0,0,486,690.03
$SM_GC,1.33,0.00,0.00,106.80,0.000,0.000,0.057,202,2394,486,-6.95,-0.17,690.03
$IRIDIUM_FIX,2403.92,12616.75,041010,030312
$TT8_MAMPS,0.027713
$HUMID,46.18
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,24.7,17.902
$10V_AH,10.3,21.304
$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,16.650,56.675,466.225,106.800,0.000,60.581,45.217,176.591,0.250,0.000,32.185,2206.967,1740.590,604.020,2693.220,182.223,0.000,1460.812,0.000,1417.640,0.000,0.543,0.000
$DEVICE_MAMPS,226.440,49.725,861.390,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,622.093,1404.472,1698.789,0.000,0.000,0.000,2366.620,0.000,0.000,0.000
$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,67196,923
$CAP_FILE_SIZE,94815,0
$CFSIZE,260165632,241610752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.029,159.9,1
$GPS,041010,075037,2406.303,12608.910,42,1.1,42,-3.6