version: 66.08
glider: 181
mission: 4
dive: 186
start: 10 9 110 14 15 6
data:
$ID,181
$MISSION,4
$DIVE,186
$N_DIVES,189
$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,375
$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,-38079.195
$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,45
$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,370.0
$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
$GPS1,091010,140820,2410.574,12609.637,7,1.5,7,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-72.5
$GPS2,091010,141438,2410.558,12609.606,9,1.9,9,-3.6
$SPEED_LIMITS,0.241,0.296
$TGT_NAME,NWALL_N
$TGT_LATLONG,2420.000,12609.000
$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,348.1,17516,-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,20,-0.89,-155.7,0.0,0.0,0,66,0.00,0.00,-43.70,0.000,2,0.000,0.000,200,2416,2889,0,0,0,0,0,0
$GC,68,-0.89,-155.7,3.6,-6.9,6,109,7.57,2.12,-21.35,0.000,4,0.224,0.057,2129,3769,3936,0,0,0,0,0,0
$GC,242,-0.80,-155.7,64.9,-30.1,35,252,0.10,2.08,0.00,0.000,6,0.157,0.028,2157,2391,3937,0,0,0,0,0,0
$GC,576,-0.75,-155.7,159.3,-25.4,96,584,0.00,2.08,0.00,0.000,4,0.000,0.034,2157,1003,3939,0,0,0,0,0,0
$GC,653,-0.73,-155.7,178.3,-22.8,109,661,0.15,2.10,0.00,0.000,6,0.155,0.036,2189,2399,3939,0,0,0,0,0,0
$GC,995,-0.73,-155.7,238.8,-17.5,170,1003,0.00,2.15,0.00,0.000,4,0.000,0.044,2181,3777,3940,0,0,0,0,0,0
$GC,1091,-0.78,-155.7,253.0,-13.7,187,1099,0.00,2.03,0.00,0.000,6,0.000,0.028,2181,2397,3940,0,0,0,0,0,0
$GC,1425,-0.79,-155.7,307.9,-16.5,245,1429,0.00,2.08,0.00,0.000,4,0.000,0.034,2181,995,3940,0,0,0,0,0,0
$GC,1515,-0.84,-155.7,321.8,-13.9,253,1519,0.00,2.12,0.00,0.000,6,0.000,0.036,2176,2412,3940,0,0,0,0,0,0
$GC,1842,-0.86,-155.7,372.6,-15.3,283,1846,0.00,2.08,0.00,0.000,4,0.000,0.044,2166,3790,3939,0,0,0,0,0,0
$GC,1872,-0.89,-155.7,377.2,-15.5,285,1876,0.00,2.05,0.00,0.000,6,0.000,0.028,2166,2398,3938,0,0,0,0,0,0
$GC,2203,-0.90,-155.7,434.2,-17.1,316,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2395,3938,0,0,0,0,0,0
$GC,2522,-0.93,-155.7,483.7,-14.7,346,2524,0.12,0.00,0.00,0.000,6,0.086,0.000,2103,2395,3936,0,0,0,0,0,0
$STATE,2615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2616,begin apogee
$GC,2621,-0.16,0.0,500.3,18.7,355,2744,0.82,0.00,117.15,0.872,6,0.136,0.000,2363,1983,3298,0,0,0,0,0,0
$STATE,2745,end apogee,CONTROL_FINISHED_OK
$STATE,2745,begin climb
$GC,2747,0.89,155.7,505.9,0.0,365,2878,0.90,2.17,119.50,0.855,4,0.035,0.036,2746,614,2662,0,0,0,0,0,0
$GC,3124,0.75,155.7,466.7,15.2,398,3134,0.25,2.15,0.00,0.000,6,0.170,0.032,2672,2007,2659,0,0,0,0,0,0
$GC,3451,0.67,170.7,425.9,13.0,429,3468,0.12,2.17,11.35,0.742,4,0.189,0.041,2641,3409,2603,0,0,0,0,0,0
$GC,3527,0.62,185.1,416.2,13.0,435,3545,0.00,2.10,12.80,0.748,6,0.000,0.030,2650,2001,2543,0,0,0,0,0,0
$GC,3866,0.56,185.1,370.4,14.7,466,3871,0.17,2.17,0.00,0.000,4,0.175,0.042,2605,3409,2539,0,0,0,0,0,0
$GC,4030,0.61,245.9,350.6,10.2,480,4087,0.00,2.15,47.03,0.783,6,0.000,0.031,2613,1994,2295,0,0,0,0,0,0
$GC,4404,0.62,255.6,305.4,13.3,515,4418,0.00,2.28,7.72,0.638,4,0.000,0.042,2613,3414,2256,0,0,0,0,0,0
$GC,4501,0.63,264.8,291.9,13.3,528,4515,0.00,2.17,8.77,0.651,6,0.000,0.031,2623,2002,2219,0,0,0,0,0,0
$GC,4839,0.65,277.4,248.7,13.1,590,4855,0.00,2.17,11.12,0.661,4,0.000,0.039,2634,582,2165,0,0,0,0,0,0
$GC,4954,0.67,293.4,233.8,12.9,610,4977,0.00,2.17,13.65,0.662,6,0.000,0.033,2634,2001,2101,0,0,0,0,0,0
$GC,5302,0.69,315.8,186.9,12.5,673,5331,0.00,2.22,18.05,0.650,4,0.000,0.042,2634,3407,2009,0,0,0,0,0,0
$GC,5501,0.73,332.1,160.4,12.9,708,5523,0.00,2.15,13.52,0.612,6,0.000,0.031,2645,2001,1943,0,0,0,0,0,0
$GC,5848,0.77,346.7,116.8,13.0,771,5866,0.00,2.15,12.20,0.580,4,0.000,0.041,2655,596,1884,0,0,0,0,0,0
$GC,5935,0.84,368.0,105.5,12.6,785,5961,0.08,2.15,17.60,0.586,6,0.055,0.032,2707,2003,1797,0,0,0,0,0,0
$GC,6287,0.95,435.6,55.4,9.8,848,6341,0.00,0.00,50.67,0.570,6,0.000,0.000,2708,2003,1522,0,0,0,0,0,0
$GC,6668,0.99,440.6,9.3,13.6,915,6679,0.10,2.17,4.35,0.366,4,0.095,0.040,2771,592,1501,0,0,0,0,0,0
$GC,6705,1.00,448.8,4.4,13.4,920,6715,0.00,2.15,5.45,0.400,2,0.000,0.034,2771,1996,1470,0,0,0,0,0,0
$STATE,6716,end climb,SURFACE_DEPTH_REACHED
$STATE,6716,begin surface coast
$FINISH,0.7,1.021935
$STATE,6734,end surface coast,CONTROL_FINISHED_OK
$STATE,6734,begin surface
$SM_CCo,6821,0.00,0.000,0,0,1469,448.65
$SM_GC,1.49,6.68,0.00,0.00,0.040,0.000,0.000,198,2398,1469,-6.85,-0.06,448.65
$IRIDIUM_FIX,2401.56,12615.36,091010,121243
$TT8_MAMPS,0.027713
$HUMID,47.24
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.6,25.189
$10V_AH,10.2,31.285
$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,17.075,56.750,470.950,0.000,0.000,28.549,15.976,179.892,0.000,0.000,11.865,2241.674,1665.081,447.038,2634.871,213.872,0.000,1303.963,0.000,1454.149,0.000,0.542,0.000
$DEVICE_MAMPS,224.145,56.610,872.100,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,624.279,1406.261,1695.936,0.000,0.000,0.000,2363.649,0.000,0.000,0.000
$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,67234,924
$CAP_FILE_SIZE,95543,0
$CFSIZE,260165632,237195264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,146.4,1
$GPS,091010,161001,2411.185,12609.524,39,1.8,39,-3.6