version: 66.08
glider: 181
mission: 4
dive: 187
start: 10 9 110 16 17 23
data:
$ID,181
$MISSION,4
$DIVE,187
$N_DIVES,200
$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,-38080.449
$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,43
$R_STBD_OVSHOOT,30
$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,372.0
$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
$GPS1,091010,161001,2411.185,12609.524,39,1.8,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-70.5
$GPS2,091010,161655,2411.192,12609.517,10,1.0,15,-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,353.7,16336,-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,-155.7,0.0,0.0,0,67,0.00,0.00,-45.28,0.000,2,0.000,0.000,198,2399,2676,0,0,0,0,0,0
$GC,70,-0.89,-155.7,3.0,-4.6,6,119,7.55,2.17,-29.58,0.000,4,0.224,0.054,2116,3785,3936,0,0,0,0,0,0
$GC,213,-0.77,-155.7,52.0,-40.3,29,222,0.17,2.12,0.00,0.000,6,0.164,0.034,2167,2407,3936,0,0,0,0,0,0
$GC,548,-0.73,-155.7,144.2,-24.6,90,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2404,3938,0,0,0,0,0,0
$GC,894,-0.70,-155.7,218.4,-20.2,151,902,0.12,2.12,0.00,0.000,4,0.168,0.043,2193,3784,3939,0,0,0,0,0,0
$GC,947,-0.73,-155.7,228.4,-16.6,160,955,0.00,2.10,0.00,0.000,6,0.000,0.028,2193,2387,3939,0,0,0,0,0,0
$GC,1278,-0.75,-155.7,286.6,-16.0,221,1285,0.00,2.05,0.00,0.000,4,0.000,0.034,2193,992,3939,0,0,0,0,0,0
$GC,1359,-0.79,-155.7,298.5,-14.4,235,1367,0.00,2.12,0.00,0.000,6,0.000,0.036,2185,2406,3939,0,0,0,0,0,0
$GC,1694,-0.82,-155.7,350.0,-15.9,267,1698,0.00,2.08,0.00,0.000,4,0.000,0.044,2175,3778,3938,0,0,0,0,0,0
$GC,1727,-0.86,-155.7,355.2,-14.7,269,1734,0.00,2.05,0.00,0.000,6,0.000,0.028,2175,2383,3938,0,0,0,0,0,0
$GC,2053,-0.88,-155.7,407.1,-15.7,300,2057,0.10,2.17,0.00,0.000,4,0.096,0.045,2108,3779,3937,0,0,0,0,0,0
$GC,2115,-0.87,-155.7,417.9,-18.2,305,2120,0.12,2.05,0.00,0.000,6,0.159,0.028,2140,2393,3936,0,0,0,0,0,0
$GC,2441,-0.87,-155.7,475.0,-16.1,335,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2390,3935,0,0,0,0,0,0
$STATE,2597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2597,begin apogee
$GC,2603,-0.16,0.0,501.5,16.9,350,2725,0.68,0.00,116.47,0.870,6,0.124,0.000,2366,1981,3301,0,0,0,0,0,0
$STATE,2726,end apogee,CONTROL_FINISHED_OK
$STATE,2726,begin climb
$GC,2728,0.89,155.7,508.2,0.0,360,2856,0.90,2.30,119.75,0.855,4,0.035,0.038,2731,3411,2665,0,0,0,0,0,0
$GC,2980,0.73,155.7,492.8,18.7,382,2985,0.30,2.12,0.00,0.000,6,0.185,0.029,2664,2009,2659,0,0,0,0,0,0
$GC,3305,0.68,180.0,449.2,12.4,412,3332,0.00,2.20,18.92,0.790,4,0.000,0.040,2664,3408,2565,0,0,0,0,0,0
$GC,3338,0.64,214.8,445.2,11.8,414,3371,0.12,2.17,28.35,0.800,6,0.164,0.031,2636,2000,2423,0,0,0,0,0,0
$GC,3688,0.62,227.1,395.2,13.2,447,3703,0.00,2.22,10.32,0.716,4,0.000,0.043,2636,3413,2372,0,0,0,0,0,0
$GC,3805,0.58,230.0,379.5,13.7,457,3812,0.12,2.15,0.00,0.000,6,0.174,0.031,2615,1993,2367,0,0,0,0,0,0
$GC,4130,0.64,280.5,343.2,10.9,488,4177,0.00,2.25,41.67,0.776,4,0.000,0.043,2614,3412,2154,0,0,0,0,0,0
$GC,4193,0.68,315.1,335.9,11.8,493,4226,0.00,2.20,28.08,0.746,6,0.000,0.031,2623,1999,2013,0,0,0,0,0,0
$GC,4553,0.71,320.8,286.7,13.6,535,4568,0.00,2.20,4.53,0.509,4,0.000,0.041,2634,595,1990,0,0,0,0,0,0
$GC,4638,0.74,330.3,274.9,13.3,549,4653,0.00,2.15,9.20,0.642,6,0.000,0.033,2634,2013,1950,0,0,0,0,0,0
$GC,4989,0.76,330.3,224.4,14.7,611,4997,0.10,0.00,0.00,0.000,6,0.103,0.000,2682,2014,1947,0,0,0,0,0,0
$GC,5338,0.74,330.3,164.6,16.0,672,5347,0.00,2.15,0.00,0.000,4,0.000,0.041,2682,3406,1945,0,0,0,0,0,0
$GC,5433,0.72,330.3,147.6,18.4,688,5443,0.10,2.12,0.00,0.000,6,0.149,0.031,2661,2009,1945,0,0,0,0,0,0
$GC,5769,0.74,330.3,100.7,14.4,749,5777,0.00,2.15,0.00,0.000,4,0.000,0.041,2670,597,1943,0,0,0,0,0,0
$GC,5877,0.78,344.9,86.0,13.0,768,5895,0.00,2.12,11.60,0.560,6,0.000,0.031,2670,2004,1892,0,0,0,0,0,0
$GC,6221,0.92,423.3,48.2,9.2,830,6292,0.15,2.22,59.08,0.572,4,0.076,0.041,2744,3404,1574,0,0,0,0,0,0
$GC,6419,0.92,423.3,19.3,15.0,862,6427,0.10,2.17,0.00,0.000,6,0.145,0.031,2722,1992,1569,0,0,0,0,0,0
$STATE,6540,end climb,SURFACE_DEPTH_REACHED
$STATE,6540,begin surface coast
$FINISH,0.3,1.010792
$STATE,6565,end surface coast,CONTROL_FINISHED_OK
$STATE,6565,begin surface
$SM_CCo,6651,0.00,0.000,0,0,1562,425.84
$SM_GC,1.65,6.47,0.00,0.00,0.034,0.000,0.000,195,2406,1562,-6.85,0.17,425.84
$IRIDIUM_FIX,2359.20,12612.06,091010,141441
$TT8_MAMPS,0.027713
$HUMID,48.26
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,24.6,25.301
$10V_AH,10.2,31.439
$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,17.125,57.150,447.975,0.000,0.000,28.973,17.215,196.033,0.250,0.000,18.210,2140.823,1704.513,458.820,2555.372,208.733,0.000,1271.767,0.000,1365.145,0.000,0.543,0.000
$DEVICE_MAMPS,224.145,54.315,869.805,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,599.609,1351.104,1651.291,0.000,0.000,0.000,2299.635,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331472
$DATA_FILE_SIZE,63743,888
$CAP_FILE_SIZE,92115,0
$CFSIZE,260165632,237133824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106, 69.6,1
$GPS,091010,180902,2412.252,12609.667,12,1.3,12,-3.6