version: 66.08
glider: 181
mission: 4
dive: 196
start: 10 10 110 10 18 28
data:
$ID,181
$MISSION,4
$DIVE,196
$N_DIVES,207
$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,-38091.758
$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,44
$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,390.0
$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
$GPS1,101010,101107,2418.865,12609.405,37,1.2,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-68.7
$GPS2,101010,101801,2418.853,12609.396,9,1.5,9,-3.7
$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,326.5,2228,-22.5,-13.889
$D_GRID,1664
$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,-155.7,0.0,0.0,0,68,0.00,0.00,-45.50,0.000,2,0.000,0.000,196,2423,2701,0,0,0,0,0,0
$GC,70,-0.89,-155.7,3.2,-5.1,6,119,7.57,2.12,-28.48,0.000,4,0.224,0.056,2120,3776,3936,0,0,0,0,0,0
$GC,220,-0.79,-155.7,52.8,-35.1,30,229,0.15,2.08,0.00,0.000,6,0.178,0.026,2162,2390,3936,0,0,0,0,0,0
$GC,555,-0.73,-155.7,146.8,-24.8,91,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2387,3941,0,0,0,0,0,0
$GC,896,-0.69,-155.7,227.9,-22.3,152,904,0.15,2.17,0.00,0.000,4,0.158,0.042,2195,3774,3938,0,0,0,0,0,0
$GC,975,-0.75,-155.7,241.3,-15.0,166,984,0.00,2.05,0.00,0.000,6,0.000,0.027,2195,2400,3939,0,0,0,0,0,0
$GC,1308,-0.77,-155.7,294.0,-16.7,227,1316,0.00,2.05,0.00,0.000,4,0.000,0.033,2195,1002,3939,0,0,0,0,0,0
$GC,1335,-0.80,-155.7,298.2,-15.8,231,1343,0.00,2.10,0.00,0.000,6,0.000,0.035,2191,2401,3939,0,0,0,0,0,0
$GC,1670,-0.82,-155.7,347.2,-14.5,263,1675,0.10,2.12,0.00,0.000,4,0.095,0.044,2126,3781,3938,0,0,0,0,0,0
$GC,1810,-0.82,-155.7,371.7,-18.8,275,1815,0.12,2.05,0.00,0.000,6,0.155,0.028,2159,2395,3937,0,0,0,0,0,0
$GC,2137,-0.82,-155.7,426.0,-15.9,305,2140,0.00,2.08,0.00,0.000,4,0.000,0.034,2159,989,3936,0,0,0,0,0,0
$GC,2177,-0.84,-155.7,432.4,-14.7,308,2181,0.00,2.15,0.00,0.000,6,0.000,0.037,2151,2411,3936,0,0,0,0,0,0
$GC,2502,-0.84,-155.7,481.4,-14.3,338,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2411,3933,0,0,0,0,0,0
$STATE,2627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2627,begin apogee
$GC,2632,-0.16,0.0,500.4,14.6,350,2755,0.65,0.00,116.68,0.873,6,0.122,0.000,2367,1975,3298,0,0,0,0,0,0
$STATE,2756,end apogee,CONTROL_FINISHED_OK
$STATE,2756,begin climb
$GC,2758,0.89,155.7,506.3,0.0,360,2886,0.93,2.17,119.47,0.856,4,0.042,0.037,2737,597,2662,0,0,0,0,0,0
$GC,3136,0.75,155.7,474.1,15.5,393,3141,0.25,2.15,0.00,0.000,6,0.177,0.032,2671,2015,2656,0,0,0,0,0,0
$GC,3463,0.70,183.9,432.8,12.2,423,3491,0.00,2.22,21.55,0.796,4,0.000,0.037,2680,607,2548,0,0,0,0,0,0
$GC,3739,0.64,200.3,396.3,12.9,448,3758,0.17,2.10,13.35,0.748,6,0.171,0.033,2635,2009,2482,0,0,0,0,0,0
$GC,4079,0.67,246.4,358.0,11.1,479,4120,0.00,2.25,36.22,0.783,4,0.000,0.039,2645,602,2293,0,0,0,0,0,0
$GC,4167,0.68,268.0,347.5,12.6,486,4192,0.00,2.15,17.70,0.736,6,0.000,0.033,2644,2002,2206,0,0,0,0,0,0
$GC,4510,0.66,268.0,297.0,14.8,519,4518,0.00,2.15,0.00,0.000,4,0.000,0.043,2644,3400,2199,0,0,0,0,0,0
$GC,4585,0.64,268.0,285.4,16.4,532,4593,0.00,2.12,0.00,0.000,6,0.000,0.031,2654,2014,2198,0,0,0,0,0,0
$GC,4914,0.62,268.1,235.7,13.9,593,4921,0.00,2.12,0.00,0.000,4,0.000,0.040,2665,594,2196,0,0,0,0,0,0
$GC,4961,0.61,275.1,229.1,13.5,601,4976,0.15,2.12,5.93,0.558,6,0.160,0.033,2625,2012,2175,0,0,0,0,0,0
$GC,5304,0.69,329.6,191.2,10.6,663,5353,0.00,2.20,42.00,0.680,4,0.000,0.038,2634,595,1954,0,0,0,0,0,0
$GC,5395,0.76,353.8,180.3,12.4,677,5425,0.10,2.15,19.73,0.636,6,0.101,0.032,2684,2008,1854,0,0,0,0,0,0
$GC,5753,0.76,353.8,120.7,16.2,741,5761,0.00,2.17,0.00,0.000,4,0.000,0.041,2683,3408,1849,0,0,0,0,0,0
$GC,5854,0.76,353.8,104.0,15.9,759,5863,0.00,2.15,0.00,0.000,6,0.000,0.031,2694,2000,1847,0,0,0,0,0,0
$GC,6188,0.84,387.9,58.4,11.8,820,6222,0.00,2.20,25.60,0.568,4,0.000,0.041,2706,596,1715,0,0,0,0,0,0
$GC,6365,0.96,452.2,40.3,10.0,850,6420,0.00,2.15,48.35,0.555,6,0.000,0.031,2705,2008,1457,0,0,0,0,0,0
$STATE,6662,end climb,SURFACE_DEPTH_REACHED
$STATE,6663,begin surface coast
$FINISH,0.6,1.007599
$STATE,6687,end surface coast,CONTROL_FINISHED_OK
$STATE,6687,begin surface
$SM_CCo,6774,0.00,0.000,0,0,1446,454.05
$SM_GC,1.58,6.50,0.00,0.00,0.040,0.000,0.000,203,2422,1446,-6.83,0.62,454.05
$IRIDIUM_FIX,2413.38,12607.73,101010,080855
$TT8_MAMPS,0.027713
$HUMID,47.55
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,25.20
$XPDR_PINGS,2
$24V_AH,24.6,26.323
$10V_AH,10.3,32.847
$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,16.850,56.775,466.575,0.000,0.000,28.034,41.241,184.625,0.500,0.000,11.999,2184.742,1686.471,459.104,2641.060,218.138,0.000,1311.990,0.000,1442.524,0.000,0.544,0.000
$DEVICE_MAMPS,224.145,55.845,872.865,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,611.557,1379.429,1668.093,0.000,0.000,0.000,2295.551,0.000,0.000,0.000
$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,63684,906
$CAP_FILE_SIZE,93623,0
$CFSIZE,260165632,236511232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.162,124.5,1
$GPS,101010,121228,2419.305,12609.584,10,2.3,29,-3.7