version: 66.08
glider: 181
mission: 4
dive: 200
start: 10 10 110 18 29 32
data:
$ID,181
$MISSION,4
$DIVE,200
$N_DIVES,211
$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,-38096.777
$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,42
$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,398.0
$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
$GPS1,101010,182158,2417.651,12609.472,12,2.2,31,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-69.3
$GPS2,101010,182904,2417.596,12609.422,13,2.5,32,-3.7
$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,209.6,32596,-22.5,-13.889
$D_GRID,1528
$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,-155.7,0.0,0.0,0,78,0.00,0.00,-55.55,0.000,2,0.000,0.000,199,2421,2681,0,0,0,0,0,0
$GC,80,-0.89,-155.7,3.1,-5.0,7,128,7.55,2.20,-29.12,0.000,4,0.222,0.047,2135,987,3936,0,0,0,0,0,0
$GC,223,-0.77,-155.7,49.5,-39.2,30,232,0.15,2.15,0.00,0.000,6,0.180,0.031,2166,2398,3936,0,0,0,0,0,0
$GC,558,-0.73,-155.7,141.8,-22.0,91,566,0.00,2.15,0.00,0.000,4,0.000,0.034,2166,978,3938,0,0,0,0,0,0
$GC,623,-0.71,-155.7,156.0,-20.6,102,633,0.10,2.17,0.00,0.000,6,0.132,0.034,2190,2398,3936,0,0,0,0,0,0
$GC,965,-0.71,-155.7,216.8,-18.7,163,971,0.00,2.10,0.00,0.000,4,0.000,0.043,2183,3780,3938,0,0,0,0,0,0
$GC,1068,-0.76,-155.7,234.8,-17.1,182,1077,0.00,2.08,0.00,0.000,6,0.000,0.027,2183,2393,3939,0,0,0,0,0,0
$GC,1401,-0.76,-155.7,294.7,-17.3,243,1407,0.00,2.05,0.00,0.000,4,0.000,0.034,2183,1000,3938,0,0,0,0,0,0
$GC,1426,-0.77,-155.7,299.0,-16.5,247,1433,0.00,2.12,0.00,0.000,6,0.000,0.035,2176,2413,3938,0,0,0,0,0,0
$GC,1751,-0.77,-155.7,354.0,-17.3,278,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2410,3938,0,0,0,0,0,0
$GC,2073,-0.79,-155.7,403.0,-13.7,308,2077,0.00,2.10,0.00,0.000,4,0.000,0.044,2165,3784,3937,0,0,0,0,0,0
$GC,2114,-0.83,-155.7,408.8,-13.7,311,2118,0.00,2.05,0.00,0.000,6,0.000,0.028,2166,2394,3939,0,0,0,0,0,0
$GC,2445,-0.85,-155.7,455.4,-14.0,342,2448,0.00,2.08,0.00,0.000,4,0.000,0.035,2165,998,3934,0,0,0,0,0,0
$GC,2483,-0.89,-155.7,460.9,-13.6,345,2491,0.00,2.12,0.00,0.000,6,0.000,0.037,2164,2400,3934,0,0,0,0,0,0
$STATE,2776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2776,begin apogee
$GC,2781,-0.16,0.0,500.5,13.5,373,2904,0.60,0.00,116.82,0.875,6,0.116,0.000,2367,1980,3298,0,0,0,0,0,0
$STATE,2905,end apogee,CONTROL_FINISHED_OK
$STATE,2905,begin climb
$GC,2907,0.89,155.7,507.8,0.0,383,3038,0.90,2.33,119.50,0.858,4,0.041,0.037,2723,3417,2663,0,0,0,0,0,0
$GC,3175,0.74,155.7,490.9,17.3,406,3184,0.22,2.17,0.00,0.000,6,0.175,0.029,2670,2014,2658,0,0,0,0,0,0
$GC,3502,0.67,175.7,450.1,12.7,437,3526,0.00,0.00,16.10,0.783,6,0.000,0.000,2670,2011,2580,0,0,0,0,0,0
$GC,3844,0.60,184.6,403.1,13.4,469,3859,0.17,2.22,7.60,0.684,4,0.175,0.039,2632,594,2545,0,0,0,0,0,0
$GC,3965,0.62,223.1,388.8,11.6,479,4000,0.00,2.15,30.85,0.800,6,0.000,0.033,2632,2014,2387,0,0,0,0,0,0
$GC,4322,0.63,249.6,343.6,12.3,512,4348,0.00,2.22,21.00,0.759,4,0.000,0.042,2631,3404,2280,0,0,0,0,0,0
$GC,4515,0.62,249.6,314.7,15.3,529,4519,0.00,2.15,0.00,0.000,6,0.000,0.031,2642,1989,2276,0,0,0,0,0,0
$GC,4840,0.60,249.6,269.4,14.5,579,4847,0.00,2.10,0.00,0.000,4,0.000,0.040,2653,597,2273,0,0,0,0,0,0
$GC,4887,0.59,249.6,262.5,14.2,587,4895,0.15,2.12,0.00,0.000,6,0.163,0.034,2613,2008,2273,0,0,0,0,0,0
$GC,5217,0.64,283.8,220.8,11.8,648,5253,0.00,2.22,26.17,0.695,4,0.000,0.040,2622,595,2142,0,0,0,0,0,0
$GC,5289,0.70,311.5,212.6,12.2,659,5318,0.00,2.12,22.50,0.671,6,0.000,0.032,2621,2002,2029,0,0,0,0,0,0
$GC,5649,0.74,322.4,166.2,13.2,723,5665,0.12,2.17,9.10,0.583,4,0.092,0.041,2679,3403,1986,0,0,0,0,0,0
$GC,5774,0.73,322.4,144.7,17.9,744,5783,0.10,2.15,0.00,0.000,6,0.146,0.030,2658,2001,1980,0,0,0,0,0,0
$GC,6108,0.73,327.0,97.8,13.6,805,6119,0.00,2.15,4.82,0.448,4,0.000,0.040,2668,591,1963,0,0,0,0,0,0
$GC,6224,0.78,349.6,82.1,12.5,825,6250,0.00,2.15,18.65,0.580,6,0.000,0.033,2668,1998,1873,0,0,0,0,0,0
$GC,6577,0.99,460.3,43.9,7.3,888,6671,0.20,2.25,82.25,0.563,4,0.063,0.039,2771,596,1419,0,0,0,0,0,0
$GC,6751,0.99,460.3,17.0,17.1,914,6760,0.08,2.17,0.00,0.000,6,0.142,0.033,2748,1997,1415,0,0,0,0,0,0
$STATE,6836,end climb,SURFACE_DEPTH_REACHED
$STATE,6836,begin surface coast
$FINISH,0.5,1.004316
$STATE,6857,end surface coast,CONTROL_FINISHED_OK
$STATE,6857,begin surface
$SM_CCo,6947,0.00,0.000,0,0,1410,463.13
$SM_GC,1.42,6.62,0.00,0.00,0.040,0.000,0.000,201,2430,1410,-6.84,0.85,463.13
$IRIDIUM_FIX,2406.29,12611.55,101010,161635
$TT8_MAMPS,0.027713
$HUMID,48.26
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,24.6,26.789
$10V_AH,10.2,33.488
$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,16.975,61.425,475.375,0.000,0.000,29.015,17.493,195.062,0.500,0.000,36.334,2245.316,1743.622,481.728,2683.595,221.720,0.000,1344.213,0.000,1442.755,0.000,0.542,0.000
$DEVICE_MAMPS,221.850,46.665,875.160,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,628.698,1418.310,1704.312,0.000,0.000,0.000,2406.610,0.000,0.000,0.000
$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,67037,932
$CAP_FILE_SIZE,96559,0
$CFSIZE,260165632,236224512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143, 76.3,1
$GPS,101010,202602,2416.857,12609.604,7,1.7,7,-3.7