version: 66.08
glider: 181
mission: 4
dive: 205
start: 10 11 110 4 32 32
data:
$ID,181
$MISSION,4
$DIVE,205
$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,-38103.051
$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,40
$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,408.0
$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
$GPS1,111010,042522,2412.457,12609.226,10,3.7,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.9
$GPS2,111010,043204,2412.409,12609.223,14,4.3,33,-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,191.6,22985,-22.5,-13.889
$D_GRID,1666
$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,-155.7,0.0,0.0,0,69,0.00,0.00,-47.00,0.000,2,0.000,0.000,199,2419,2843,0,0,0,0,0,0
$GC,72,-0.89,-155.7,3.5,-5.9,6,112,7.53,2.17,-23.23,0.000,4,0.223,0.044,2128,994,3931,0,0,0,0,0,0
$GC,149,-0.74,-155.7,28.4,-43.2,17,158,0.20,2.15,0.00,0.000,6,0.161,0.034,2178,2389,3932,0,0,0,0,0,0
$GC,484,-0.69,-155.7,127.2,-22.5,78,492,0.00,2.15,0.00,0.000,4,0.000,0.041,2169,3782,3934,0,0,0,0,0,0
$GC,659,-0.71,-155.7,159.7,-17.7,109,666,0.00,2.05,0.00,0.000,6,0.000,0.027,2169,2390,3939,0,0,0,0,0,0
$GC,1013,-0.68,-155.7,236.0,-21.4,170,1022,0.12,2.17,0.00,0.000,4,0.161,0.041,2193,3777,3935,0,0,0,0,0,0
$GC,1047,-0.70,-155.7,242.2,-18.1,175,1054,0.00,2.03,0.00,0.000,6,0.000,0.027,2193,2398,3935,0,0,0,0,0,0
$GC,1391,-0.72,-155.7,295.8,-16.5,236,1400,0.00,2.08,0.00,0.000,4,0.000,0.033,2193,1007,3935,0,0,0,0,0,0
$GC,1496,-0.77,-155.7,311.3,-13.8,248,1500,0.00,2.08,0.00,0.000,6,0.000,0.034,2191,2401,3933,0,0,0,0,0,0
$GC,1821,-0.80,-155.7,356.6,-13.9,278,1825,0.00,2.10,0.00,0.000,4,0.000,0.043,2181,3780,3934,0,0,0,0,0,0
$GC,1873,-0.86,-155.7,363.4,-12.6,282,1876,0.00,2.03,0.00,0.000,6,0.000,0.028,2181,2393,3934,0,0,0,0,0,0
$GC,2206,-0.89,-155.7,408.7,-13.4,313,2210,0.12,2.05,0.00,0.000,4,0.083,0.034,2115,1002,3932,0,0,0,0,0,0
$GC,2245,-0.86,-155.7,416.0,-19.7,316,2249,0.15,2.10,0.00,0.000,6,0.159,0.036,2144,2408,3932,0,0,0,0,0,0
$GC,2569,-0.86,-155.7,470.5,-15.3,346,2573,0.00,2.10,0.00,0.000,4,0.000,0.044,2131,3782,3931,0,0,0,0,0,0
$GC,2646,-0.88,-155.7,481.7,-13.3,352,2656,0.00,2.08,0.00,0.000,6,0.000,0.028,2135,2402,3931,0,0,0,0,0,0
$STATE,2769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2769,begin apogee
$GC,2775,-0.16,0.0,501.7,17.1,364,2898,0.73,0.00,116.20,0.878,6,0.127,0.000,2371,1974,3298,0,0,0,0,0,0
$STATE,2899,end apogee,CONTROL_FINISHED_OK
$STATE,2899,begin climb
$GC,2901,0.89,155.7,508.5,0.0,374,3029,0.90,2.15,119.80,0.860,4,0.047,0.035,2728,607,2661,0,0,0,0,0,0
$GC,3210,0.76,155.7,483.3,16.0,400,3215,0.22,2.12,0.00,0.000,6,0.175,0.031,2670,2017,2657,0,0,0,0,0,0
$GC,3537,0.73,201.8,440.0,11.1,430,3578,0.00,2.20,35.20,0.819,4,0.000,0.041,2670,3395,2475,0,0,0,0,0,0
$GC,3744,0.65,201.8,411.4,14.0,448,3749,0.17,2.08,0.00,0.000,6,0.180,0.030,2634,2015,2470,0,0,0,0,0,0
$GC,4069,0.64,225.1,375.9,12.5,478,4094,0.00,2.17,18.15,0.770,4,0.000,0.037,2644,597,2380,0,0,0,0,0,0
$GC,4140,0.61,225.1,366.8,13.9,484,4144,0.00,2.12,0.00,0.000,6,0.000,0.031,2644,2007,2378,0,0,0,0,0,0
$GC,4467,0.63,263.1,324.6,11.6,514,4505,0.00,2.17,29.88,0.764,4,0.000,0.040,2643,3402,2224,0,0,0,0,0,0
$GC,4619,0.60,263.1,301.8,15.5,527,4624,0.15,2.12,0.00,0.000,6,0.165,0.029,2614,2000,2220,0,0,0,0,0,0
$GC,4960,0.61,264.2,254.1,13.8,586,4968,0.00,2.15,0.00,0.000,4,0.000,0.040,2624,596,2218,0,0,0,0,0,0
$GC,5052,0.66,280.5,241.9,12.9,602,5075,0.00,2.12,13.93,0.677,6,0.000,0.032,2624,1993,2153,0,0,0,0,0,0
$GC,5419,0.73,327.7,199.7,11.1,665,5463,0.10,2.20,36.25,0.682,4,0.103,0.040,2672,3406,1962,0,0,0,0,0,0
$GC,5492,0.70,327.7,187.5,17.2,676,5502,0.10,2.17,0.00,0.000,6,0.148,0.030,2651,2005,1959,0,0,0,0,0,0
$GC,5842,0.71,334.3,135.8,13.5,737,5859,0.00,2.20,5.93,0.506,4,0.000,0.038,2652,3407,1933,0,0,0,0,0,0
$GC,5885,0.72,334.3,129.2,15.2,743,5893,0.00,2.15,0.00,0.000,6,0.000,0.030,2661,1998,1933,0,0,0,0,0,0
$GC,6217,0.83,407.9,86.9,9.5,804,6279,0.00,2.17,55.65,0.604,4,0.000,0.038,2671,596,1633,0,0,0,0,0,0
$GC,6321,0.88,407.9,74.2,14.4,819,6330,0.08,2.17,0.00,0.000,6,0.054,0.030,2723,2004,1631,0,0,0,0,0,0
$GC,6660,0.90,410.7,27.1,13.7,880,6668,0.00,2.17,0.00,0.000,4,0.000,0.040,2723,3415,1627,0,0,0,0,0,0
$GC,6705,0.91,410.7,20.4,14.8,887,6713,0.00,2.15,0.00,0.000,6,0.000,0.030,2734,1998,1626,0,0,0,0,0,0
$STATE,6821,end climb,SURFACE_DEPTH_REACHED
$STATE,6821,begin surface coast
$FINISH,0.6,1.021845
$STATE,6841,end surface coast,CONTROL_FINISHED_OK
$STATE,6841,begin surface
$SM_CCo,6929,0.00,0.000,0,0,1624,410.39
$SM_GC,1.68,6.55,0.00,0.00,0.041,0.000,0.000,209,2415,1624,-6.84,0.40,410.39
$IRIDIUM_FIX,2406.29,12606.33,111010,020258
$TT8_MAMPS,0.027713
$HUMID,48.74
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.6,27.357
$10V_AH,10.2,34.261
$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,17.125,69.325,430.975,0.000,0.000,27.760,16.489,177.259,0.000,0.000,37.637,2241.971,1773.345,440.067,2655.108,224.039,0.000,1303.668,0.000,1455.532,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,44.370,878.220,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,615.648,1386.376,1676.419,0.000,0.000,0.000,2340.564,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331496
$DATA_FILE_SIZE,63681,911
$CAP_FILE_SIZE,99355,0
$CFSIZE,260165632,235880448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022, 63.2,1
$GPS,111010,062849,2411.579,12609.108,7,1.0,12,-3.6