version: 66.08
glider: 181
mission: 4
dive: 215
start: 10 12 110 0 52 36
data:
$ID,181
$MISSION,4
$DIVE,215
$N_DIVES,223
$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,-38116.605
$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,47
$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,428.0
$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
$GPS1,121010,004531,2402.749,12609.029,38,1.4,38,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-71.4
$GPS2,121010,005208,2402.705,12609.021,14,1.8,14,-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,195.8,5010,-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,-155.7,0.0,0.0,0,69,0.00,0.00,-46.65,0.000,2,0.000,0.000,196,2422,2762,0,0,0,0,0,0
$GC,71,-0.89,-155.7,3.2,-4.8,6,111,7.57,2.17,-25.98,0.000,4,0.223,0.045,2125,982,3935,0,0,0,0,0,0
$GC,159,-0.74,-155.7,31.9,-43.2,19,168,0.20,2.17,0.00,0.000,6,0.168,0.037,2177,2384,3936,0,0,0,0,0,0
$GC,494,-0.68,-155.7,132.3,-26.8,80,503,0.00,2.15,0.00,0.000,4,0.000,0.042,2168,3774,3940,0,0,0,0,0,0
$GC,592,-0.68,-155.7,153.9,-18.1,97,599,0.15,2.05,0.00,0.000,6,0.140,0.027,2210,2382,3939,0,0,0,0,0,0
$GC,945,-0.69,-155.7,213.3,-17.2,158,953,0.00,2.08,0.00,0.000,4,0.000,0.035,2210,998,3939,0,0,0,0,0,0
$GC,982,-0.72,-155.7,219.5,-17.0,164,991,0.00,2.15,0.00,0.000,6,0.000,0.036,2203,2401,3939,0,0,0,0,0,0
$GC,1326,-0.74,-155.7,275.5,-16.3,225,1333,0.00,2.10,0.00,0.000,4,0.000,0.044,2193,3785,3939,0,0,0,0,0,0
$GC,1375,-0.79,-155.7,283.1,-14.6,233,1382,0.00,2.08,0.00,0.000,6,0.000,0.028,2193,2397,3939,0,0,0,0,0,0
$GC,1711,-0.81,-155.7,334.5,-14.9,274,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2394,3938,0,0,0,0,0,0
$GC,2031,-0.84,-155.7,381.5,-14.5,304,2035,0.12,2.10,0.00,0.000,4,0.082,0.035,2123,991,3935,0,0,0,0,0,0
$GC,2081,-0.83,-155.7,390.9,-19.3,308,2086,0.17,2.15,0.00,0.000,6,0.152,0.037,2160,2411,3937,0,0,0,0,0,0
$GC,2408,-0.83,-155.7,446.4,-16.0,338,2412,0.00,2.10,0.00,0.000,4,0.000,0.044,2151,3787,3936,0,0,0,0,0,0
$GC,2440,-0.85,-155.7,451.8,-14.8,340,2449,0.00,2.08,0.00,0.000,6,0.000,0.028,2152,2399,3937,0,0,0,0,0,0
$STATE,2766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2766,begin apogee
$GC,2771,-0.16,0.0,501.4,15.8,371,2894,0.65,0.00,117.22,0.871,6,0.122,0.000,2367,1972,3298,0,0,0,0,0,0
$STATE,2895,end apogee,CONTROL_FINISHED_OK
$STATE,2895,begin climb
$GC,2897,0.89,155.7,507.9,0.0,381,3027,0.93,2.22,119.60,0.856,4,0.044,0.037,2737,601,2662,0,0,0,0,0,0
$GC,3055,0.77,178.7,507.1,12.5,394,3079,0.20,2.20,19.10,0.794,6,0.167,0.032,2681,2001,2569,0,0,0,0,0,0
$GC,3400,0.68,178.7,455.4,16.7,426,3404,0.12,2.12,0.00,0.000,4,0.184,0.038,2658,610,2562,0,0,0,0,0,0
$GC,3596,0.66,208.1,428.3,12.1,443,3625,0.00,2.10,23.10,0.793,6,0.000,0.033,2658,2011,2448,0,0,0,0,0,0
$GC,3951,0.62,220.9,380.1,13.1,476,3967,0.12,2.22,10.25,0.714,4,0.181,0.042,2626,3411,2397,0,0,0,0,0,0
$GC,4005,0.59,220.9,372.5,14.1,480,4015,0.00,2.15,0.00,0.000,6,0.000,0.031,2635,2008,2396,0,0,0,0,0,0
$GC,4332,0.57,230.0,329.2,13.3,511,4345,0.00,2.20,8.23,0.671,4,0.000,0.041,2646,600,2360,0,0,0,0,0,0
$GC,4405,0.56,230.0,319.2,14.8,517,4410,0.15,2.12,0.00,0.000,6,0.164,0.034,2607,2000,2359,0,0,0,0,0,0
$GC,4740,0.63,279.1,279.8,11.0,563,4783,0.00,0.00,38.40,0.737,6,0.000,0.000,2607,2001,2160,0,0,0,0,0,0
$GC,5122,0.74,343.1,238.3,10.1,629,5179,0.15,2.25,49.15,0.704,4,0.078,0.041,2674,3397,1899,0,0,0,0,0,0
$GC,5248,0.72,343.1,217.7,17.0,649,5255,0.00,2.12,0.00,0.000,6,0.000,0.031,2684,2003,1893,0,0,0,0,0,0
$GC,5596,0.70,343.1,155.3,15.9,710,5605,0.12,2.17,0.00,0.000,4,0.168,0.041,2661,596,1891,0,0,0,0,0,0
$GC,5707,0.74,358.0,140.1,13.0,729,5724,0.00,2.15,11.57,0.587,6,0.000,0.032,2662,2003,1839,0,0,0,0,0,0
$GC,6051,0.78,378.2,94.9,12.7,791,6075,0.00,0.00,16.12,0.578,6,0.000,0.000,2661,2003,1756,0,0,0,0,0,0
$GC,6402,0.95,468.8,54.5,8.5,854,6480,0.20,2.22,68.10,0.574,4,0.064,0.039,2768,600,1385,0,0,0,0,0,0
$GC,6522,0.95,468.8,37.9,15.4,871,6531,0.10,2.17,0.00,0.000,6,0.139,0.032,2733,2001,1381,0,0,0,0,0,0
$STATE,6748,end climb,SURFACE_DEPTH_REACHED
$STATE,6748,begin surface coast
$FINISH,0.6,1.012494
$STATE,6772,end surface coast,CONTROL_FINISHED_OK
$STATE,6772,begin surface
$SM_CCo,6863,0.00,0.000,0,0,1377,471.22
$SM_GC,1.61,6.55,0.00,0.00,0.037,0.000,0.000,194,2424,1377,-6.85,0.68,471.22
$IRIDIUM_FIX,2349.77,12612.57,111010,222252
$TT8_MAMPS,0.027713
$HUMID,47.55
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.6,28.519
$10V_AH,10.2,35.820
$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,17.525,57.000,480.850,0.000,0.000,27.245,15.538,186.917,0.000,0.000,16.587,2208.159,1761.062,464.760,2599.604,229.167,0.000,1306.989,0.000,1409.084,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,45.135,870.570,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,617.619,1394.208,1687.608,0.000,0.000,0.000,2365.540,0.000,0.000,0.000
$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,63727,916
$CAP_FILE_SIZE,94525,0
$CFSIZE,260165632,235192320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077,156.1,1
$GPS,121010,024743,2401.454,12608.900,8,1.4,8,-3.6