version: 66.08
glider: 181
mission: 4
dive: 88
start: 10 1 110 9 31 47
data:
$ID,181
$MISSION,4
$DIVE,88
$N_DIVES,100
$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,690
$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,-37948.668
$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,41
$R_STBD_OVSHOOT,36
$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,174.0
$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
$GPS1,011010,092507,2401.627,12608.252,41,1.3,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-61.4
$GPS2,011010,093120,2401.646,12608.178,8,1.5,8,-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,21.9,34020,-22.5,-13.889
$D_GRID,1594
$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,19,-0.89,-155.7,0.0,0.0,0,112,0.00,0.00,-89.97,0.000,2,0.000,0.000,204,2410,2970,0,0,0,0,0,0
$GC,114,-0.89,-155.7,3.6,-6.3,12,148,7.57,2.12,-19.55,0.000,4,0.227,0.057,2123,3782,3935,0,0,0,0,0,0
$GC,253,-0.80,-155.7,54.4,-35.0,35,262,0.12,2.10,0.00,0.000,6,0.163,0.029,2160,2393,3936,0,0,0,0,0,0
$GC,587,-0.74,-155.7,148.5,-26.4,96,595,0.00,2.10,0.00,0.000,4,0.000,0.036,2159,998,3937,0,0,0,0,0,0
$GC,677,-0.72,-155.7,169.3,-20.9,111,684,0.15,2.10,0.00,0.000,6,0.158,0.036,2192,2399,3938,0,0,0,0,0,0
$GC,1023,-0.72,-155.7,234.2,-19.1,172,1032,0.00,2.12,0.00,0.000,4,0.000,0.044,2183,3781,3938,0,0,0,0,0,0
$GC,1101,-0.77,-155.7,247.0,-14.3,185,1108,0.00,2.05,0.00,0.000,6,0.000,0.028,2183,2383,3941,0,0,0,0,0,0
$GC,1447,-0.78,-155.7,309.3,-17.4,242,1450,0.00,2.05,0.00,0.000,4,0.000,0.035,2183,994,3937,0,0,0,0,0,0
$GC,1563,-0.82,-155.7,328.1,-14.5,252,1571,0.00,2.15,0.00,0.000,6,0.000,0.036,2175,2405,3937,0,0,0,0,0,0
$GC,1890,-0.84,-155.7,377.9,-15.5,283,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2409,3936,0,0,0,0,0,0
$GC,2209,-0.87,-155.7,424.7,-13.7,313,2213,0.00,2.08,0.00,0.000,4,0.000,0.035,2174,992,3934,0,0,0,0,0,0
$GC,2254,-0.91,-155.7,431.2,-12.7,316,2263,0.08,2.15,0.00,0.000,6,0.057,0.037,2114,2403,3934,0,0,0,0,0,0
$GC,2581,-0.89,-155.7,488.5,-17.4,347,2585,0.00,2.10,0.00,0.000,4,0.000,0.045,2103,3781,3933,0,0,0,0,0,0
$STATE,2645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2646,begin apogee
$GC,2652,-0.16,0.0,500.7,17.8,352,2780,0.82,0.00,116.53,0.858,6,0.135,0.000,2370,1997,3298,0,0,0,0,0,0
$STATE,2781,end apogee,CONTROL_FINISHED_OK
$STATE,2781,begin climb
$GC,2783,0.89,155.7,507.1,0.0,363,2911,0.90,0.00,120.28,0.844,6,0.037,0.000,2732,1996,2661,0,0,0,0,0,0
$GC,3230,0.75,155.7,459.5,16.6,404,3235,0.25,2.17,0.00,0.000,4,0.183,0.041,2657,3409,2654,0,0,0,0,0,0
$GC,3472,0.69,183.1,425.6,12.2,425,3498,0.00,2.12,20.85,0.780,6,0.000,0.031,2666,1991,2553,0,0,0,0,0,0
$GC,3815,0.62,189.5,377.5,13.5,457,3828,0.15,2.12,5.82,0.605,4,0.186,0.038,2637,597,2526,0,0,0,0,0,0
$GC,3955,0.62,219.3,359.4,12.1,469,3987,0.00,2.15,24.05,0.759,6,0.000,0.034,2638,2009,2405,0,0,0,0,0,0
$GC,4307,0.60,221.6,311.0,13.8,502,4311,0.00,2.12,0.00,0.000,4,0.000,0.042,2637,3408,2398,0,0,0,0,0,0
$GC,4326,0.57,232.0,308.3,13.3,503,4342,0.15,2.10,10.43,0.679,6,0.174,0.031,2610,2002,2353,0,0,0,0,0,0
$GC,4675,0.62,270.2,266.8,11.6,559,4716,0.00,2.22,30.65,0.715,4,0.000,0.041,2619,598,2195,0,0,0,0,0,0
$GC,4764,0.66,279.7,255.7,13.3,573,4779,0.00,2.15,8.85,0.618,6,0.000,0.034,2619,2009,2158,0,0,0,0,0,0
$GC,5115,0.71,305.5,210.0,12.3,635,5145,0.10,2.15,20.62,0.662,4,0.106,0.041,2665,3407,2052,0,0,0,0,0,0
$GC,5255,0.70,305.5,187.2,17.2,657,5262,0.00,2.12,0.00,0.000,6,0.000,0.032,2676,1998,2048,0,0,0,0,0,0
$GC,5593,0.68,305.5,130.7,16.4,718,5602,0.00,2.15,0.00,0.000,4,0.000,0.041,2686,593,2046,0,0,0,0,0,0
$GC,5674,0.68,305.5,117.1,15.4,732,5683,0.12,2.15,0.00,0.000,6,0.133,0.034,2646,2015,2046,0,0,0,0,0,0
$GC,6008,0.78,359.2,78.3,10.7,793,6056,0.00,2.20,40.58,0.585,4,0.000,0.041,2654,595,1831,0,0,0,0,0,0
$GC,6086,0.93,424.5,70.0,10.0,804,6141,0.15,2.15,49.17,0.568,6,0.046,0.034,2735,1991,1569,0,0,0,0,0,0
$GC,6466,0.93,424.5,16.5,14.3,871,6474,0.00,2.17,0.00,0.000,4,0.000,0.040,2735,3402,1560,0,0,0,0,0,0
$GC,6526,0.94,424.5,7.6,15.5,881,6535,0.00,2.12,0.00,0.000,6,0.000,0.031,2746,2007,1559,0,0,0,0,0,0
$STATE,6552,end climb,SURFACE_DEPTH_REACHED
$STATE,6552,begin surface coast
$FINISH,0.5,1.007650
$STATE,6571,end surface coast,CONTROL_FINISHED_OK
$STATE,6571,begin surface
$SM_CCo,6593,117.82,0.058,0,0,485,690.27
$SM_GC,1.28,0.00,0.00,117.82,0.000,0.000,0.058,207,2405,485,-6.95,0.14,690.27
$IRIDIUM_FIX,2354.48,12607.37,011010,070702
$TT8_MAMPS,0.027713
$HUMID,44.84
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.6,13.988
$10V_AH,10.3,15.973
$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,17.025,60.825,447.825,117.825,0.000,29.575,44.129,173.256,0.500,0.000,11.045,2138.147,1635.467,597.229,2568.404,151.943,0.000,1438.764,0.000,1394.316,0.000,0.544,0.000
$DEVICE_MAMPS,227.205,56.610,857.565,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,598.115,1351.241,1640.196,0.000,0.000,0.000,2279.830,0.000,0.000,0.000
$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,63699,888
$CAP_FILE_SIZE,93949,0
$CFSIZE,260165632,243974144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.157,275.7,1
$GPS,011010,112436,2402.584,12607.806,12,1.7,22,-3.6