version: 66.08
glider: 181
mission: 4
dive: 177
start: 10 8 110 20 9 36
data:
$ID,181
$MISSION,4
$DIVE,177
$N_DIVES,183
$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,-38067.898
$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,40
$R_STBD_OVSHOOT,35
$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,352.0
$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
$GPS1,081010,200250,2403.060,12608.718,11,1.8,11,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-67.6
$GPS2,081010,200908,2403.129,12608.729,11,1.9,11,-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,10.4,31248,-22.5,-13.889
$D_GRID,1638
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.89,-155.7,0.0,0.0,0,75,0.00,0.00,-54.25,0.000,2,0.000,0.000,201,2398,2927,0,0,0,0,0,0
$GC,78,-0.89,-155.7,3.2,-4.8,7,118,7.55,2.17,-21.40,0.000,4,0.224,0.046,2128,980,3936,0,0,0,0,0,0
$GC,273,-0.82,-155.7,70.8,-31.3,40,282,0.10,2.17,0.00,0.000,6,0.159,0.039,2150,2390,3937,0,0,0,0,0,0
$GC,606,-0.76,-155.7,163.5,-26.6,101,614,0.10,2.15,0.00,0.000,4,0.200,0.042,2165,3794,3939,0,0,0,0,0,0
$GC,638,-0.71,-155.7,171.9,-25.8,106,647,0.00,2.10,0.00,0.000,6,0.000,0.028,2165,2394,3940,0,0,0,0,0,0
$GC,992,-0.69,-155.7,250.2,-20.6,167,999,0.15,0.00,0.00,0.000,6,0.158,0.000,2204,2391,3940,0,0,0,0,0,0
$GC,1332,-0.72,-155.7,303.3,-14.0,226,1336,0.00,2.08,0.00,0.000,4,0.000,0.034,2205,992,3940,0,0,0,0,0,0
$GC,1368,-0.77,-155.7,308.3,-14.1,229,1372,0.00,2.12,0.00,0.000,6,0.000,0.036,2199,2410,3940,0,0,0,0,0,0
$GC,1696,-0.80,-155.7,354.7,-12.6,259,1699,0.00,2.10,0.00,0.000,4,0.000,0.034,2199,984,3942,0,0,0,0,0,0
$GC,1728,-0.85,-155.7,359.0,-12.0,261,1736,0.12,2.12,0.00,0.000,6,0.081,0.036,2132,2398,3939,0,0,0,0,0,0
$GC,2053,-0.83,-155.7,417.6,-19.7,292,2057,0.00,2.12,0.00,0.000,4,0.000,0.044,2121,3789,3938,0,0,0,0,0,0
$GC,2149,-0.83,-155.7,435.8,-19.6,300,2154,0.12,2.05,0.00,0.000,6,0.155,0.028,2153,2389,3937,0,0,0,0,0,0
$GC,2474,-0.84,-155.7,492.1,-16.7,330,2478,0.00,2.05,0.00,0.000,4,0.000,0.035,2154,1004,3936,0,0,0,0,0,0
$GC,2512,-0.88,-155.7,498.3,-15.0,333,2519,0.00,2.10,0.00,0.000,6,0.000,0.037,2151,2399,3936,0,0,0,0,0,0
$STATE,2529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2529,begin apogee
$GC,2534,-0.16,0.0,500.4,14.0,335,2658,0.65,0.00,116.88,0.868,6,0.120,0.000,2368,1984,3298,0,0,0,0,0,0
$STATE,2659,end apogee,CONTROL_FINISHED_OK
$STATE,2659,begin climb
$GC,2661,0.89,155.7,506.5,0.0,345,2788,0.90,2.15,119.32,0.851,4,0.045,0.035,2727,613,2663,0,0,0,0,0,0
$GC,3038,0.76,155.7,464.5,16.1,377,3046,0.17,2.15,0.00,0.000,6,0.166,0.032,2677,2013,2657,0,0,0,0,0,0
$GC,3367,0.72,202.1,422.4,11.1,408,3411,0.00,2.22,35.17,0.804,4,0.000,0.042,2677,3398,2474,0,0,0,0,0,0
$GC,3438,0.63,202.1,413.0,14.2,414,3448,0.17,2.15,0.00,0.000,6,0.165,0.031,2634,2014,2472,0,0,0,0,0,0
$GC,3766,0.59,202.1,371.4,14.1,445,3770,0.00,2.12,0.00,0.000,4,0.000,0.042,2634,3398,2468,0,0,0,0,0,0
$GC,3919,0.55,202.1,348.4,15.4,458,3923,0.15,2.10,0.00,0.000,6,0.172,0.031,2605,1987,2464,0,0,0,0,0,0
$GC,4244,0.63,269.4,314.9,9.9,488,4305,0.00,2.20,51.05,0.762,4,0.000,0.041,2613,605,2198,0,0,0,0,0,0
$GC,4345,0.69,301.1,303.9,12.0,496,4379,0.08,2.17,25.65,0.723,6,0.063,0.034,2659,1996,2070,0,0,0,0,0,0
$GC,4715,0.67,301.1,245.1,15.7,559,4721,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1996,2062,0,0,0,0,0,0
$GC,5060,0.66,301.1,192.3,15.0,620,5068,0.00,2.17,0.00,0.000,4,0.000,0.043,2659,3400,2059,0,0,0,0,0,0
$GC,5154,0.66,301.1,177.5,14.9,636,5164,0.08,2.12,0.00,0.000,6,0.147,0.031,2645,2006,2059,0,0,0,0,0,0
$GC,5498,0.70,323.7,133.8,12.5,697,5522,0.00,2.12,16.55,0.607,4,0.000,0.039,2654,596,1979,0,0,0,0,0,0
$GC,5563,0.73,323.7,125.1,14.2,707,5571,0.00,2.15,0.00,0.000,6,0.000,0.033,2655,2005,1976,0,0,0,0,0,0
$GC,5897,0.83,376.8,84.4,10.7,768,5946,0.10,2.15,40.67,0.592,4,0.099,0.039,2709,3401,1759,0,0,0,0,0,0
$GC,6126,0.89,408.4,55.2,12.0,807,6157,0.00,2.15,24.27,0.552,6,0.000,0.031,2719,1997,1632,0,0,0,0,0,0
$GC,6483,0.92,415.5,9.9,13.5,871,6500,0.00,2.17,5.68,0.413,4,0.000,0.040,2730,593,1606,0,0,0,0,0,0
$STATE,6545,end climb,SURFACE_DEPTH_REACHED
$STATE,6546,begin surface coast
$FINISH,0.6,1.021828
$STATE,6563,end surface coast,CONTROL_FINISHED_OK
$STATE,6563,begin surface
$SM_CCo,6652,0.00,0.000,0,0,1607,415.78
$SM_GC,1.86,6.57,0.00,0.00,0.042,0.000,0.000,199,2408,1607,-6.85,0.23,415.78
$IRIDIUM_FIX,2347.41,12602.68,081010,181853
$TT8_MAMPS,0.027713
$HUMID,46.81
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.40
$XPDR_PINGS,1
$24V_AH,24.7,24.177
$10V_AH,10.2,29.872
$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,17.025,61.050,435.250,0.000,0.000,24.829,36.773,167.948,0.250,0.000,13.581,2146.337,1666.158,447.587,2576.376,198.307,0.000,1283.741,0.000,1408.763,0.000,0.543,0.000
$DEVICE_MAMPS,224.145,45.900,867.510,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,596.598,1346.004,1654.118,0.000,0.000,0.000,2376.104,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331444
$DATA_FILE_SIZE,63661,884
$CAP_FILE_SIZE,93162,0
$CFSIZE,260165632,237834240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,315.1,1
$GPS,081010,220137,2404.173,12608.653,34,1.4,34,-3.6