version: 66.08
glider: 181
mission: 4
dive: 184
start: 10 9 110 10 15 24
data:
$ID,181
$MISSION,4
$DIVE,184
$N_DIVES,189
$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,-38076.688
$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,39
$R_STBD_OVSHOOT,42
$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,366.0
$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
$GPS1,091010,100834,2409.306,12609.708,10,2.2,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-70.4
$GPS2,091010,101456,2409.267,12609.670,11,1.3,11,-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,350.2,19910,-22.5,-13.889
$D_GRID,1710
$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,-155.7,0.0,0.0,0,71,0.00,0.00,-49.03,0.000,2,0.000,0.000,197,2416,2818,0,0,0,0,0,0
$GC,74,-0.89,-155.7,3.3,-5.3,6,113,7.57,2.10,-24.23,0.000,4,0.223,0.052,2123,3775,3933,0,0,0,0,0,0
$GC,204,-0.79,-155.7,48.3,-36.9,27,214,0.15,2.10,0.00,0.000,6,0.173,0.027,2164,2378,3935,0,0,0,0,0,0
$GC,540,-0.73,-155.7,147.1,-26.8,88,548,0.00,2.08,0.00,0.000,4,0.000,0.034,2164,997,3936,0,0,0,0,0,0
$GC,608,-0.73,-155.7,164.0,-21.2,100,617,0.08,2.12,0.00,0.000,6,0.138,0.036,2181,2385,3937,0,0,0,0,0,0
$GC,949,-0.73,-155.7,227.5,-17.3,161,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2389,3938,0,0,0,0,0,0
$GC,1276,-0.73,-155.7,283.8,-17.3,222,1285,0.00,2.15,0.00,0.000,4,0.000,0.044,2173,3781,3938,0,0,0,0,0,0
$GC,1378,-0.77,-155.7,299.1,-14.2,240,1386,0.00,2.05,0.00,0.000,6,0.000,0.028,2173,2410,3938,0,0,0,0,0,0
$GC,1704,-0.78,-155.7,349.9,-14.1,271,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2407,3938,0,0,0,0,0,0
$GC,2024,-0.80,-155.7,398.6,-15.3,301,2028,0.00,2.08,0.00,0.000,4,0.000,0.034,2173,992,3936,0,0,0,0,0,0
$GC,2078,-0.84,-155.7,407.5,-14.5,305,2085,0.00,2.12,0.00,0.000,6,0.000,0.037,2164,2406,3935,0,0,0,0,0,0
$GC,2404,-0.85,-155.7,457.3,-15.2,336,2408,0.00,2.08,0.00,0.000,4,0.000,0.044,2154,3783,3933,0,0,0,0,0,0
$GC,2447,-0.88,-155.7,464.0,-14.9,339,2455,0.00,2.08,0.00,0.000,6,0.000,0.028,2155,2402,3933,0,0,0,0,0,0
$STATE,2697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2698,begin apogee
$GC,2704,-0.16,0.0,501.2,13.7,363,2826,0.65,0.00,116.20,0.874,6,0.119,0.000,2371,1972,3298,0,0,0,0,0,0
$STATE,2826,end apogee,CONTROL_FINISHED_OK
$STATE,2826,begin climb
$GC,2828,0.89,155.7,505.9,0.0,373,2962,0.90,2.35,119.62,0.854,4,0.047,0.038,2717,3406,2661,0,0,0,0,0,0
$GC,3074,0.74,155.7,484.5,20.9,395,3079,0.25,2.12,0.00,0.000,6,0.183,0.029,2664,2004,2660,0,0,0,0,0,0
$GC,3401,0.71,196.5,443.4,11.4,425,3438,0.00,2.30,31.42,0.810,4,0.000,0.041,2665,3423,2496,0,0,0,0,0,0
$GC,3521,0.62,196.5,426.5,15.5,435,3529,0.20,2.17,0.00,0.000,6,0.181,0.031,2623,1997,2492,0,0,0,0,0,0
$GC,3846,0.66,253.1,389.6,10.5,466,3895,0.00,2.25,43.60,0.797,4,0.000,0.041,2631,597,2265,0,0,0,0,0,0
$GC,3964,0.66,254.0,375.1,13.8,476,3968,0.00,2.15,0.00,0.000,6,0.000,0.033,2631,2010,2262,0,0,0,0,0,0
$GC,4289,0.65,254.0,328.7,15.0,506,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2010,2257,0,0,0,0,0,0
$GC,4612,0.69,299.9,283.7,11.1,547,4655,0.00,2.15,35.62,0.738,4,0.000,0.040,2631,3402,2075,0,0,0,0,0,0
$GC,4727,0.72,319.1,269.5,12.7,566,4750,0.00,2.17,15.93,0.689,6,0.000,0.031,2642,1997,1996,0,0,0,0,0,0
$GC,5074,0.72,319.6,222.9,13.9,629,5081,0.00,2.15,0.00,0.000,4,0.000,0.042,2653,585,1990,0,0,0,0,0,0
$GC,5158,0.74,319.6,210.1,15.3,644,5166,0.00,2.17,0.00,0.000,6,0.000,0.033,2653,2003,1990,0,0,0,0,0,0
$GC,5497,0.74,319.6,155.3,15.2,705,5504,0.00,2.15,0.00,0.000,4,0.000,0.041,2653,3412,1988,0,0,0,0,0,0
$GC,5537,0.74,319.6,149.3,14.5,712,5546,0.00,2.15,0.00,0.000,6,0.000,0.031,2663,1996,1987,0,0,0,0,0,0
$GC,5871,0.75,331.4,101.2,13.2,773,5887,0.00,2.12,9.45,0.551,4,0.000,0.039,2674,596,1946,0,0,0,0,0,0
$GC,5946,0.76,336.4,91.2,13.6,785,5962,0.00,2.12,5.57,0.470,6,0.000,0.031,2674,1997,1926,0,0,0,0,0,0
$GC,6289,0.82,361.5,46.5,12.4,847,6314,0.00,2.17,19.95,0.556,4,0.000,0.041,2674,3402,1823,0,0,0,0,0,0
$GC,6362,0.91,392.5,37.5,12.0,858,6394,0.08,2.15,24.15,0.549,6,0.050,0.030,2741,1997,1698,0,0,0,0,0,0
$STATE,6605,end climb,SURFACE_DEPTH_REACHED
$STATE,6605,begin surface coast
$FINISH,0.5,1.022007
$STATE,6628,end surface coast,CONTROL_FINISHED_OK
$STATE,6628,begin surface
$SM_CCo,6715,0.00,0.000,0,0,1690,394.20
$SM_GC,1.43,6.60,0.00,0.00,0.042,0.000,0.000,214,2408,1690,-6.83,0.23,394.20
$IRIDIUM_FIX,2401.56,12612.06,091010,080830
$TT8_MAMPS,0.027713
$HUMID,48.03
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.6,24.967
$10V_AH,10.2,30.970
$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,16.475,57.025,421.525,0.000,0.000,28.513,16.042,183.071,0.000,0.000,13.712,2180.515,1723.759,438.917,2552.406,205.405,0.000,1252.859,0.000,1384.266,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,52.020,873.630,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,611.136,1377.092,1656.959,0.000,0.000,0.000,2253.210,0.000,0.000,0.000
$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,63794,905
$CAP_FILE_SIZE,90729,0
$CFSIZE,260165632,237342720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,117.3,1
$GPS,091010,120822,2410.087,12609.727,8,2.5,27,-3.6