version: 66.08
glider: 181
mission: 4
dive: 185
start: 10 9 110 12 16 2
data:
$ID,181
$MISSION,4
$DIVE,185
$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,-38077.945
$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,37
$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,368.0
$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
$GPS1,091010,120822,2410.087,12609.727,8,2.5,27,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-70.9
$GPS2,091010,121534,2410.051,12609.706,14,2.3,33,-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,344.3,18464,-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,-155.7,0.0,0.0,0,66,0.00,0.00,-43.72,0.000,2,0.000,0.000,211,2410,2902,0,0,0,0,0,0
$GC,68,-0.89,-155.7,3.5,-6.5,6,109,7.55,2.15,-21.40,0.000,4,0.225,0.054,2125,3777,3936,0,0,0,0,0,0
$GC,183,-0.74,-155.7,46.6,-42.4,24,192,0.17,2.10,0.00,0.000,6,0.159,0.029,2177,2401,3941,0,0,0,0,0,0
$GC,518,-0.69,-155.7,134.7,-24.8,85,526,0.00,2.12,0.00,0.000,4,0.000,0.035,2177,989,3939,0,0,0,0,0,0
$GC,579,-0.69,-155.7,147.7,-19.5,95,589,0.10,2.17,0.00,0.000,6,0.129,0.037,2201,2402,3939,0,0,0,0,0,0
$GC,922,-0.71,-155.7,210.7,-15.4,156,930,0.00,2.12,0.00,0.000,4,0.000,0.043,2198,3778,3939,0,0,0,0,0,0
$GC,975,-0.76,-155.7,218.6,-13.6,165,982,0.00,2.05,0.00,0.000,6,0.000,0.027,2192,2384,3940,0,0,0,0,0,0
$GC,1305,-0.78,-155.7,274.0,-17.2,226,1313,0.00,2.08,0.00,0.000,4,0.000,0.034,2192,998,3940,0,0,0,0,0,0
$GC,1391,-0.83,-155.7,287.2,-14.3,241,1398,0.10,2.12,0.00,0.000,6,0.094,0.037,2139,2407,3939,0,0,0,0,0,0
$GC,1720,-0.81,-155.7,348.9,-18.9,278,1724,0.00,2.08,0.00,0.000,4,0.000,0.044,2128,3780,3939,0,0,0,0,0,0
$GC,1813,-0.81,-155.7,365.9,-17.5,286,1817,0.12,2.05,0.00,0.000,6,0.151,0.028,2162,2392,3939,0,0,0,0,0,0
$GC,2144,-0.81,-155.7,420.4,-17.6,317,2147,0.00,2.05,0.00,0.000,4,0.000,0.035,2161,1007,3938,0,0,0,0,0,0
$GC,2214,-0.85,-155.7,432.6,-15.6,323,2222,0.00,2.15,0.00,0.000,6,0.000,0.037,2154,2405,3937,0,0,0,0,0,0
$GC,2540,-0.86,-155.7,487.7,-15.8,354,2544,0.00,2.12,0.00,0.000,4,0.000,0.046,2144,3788,3936,0,0,0,0,0,0
$STATE,2622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2622,begin apogee
$GC,2629,-0.16,0.0,500.6,14.9,361,2755,0.68,0.00,117.10,0.871,6,0.117,0.000,2370,1994,3298,0,0,0,0,0,0
$STATE,2755,end apogee,CONTROL_FINISHED_OK
$STATE,2755,begin climb
$GC,2757,0.89,155.7,508.8,0.0,371,2885,0.90,2.28,119.65,0.858,4,0.044,0.038,2719,3411,2661,0,0,0,0,0,0
$GC,2991,0.74,155.7,495.6,18.2,390,3001,0.22,2.20,0.00,0.000,6,0.174,0.030,2666,1995,2656,0,0,0,0,0,0
$GC,3317,0.71,194.1,454.1,11.6,421,3349,0.00,0.00,29.62,0.813,6,0.000,0.000,2666,1994,2507,0,0,0,0,0,0
$GC,3665,0.63,194.1,404.5,14.3,454,3670,0.15,2.22,0.00,0.000,4,0.180,0.043,2627,3411,2500,0,0,0,0,0,0
$GC,3752,0.61,213.3,392.5,12.7,461,3778,0.00,2.15,15.00,0.757,6,0.000,0.031,2635,1989,2429,0,0,0,0,0,0
$GC,4095,0.60,229.9,348.0,12.9,493,4120,0.00,2.17,13.82,0.734,4,0.000,0.041,2647,595,2361,0,0,0,0,0,0
$GC,4145,0.57,229.9,341.1,14.3,497,4150,0.15,2.15,0.00,0.000,6,0.168,0.034,2608,2007,2359,0,0,0,0,0,0
$GC,4472,0.64,285.6,304.4,10.6,527,4522,0.00,2.28,43.62,0.754,4,0.000,0.043,2608,3410,2133,0,0,0,0,0,0
$GC,4635,0.73,343.8,287.0,10.4,551,4691,0.12,2.15,45.20,0.731,6,0.088,0.031,2668,1997,1897,0,0,0,0,0,0
$GC,5029,0.73,343.8,224.0,16.2,619,5036,0.00,2.15,0.00,0.000,4,0.000,0.042,2679,596,1889,0,0,0,0,0,0
$GC,5077,0.73,343.8,215.8,17.1,627,5084,0.00,2.12,0.00,0.000,6,0.000,0.032,2679,2001,1889,0,0,0,0,0,0
$GC,5429,0.72,343.8,158.1,15.4,688,5437,0.00,2.17,0.00,0.000,4,0.000,0.041,2679,3406,1886,0,0,0,0,0,0
$GC,5451,0.72,343.8,154.7,15.3,691,5459,0.12,2.10,0.00,0.000,6,0.168,0.031,2657,2004,1885,0,0,0,0,0,0
$GC,5787,0.74,344.5,109.1,13.8,752,5795,0.00,2.15,0.00,0.000,4,0.000,0.041,2667,597,1885,0,0,0,0,0,0
$GC,5836,0.78,354.7,102.1,13.3,760,5852,0.00,2.12,8.40,0.534,6,0.000,0.032,2667,1999,1850,0,0,0,0,0,0
$GC,6179,0.82,360.5,54.8,13.5,822,6189,0.00,2.20,5.32,0.444,4,0.000,0.041,2667,3408,1830,0,0,0,0,0,0
$GC,6209,0.89,389.6,50.8,12.1,826,6241,0.08,2.12,23.62,0.562,6,0.052,0.031,2734,2003,1707,0,0,0,0,0,0
$GC,6568,0.90,394.7,3.4,13.6,890,6577,0.00,0.00,3.55,0.324,6,0.000,0.000,2734,2001,1690,0,0,0,0,0,0
$STATE,6583,end climb,SURFACE_DEPTH_REACHED
$STATE,6583,begin surface coast
$FINISH,0.6,1.022029
$STATE,6607,end surface coast,CONTROL_FINISHED_OK
$STATE,6607,begin surface
$SM_CCo,6695,0.00,0.000,0,0,1686,395.42
$SM_GC,1.58,6.55,0.00,0.00,0.041,0.000,0.000,201,2416,1686,-6.85,0.45,395.42
$IRIDIUM_FIX,2403.92,12559.73,091010,101054
$TT8_MAMPS,0.030709
$HUMID,48.07
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,24.6,25.076
$10V_AH,10.2,31.127
$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,17.025,65.450,424.925,0.000,0.000,28.661,37.125,187.402,0.500,0.000,37.308,2180.972,1674.805,452.399,2614.055,208.544,0.000,1274.885,0.000,1393.366,0.000,0.543,0.000
$DEVICE_MAMPS,224.910,54.315,870.570,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,605.108,1363.361,1662.511,0.000,0.000,0.000,2357.356,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331436
$DATA_FILE_SIZE,63938,896
$CAP_FILE_SIZE,94816,0
$CFSIZE,260165632,237268992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125,146.8,1
$GPS,091010,140820,2410.574,12609.637,7,1.5,7,-3.6