version: 66.08
glider: 181
mission: 4
dive: 189
start: 10 9 110 20 15 18
data:
$ID,181
$MISSION,4
$DIVE,189
$N_DIVES,200
$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,-38082.965
$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,32
$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,376.0
$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
$GPS1,091010,200806,2413.083,12609.820,36,0.9,36,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-67.3
$GPS2,091010,201450,2413.117,12609.779,13,1.7,13,-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,338.6,12816,-22.5,-13.889
$D_GRID,1525
$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,-155.7,0.0,0.0,0,76,0.00,0.00,-53.50,0.000,2,0.000,0.000,198,2409,2796,0,0,0,0,0,0
$GC,78,-0.89,-155.7,3.3,-5.7,7,119,7.57,2.12,-25.05,0.000,4,0.223,0.053,2123,3787,3933,0,0,0,0,0,0
$GC,200,-0.81,-155.7,42.4,-32.2,26,208,0.10,2.12,0.00,0.000,6,0.153,0.030,2153,2398,3935,0,0,0,0,0,0
$GC,532,-0.74,-155.7,142.5,-28.3,87,541,0.12,2.17,0.00,0.000,4,0.172,0.041,2178,3781,3935,0,0,0,0,0,0
$GC,586,-0.76,-155.7,154.5,-18.8,96,594,0.00,2.08,0.00,0.000,6,0.000,0.027,2178,2402,3936,0,0,0,0,0,0
$GC,930,-0.75,-155.7,224.6,-18.9,157,937,0.00,2.12,0.00,0.000,4,0.000,0.043,2167,3787,3937,0,0,0,0,0,0
$GC,983,-0.77,-155.7,235.1,-19.0,166,991,0.00,2.08,0.00,0.000,6,0.000,0.027,2167,2404,3937,0,0,0,0,0,0
$GC,1313,-0.77,-155.7,300.8,-19.9,227,1316,0.00,2.08,0.00,0.000,4,0.000,0.034,2167,997,3937,0,0,0,0,0,0
$GC,1369,-0.79,-155.7,311.8,-18.5,232,1373,0.00,2.12,0.00,0.000,6,0.000,0.036,2159,2413,3937,0,0,0,0,0,0
$GC,1695,-0.79,-155.7,373.0,-17.4,262,1699,0.00,2.08,0.00,0.000,4,0.000,0.044,2149,3788,3936,0,0,0,0,0,0
$GC,1716,-0.79,-155.7,377.1,-16.7,263,1724,0.00,2.08,0.00,0.000,6,0.000,0.028,2148,2398,3936,0,0,0,0,0,0
$GC,2042,-0.79,-155.7,429.9,-15.1,294,2046,0.00,2.10,0.00,0.000,4,0.000,0.044,2138,3778,3934,0,0,0,0,0,0
$GC,2062,-0.79,-155.7,433.5,-16.0,295,2070,0.08,2.05,0.00,0.000,6,0.135,0.028,2163,2400,3934,0,0,0,0,0,0
$GC,2390,-0.82,-155.7,479.8,-13.8,326,2394,0.00,2.05,0.00,0.000,4,0.000,0.035,2164,1004,3932,0,0,0,0,0,0
$GC,2434,-0.87,-155.7,486.6,-13.1,329,2442,0.00,2.12,0.00,0.000,6,0.000,0.038,2164,2407,3932,0,0,0,0,0,0
$STATE,2546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2546,begin apogee
$GC,2551,-0.16,0.0,501.3,13.9,340,2674,0.60,0.00,116.38,0.871,6,0.116,0.000,2367,1987,3298,0,0,0,0,0,0
$STATE,2675,end apogee,CONTROL_FINISHED_OK
$STATE,2675,begin climb
$GC,2677,0.89,155.7,507.4,0.0,350,2805,0.90,2.30,119.60,0.855,4,0.041,0.041,2722,3414,2662,0,0,0,0,0,0
$GC,3055,0.73,155.7,462.4,20.9,382,3066,0.22,2.15,0.00,0.000,6,0.172,0.030,2668,2009,2655,0,0,0,0,0,0
$GC,3382,0.67,175.4,416.3,12.7,413,3408,0.00,2.20,14.93,0.764,4,0.000,0.041,2668,3397,2583,0,0,0,0,0,0
$GC,3435,0.57,175.4,408.5,15.1,417,3443,0.17,2.12,0.00,0.000,6,0.159,0.031,2615,2015,2581,0,0,0,0,0,0
$GC,3760,0.65,255.2,376.6,9.1,448,3832,0.00,2.30,61.72,0.799,4,0.000,0.042,2615,3412,2256,0,0,0,0,0,0
$GC,3901,0.65,255.2,358.5,14.9,460,3905,0.00,2.17,0.00,0.000,6,0.000,0.031,2624,1985,2252,0,0,0,0,0,0
$GC,4227,0.71,304.1,318.3,11.0,490,4267,0.00,0.00,37.60,0.757,6,0.000,0.000,2624,1983,2058,0,0,0,0,0,0
$GC,4594,0.73,308.8,270.5,13.6,543,4609,0.10,2.17,4.05,0.467,4,0.100,0.041,2685,593,2039,0,0,0,0,0,0
$GC,4756,0.70,308.8,243.5,16.4,571,4763,0.12,2.15,0.00,0.000,6,0.164,0.033,2653,2017,2038,0,0,0,0,0,0
$GC,5101,0.70,308.8,191.5,15.0,632,5110,0.00,2.15,0.00,0.000,4,0.000,0.043,2653,3400,2036,0,0,0,0,0,0
$GC,5157,0.70,308.8,183.2,14.5,641,5164,0.00,2.10,0.00,0.000,6,0.000,0.031,2663,2001,2035,0,0,0,0,0,0
$GC,5502,0.70,311.3,139.6,13.7,702,5511,0.00,2.15,0.00,0.000,4,0.000,0.040,2673,590,2035,0,0,0,0,0,0
$GC,5636,0.70,311.3,120.6,14.3,726,5645,0.00,2.15,0.00,0.000,6,0.000,0.033,2673,2009,2034,0,0,0,0,0,0
$GC,5969,0.81,404.4,82.6,8.3,787,6046,0.00,0.00,70.90,0.597,6,0.000,0.000,2670,2013,1650,0,0,0,0,0,0
$GC,6373,0.97,477.4,45.0,9.5,857,6437,0.17,2.20,54.65,0.553,4,0.067,0.038,2768,593,1351,0,0,0,0,0,0
$GC,6517,0.97,477.4,21.9,16.5,879,6526,0.08,2.17,0.00,0.000,6,0.148,0.031,2745,2002,1347,0,0,0,0,0,0
$STATE,6623,end climb,SURFACE_DEPTH_REACHED
$STATE,6623,begin surface coast
$FINISH,0.6,1.021967
$STATE,6644,end surface coast,CONTROL_FINISHED_OK
$STATE,6644,begin surface
$SM_CCo,6731,0.00,0.000,0,0,1343,479.32
$SM_GC,1.42,6.50,0.00,0.00,0.030,0.000,0.000,196,2404,1343,-6.85,0.11,479.32
$IRIDIUM_FIX,2401.56,12613.45,091010,181826
$TT8_MAMPS,0.026964
$HUMID,46.81
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.6,25.532
$10V_AH,10.2,31.755
$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,16.750,61.050,479.825,0.000,0.000,30.232,37.320,178.215,0.000,0.000,15.916,2168.328,1665.853,485.606,2609.995,209.417,0.000,1336.562,0.000,1405.935,0.000,0.544,0.000
$DEVICE_MAMPS,222.615,52.785,871.335,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,607.337,1371.149,1682.002,0.000,0.000,0.000,2475.362,0.000,0.000,0.000
$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,63656,901
$CAP_FILE_SIZE,92750,0
$CFSIZE,260165632,236994560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087, 80.3,1
$GPS,091010,220834,2414.008,12609.882,9,2.6,28,-3.6