version: 66.08
glider: 181
mission: 4
dive: 128
start: 10 4 110 18 10 18
data:
$ID,181
$MISSION,4
$DIVE,128
$N_DIVES,135
$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,-37998.887
$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,42
$R_STBD_OVSHOOT,50
$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,254.0
$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
$GPS1,041010,180220,2402.379,12608.406,10,1.6,10,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-59.1
$GPS2,041010,180950,2402.433,12608.373,10,1.7,10,-3.6
$SPEED_LIMITS,0.241,0.296
$TGT_NAME,NWALL_S
$TGT_LATLONG,2400.000,12609.000
$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,168.4,4629,-22.5,-13.889
$D_GRID,1664
$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,-155.7,0.0,0.0,0,109,0.00,0.00,-86.50,0.000,2,0.000,0.000,195,2426,2874,0,0,0,0,0,0
$GC,111,-0.89,-155.7,3.4,-5.7,11,151,7.60,2.20,-22.77,0.000,4,0.227,0.046,2127,985,3931,0,0,0,0,0,0
$GC,241,-0.79,-155.7,47.4,-35.8,32,250,0.12,2.15,0.00,0.000,6,0.162,0.036,2156,2379,3932,0,0,0,0,0,0
$GC,575,-0.74,-155.7,141.1,-24.0,93,584,0.12,2.17,0.00,0.000,4,0.185,0.043,2179,3780,3932,0,0,0,0,0,0
$GC,604,-0.70,-155.7,147.8,-22.4,97,612,0.00,2.08,0.00,0.000,6,0.000,0.029,2179,2400,3934,0,0,0,0,0,0
$GC,957,-0.69,-155.7,222.4,-20.9,158,966,0.00,2.10,0.00,0.000,4,0.000,0.034,2179,997,3934,0,0,0,0,0,0
$GC,973,-0.68,-155.7,225.6,-20.4,160,981,0.10,2.12,0.00,0.000,6,0.136,0.034,2202,2395,3934,0,0,0,0,0,0
$GC,1320,-0.71,-155.7,275.6,-14.5,221,1327,0.00,2.10,0.00,0.000,4,0.000,0.033,2202,993,3934,0,0,0,0,0,0
$GC,1362,-0.75,-155.7,282.0,-13.8,228,1370,0.00,2.15,0.00,0.000,6,0.000,0.036,2195,2405,3934,0,0,0,0,0,0
$GC,1697,-0.78,-155.7,331.8,-14.9,269,1701,0.00,2.08,0.00,0.000,4,0.000,0.046,2185,3778,3933,0,0,0,0,0,0
$GC,1750,-0.83,-155.7,339.1,-13.1,273,1754,0.00,2.05,0.00,0.000,6,0.000,0.030,2186,2382,3931,0,0,0,0,0,0
$GC,2080,-0.86,-155.7,387.0,-13.9,304,2084,0.12,2.05,0.00,0.000,4,0.083,0.036,2120,991,3930,0,0,0,0,0,0
$GC,2098,-0.88,-155.7,389.6,-14.8,305,2103,0.12,2.10,0.00,0.000,6,0.166,0.036,2142,2401,3930,0,0,0,0,0,0
$GC,2425,-0.88,-155.7,445.2,-17.3,335,2429,0.00,2.12,0.00,0.000,4,0.000,0.047,2133,3785,3928,0,0,0,0,0,0
$GC,2500,-0.89,-155.7,459.1,-17.1,341,2508,0.00,2.10,0.00,0.000,6,0.000,0.031,2133,2393,3926,0,0,0,0,0,0
$STATE,2718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2718,begin apogee
$GC,2723,-0.16,0.0,501.3,19.0,362,2846,0.73,0.00,115.43,0.861,6,0.129,0.000,2371,1981,3298,0,0,0,0,0,0
$STATE,2847,end apogee,CONTROL_FINISHED_OK
$STATE,2847,begin climb
$GC,2848,0.89,155.7,509.0,0.0,372,2980,0.88,2.35,119.78,0.845,4,0.041,0.041,2720,3410,2662,0,0,0,0,0,0
$GC,3182,0.75,155.7,474.4,18.0,401,3190,0.17,2.15,0.00,0.000,6,0.174,0.031,2670,2020,2655,0,0,0,0,0,0
$GC,3509,0.68,173.8,429.2,12.8,432,3531,0.00,2.22,13.77,0.749,4,0.000,0.039,2680,593,2590,0,0,0,0,0,0
$GC,3555,0.62,198.1,423.4,12.4,436,3581,0.20,2.15,20.20,0.768,6,0.174,0.031,2628,2014,2492,0,0,0,0,0,0
$GC,3900,0.68,274.6,388.8,9.3,468,3965,0.00,2.20,59.70,0.790,4,0.000,0.041,2628,3405,2178,0,0,0,0,0,0
$GC,4099,0.68,274.6,362.7,14.0,485,4103,0.00,2.15,0.00,0.000,6,0.000,0.033,2636,1994,2170,0,0,0,0,0,0
$GC,4425,0.67,274.6,313.2,16.1,515,4429,0.00,2.17,0.00,0.000,4,0.000,0.044,2636,3398,2166,0,0,0,0,0,0
$GC,4508,0.66,274.6,298.9,18.2,522,4516,0.00,2.15,0.00,0.000,6,0.000,0.034,2647,2002,2166,0,0,0,0,0,0
$GC,4838,0.64,274.6,246.5,15.9,583,4846,0.00,2.12,0.00,0.000,4,0.000,0.040,2658,584,2163,0,0,0,0,0,0
$GC,5004,0.64,274.6,221.4,14.4,613,5012,0.00,2.12,0.00,0.000,6,0.000,0.032,2658,2008,2165,0,0,0,0,0,0
$GC,5343,0.62,274.6,170.2,15.1,674,5351,0.12,0.00,0.00,0.000,6,0.171,0.000,2626,2011,2162,0,0,0,0,0,0
$GC,5675,0.73,336.3,133.1,10.2,735,5731,0.12,2.20,45.05,0.629,4,0.090,0.043,2684,3392,1925,0,0,0,0,0,0
$GC,5867,0.73,336.3,104.6,14.5,767,5877,0.10,2.15,0.00,0.000,6,0.148,0.034,2666,2000,1920,0,0,0,0,0,0
$GC,6203,0.81,371.7,61.7,11.8,828,6236,0.00,2.17,26.58,0.564,4,0.000,0.040,2673,580,1781,0,0,0,0,0,0
$GC,6305,1.02,483.5,53.2,7.2,844,6399,0.17,2.17,83.30,0.559,6,0.045,0.031,2759,2002,1325,0,0,0,0,0,0
$STATE,6638,end climb,SURFACE_DEPTH_REACHED
$STATE,6638,begin surface coast
$FINISH,0.4,1.021747
$STATE,6652,end surface coast,CONTROL_FINISHED_OK
$STATE,6652,begin surface
$SM_CCo,6677,92.38,0.057,0,0,487,690.03
$SM_GC,1.25,0.00,0.00,92.38,0.000,0.000,0.057,210,2438,487,-6.92,1.07,690.03
$IRIDIUM_FIX,2352.12,12612.57,041010,161600
$TT8_MAMPS,0.027713
$HUMID,46.49
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.7,18.604
$10V_AH,10.3,22.255
$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,17.350,61.225,483.800,92.375,0.000,24.914,44.241,241.921,0.500,0.000,13.373,2169.510,1604.082,585.634,2681.344,185.399,0.000,1457.346,0.000,1419.452,0.000,0.544,0.000
$DEVICE_MAMPS,227.205,46.665,861.390,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,607.699,1373.230,1671.011,0.000,0.000,0.000,2409.606,0.000,0.000,0.000
$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,63865,902
$CAP_FILE_SIZE,95357,0
$CFSIZE,260165632,241197056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090, 25.3,1
$GPS,041010,200436,2401.807,12608.855,40,1.0,51,-3.6