version: 66.08
glider: 181
mission: 4
dive: 130
start: 10 4 110 22 10 49
data:
$ID,181
$MISSION,4
$DIVE,130
$N_DIVES,140
$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,-38001.391
$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,35
$R_STBD_OVSHOOT,52
$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,258.0
$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
$GPS1,041010,220310,2400.976,12609.251,10,2.4,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-63.5
$GPS2,041010,221022,2400.980,12609.271,9,2.8,28,-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,220.1,1873,-22.5,-13.889
$D_GRID,1773
$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,-155.7,0.0,0.0,0,74,0.00,0.00,-52.58,0.000,2,0.000,0.000,202,2429,2784,0,0,0,0,0,0
$GC,77,-0.89,-155.7,3.2,-5.5,7,117,7.62,2.05,-25.27,0.000,4,0.229,0.053,2121,3769,3933,0,0,0,0,0,0
$GC,319,-0.82,-155.7,84.9,-29.4,49,328,0.12,2.10,0.00,0.000,6,0.150,0.030,2158,2387,3935,0,0,0,0,0,0
$GC,656,-0.76,-155.7,174.2,-25.4,110,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2384,3937,0,0,0,0,0,0
$GC,1008,-0.73,-155.7,255.8,-21.1,171,1015,0.10,2.12,0.00,0.000,4,0.179,0.044,2176,3764,3938,0,0,0,0,0,0
$GC,1035,-0.72,-155.7,261.3,-20.9,175,1042,0.00,2.03,0.00,0.000,6,0.000,0.028,2176,2391,3937,0,0,0,0,0,0
$GC,1371,-0.72,-155.7,322.9,-17.3,224,1374,0.00,2.05,0.00,0.000,4,0.000,0.034,2176,1000,3937,0,0,0,0,0,0
$GC,1408,-0.74,-155.7,329.6,-16.6,227,1416,0.00,2.10,0.00,0.000,6,0.000,0.034,2166,2386,3937,0,0,0,0,0,0
$GC,1733,-0.74,-155.7,386.5,-17.1,258,1737,0.00,2.12,0.00,0.000,4,0.000,0.046,2156,3777,3936,0,0,0,0,0,0
$GC,1867,-0.77,-155.7,407.4,-14.6,269,1874,0.00,2.05,0.00,0.000,6,0.000,0.028,2156,2384,3935,0,0,0,0,0,0
$GC,2193,-0.77,-155.7,463.1,-16.7,300,2197,0.00,2.15,0.00,0.000,4,0.000,0.046,2146,3776,3933,0,0,0,0,0,0
$GC,2236,-0.80,-155.7,470.7,-15.6,303,2243,0.00,2.08,0.00,0.000,6,0.000,0.030,2146,2395,3933,0,0,0,0,0,0
$STATE,2410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2411,begin apogee
$GC,2415,-0.16,0.0,502.0,18.9,320,2538,0.68,0.00,116.57,0.858,6,0.123,0.000,2370,1965,3297,0,0,0,0,0,0
$STATE,2539,end apogee,CONTROL_FINISHED_OK
$STATE,2539,begin climb
$GC,2541,0.89,155.7,509.1,0.0,330,2668,0.90,2.15,119.57,0.842,4,0.041,0.035,2736,605,2662,0,0,0,0,0,0
$GC,2893,0.75,155.7,476.8,15.9,360,2898,0.28,2.12,0.00,0.000,6,0.178,0.032,2664,2009,2657,0,0,0,0,0,0
$GC,3218,0.72,199.0,434.1,11.3,390,3256,0.00,2.20,33.12,0.797,4,0.000,0.040,2663,3409,2485,0,0,0,0,0,0
$GC,3294,0.64,199.0,424.4,14.4,396,3304,0.12,2.15,0.00,0.000,6,0.166,0.031,2636,2024,2484,0,0,0,0,0,0
$GC,3621,0.62,213.5,383.9,13.0,427,3638,0.00,2.15,11.88,0.718,4,0.000,0.041,2635,3409,2427,0,0,0,0,0,0
$GC,3751,0.57,213.5,365.9,14.2,438,3756,0.12,2.15,0.00,0.000,6,0.180,0.031,2614,1990,2424,0,0,0,0,0,0
$GC,4076,0.64,268.7,327.6,10.6,468,4124,0.00,2.22,42.92,0.757,4,0.000,0.042,2614,3402,2203,0,0,0,0,0,0
$GC,4197,0.67,283.6,313.2,13.0,478,4217,0.00,2.17,13.00,0.685,6,0.000,0.033,2622,2001,2141,0,0,0,0,0,0
$GC,4544,0.69,296.4,270.8,13.1,531,4560,0.00,2.22,10.73,0.653,4,0.000,0.041,2633,585,2088,0,0,0,0,0,0
$GC,4741,0.74,317.9,245.0,12.6,565,4770,0.00,2.12,17.70,0.675,6,0.000,0.032,2633,2000,2001,0,0,0,0,0,0
$GC,5112,0.78,334.3,197.3,12.9,629,5133,0.12,2.15,13.12,0.626,4,0.091,0.040,2691,3399,1936,0,0,0,0,0,0
$GC,5179,0.75,334.3,185.2,19.3,640,5189,0.12,2.15,0.00,0.000,6,0.151,0.032,2666,2003,1933,0,0,0,0,0,0
$GC,5523,0.76,338.4,133.3,13.6,701,5533,0.00,2.15,4.45,0.438,4,0.000,0.040,2672,591,1917,0,0,0,0,0,0
$GC,5602,0.78,338.4,122.2,13.9,714,5610,0.00,2.12,0.00,0.000,6,0.000,0.031,2672,1994,1915,0,0,0,0,0,0
$GC,5936,0.82,353.4,75.3,13.0,775,5953,0.00,2.22,13.02,0.547,4,0.000,0.041,2672,3413,1855,0,0,0,0,0,0
$GC,6015,0.89,381.4,65.3,12.2,788,6046,0.00,2.15,21.62,0.559,6,0.000,0.031,2683,2003,1743,0,0,0,0,0,0
$GC,6373,1.01,435.1,30.4,10.7,852,6422,0.17,2.15,40.95,0.538,4,0.068,0.039,2775,594,1525,0,0,0,0,0,0
$GC,6463,1.00,435.1,15.4,18.7,865,6472,0.00,2.15,0.00,0.000,6,0.000,0.032,2775,1991,1518,0,0,0,0,0,0
$STATE,6533,end climb,SURFACE_DEPTH_REACHED
$STATE,6533,begin surface coast
$FINISH,0.6,1.021755
$STATE,6552,end surface coast,CONTROL_FINISHED_OK
$STATE,6553,begin surface
$SM_CCo,6636,0.00,0.000,0,0,1516,437.12
$SM_GC,1.61,6.68,0.00,0.00,0.038,0.000,0.000,205,2415,1516,-6.85,0.45,437.12
$IRIDIUM_FIX,2352.12,12617.77,041010,202049
$TT8_MAMPS,0.026964
$HUMID,46.69
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.30
$XPDR_PINGS,3
$24V_AH,24.7,18.830
$10V_AH,10.3,22.564
$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,17.050,60.950,458.675,0.000,0.000,29.324,48.919,186.398,0.750,0.000,32.319,2140.267,1681.117,459.486,2617.937,172.530,0.000,1290.062,0.000,1396.997,0.000,0.542,0.000
$DEVICE_MAMPS,228.735,52.785,858.330,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,593.139,1338.726,1634.826,0.000,0.000,0.000,2278.559,0.000,0.000,0.000
$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,63691,880
$CAP_FILE_SIZE,94122,0
$CFSIZE,260165632,241061888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.147, 92.2,1
$GPS,051010,000237,2400.316,12609.147,37,1.2,37,-3.6