version: 66.08
glider: 181
mission: 4
dive: 133
start: 10 5 110 4 8 28
data:
$ID,181
$MISSION,4
$DIVE,133
$N_DIVES,145
$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,-38005.156
$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,61
$R_STBD_OVSHOOT,40
$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,264.0
$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
$GPS1,051010,040125,2402.219,12608.855,60,1.1,60,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-66.9
$GPS2,051010,040801,2402.242,12608.847,13,1.5,13,-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,352.1,32889,-22.5,-13.889
$D_GRID,1638
$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,-155.7,0.0,0.0,0,69,0.00,0.00,-46.88,0.000,2,0.000,0.000,201,2365,2830,0,0,0,0,0,0
$GC,71,-0.89,-155.7,3.2,-5.3,6,111,7.53,2.20,-24.92,0.000,4,0.223,0.053,2124,3780,3934,0,0,0,0,0,0
$GC,191,-0.81,-155.7,41.6,-34.0,25,200,0.10,2.08,0.00,0.000,6,0.158,0.032,2153,2424,3936,0,0,0,0,0,0
$GC,525,-0.76,-155.7,140.4,-24.5,86,533,0.00,2.15,0.00,0.000,4,0.000,0.035,2153,991,3937,0,0,0,0,0,0
$GC,636,-0.74,-155.7,165.5,-21.7,105,644,0.15,2.12,0.00,0.000,6,0.158,0.036,2185,2405,3938,0,0,0,0,0,0
$GC,986,-0.74,-155.7,234.0,-17.4,166,994,0.00,2.10,0.00,0.000,4,0.000,0.043,2177,3774,3939,0,0,0,0,0,0
$GC,1097,-0.78,-155.7,251.5,-14.2,185,1104,0.00,2.08,0.00,0.000,6,0.000,0.028,2177,2380,3939,0,0,0,0,0,0
$GC,1444,-0.78,-155.7,312.0,-17.1,241,1447,0.00,2.03,0.00,0.000,4,0.000,0.035,2177,994,3938,0,0,0,0,0,0
$GC,1522,-0.81,-155.7,324.4,-13.7,248,1526,0.00,2.10,0.00,0.000,6,0.000,0.037,2172,2401,3936,0,0,0,0,0,0
$GC,1848,-0.81,-155.7,374.4,-15.2,278,1852,0.00,2.08,0.00,0.000,4,0.000,0.044,2157,3778,3937,0,0,0,0,0,0
$GC,1912,-0.85,-155.7,383.9,-13.5,283,1916,0.00,2.03,0.00,0.000,6,0.000,0.028,2157,2391,3936,0,0,0,0,0,0
$GC,2239,-0.86,-155.7,436.5,-16.3,313,2243,0.00,2.05,0.00,0.000,4,0.000,0.036,2157,1005,3936,0,0,0,0,0,0
$GC,2277,-0.89,-155.7,443.6,-16.6,316,2287,0.00,2.12,0.00,0.000,6,0.000,0.037,2151,2391,3935,0,0,0,0,0,0
$GC,2604,-0.90,-155.7,493.8,-14.3,347,2608,0.00,2.10,0.00,0.000,4,0.000,0.046,2141,3784,3932,0,0,0,0,0,0
$STATE,2646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2646,begin apogee
$GC,2653,-0.16,0.0,500.7,13.2,350,2780,0.68,0.00,116.20,0.862,6,0.120,0.000,2367,2006,3299,0,0,0,0,0,0
$STATE,2781,end apogee,CONTROL_FINISHED_OK
$STATE,2781,begin climb
$GC,2783,0.89,155.7,505.1,0.0,361,2910,0.93,2.22,119.57,0.847,4,0.041,0.037,2741,596,2666,0,0,0,0,0,0
$GC,2990,0.75,155.7,493.8,18.5,378,2995,0.28,2.20,0.00,0.000,6,0.180,0.034,2669,2020,2660,0,0,0,0,0,0
$GC,3315,0.68,175.2,446.3,12.7,408,3340,0.00,2.22,15.27,0.768,4,0.000,0.043,2669,3411,2584,0,0,0,0,0,0
$GC,3454,0.58,175.2,426.4,14.3,420,3459,0.25,2.12,0.00,0.000,6,0.181,0.031,2613,1992,2581,0,0,0,0,0,0
$GC,3779,0.62,228.3,390.4,10.7,450,3828,0.00,2.25,41.22,0.797,4,0.000,0.041,2613,3408,2367,0,0,0,0,0,0
$GC,3855,0.61,239.9,381.4,13.2,456,3876,0.00,2.20,10.48,0.699,6,0.000,0.032,2621,1997,2319,0,0,0,0,0,0
$GC,4195,0.65,269.9,338.8,12.1,488,4225,0.00,0.00,23.67,0.750,6,0.000,0.000,2621,1996,2198,0,0,0,0,0,0
$GC,4543,0.67,285.7,295.3,12.9,524,4558,0.00,0.00,13.07,0.692,6,0.000,0.000,2621,1995,2134,0,0,0,0,0,0
$GC,4892,0.72,320.0,251.9,11.8,586,4930,0.10,2.22,27.27,0.705,4,0.102,0.043,2682,592,1993,0,0,0,0,0,0
$GC,5004,0.72,320.0,234.6,15.6,604,5013,0.00,2.17,0.00,0.000,6,0.000,0.035,2682,1994,1991,0,0,0,0,0,0
$GC,5356,0.70,320.0,176.9,16.3,665,5364,0.12,2.20,0.00,0.000,4,0.156,0.044,2649,3416,1987,0,0,0,0,0,0
$GC,5411,0.72,323.7,168.3,13.7,674,5420,0.00,2.17,2.97,0.324,6,0.000,0.032,2658,1995,1980,0,0,0,0,0,0
$GC,5750,0.74,331.5,121.7,13.4,735,5767,0.00,2.15,7.65,0.533,4,0.000,0.040,2669,597,1947,0,0,0,0,0,0
$GC,5796,0.81,370.5,115.8,11.6,742,5836,0.00,2.15,31.08,0.610,6,0.000,0.034,2669,2006,1785,0,0,0,0,0,0
$GC,6161,0.91,425.9,69.1,10.6,807,6210,0.15,2.22,42.05,0.575,4,0.076,0.041,2752,586,1560,0,0,0,0,0,0
$GC,6273,0.94,436.2,52.9,13.3,824,6291,0.00,2.17,8.23,0.482,6,0.000,0.033,2752,1993,1520,0,0,0,0,0,0
$STATE,6607,end climb,SURFACE_DEPTH_REACHED
$STATE,6607,begin surface coast
$FINISH,0.6,1.009599
$STATE,6627,end surface coast,CONTROL_FINISHED_OK
$STATE,6627,begin surface
$SM_CCo,6711,0.00,0.000,0,0,1515,437.37
$SM_GC,1.60,6.60,0.00,0.00,0.041,0.000,0.000,202,2409,1515,-6.85,0.25,437.37
$IRIDIUM_FIX,2354.48,12610.66,051010,020211
$TT8_MAMPS,0.027713
$HUMID,47.63
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,24.7,19.167
$10V_AH,10.3,23.028
$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,16.875,61.250,458.750,0.000,0.000,27.282,43.879,178.665,0.250,0.000,16.097,2146.508,1767.766,455.148,2564.776,176.307,0.000,1284.678,0.000,1380.421,0.000,0.544,0.000
$DEVICE_MAMPS,223.380,52.785,862.155,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,599.271,1350.906,1634.810,0.000,0.000,0.000,2272.015,0.000,0.000,0.000
$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,63761,888
$CAP_FILE_SIZE,92684,0
$CFSIZE,260165632,240857088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071, 27.7,1
$GPS,051010,060122,2403.326,12608.802,8,3.0,27,-3.6