version: 66.08
glider: 181
mission: 4
dive: 139
start: 10 5 110 16 18 52
data:
$ID,181
$MISSION,4
$DIVE,139
$N_DIVES,155
$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,-38020.066
$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,40
$R_STBD_OVSHOOT,59
$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,276.0
$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
$GPS1,051010,161149,2408.033,12608.377,8,1.2,13,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-66.0
$GPS2,051010,161825,2408.114,12608.324,9,1.2,14,-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,16.8,22043,-22.5,-13.889
$D_GRID,1738
$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,-155.7,0.0,0.0,0,76,0.00,0.00,-54.45,0.000,2,0.000,0.000,194,2427,2845,0,0,0,0,0,0
$GC,79,-0.89,-155.7,3.2,-4.8,7,118,7.60,0.00,-23.20,0.000,6,0.226,0.000,2131,2425,3933,0,0,0,0,0,0
$GC,444,-0.80,-155.7,135.4,-28.1,72,453,0.12,2.08,0.00,0.000,4,0.195,0.041,2153,3758,3937,0,0,0,0,0,0
$GC,557,-0.78,-155.7,162.4,-20.5,92,566,0.00,2.05,0.00,0.000,6,0.000,0.028,2152,2391,3936,0,0,0,0,0,0
$GC,909,-0.75,-155.7,240.0,-18.7,153,917,0.12,2.08,0.00,0.000,4,0.170,0.034,2185,994,3937,0,0,0,0,0,0
$GC,974,-0.77,-155.7,250.8,-14.3,164,982,0.00,2.12,0.00,0.000,6,0.000,0.037,2177,2381,3938,0,0,0,0,0,0
$GC,1316,-0.77,-155.7,308.0,-17.0,221,1320,0.00,2.12,0.00,0.000,4,0.000,0.044,2166,3779,3937,0,0,0,0,0,0
$GC,1463,-0.81,-155.7,329.7,-13.8,233,1470,0.00,2.05,0.00,0.000,6,0.000,0.028,2166,2384,3937,0,0,0,0,0,0
$GC,1788,-0.81,-155.7,385.5,-18.1,264,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2382,3937,0,0,0,0,0,0
$GC,2107,-0.82,-155.7,438.8,-16.2,294,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2381,3935,0,0,0,0,0,0
$GC,2426,-0.85,-155.7,486.9,-14.2,324,2430,0.00,2.17,0.00,0.000,4,0.000,0.046,2156,3784,3932,0,0,0,0,0,0
$GC,2469,-0.89,-155.7,493.5,-13.7,327,2476,0.00,2.08,0.00,0.000,6,0.000,0.029,2156,2397,3932,0,0,0,0,0,0
$STATE,2516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2517,begin apogee
$GC,2521,-0.16,0.0,500.5,15.0,332,2643,0.65,0.00,116.72,0.867,6,0.120,0.000,2373,1987,3298,0,0,0,0,0,0
$STATE,2644,end apogee,CONTROL_FINISHED_OK
$STATE,2644,begin climb
$GC,2646,0.89,155.7,506.7,0.0,342,2770,0.90,0.00,119.35,0.850,6,0.044,0.000,2723,1987,2666,0,0,0,0,0,0
$GC,3087,0.76,155.7,461.3,14.9,382,3092,0.20,2.10,0.00,0.000,4,0.182,0.037,2681,610,2657,0,0,0,0,0,0
$GC,3108,0.64,155.7,457.7,15.1,383,3116,0.12,2.15,0.00,0.000,6,0.154,0.034,2632,2005,2657,0,0,0,0,0,0
$GC,3434,0.64,199.0,422.9,11.3,414,3474,0.00,2.25,33.33,0.809,4,0.000,0.044,2633,3404,2486,0,0,0,0,0,0
$GC,3684,0.59,201.5,388.2,13.7,436,3688,0.00,2.10,0.00,0.000,6,0.000,0.032,2641,2004,2480,0,0,0,0,0,0
$GC,4009,0.59,234.8,347.2,11.9,466,4047,0.00,2.25,27.40,0.771,4,0.000,0.043,2641,3407,2340,0,0,0,0,0,0
$GC,4072,0.56,242.9,339.4,13.4,471,4086,0.17,2.15,7.93,0.650,6,0.164,0.031,2606,2001,2307,0,0,0,0,0,0
$GC,4404,0.62,282.5,301.0,11.5,502,4445,0.00,2.22,31.45,0.743,4,0.000,0.042,2615,598,2145,0,0,0,0,0,0
$GC,4481,0.68,308.9,291.6,12.3,513,4510,0.00,2.15,21.83,0.712,6,0.000,0.034,2615,2001,2037,0,0,0,0,0,0
$GC,4847,0.71,308.9,241.9,13.9,577,4854,0.12,2.17,0.00,0.000,4,0.090,0.044,2673,3403,2030,0,0,0,0,0,0
$GC,4908,0.68,308.9,230.7,19.9,587,4915,0.15,2.12,0.00,0.000,6,0.164,0.032,2644,1995,2028,0,0,0,0,0,0
$GC,5255,0.69,308.9,177.1,14.0,648,5264,0.00,2.15,0.00,0.000,4,0.000,0.041,2653,595,2028,0,0,0,0,0,0
$GC,5359,0.76,353.2,164.0,11.2,666,5402,0.00,2.15,33.25,0.653,6,0.000,0.034,2653,2007,1856,0,0,0,0,0,0
$GC,5732,0.79,353.2,112.1,14.0,732,5741,0.00,2.17,0.00,0.000,4,0.000,0.043,2653,3402,1851,0,0,0,0,0,0
$GC,5749,0.81,353.2,109.5,14.2,734,5758,0.00,2.15,0.00,0.000,6,0.000,0.031,2664,1995,1850,0,0,0,0,0,0
$GC,6083,1.00,461.4,68.8,7.4,795,6176,0.22,2.28,79.78,0.584,4,0.060,0.041,2765,3400,1416,0,0,0,0,0,0
$GC,6192,0.98,461.4,54.3,16.4,809,6201,0.10,2.17,0.00,0.000,6,0.141,0.031,2745,2007,1417,0,0,0,0,0,0
$STATE,6487,end climb,SURFACE_DEPTH_REACHED
$STATE,6487,begin surface coast
$FINISH,0.6,1.018126
$STATE,6505,end surface coast,CONTROL_FINISHED_OK
$STATE,6505,begin surface
$SM_CCo,6592,0.00,0.000,0,0,1407,463.62
$SM_GC,1.43,6.53,0.00,0.00,0.034,0.000,0.000,202,2425,1407,-6.83,0.71,463.62
$IRIDIUM_FIX,2356.84,12617.26,051010,141443
$TT8_MAMPS,0.027713
$HUMID,48.30
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,25.00
$XPDR_PINGS,2
$24V_AH,24.6,19.870
$10V_AH,10.2,23.968
$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,17.025,52.650,471.025,0.000,0.000,27.118,37.221,179.238,0.500,0.000,17.365,2076.877,1770.365,465.523,2493.330,185.156,0.000,1281.184,0.000,1347.408,0.000,0.543,0.000
$DEVICE_MAMPS,225.675,45.900,866.745,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,583.969,1318.307,1578.826,0.000,0.000,0.000,2190.597,0.000,0.000,0.000
$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,60486,866
$CAP_FILE_SIZE,89851,0
$CFSIZE,260165632,240443392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102,336.3,1
$GPS,051010,181000,2409.265,12608.515,35,0.9,41,-3.6