version: 66.08
glider: 181
mission: 4
dive: 140
start: 10 5 110 18 16 23
data:
$ID,181
$MISSION,4
$DIVE,140
$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,-38021.324
$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,41
$R_STBD_OVSHOOT,48
$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,278.0
$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
$GPS1,051010,181000,2409.265,12608.515,35,0.9,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-65.8
$GPS2,051010,181556,2409.356,12608.486,10,1.2,10,-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,14.9,19732,-22.5,-13.889
$D_GRID,1666
$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,-53.90,0.000,2,0.000,0.000,201,2426,2882,0,0,0,0,0,0
$GC,78,-0.89,-155.7,3.5,-5.9,7,118,7.60,2.10,-21.77,0.000,4,0.226,0.056,2124,3764,3936,0,0,0,0,0,0
$GC,148,-0.75,-155.7,26.9,-39.0,17,157,0.17,2.10,0.00,0.000,6,0.169,0.031,2174,2393,3937,0,0,0,0,0,0
$GC,482,-0.70,-155.7,132.6,-24.8,78,490,0.00,2.12,0.00,0.000,4,0.000,0.037,2174,989,3939,0,0,0,0,0,0
$GC,542,-0.70,-155.7,146.5,-20.9,88,552,0.10,2.15,0.00,0.000,6,0.136,0.037,2198,2387,3939,0,0,0,0,0,0
$GC,898,-0.70,-155.7,213.8,-18.1,149,905,0.00,2.12,0.00,0.000,4,0.000,0.043,2189,3786,3940,0,0,0,0,0,0
$GC,973,-0.75,-155.7,226.3,-15.3,162,981,0.00,2.10,0.00,0.000,6,0.000,0.028,2189,2378,3940,0,0,0,0,0,0
$GC,1317,-0.75,-155.7,287.8,-19.6,223,1323,0.00,2.03,0.00,0.000,4,0.000,0.036,2189,1002,3940,0,0,0,0,0,0
$GC,1355,-0.77,-155.7,294.8,-18.8,229,1362,0.00,2.12,0.00,0.000,6,0.000,0.036,2179,2419,3940,0,0,0,0,0,0
$GC,1684,-0.79,-155.7,355.2,-18.0,262,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2419,3939,0,0,0,0,0,0
$GC,2002,-0.81,-155.7,410.4,-16.5,292,2006,0.00,2.12,0.00,0.000,4,0.000,0.035,2179,994,3938,0,0,0,0,0,0
$GC,2030,-0.85,-155.7,415.2,-17.0,294,2034,0.00,2.10,0.00,0.000,6,0.000,0.037,2172,2398,3938,0,0,0,0,0,0
$GC,2356,-0.88,-155.7,465.7,-14.0,324,2360,0.00,2.12,0.00,0.000,4,0.000,0.046,2160,3786,3937,0,0,0,0,0,0
$GC,2444,-0.93,-155.7,477.6,-12.6,331,2451,0.10,2.05,0.00,0.000,6,0.096,0.029,2100,2395,3936,0,0,0,0,0,0
$STATE,2576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2576,begin apogee
$GC,2581,-0.16,0.0,501.3,19.6,344,2703,0.82,0.00,117.03,0.864,6,0.139,0.000,2364,1985,3298,0,0,0,0,0,0
$STATE,2704,end apogee,CONTROL_FINISHED_OK
$STATE,2704,begin climb
$GC,2706,0.89,155.7,506.7,0.0,354,2835,0.93,2.25,119.62,0.848,4,0.042,0.037,2736,601,2663,0,0,0,0,0,0
$GC,2941,0.75,155.7,491.1,16.2,374,2950,0.22,2.20,0.00,0.000,6,0.175,0.033,2673,2014,2659,0,0,0,0,0,0
$GC,3269,0.73,219.3,450.8,10.1,405,3323,0.00,2.20,49.10,0.820,4,0.000,0.041,2674,3409,2402,0,0,0,0,0,0
$GC,3446,0.65,219.3,423.1,16.6,420,3450,0.17,2.10,0.00,0.000,6,0.185,0.031,2640,2012,2397,0,0,0,0,0,0
$GC,3773,0.62,219.3,377.2,14.6,450,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2014,2393,0,0,0,0,0,0
$GC,4090,0.59,219.3,331.3,14.3,480,4094,0.00,2.15,0.00,0.000,4,0.000,0.041,2649,596,2391,0,0,0,0,0,0
$GC,4122,0.56,219.3,326.2,14.8,482,4131,0.12,2.15,0.00,0.000,6,0.155,0.034,2610,2001,2391,0,0,0,0,0,0
$GC,4452,0.65,289.7,290.0,9.7,522,4514,0.00,2.25,52.55,0.745,4,0.000,0.043,2610,3398,2117,0,0,0,0,0,0
$GC,4556,0.69,304.6,278.5,13.0,538,4578,0.00,2.17,12.93,0.668,6,0.000,0.031,2618,2000,2054,0,0,0,0,0,0
$GC,4914,0.73,316.8,231.8,13.2,601,4930,0.12,2.20,10.02,0.624,4,0.089,0.040,2687,597,2005,0,0,0,0,0,0
$GC,4955,0.71,316.8,225.0,17.2,607,4962,0.12,2.15,0.00,0.000,6,0.157,0.034,2655,2011,2005,0,0,0,0,0,0
$GC,5303,0.72,321.5,174.0,13.6,668,5313,0.00,2.17,4.78,0.477,4,0.000,0.041,2661,597,1987,0,0,0,0,0,0
$GC,5331,0.72,324.8,170.1,13.7,672,5341,0.00,2.15,4.12,0.432,6,0.000,0.034,2664,1998,1974,0,0,0,0,0,0
$GC,5672,0.73,327.3,120.7,13.7,733,5680,0.00,2.17,0.00,0.000,4,0.000,0.044,2663,3402,1972,0,0,0,0,0,0
$GC,5721,0.75,327.3,113.1,14.4,741,5729,0.00,2.12,0.00,0.000,6,0.000,0.032,2674,2003,1971,0,0,0,0,0,0
$GC,6054,0.85,389.4,71.5,10.2,802,6109,0.00,2.17,48.67,0.584,4,0.000,0.041,2681,595,1710,0,0,0,0,0,0
$GC,6145,1.02,478.8,64.1,8.5,815,6225,0.15,2.17,67.18,0.566,6,0.047,0.033,2763,2001,1347,0,0,0,0,0,0
$STATE,6488,end climb,SURFACE_DEPTH_REACHED
$STATE,6488,begin surface coast
$FINISH,0.4,1.021884
$STATE,6508,end surface coast,CONTROL_FINISHED_OK
$STATE,6508,begin surface
$SM_CCo,6592,0.00,0.000,0,0,1334,481.52
$SM_GC,1.61,6.68,0.00,0.00,0.041,0.000,0.000,217,2413,1334,-6.84,0.31,481.52
$IRIDIUM_FIX,2359.20,12612.06,051010,161657
$TT8_MAMPS,0.027713
$HUMID,47.24
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,25.00
$XPDR_PINGS,4
$24V_AH,24.6,19.985
$10V_AH,10.3,24.119
$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,17.325,61.200,486.000,0.000,0.000,29.966,21.299,165.437,1.000,0.000,13.693,2097.475,1719.626,473.900,2479.203,182.326,0.000,1303.322,0.000,1348.106,0.000,0.543,0.000
$DEVICE_MAMPS,226.440,55.845,863.685,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,590.614,1334.251,1603.930,0.000,0.000,0.000,2264.560,0.000,0.000,0.000
$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,63688,877
$CAP_FILE_SIZE,91495,0
$CFSIZE,260165632,240369664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037, 14.1,1
$GPS,051010,200707,2410.481,12608.747,11,1.9,17,-3.6