version: 66.08
glider: 181
mission: 4
dive: 146
start: 10 6 110 6 16 30
data:
$ID,181
$MISSION,4
$DIVE,146
$N_DIVES,165
$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,-38028.867
$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,38
$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,290.0
$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
$GPS1,061010,060906,2415.662,12609.312,32,0.9,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-70.1
$GPS2,061010,061602,2415.656,12609.299,11,1.7,11,-3.7
$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,345.0,8061,-22.5,-13.889
$D_GRID,1528
$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,-155.7,0.0,0.0,0,67,0.00,0.00,-45.38,0.000,2,0.000,0.000,196,2404,2741,0,0,0,0,0,0
$GC,70,-0.89,-155.7,3.0,-4.3,6,110,7.55,2.12,-27.27,0.000,4,0.224,0.054,2120,3781,3935,0,0,0,0,0,0
$GC,212,-0.79,-155.7,50.0,-36.3,29,221,0.15,2.10,0.00,0.000,6,0.161,0.030,2164,2404,3935,0,0,0,0,0,0
$GC,546,-0.74,-155.7,149.9,-22.3,90,554,0.00,2.12,0.00,0.000,4,0.000,0.035,2164,985,3936,0,0,0,0,0,0
$GC,590,-0.70,-155.7,160.2,-22.0,97,597,0.15,2.12,0.00,0.000,6,0.163,0.034,2194,2402,3937,0,0,0,0,0,0
$GC,930,-0.70,-155.7,226.7,-17.7,158,938,0.00,2.10,0.00,0.000,4,0.000,0.043,2186,3769,3938,0,0,0,0,0,0
$GC,1009,-0.74,-155.7,239.2,-14.1,172,1017,0.00,2.08,0.00,0.000,6,0.000,0.028,2186,2379,3938,0,0,0,0,0,0
$GC,1340,-0.74,-155.7,296.0,-16.6,233,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2376,3938,0,0,0,0,0,0
$GC,1666,-0.75,-155.7,348.8,-16.5,266,1669,0.00,2.03,0.00,0.000,4,0.000,0.034,2186,995,3937,0,0,0,0,0,0
$GC,1704,-0.78,-155.7,355.4,-16.6,269,1711,0.00,2.12,0.00,0.000,6,0.000,0.037,2177,2407,3937,0,0,0,0,0,0
$GC,2029,-0.80,-155.7,406.9,-16.3,300,2033,0.00,2.10,0.00,0.000,4,0.000,0.044,2166,3785,3936,0,0,0,0,0,0
$GC,2137,-0.85,-155.7,422.1,-13.7,309,2141,0.00,2.05,0.00,0.000,6,0.000,0.028,2166,2396,3935,0,0,0,0,0,0
$GC,2469,-0.87,-155.7,472.2,-13.5,340,2472,0.00,2.05,0.00,0.000,4,0.000,0.035,2166,997,3933,0,0,0,0,0,0
$GC,2517,-0.92,-155.7,478.3,-11.3,344,2526,0.08,2.15,0.00,0.000,6,0.063,0.038,2115,2396,3932,0,0,0,0,0,0
$STATE,2650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2650,begin apogee
$GC,2655,-0.16,0.0,500.3,18.2,357,2776,0.80,0.00,116.38,0.866,6,0.137,0.000,2370,1977,3299,0,0,0,0,0,0
$STATE,2777,end apogee,CONTROL_FINISHED_OK
$STATE,2777,begin climb
$GC,2779,0.89,155.7,503.3,0.0,367,2908,0.90,2.22,119.75,0.845,4,0.040,0.037,2738,607,2662,0,0,0,0,0,0
$GC,2953,0.74,155.7,494.7,17.9,382,2958,0.28,2.15,0.00,0.000,6,0.179,0.033,2667,2009,2658,0,0,0,0,0,0
$GC,3279,0.67,171.5,446.1,12.9,412,3296,0.00,2.15,12.35,0.744,4,0.000,0.037,2676,604,2600,0,0,0,0,0,0
$GC,3542,0.63,205.6,410.6,11.8,435,3577,0.17,2.15,27.62,0.789,6,0.169,0.034,2631,2007,2462,0,0,0,0,0,0
$GC,3904,0.66,249.6,368.0,11.3,469,3943,0.00,2.22,33.72,0.778,4,0.000,0.044,2631,3395,2282,0,0,0,0,0,0
$GC,4051,0.64,249.6,346.3,15.6,482,4060,0.00,2.12,0.00,0.000,6,0.000,0.031,2639,2014,2277,0,0,0,0,0,0
$GC,4378,0.62,249.6,297.5,14.6,514,4386,0.00,2.17,0.00,0.000,4,0.000,0.041,2651,601,2274,0,0,0,0,0,0
$GC,4431,0.61,249.6,289.8,14.0,523,4439,0.00,2.12,0.00,0.000,6,0.000,0.034,2650,2008,2274,0,0,0,0,0,0
$GC,4764,0.62,281.7,244.7,12.0,584,4800,0.00,2.22,24.83,0.702,4,0.000,0.044,2650,3401,2149,0,0,0,0,0,0
$GC,4807,0.62,298.4,238.9,12.9,590,4831,0.10,2.15,13.95,0.655,6,0.151,0.032,2629,2003,2082,0,0,0,0,0,0
$GC,5159,0.64,303.5,196.1,13.6,653,5174,0.00,2.20,4.80,0.490,4,0.000,0.042,2631,3397,2061,0,0,0,0,0,0
$GC,5211,0.66,303.5,189.0,14.3,661,5218,0.00,2.12,0.00,0.000,6,0.000,0.032,2638,1987,2060,0,0,0,0,0,0
$GC,5542,0.70,323.0,145.4,12.7,722,5567,0.00,2.15,16.08,0.611,4,0.000,0.041,2648,601,1981,0,0,0,0,0,0
$GC,5710,0.79,371.4,125.8,11.0,751,5758,0.00,2.12,37.60,0.618,6,0.000,0.033,2648,1993,1782,0,0,0,0,0,0
$GC,6085,0.89,417.7,79.3,11.1,817,6133,0.17,2.22,35.17,0.579,4,0.071,0.041,2744,598,1594,0,0,0,0,0,0
$GC,6152,0.87,417.7,68.4,19.0,826,6161,0.10,2.17,0.00,0.000,6,0.139,0.034,2711,2001,1592,0,0,0,0,0,0
$GC,6487,0.92,435.1,27.3,12.8,887,6504,0.00,0.00,13.25,0.507,6,0.000,0.000,2711,2002,1525,0,0,0,0,0,0
$STATE,6667,end climb,SURFACE_DEPTH_REACHED
$STATE,6667,begin surface coast
$FINISH,0.6,1.009688
$STATE,6692,end surface coast,CONTROL_FINISHED_OK
$STATE,6692,begin surface
$SM_CCo,6777,0.00,0.000,0,0,1520,436.39
$SM_GC,1.66,6.35,0.00,0.00,0.031,0.000,0.000,203,2405,1520,-6.84,0.14,436.39
$IRIDIUM_FIX,2408.65,12603.03,061010,040458
$TT8_MAMPS,0.023968
$HUMID,47.44
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.30
$XPDR_PINGS,3
$24V_AH,24.7,20.670
$10V_AH,10.3,25.051
$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,16.800,61.025,455.500,0.000,0.000,29.151,51.618,182.948,0.750,0.000,13.832,2230.835,1635.736,454.747,2681.935,193.554,0.000,1321.435,0.000,1449.690,0.000,0.543,0.000
$DEVICE_MAMPS,224.145,54.315,865.980,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,622.574,1405.474,1701.573,0.000,0.000,0.000,2407.568,0.000,0.000,0.000
$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,63872,923
$CAP_FILE_SIZE,96404,0
$CFSIZE,260165632,239955968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109, 74.7,1
$GPS,061010,081013,2416.657,12609.500,11,1.8,11,-3.7