version: 66.08
glider: 181
mission: 4
dive: 150
start: 10 6 110 14 11 2
data:
$ID,181
$MISSION,4
$DIVE,150
$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,-38033.895
$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,59
$R_STBD_OVSHOOT,39
$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,298.0
$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
$GPS1,061010,140337,2418.570,12609.097,27,2.0,27,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-71.0
$GPS2,061010,141034,2418.539,12609.041,13,2.1,32,-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,2.9,2707,-22.5,-13.889
$D_GRID,1664
$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,20,-0.89,-155.7,0.0,0.0,0,61,0.00,0.00,-39.20,0.000,2,0.000,0.000,203,2382,2726,0,0,0,0,0,0
$GC,63,-0.89,-155.7,3.1,-4.8,5,103,7.60,2.17,-26.33,0.000,4,0.224,0.055,2124,3775,3936,0,0,0,0,0,0
$GC,166,-0.78,-155.7,36.7,-37.0,21,175,0.15,2.08,0.00,0.000,6,0.161,0.030,2167,2414,3935,0,0,0,0,0,0
$GC,501,-0.72,-155.7,131.5,-24.9,82,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2412,3939,0,0,0,0,0,0
$GC,851,-0.69,-155.7,215.9,-20.6,143,859,0.12,2.12,0.00,0.000,4,0.168,0.034,2201,985,3943,0,0,0,0,0,0
$GC,894,-0.71,-155.7,224.5,-17.9,150,901,0.00,2.15,0.00,0.000,6,0.000,0.036,2193,2394,3940,0,0,0,0,0,0
$GC,1238,-0.71,-155.7,283.8,-18.2,211,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2394,3940,0,0,0,0,0,0
$GC,1572,-0.74,-155.7,345.4,-17.7,250,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2394,3940,0,0,0,0,0,0
$GC,1894,-0.78,-155.7,396.9,-14.0,280,1898,0.00,2.12,0.00,0.000,4,0.000,0.045,2183,3783,3942,0,0,0,0,0,0
$GC,2026,-0.85,-155.7,413.4,-12.8,291,2029,0.00,2.03,0.00,0.000,6,0.000,0.028,2182,2391,3938,0,0,0,0,0,0
$GC,2358,-0.89,-155.7,461.1,-13.9,322,2363,0.12,2.05,0.00,0.000,4,0.083,0.035,2119,1000,3937,0,0,0,0,0,0
$GC,2389,-0.89,-155.7,467.1,-18.2,324,2399,0.00,2.12,0.00,0.000,6,0.000,0.037,2109,2392,3937,0,0,0,0,0,0
$STATE,2555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2555,begin apogee
$GC,2560,-0.16,0.0,500.5,19.5,340,2683,0.80,0.00,117.22,0.871,6,0.137,0.000,2365,1973,3299,0,0,0,0,0,0
$STATE,2683,end apogee,CONTROL_FINISHED_OK
$STATE,2683,begin climb
$GC,2685,0.89,155.7,507.8,0.0,350,2815,0.93,2.38,119.95,0.853,4,0.044,0.039,2725,3409,2663,0,0,0,0,0,0
$GC,2831,0.77,192.6,507.5,11.7,362,2868,0.20,2.17,30.23,0.815,6,0.175,0.029,2681,2021,2512,0,0,0,0,0,0
$GC,3194,0.69,192.6,449.0,16.4,396,3196,0.12,0.00,0.00,0.000,6,0.190,0.000,2649,2020,2505,0,0,0,0,0,0
$GC,3512,0.65,203.1,406.7,13.3,426,3526,0.00,2.22,8.05,0.694,4,0.000,0.040,2658,598,2469,0,0,0,0,0,0
$GC,3565,0.60,203.1,399.0,14.4,430,3574,0.12,2.15,0.00,0.000,6,0.160,0.034,2621,2002,2469,0,0,0,0,0,0
$GC,3893,0.65,268.1,365.2,10.0,461,3953,0.00,2.25,50.42,0.799,4,0.000,0.044,2621,3397,2204,0,0,0,0,0,0
$GC,4014,0.66,279.9,350.4,13.2,471,4035,0.00,2.17,10.27,0.693,6,0.000,0.032,2629,1995,2156,0,0,0,0,0,0
$GC,4352,0.70,308.1,306.6,12.2,503,4381,0.00,0.00,22.62,0.734,6,0.000,0.000,2629,1993,2042,0,0,0,0,0,0
$GC,4711,0.70,308.1,250.9,16.4,564,4720,0.00,2.15,0.00,0.000,4,0.000,0.042,2640,601,2036,0,0,0,0,0,0
$GC,4811,0.72,308.1,235.5,15.0,581,4818,0.00,2.12,0.00,0.000,6,0.000,0.034,2640,2009,2036,0,0,0,0,0,0
$GC,5158,0.72,308.1,182.1,14.5,642,5166,0.00,2.17,0.00,0.000,4,0.000,0.041,2647,596,2034,0,0,0,0,0,0
$GC,5191,0.75,325.0,177.7,12.9,647,5213,0.00,2.10,13.05,0.627,6,0.000,0.034,2651,2000,1974,0,0,0,0,0,0
$GC,5545,0.76,336.9,128.8,13.2,710,5561,0.00,2.20,10.23,0.575,4,0.000,0.042,2650,3418,1926,0,0,0,0,0,0
$GC,5652,0.78,336.9,113.1,15.5,728,5661,0.00,2.17,0.00,0.000,6,0.000,0.033,2661,1997,1924,0,0,0,0,0,0
$GC,5986,0.84,369.2,69.3,12.0,789,6019,0.10,2.20,25.40,0.579,4,0.103,0.042,2715,3408,1793,0,0,0,0,0,0
$GC,6186,0.88,383.8,40.7,13.0,823,6204,0.00,2.15,12.43,0.523,6,0.000,0.031,2726,1993,1732,0,0,0,0,0,0
$STATE,6505,end climb,SURFACE_DEPTH_REACHED
$STATE,6505,begin surface coast
$FINISH,0.5,1.002931
$STATE,6531,end surface coast,CONTROL_FINISHED_OK
$STATE,6531,begin surface
$SM_CCo,6615,0.00,0.000,0,0,1727,385.37
$SM_GC,1.48,6.53,0.00,0.00,0.041,0.000,0.000,200,2408,1727,-6.84,0.31,385.37
$IRIDIUM_FIX,2411.01,12611.03,061010,121213
$TT8_MAMPS,0.027713
$HUMID,48.46
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.6,21.124
$10V_AH,10.2,25.663
$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,16.800,48.675,419.875,0.000,0.000,27.630,42.596,175.967,0.250,0.000,36.372,2142.252,1721.400,429.162,2551.907,191.156,0.000,1218.854,0.000,1350.175,0.000,0.543,0.000
$DEVICE_MAMPS,224.145,55.080,870.570,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,598.443,1347.166,1648.542,0.000,0.000,0.000,2326.193,0.000,0.000,0.000
$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,63828,885
$CAP_FILE_SIZE,87658,0
$CFSIZE,260165632,239689728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.020,317.9,1
$GPS,061010,160201,2419.587,12609.062,9,1.8,9,-3.7