version: 66.08
glider: 181
mission: 4
dive: 151
start: 10 6 110 16 8 47
data:
$ID,181
$MISSION,4
$DIVE,151
$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,-38035.145
$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,46
$R_STBD_OVSHOOT,37
$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,300.0
$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
$GPS1,061010,160201,2419.587,12609.062,9,1.8,9,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-70.9
$GPS2,061010,160819,2419.588,12609.018,9,1.2,14,-3.7
$SPEED_LIMITS,0.241,0.296
$TGT_NAME,NWALL_S
$TGT_LATLONG,2400.000,12609.000
$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,181.1,36277,-22.5,-13.889
$D_GRID,1619
$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,-155.7,0.0,0.0,0,60,0.00,0.00,-38.25,0.000,2,0.000,0.000,201,2411,2758,0,0,0,0,0,0
$GC,62,-0.89,-155.7,3.1,-5.6,5,103,7.57,2.12,-26.30,0.000,4,0.225,0.044,2133,986,3931,0,0,0,0,0,0
$GC,184,-0.76,-155.7,44.9,-40.2,24,193,0.17,2.17,0.00,0.000,6,0.171,0.037,2175,2394,3936,0,0,0,0,0,0
$GC,518,-0.72,-155.7,141.6,-23.3,85,526,0.00,2.15,0.00,0.000,4,0.000,0.041,2166,3787,3935,0,0,0,0,0,0
$GC,567,-0.69,-155.7,153.3,-22.4,93,575,0.12,2.05,0.00,0.000,6,0.154,0.028,2199,2396,3936,0,0,0,0,0,0
$GC,908,-0.69,-155.7,217.4,-17.9,154,917,0.00,2.15,0.00,0.000,4,0.000,0.043,2190,3775,3937,0,0,0,0,0,0
$GC,945,-0.71,-155.7,223.7,-17.3,160,953,0.00,2.08,0.00,0.000,6,0.000,0.028,2190,2392,3937,0,0,0,0,0,0
$GC,1278,-0.71,-155.7,282.8,-17.7,221,1284,0.00,2.05,0.00,0.000,4,0.000,0.035,2190,1002,3937,0,0,0,0,0,0
$GC,1356,-0.75,-155.7,295.7,-14.9,235,1363,0.00,2.12,0.00,0.000,6,0.000,0.038,2181,2409,3937,0,0,0,0,0,0
$GC,1684,-0.75,-155.7,354.6,-17.1,268,1688,0.00,2.08,0.00,0.000,4,0.000,0.045,2170,3784,3936,0,0,0,0,0,0
$GC,1712,-0.76,-155.7,359.7,-17.8,270,1716,0.00,2.03,0.00,0.000,6,0.000,0.028,2170,2402,3936,0,0,0,0,0,0
$GC,2044,-0.76,-155.7,411.0,-15.9,301,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2398,3934,0,0,0,0,0,0
$GC,2363,-0.78,-155.7,463.0,-15.6,331,2367,0.00,2.08,0.00,0.000,4,0.000,0.035,2170,1001,3933,0,0,0,0,0,0
$GC,2451,-0.83,-155.7,476.7,-14.4,338,2459,0.00,2.15,0.00,0.000,6,0.000,0.038,2164,2401,3932,0,0,0,0,0,0
$STATE,2615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2615,begin apogee
$GC,2619,-0.16,0.0,500.8,15.3,354,2743,0.60,0.00,116.72,0.868,6,0.119,0.000,2366,1979,3298,0,0,0,0,0,0
$STATE,2743,end apogee,CONTROL_FINISHED_OK
$STATE,2743,begin climb
$GC,2745,0.89,155.7,507.3,0.0,364,2875,0.93,2.35,119.85,0.851,4,0.044,0.040,2724,3411,2663,0,0,0,0,0,0
$GC,3017,0.74,155.7,488.5,16.3,388,3026,0.25,2.15,0.00,0.000,6,0.173,0.030,2665,2021,2657,0,0,0,0,0,0
$GC,3344,0.70,197.1,447.7,11.4,419,3381,0.00,2.25,31.88,0.811,4,0.000,0.042,2664,3413,2494,0,0,0,0,0,0
$GC,3419,0.62,197.1,437.3,15.8,425,3426,0.17,2.17,0.00,0.000,6,0.179,0.031,2630,1987,2491,0,0,0,0,0,0
$GC,3746,0.59,197.1,396.0,14.0,456,3750,0.00,2.12,0.00,0.000,4,0.000,0.041,2639,590,2487,0,0,0,0,0,0
$GC,3998,0.54,197.1,357.8,16.5,478,4008,0.12,2.17,0.00,0.000,6,0.151,0.034,2600,2013,2486,0,0,0,0,0,0
$GC,4325,0.63,270.9,324.8,9.5,509,4388,0.00,2.25,56.00,0.770,4,0.000,0.040,2609,605,2192,0,0,0,0,0,0
$GC,4429,0.71,308.7,314.0,11.6,518,4468,0.12,2.15,30.40,0.734,6,0.088,0.034,2663,2011,2038,0,0,0,0,0,0
$GC,4782,0.68,308.7,253.8,15.8,576,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2009,2030,0,0,0,0,0,0
$GC,5114,0.65,308.7,200.4,15.2,637,5127,0.00,2.12,0.00,0.000,4,0.000,0.044,2664,3402,2029,0,0,0,0,0,0
$GC,5213,0.63,308.7,184.0,16.7,654,5222,0.12,2.12,0.00,0.000,6,0.146,0.032,2633,2009,2028,0,0,0,0,0,0
$GC,5552,0.68,336.1,143.9,12.2,715,5577,0.00,2.17,19.92,0.624,4,0.000,0.041,2642,593,1929,0,0,0,0,0,0
$GC,5625,0.75,369.9,134.9,11.9,726,5658,0.00,2.15,27.08,0.620,6,0.000,0.034,2642,1996,1789,0,0,0,0,0,0
$GC,5984,0.79,369.9,85.3,14.3,790,5993,0.10,2.20,0.00,0.000,4,0.101,0.043,2691,3401,1783,0,0,0,0,0,0
$GC,6022,0.79,369.9,78.9,16.1,796,6030,0.00,2.15,0.00,0.000,6,0.000,0.032,2702,1994,1782,0,0,0,0,0,0
$GC,6356,0.87,416.0,37.8,11.1,857,6396,0.00,2.15,34.80,0.555,4,0.000,0.041,2713,596,1601,0,0,0,0,0,0
$GC,6520,0.91,416.0,17.1,14.7,884,6528,0.00,2.15,0.00,0.000,6,0.000,0.032,2713,2001,1597,0,0,0,0,0,0
$STATE,6624,end climb,SURFACE_DEPTH_REACHED
$STATE,6625,begin surface coast
$FINISH,0.6,1.011326
$STATE,6649,end surface coast,CONTROL_FINISHED_OK
$STATE,6649,begin surface
$SM_CCo,6733,0.00,0.000,0,0,1593,418.24
$SM_GC,1.61,6.50,0.00,0.00,0.041,0.000,0.000,209,2431,1593,-6.84,0.88,418.24
$IRIDIUM_FIX,2408.65,12616.25,061010,141451
$TT8_MAMPS,0.027713
$HUMID,47.16
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.6,21.234
$10V_AH,10.2,25.821
$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,16.800,61.250,436.650,0.000,0.000,31.232,18.302,180.648,0.500,0.000,16.757,2211.690,1666.617,437.424,2608.034,193.238,0.000,1287.175,0.000,1429.865,0.000,0.543,0.000
$DEVICE_MAMPS,224.910,45.135,868.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,612.892,1380.287,1670.830,0.000,0.000,0.000,2393.504,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331472
$DATA_FILE_SIZE,63764,907
$CAP_FILE_SIZE,94225,0
$CFSIZE,260165632,239611904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088, 12.6,1
$GPS,061010,180207,2418.965,12609.141,31,0.8,31,-3.7