version: 66.08
glider: 181
mission: 4
dive: 153
start: 10 6 110 20 6 54
data:
$ID,181
$MISSION,4
$DIVE,153
$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,-38037.66
$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,42
$R_STBD_OVSHOOT,56
$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,304.0
$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
$GPS1,061010,200026,2418.363,12609.387,12,1.7,12,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-69.4
$GPS2,061010,200626,2418.396,12609.398,10,1.9,10,-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,200.0,34076,-22.5,-13.889
$D_GRID,1566
$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,-54.17,0.000,2,0.000,0.000,197,2440,2890,0,0,0,0,0,0
$GC,79,-0.89,-155.7,3.3,-5.1,7,118,7.53,2.22,-22.00,0.000,4,0.221,0.047,2132,985,3936,0,0,0,0,0,0
$GC,219,-0.77,-155.7,54.9,-40.3,30,229,0.15,2.15,0.00,0.000,6,0.156,0.037,2168,2373,3937,0,0,0,0,0,0
$GC,554,-0.71,-155.7,152.1,-25.8,91,561,0.00,2.15,0.00,0.000,4,0.000,0.041,2159,3790,3940,0,0,0,0,0,0
$GC,592,-0.69,-155.7,161.3,-21.9,97,600,0.15,2.08,0.00,0.000,6,0.145,0.028,2200,2389,3940,0,0,0,0,0,0
$GC,946,-0.69,-155.7,228.3,-18.6,158,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2386,3941,0,0,0,0,0,0
$GC,1289,-0.71,-155.7,282.5,-16.0,219,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2386,3941,0,0,0,0,0,0
$GC,1625,-0.74,-155.7,336.6,-15.4,260,1628,0.00,2.05,0.00,0.000,4,0.000,0.034,2201,1001,3940,0,0,0,0,0,0
$GC,1737,-0.80,-155.7,352.5,-13.1,270,1741,0.00,2.12,0.00,0.000,6,0.000,0.037,2193,2407,3940,0,0,0,0,0,0
$GC,2064,-0.84,-155.7,396.5,-12.1,300,2069,0.12,2.12,0.00,0.000,4,0.085,0.046,2121,3783,3939,0,0,0,0,0,0
$GC,2126,-0.84,-155.7,406.2,-15.7,305,2131,0.12,2.03,0.00,0.000,6,0.159,0.028,2153,2395,3939,0,0,0,0,0,0
$GC,2453,-0.84,-155.7,459.4,-16.1,335,2457,0.00,2.05,0.00,0.000,4,0.000,0.035,2153,998,3937,0,0,0,0,0,0
$GC,2537,-0.87,-155.7,471.8,-14.6,342,2541,0.00,2.12,0.00,0.000,6,0.000,0.037,2149,2401,3937,0,0,0,0,0,0
$STATE,2713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2713,begin apogee
$GC,2718,-0.16,0.0,501.0,17.2,358,2841,0.68,0.00,117.53,0.869,6,0.126,0.000,2372,1980,3298,0,0,0,0,0,0
$STATE,2842,end apogee,CONTROL_FINISHED_OK
$STATE,2842,begin climb
$GC,2843,0.89,155.7,507.4,0.0,368,2971,0.90,0.00,119.95,0.852,6,0.042,0.000,2724,1980,2662,0,0,0,0,0,0
$GC,3288,0.76,155.7,460.6,17.1,409,3293,0.20,2.20,0.00,0.000,4,0.180,0.039,2672,3411,2655,0,0,0,0,0,0
$GC,3319,0.64,155.7,455.3,17.5,411,3324,0.20,2.12,0.00,0.000,6,0.185,0.031,2630,2008,2655,0,0,0,0,0,0
$GC,3645,0.64,195.5,417.0,11.5,441,3682,0.00,2.25,30.45,0.802,4,0.000,0.041,2640,592,2500,0,0,0,0,0,0
$GC,3720,0.61,205.8,407.5,13.3,447,3740,0.00,2.17,9.30,0.696,6,0.000,0.034,2640,2014,2458,0,0,0,0,0,0
$GC,4059,0.61,241.8,363.4,11.7,479,4094,0.00,2.20,28.35,0.773,4,0.000,0.043,2639,3408,2311,0,0,0,0,0,0
$GC,4179,0.58,241.8,346.0,15.4,489,4186,0.15,2.15,0.00,0.000,6,0.166,0.031,2612,1997,2307,0,0,0,0,0,0
$GC,4503,0.65,300.7,311.3,10.4,520,4555,0.00,2.22,45.75,0.754,4,0.000,0.043,2621,604,2072,0,0,0,0,0,0
$GC,4597,0.72,333.9,300.7,11.9,528,4632,0.10,2.15,26.30,0.720,6,0.104,0.034,2665,2009,1937,0,0,0,0,0,0
$GC,4968,0.70,333.9,234.5,18.1,592,4976,0.00,2.17,0.00,0.000,4,0.000,0.042,2664,3402,1929,0,0,0,0,0,0
$GC,5023,0.68,333.9,224.2,18.6,601,5031,0.12,2.12,0.00,0.000,6,0.171,0.032,2644,1998,1929,0,0,0,0,0,0
$GC,5370,0.69,342.4,169.2,13.4,662,5380,0.00,0.00,6.72,0.542,6,0.000,0.000,2644,1997,1902,0,0,0,0,0,0
$GC,5711,0.73,357.4,122.4,13.0,723,5735,0.00,2.20,12.82,0.586,4,0.000,0.042,2653,585,1837,0,0,0,0,0,0
$GC,5794,0.84,412.6,112.0,10.6,736,5842,0.08,2.17,42.22,0.611,6,0.057,0.034,2704,2013,1618,0,0,0,0,0,0
$GC,6169,0.92,445.8,57.6,11.9,802,6201,0.00,2.15,25.20,0.559,4,0.000,0.038,2704,3404,1481,0,0,0,0,0,0
$GC,6281,0.97,450.4,42.9,13.6,820,6297,0.00,2.17,5.18,0.414,6,0.000,0.031,2714,1993,1458,0,0,0,0,0,0
$STATE,6557,end climb,SURFACE_DEPTH_REACHED
$STATE,6557,begin surface coast
$FINISH,0.6,1.020871
$STATE,6575,end surface coast,CONTROL_FINISHED_OK
$STATE,6575,begin surface
$SM_CCo,6660,0.00,0.000,0,0,1455,451.84
$SM_GC,1.45,6.47,0.00,0.00,0.038,0.000,0.000,207,2407,1455,-6.84,0.23,451.84
$IRIDIUM_FIX,2403.92,12554.52,061010,181820
$TT8_MAMPS,0.027713
$HUMID,47.44
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.6,21.463
$10V_AH,10.3,26.122
$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,16.975,52.775,469.775,0.000,0.000,30.052,26.696,161.498,0.500,0.000,13.645,2121.196,1770.275,460.241,2493.989,179.120,0.000,1273.324,0.000,1361.107,0.000,0.543,0.000
$DEVICE_MAMPS,221.085,46.665,869.040,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,589.112,1328.725,1603.920,0.000,0.000,0.000,2265.238,0.000,0.000,0.000
$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,60260,873
$CAP_FILE_SIZE,91056,0
$CFSIZE,260165632,239484928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094, 89.2,1
$GPS,061010,215906,2417.467,12609.461,37,1.7,37,-3.7