version: 66.08
glider: 181
mission: 4
dive: 158
start: 10 7 110 6 8 0
data:
$ID,181
$MISSION,4
$DIVE,158
$N_DIVES,170
$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,-38043.941
$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,47
$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,314.0
$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
$GPS1,071010,060120,2414.218,12609.669,13,1.8,13,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-66.4
$GPS2,071010,060732,2414.217,12609.674,10,1.6,10,-3.6
$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,202.4,26354,-22.5,-13.889
$D_GRID,1525
$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,-155.7,0.0,0.0,0,67,0.00,0.00,-45.33,0.000,2,0.000,0.000,202,2416,2673,0,0,0,0,0,0
$GC,70,-0.89,-155.7,3.0,-4.9,6,117,7.57,2.17,-30.70,0.000,4,0.226,0.044,2130,988,3936,0,0,0,0,0,0
$GC,229,-0.75,-155.7,57.9,-40.4,32,239,0.20,2.15,0.00,0.000,6,0.175,0.036,2177,2382,3936,0,0,0,0,0,0
$GC,563,-0.70,-155.7,153.7,-22.6,93,571,0.00,2.12,0.00,0.000,4,0.000,0.042,2168,3784,3939,0,0,0,0,0,0
$GC,613,-0.68,-155.7,164.2,-20.1,101,621,0.15,2.05,0.00,0.000,6,0.151,0.027,2209,2391,3939,0,0,0,0,0,0
$GC,966,-0.68,-155.7,229.0,-19.7,162,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2388,3939,0,0,0,0,0,0
$GC,1310,-0.70,-155.7,282.9,-14.9,223,1317,0.00,2.05,0.00,0.000,4,0.000,0.034,2209,997,3939,0,0,0,0,0,0
$GC,1393,-0.77,-155.7,294.0,-12.4,237,1400,0.00,2.12,0.00,0.000,6,0.000,0.036,2204,2412,3939,0,0,0,0,0,0
$GC,1727,-0.80,-155.7,345.8,-15.3,272,1729,0.10,0.00,0.00,0.000,6,0.095,0.000,2147,2414,3939,0,0,0,0,0,0
$GC,2045,-0.78,-155.7,407.4,-17.7,302,2049,0.00,2.10,0.00,0.000,4,0.000,0.044,2136,3786,3938,0,0,0,0,0,0
$GC,2074,-0.77,-155.7,412.4,-16.9,304,2078,0.15,2.03,0.00,0.000,6,0.148,0.028,2177,2398,3938,0,0,0,0,0,0
$GC,2400,-0.79,-155.7,464.6,-15.7,334,2404,0.00,2.05,0.00,0.000,4,0.000,0.036,2177,1001,3936,0,0,0,0,0,0
$GC,2413,-0.82,-155.7,466.8,-16.0,335,2417,0.00,2.10,0.00,0.000,6,0.000,0.037,2170,2399,3936,0,0,0,0,0,0
$STATE,2637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2637,begin apogee
$GC,2643,-0.16,0.0,500.0,14.0,356,2766,0.60,0.00,117.10,0.864,6,0.116,0.000,2373,1979,3298,0,0,0,0,0,0
$STATE,2767,end apogee,CONTROL_FINISHED_OK
$STATE,2767,begin climb
$GC,2769,0.89,155.7,505.1,0.0,366,2899,0.88,2.30,119.47,0.847,4,0.034,0.037,2733,3414,2663,0,0,0,0,0,0
$GC,2957,0.73,155.7,497.4,17.8,382,2962,0.32,2.15,0.00,0.000,6,0.184,0.030,2660,2014,2660,0,0,0,0,0,0
$GC,3283,0.69,191.7,455.7,11.7,412,3320,0.00,2.22,28.12,0.805,4,0.000,0.042,2660,3401,2515,0,0,0,0,0,0
$GC,3427,0.60,191.7,434.0,16.0,424,3436,0.15,2.15,0.00,0.000,6,0.163,0.031,2625,2007,2511,0,0,0,0,0,0
$GC,3754,0.61,218.6,394.4,12.3,455,3781,0.00,2.25,21.00,0.776,4,0.000,0.042,2625,3411,2406,0,0,0,0,0,0
$GC,3897,0.58,218.6,372.8,14.9,468,3901,0.00,2.15,0.00,0.000,6,0.000,0.031,2634,1997,2402,0,0,0,0,0,0
$GC,4225,0.57,236.6,329.3,12.8,498,4243,0.00,0.00,14.32,0.725,6,0.000,0.000,2633,1993,2336,0,0,0,0,0,0
$GC,4562,0.56,236.6,281.7,14.2,542,4570,0.00,2.15,0.00,0.000,4,0.000,0.041,2644,597,2329,0,0,0,0,0,0
$GC,4599,0.54,238.0,276.5,13.8,548,4608,0.12,2.15,0.00,0.000,6,0.147,0.034,2605,2001,2327,0,0,0,0,0,0
$GC,4931,0.63,291.2,240.0,10.7,609,4979,0.00,2.25,42.15,0.707,4,0.000,0.041,2614,596,2111,0,0,0,0,0,0
$GC,5052,0.72,340.0,227.0,11.0,629,5096,0.12,2.15,38.25,0.685,6,0.090,0.033,2669,2007,1912,0,0,0,0,0,0
$GC,5421,0.71,340.0,164.5,17.4,695,5428,0.00,2.15,0.00,0.000,4,0.000,0.042,2668,3404,1904,0,0,0,0,0,0
$GC,5512,0.71,340.0,149.3,16.4,711,5520,0.00,2.15,0.00,0.000,6,0.000,0.031,2679,1995,1903,0,0,0,0,0,0
$GC,5844,0.71,340.1,98.1,13.9,772,5852,0.00,2.12,0.00,0.000,4,0.000,0.041,2690,602,1903,0,0,0,0,0,0
$GC,5914,0.73,353.3,88.8,13.1,784,5932,0.08,2.12,10.27,0.544,6,0.131,0.034,2665,1998,1856,0,0,0,0,0,0
$GC,6259,0.96,485.5,57.4,6.0,846,6367,0.20,2.20,97.97,0.568,4,0.065,0.040,2758,3403,1317,0,0,0,0,0,0
$GC,6484,0.98,485.5,21.7,14.2,881,6493,0.00,2.17,0.00,0.000,6,0.000,0.031,2767,2000,1313,0,0,0,0,0,0
$STATE,6584,end climb,SURFACE_DEPTH_REACHED
$STATE,6584,begin surface coast
$FINISH,0.5,1.016635
$STATE,6605,end surface coast,CONTROL_FINISHED_OK
$STATE,6605,begin surface
$SM_CCo,6692,0.00,0.000,0,0,1309,487.90
$SM_GC,1.43,6.57,0.00,0.00,0.031,0.000,0.000,205,2425,1309,-6.83,0.71,487.90
$IRIDIUM_FIX,2411.01,12549.30,071010,040412
$TT8_MAMPS,0.027713
$HUMID,47.48
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.7,22.040
$10V_AH,10.3,26.901
$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,17.225,56.975,488.675,0.000,0.000,23.594,22.550,177.465,0.500,0.000,13.378,2163.861,1697.997,474.048,2533.346,197.912,0.000,1310.164,0.000,1376.516,0.000,0.543,0.000
$DEVICE_MAMPS,226.440,44.370,863.685,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,607.745,1372.669,1651.374,0.000,0.000,0.000,2265.933,0.000,0.000,0.000
$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,63794,902
$CAP_FILE_SIZE,92405,0
$CFSIZE,260165632,239140864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096, 76.7,1
$GPS,071010,080037,2413.416,12609.764,30,1.0,30,-3.6