version: 66.08
glider: 181
mission: 4
dive: 166
start: 10 7 110 22 17 0
data:
$ID,181
$MISSION,4
$DIVE,166
$N_DIVES,175
$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,-38054.078
$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,38
$R_STBD_OVSHOOT,45
$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,330.0
$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
$GPS1,071010,221007,2407.814,12608.874,29,1.5,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-69.5
$GPS2,071010,221632,2407.864,12608.896,14,1.7,14,-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,187.3,14566,-22.5,-13.889
$D_GRID,1747
$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,-155.7,0.0,0.0,0,69,0.00,0.00,-46.90,0.000,2,0.000,0.000,200,2417,2788,0,0,0,0,0,0
$GC,71,-0.89,-155.7,3.2,-4.9,6,111,7.50,2.17,-25.17,0.000,4,0.221,0.044,2132,975,3933,0,0,0,0,0,0
$GC,174,-0.76,-155.7,37.2,-40.3,22,183,0.17,2.17,0.00,0.000,6,0.162,0.035,2174,2384,3935,0,0,0,0,0,0
$GC,509,-0.70,-155.7,136.2,-23.3,83,517,0.00,2.15,0.00,0.000,4,0.000,0.041,2165,3780,3937,0,0,0,0,0,0
$GC,635,-0.70,-155.7,162.1,-19.2,105,643,0.12,2.05,0.00,0.000,6,0.158,0.028,2194,2387,3935,0,0,0,0,0,0
$GC,989,-0.70,-155.7,226.3,-16.7,166,997,0.00,2.08,0.00,0.000,4,0.000,0.035,2198,1001,3938,0,0,0,0,0,0
$GC,1023,-0.72,-155.7,231.2,-16.0,171,1030,0.00,2.10,0.00,0.000,6,0.000,0.035,2190,2401,3941,0,0,0,0,0,0
$GC,1363,-0.72,-155.7,288.7,-16.0,232,1372,0.00,2.12,0.00,0.000,4,0.000,0.043,2180,3780,3938,0,0,0,0,0,0
$GC,1459,-0.76,-155.7,302.4,-13.5,247,1466,0.00,2.03,0.00,0.000,6,0.000,0.028,2180,2397,3941,0,0,0,0,0,0
$GC,1784,-0.77,-155.7,354.2,-17.0,278,1788,0.00,2.05,0.00,0.000,4,0.000,0.034,2180,994,3941,0,0,0,0,0,0
$GC,1812,-0.79,-155.7,359.1,-17.9,280,1816,0.00,2.12,0.00,0.000,6,0.000,0.036,2172,2401,3937,0,0,0,0,0,0
$GC,2137,-0.80,-155.7,414.0,-16.8,310,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2401,3936,0,0,0,0,0,0
$GC,2458,-0.82,-155.7,464.3,-16.2,340,2462,0.00,2.10,0.00,0.000,4,0.000,0.045,2162,3778,3934,0,0,0,0,0,0
$GC,2487,-0.85,-155.7,469.4,-16.7,342,2490,0.00,2.05,0.00,0.000,6,0.000,0.028,2162,2392,3933,0,0,0,0,0,0
$STATE,2690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2690,begin apogee
$GC,2695,-0.16,0.0,500.8,15.0,361,2817,0.62,0.00,116.60,0.863,6,0.121,0.000,2370,1978,3298,0,0,0,0,0,0
$STATE,2818,end apogee,CONTROL_FINISHED_OK
$STATE,2818,begin climb
$GC,2819,0.89,155.7,507.4,0.0,371,2947,0.90,2.33,119.60,0.847,4,0.044,0.040,2721,3411,2662,0,0,0,0,0,0
$GC,3131,0.74,155.7,479.8,17.4,397,3139,0.25,2.12,0.00,0.000,6,0.184,0.030,2669,2008,2656,0,0,0,0,0,0
$GC,3457,0.67,166.4,436.8,13.2,428,3472,0.00,2.22,8.38,0.694,4,0.000,0.041,2668,3410,2620,0,0,0,0,0,0
$GC,3519,0.57,166.4,428.1,15.2,433,3524,0.25,2.10,0.00,0.000,6,0.176,0.030,2611,2002,2618,0,0,0,0,0,0
$GC,3846,0.66,264.3,397.9,8.0,463,3930,0.00,2.22,75.78,0.803,4,0.000,0.041,2620,595,2219,0,0,0,0,0,0
$GC,4044,0.72,300.8,376.8,11.7,480,4082,0.12,2.17,29.23,0.762,6,0.094,0.032,2672,2014,2070,0,0,0,0,0,0
$GC,4399,0.68,300.8,312.8,19.0,513,4403,0.00,2.12,0.00,0.000,4,0.000,0.042,2672,3405,2062,0,0,0,0,0,0
$GC,4495,0.65,300.8,293.3,19.0,524,4505,0.15,2.15,0.00,0.000,6,0.153,0.031,2637,2003,2059,0,0,0,0,0,0
$GC,4841,0.65,300.8,239.4,14.3,585,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2001,2059,0,0,0,0,0,0
$GC,5186,0.67,300.8,191.2,14.8,646,5194,0.00,2.15,0.00,0.000,4,0.000,0.041,2646,596,2058,0,0,0,0,0,0
$GC,5313,0.70,303.7,173.8,13.7,668,5322,0.00,2.12,0.00,0.000,6,0.000,0.033,2646,1998,2058,0,0,0,0,0,0
$GC,5653,0.73,320.4,129.9,12.9,729,5677,0.00,2.20,14.07,0.594,4,0.000,0.042,2646,3407,1990,0,0,0,0,0,0
$GC,5739,0.75,320.4,118.4,13.9,743,5747,0.00,2.12,0.00,0.000,6,0.000,0.031,2656,2002,1988,0,0,0,0,0,0
$GC,6072,0.84,380.9,76.4,10.3,804,6127,0.12,0.00,45.95,0.584,6,0.086,0.000,2721,2000,1747,0,0,0,0,0,0
$GC,6454,0.87,404.0,25.7,12.5,871,6478,0.00,2.12,17.58,0.522,4,0.000,0.038,2731,597,1650,0,0,0,0,0,0
$GC,6537,0.89,404.0,14.4,14.1,884,6546,0.00,2.15,0.00,0.000,6,0.000,0.032,2731,2005,1649,0,0,0,0,0,0
$STATE,6616,end climb,SURFACE_DEPTH_REACHED
$STATE,6616,begin surface coast
$FINISH,0.5,1.009008
$STATE,6634,end surface coast,CONTROL_FINISHED_OK
$STATE,6634,begin surface
$SM_CCo,6722,0.00,0.000,0,0,1645,405.48
$SM_GC,1.62,6.57,0.00,0.00,0.041,0.000,0.000,198,2420,1645,-6.84,0.57,405.48
$IRIDIUM_FIX,2359.20,12618.66,071010,202054
$TT8_MAMPS,0.027713
$HUMID,47.87
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.7,22.948
$10V_AH,10.3,28.160
$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,16.800,56.650,427.175,0.000,0.000,27.109,15.081,185.843,0.000,0.000,17.393,2191.752,1701.483,435.899,2588.969,192.650,0.000,1267.766,0.000,1408.391,0.000,0.543,0.000
$DEVICE_MAMPS,221.085,45.135,862.920,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,608.369,1371.272,1668.141,0.000,0.000,0.000,2404.625,0.000,0.000,0.000
$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,63698,901
$CAP_FILE_SIZE,92436,0
$CFSIZE,260165632,238583808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,115.4,1
$GPS,081010,001006,2406.804,12609.064,13,1.2,29,-3.6