version: 66.08
glider: 181
mission: 4
dive: 167
start: 10 8 110 0 16 48
data:
$ID,181
$MISSION,4
$DIVE,167
$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,-38055.336
$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,44
$R_STBD_OVSHOOT,54
$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,332.0
$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
$GPS1,081010,001006,2406.804,12609.064,13,1.2,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-69.9
$GPS2,081010,001620,2406.806,12609.092,11,1.4,11,-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,196.3,12606,-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,-155.7,0.0,0.0,0,67,0.00,0.00,-45.40,0.000,2,0.000,0.000,197,2419,2879,0,0,0,0,0,0
$GC,70,-0.89,-155.7,3.5,-6.2,6,110,7.55,2.17,-21.98,0.000,4,0.223,0.047,2131,995,3936,0,0,0,0,0,0
$GC,173,-0.76,-155.7,41.1,-40.0,22,182,0.15,2.15,0.00,0.000,6,0.168,0.035,2167,2389,3936,0,0,0,0,0,0
$GC,507,-0.70,-155.7,142.2,-24.0,83,517,0.12,2.17,0.00,0.000,4,0.179,0.042,2191,3783,3937,0,0,0,0,0,0
$GC,638,-0.73,-155.7,165.3,-15.5,106,647,0.00,2.08,0.00,0.000,6,0.000,0.027,2190,2392,3939,0,0,0,0,0,0
$GC,979,-0.73,-155.7,226.5,-17.6,167,987,0.00,2.05,0.00,0.000,4,0.000,0.034,2190,1004,3940,0,0,0,0,0,0
$GC,1020,-0.75,-155.7,234.3,-18.5,174,1028,0.00,2.12,0.00,0.000,6,0.000,0.036,2182,2396,3940,0,0,0,0,0,0
$GC,1352,-0.75,-155.7,297.6,-18.9,235,1360,0.00,2.10,0.00,0.000,4,0.000,0.043,2171,3786,3940,0,0,0,0,0,0
$GC,1390,-0.77,-155.7,304.2,-16.6,239,1393,0.00,2.05,0.00,0.000,6,0.000,0.028,2171,2396,3940,0,0,0,0,0,0
$GC,1720,-0.77,-155.7,362.8,-17.0,270,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2394,3939,0,0,0,0,0,0
$GC,2041,-0.78,-155.7,412.5,-13.6,300,2044,0.00,2.05,0.00,0.000,4,0.000,0.034,2171,999,3938,0,0,0,0,0,0
$GC,2056,-0.80,-155.7,415.3,-15.1,301,2063,0.00,2.10,0.00,0.000,6,0.000,0.036,2163,2400,3938,0,0,0,0,0,0
$GC,2382,-0.81,-155.7,462.3,-14.7,332,2386,0.00,2.10,0.00,0.000,4,0.000,0.044,2158,3775,3937,0,0,0,0,0,0
$GC,2446,-0.85,-155.7,470.9,-13.1,337,2449,0.00,2.03,0.00,0.000,6,0.000,0.028,2152,2400,3938,0,0,0,0,0,0
$STATE,2626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2626,begin apogee
$GC,2631,-0.16,0.0,500.7,18.2,354,2753,0.65,0.00,116.50,0.865,6,0.122,0.000,2368,1987,3304,0,0,0,0,0,0
$STATE,2754,end apogee,CONTROL_FINISHED_OK
$STATE,2754,begin climb
$GC,2756,0.89,155.7,509.5,0.0,364,2885,0.90,2.22,120.40,0.851,4,0.041,0.037,2734,611,2662,0,0,0,0,0,0
$GC,2985,0.76,155.7,502.0,15.9,383,2993,0.25,2.15,0.00,0.000,6,0.177,0.033,2670,2015,2658,0,0,0,0,0,0
$GC,3310,0.67,155.7,455.3,14.1,414,3314,0.00,2.15,0.00,0.000,4,0.000,0.037,2678,600,2655,0,0,0,0,0,0
$GC,3352,0.57,155.7,449.7,14.0,417,3357,0.25,2.10,0.00,0.000,6,0.165,0.033,2610,2005,2655,0,0,0,0,0,0
$GC,3679,0.63,225.0,416.4,9.7,447,3738,0.00,2.20,52.25,0.812,4,0.000,0.041,2610,3398,2381,0,0,0,0,0,0
$GC,3875,0.63,225.0,391.0,14.2,464,3879,0.00,2.10,0.00,0.000,6,0.000,0.030,2618,2007,2375,0,0,0,0,0,0
$GC,4199,0.64,235.0,348.9,13.3,494,4213,0.00,2.22,8.25,0.666,4,0.000,0.041,2618,3400,2339,0,0,0,0,0,0
$GC,4252,0.63,235.0,341.0,14.7,498,4261,0.00,2.15,0.00,0.000,6,0.000,0.031,2628,2000,2338,0,0,0,0,0,0
$GC,4581,0.61,235.0,295.6,14.4,531,4588,0.00,2.15,0.00,0.000,4,0.000,0.041,2629,3400,2336,0,0,0,0,0,0
$GC,4607,0.60,235.0,291.7,14.9,535,4614,0.00,2.10,0.00,0.000,6,0.000,0.031,2639,1997,2335,0,0,0,0,0,0
$GC,4949,0.59,245.5,244.5,13.3,596,4963,0.00,0.00,8.88,0.630,6,0.000,0.000,2639,1997,2297,0,0,0,0,0,0
$GC,5296,0.62,271.3,205.4,12.3,658,5324,0.00,0.00,21.00,0.669,6,0.000,0.000,2639,1996,2191,0,0,0,0,0,0
$GC,5666,0.66,311.1,158.7,11.5,722,5703,0.00,2.17,31.05,0.643,4,0.000,0.042,2639,3406,2024,0,0,0,0,0,0
$GC,5795,0.68,317.2,142.4,13.5,743,5813,0.00,2.17,5.70,0.491,6,0.000,0.031,2649,1996,2005,0,0,0,0,0,0
$GC,6139,0.73,341.8,99.1,12.4,805,6171,0.00,2.17,19.88,0.584,4,0.000,0.041,2660,604,1903,0,0,0,0,0,0
$GC,6287,0.81,379.0,80.4,11.7,830,6326,0.00,2.12,28.52,0.577,6,0.000,0.031,2660,1996,1753,0,0,0,0,0,0
$GC,6653,1.02,489.4,43.8,7.3,895,6747,0.25,2.25,82.30,0.553,4,0.057,0.041,2778,3400,1301,0,0,0,0,0,0
$STATE,6868,end climb,SURFACE_DEPTH_REACHED
$STATE,6868,begin surface coast
$FINISH,0.5,1.021919
$STATE,6882,end surface coast,CONTROL_FINISHED_OK
$STATE,6882,begin surface
$SM_CCo,6971,0.00,0.000,0,0,1293,491.83
$SM_GC,1.45,6.78,0.00,0.00,0.043,0.000,0.000,210,2402,1293,-6.84,0.06,491.83
$IRIDIUM_FIX,2359.20,12612.06,071010,222221
$TT8_MAMPS,0.028462
$HUMID,47.16
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.7,23.064
$10V_AH,10.2,28.320
$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,16.900,59.725,494.725,0.000,0.000,26.034,15.776,181.436,0.000,0.000,14.813,2232.078,1811.908,478.756,2626.028,200.615,0.000,1346.014,0.000,1435.839,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,46.665,865.215,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,627.646,1416.464,1698.792,0.000,0.000,0.000,2430.657,0.000,0.000,0.000
$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,67019,931
$CAP_FILE_SIZE,94885,0
$CFSIZE,260165632,238505984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091,109.0,1
$GPS,081010,021404,2405.796,12609.191,10,2.1,29,-3.6