version: 66.08
glider: 181
mission: 4
dive: 168
start: 10 8 110 2 21 11
data:
$ID,181
$MISSION,4
$DIVE,168
$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,-38056.59
$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,40
$R_STBD_OVSHOOT,39
$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,334.0
$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
$GPS1,081010,021404,2405.796,12609.191,10,2.1,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-68.6
$GPS2,081010,022044,2405.827,12609.193,12,1.5,12,-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,202.4,10796,-22.5,-13.889
$D_GRID,1697
$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,-155.7,0.0,0.0,0,76,0.00,0.00,-54.05,0.000,2,0.000,0.000,208,2402,2738,0,0,0,0,0,0
$GC,79,-0.89,-155.7,3.1,-4.7,7,120,7.57,2.12,-27.20,0.000,4,0.226,0.047,2133,986,3937,0,0,0,0,0,0
$GC,193,-0.76,-155.7,39.9,-39.9,25,202,0.15,2.17,0.00,0.000,6,0.165,0.034,2169,2397,3938,0,0,0,0,0,0
$GC,528,-0.70,-155.7,137.6,-25.9,86,536,0.00,2.12,0.00,0.000,4,0.000,0.041,2160,3775,3940,0,0,0,0,0,0
$GC,583,-0.69,-155.7,151.6,-21.9,95,590,0.15,2.05,0.00,0.000,6,0.153,0.028,2200,2390,3940,0,0,0,0,0,0
$GC,925,-0.69,-155.7,213.9,-17.6,156,933,0.00,2.15,0.00,0.000,4,0.000,0.041,2192,3775,3941,0,0,0,0,0,0
$GC,951,-0.70,-155.7,218.1,-17.1,160,959,0.00,2.08,0.00,0.000,6,0.000,0.028,2191,2389,3941,0,0,0,0,0,0
$GC,1280,-0.70,-155.7,280.9,-18.9,221,1288,0.00,2.05,0.00,0.000,4,0.000,0.034,2192,993,3941,0,0,0,0,0,0
$GC,1317,-0.73,-155.7,288.0,-18.3,227,1324,0.00,2.12,0.00,0.000,6,0.000,0.035,2183,2414,3941,0,0,0,0,0,0
$GC,1652,-0.74,-155.7,345.7,-16.5,264,1656,0.00,2.08,0.00,0.000,4,0.000,0.033,2183,995,3940,0,0,0,0,0,0
$GC,1680,-0.76,-155.7,350.7,-16.8,266,1685,0.00,2.12,0.00,0.000,6,0.000,0.036,2174,2405,3940,0,0,0,0,0,0
$GC,2006,-0.78,-155.7,398.1,-13.4,296,2010,0.00,2.10,0.00,0.000,4,0.000,0.044,2167,3784,3939,0,0,0,0,0,0
$GC,2035,-0.81,-155.7,402.1,-14.0,298,2039,0.00,2.03,0.00,0.000,6,0.000,0.028,2167,2399,3939,0,0,0,0,0,0
$GC,2362,-0.83,-155.7,447.4,-14.1,328,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2397,3938,0,0,0,0,0,0
$GC,2680,-0.85,-155.7,492.8,-14.4,358,2683,0.00,2.05,0.00,0.000,4,0.000,0.034,2167,1002,3936,0,0,0,0,0,0
$GC,2703,-0.88,-155.7,496.6,-15.9,360,2707,0.00,2.12,0.00,0.000,6,0.000,0.037,2164,2402,3936,0,0,0,0,0,0
$STATE,2729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2729,begin apogee
$GC,2734,-0.16,0.0,500.3,13.6,362,2857,0.60,0.00,117.28,0.865,6,0.118,0.000,2367,1968,3298,0,0,0,0,0,0
$STATE,2858,end apogee,CONTROL_FINISHED_OK
$STATE,2858,begin climb
$GC,2859,0.89,155.7,505.3,0.0,372,2987,0.93,2.17,119.68,0.851,4,0.042,0.037,2738,601,2662,0,0,0,0,0,0
$GC,3011,0.76,175.8,505.3,12.7,384,3037,0.25,2.17,17.08,0.780,6,0.179,0.031,2675,2013,2580,0,0,0,0,0,0
$GC,3354,0.68,175.8,454.2,14.8,416,3356,0.12,0.00,0.00,0.000,6,0.184,0.000,2643,2015,2574,0,0,0,0,0,0
$GC,3671,0.64,189.4,414.1,13.1,446,3688,0.00,2.17,10.73,0.730,4,0.000,0.041,2642,3395,2525,0,0,0,0,0,0
$GC,3774,0.58,189.4,398.5,16.9,455,3779,0.15,2.10,0.00,0.000,6,0.172,0.031,2614,2006,2522,0,0,0,0,0,0
$GC,4101,0.62,239.0,359.1,10.9,485,4149,0.00,2.22,38.53,0.782,4,0.000,0.040,2622,599,2323,0,0,0,0,0,0
$GC,4174,0.67,283.7,350.7,11.2,491,4215,0.00,2.12,35.67,0.760,6,0.000,0.032,2622,1999,2141,0,0,0,0,0,0
$GC,4535,0.70,304.0,305.6,12.7,524,4561,0.00,2.22,15.65,0.705,4,0.000,0.041,2622,3404,2059,0,0,0,0,0,0
$GC,4613,0.72,308.7,295.2,13.6,533,4629,0.00,2.15,5.10,0.535,6,0.000,0.031,2632,1991,2040,0,0,0,0,0,0
$GC,4952,0.73,311.6,248.5,13.7,595,4960,0.00,2.20,3.62,0.425,4,0.000,0.041,2644,584,2027,0,0,0,0,0,0
$GC,5015,0.76,320.4,239.3,13.4,606,5030,0.00,2.15,8.60,0.614,6,0.000,0.032,2643,1992,1991,0,0,0,0,0,0
$GC,5358,0.76,320.4,191.1,15.2,668,5366,0.00,2.17,0.00,0.000,4,0.000,0.041,2644,3399,1987,0,0,0,0,0,0
$GC,5477,0.77,320.4,173.2,14.3,689,5485,0.00,2.10,0.00,0.000,6,0.000,0.031,2654,1996,1987,0,0,0,0,0,0
$GC,5813,0.83,351.5,131.2,12.0,750,5846,0.10,2.15,24.08,0.619,4,0.099,0.039,2720,594,1865,0,0,0,0,0,0
$GC,5973,0.81,351.5,105.3,15.0,777,5982,0.10,2.15,0.00,0.000,6,0.138,0.031,2689,2005,1863,0,0,0,0,0,0
$GC,6309,0.93,430.5,62.0,9.2,838,6379,0.12,2.22,59.35,0.572,4,0.087,0.040,2746,3406,1541,0,0,0,0,0,0
$GC,6523,0.93,430.5,29.9,15.6,873,6533,0.10,2.17,0.00,0.000,6,0.147,0.031,2725,1998,1539,0,0,0,0,0,0
$STATE,6717,end climb,SURFACE_DEPTH_REACHED
$STATE,6718,begin surface coast
$FINISH,0.6,1.016832
$STATE,6742,end surface coast,CONTROL_FINISHED_OK
$STATE,6742,begin surface
$SM_CCo,6829,0.00,0.000,0,0,1532,433.20
$SM_GC,1.70,6.47,0.00,0.00,0.035,0.000,0.000,203,2419,1532,-6.84,0.59,433.20
$IRIDIUM_FIX,2354.48,12605.46,081010,000019
$TT8_MAMPS,0.027713
$HUMID,47.55
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,24.6,23.177
$10V_AH,10.2,28.477
$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,16.825,65.250,455.350,0.000,0.000,25.990,38.911,183.147,0.250,0.000,15.434,2218.176,1754.909,464.718,2588.592,205.371,0.000,1303.877,0.000,1394.971,0.000,0.543,0.000
$DEVICE_MAMPS,225.675,46.665,865.215,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,615.706,1387.698,1670.883,0.000,0.000,0.000,2348.277,0.000,0.000,0.000
$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,63697,912
$CAP_FILE_SIZE,96972,0
$CFSIZE,260165632,238440448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065, 82.0,1
$GPS,081010,041604,2404.938,12609.183,9,2.5,28,-3.6