version: 66.08
glider: 181
mission: 4
dive: 126
start: 10 4 110 14 3 5
data:
$ID,181
$MISSION,4
$DIVE,126
$N_DIVES,135
$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,690
$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,-37996.371
$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,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,250.0
$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
$GPS1,041010,135604,2403.157,12608.311,9,2.9,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-56.3
$GPS2,041010,140237,2403.214,12608.241,8,1.2,14,-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,159.8,6089,-22.5,-13.889
$D_GRID,1664
$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,-155.7,0.0,0.0,0,112,0.00,0.00,-89.65,0.000,2,0.000,0.000,201,2410,2960,0,0,0,0,0,0
$GC,114,-0.89,-155.7,3.5,-6.4,12,148,7.53,2.15,-19.85,0.000,4,0.224,0.045,2133,976,3936,0,0,0,0,0,0
$GC,221,-0.78,-155.7,43.7,-38.6,29,229,0.15,2.17,0.00,0.000,6,0.161,0.036,2169,2389,3936,0,0,0,0,0,0
$GC,554,-0.73,-155.7,138.6,-24.4,90,563,0.00,2.12,0.00,0.000,4,0.000,0.041,2160,3774,3938,0,0,0,0,0,0
$GC,582,-0.68,-155.7,145.4,-23.7,94,592,0.12,2.08,0.00,0.000,6,0.139,0.029,2199,2392,3938,0,0,0,0,0,0
$GC,936,-0.68,-155.7,215.5,-19.4,155,943,0.00,2.12,0.00,0.000,4,0.000,0.044,2191,3780,3939,0,0,0,0,0,0
$GC,962,-0.68,-155.7,220.1,-18.5,159,969,0.00,2.05,0.00,0.000,6,0.000,0.029,2191,2394,3940,0,0,0,0,0,0
$GC,1302,-0.68,-155.7,277.3,-16.3,220,1310,0.00,2.08,0.00,0.000,4,0.000,0.033,2191,1001,3938,0,0,0,0,0,0
$GC,1385,-0.72,-155.7,289.6,-15.2,234,1393,0.00,2.12,0.00,0.000,6,0.000,0.035,2183,2400,3938,0,0,0,0,0,0
$GC,1715,-0.73,-155.7,345.4,-14.9,270,1719,0.00,2.10,0.00,0.000,4,0.000,0.044,2173,3781,3937,0,0,0,0,0,0
$GC,1789,-0.78,-155.7,356.5,-14.5,276,1793,0.00,2.05,0.00,0.000,6,0.000,0.030,2173,2397,3936,0,0,0,0,0,0
$GC,2122,-0.80,-155.7,404.6,-14.6,307,2126,0.00,2.10,0.00,0.000,4,0.000,0.045,2163,3777,3935,0,0,0,0,0,0
$GC,2196,-0.84,-155.7,414.6,-14.0,313,2200,0.00,2.05,0.00,0.000,6,0.000,0.029,2163,2392,3935,0,0,0,0,0,0
$GC,2527,-0.85,-155.7,465.6,-15.2,344,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2388,3930,0,0,0,0,0,0
$STATE,2780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2780,begin apogee
$GC,2785,-0.16,0.0,500.5,14.1,368,2908,0.62,0.00,116.38,0.864,6,0.119,0.000,2373,1972,3298,0,0,0,0,0,0
$STATE,2909,end apogee,CONTROL_FINISHED_OK
$STATE,2909,begin climb
$GC,2911,0.89,155.7,506.8,0.0,378,3042,0.88,2.15,119.90,0.848,4,0.037,0.034,2737,613,2661,0,0,0,0,0,0
$GC,3293,0.75,155.7,467.7,17.6,411,3301,0.22,2.12,0.00,0.000,6,0.169,0.031,2671,2004,2655,0,0,0,0,0,0
$GC,3620,0.71,198.0,428.3,11.4,442,3659,0.00,2.25,32.20,0.805,4,0.000,0.040,2671,3408,2490,0,0,0,0,0,0
$GC,3706,0.62,198.0,416.3,16.7,449,3711,0.20,2.12,0.00,0.000,6,0.181,0.032,2629,2020,2487,0,0,0,0,0,0
$GC,4033,0.59,202.0,373.1,13.7,479,4045,0.00,2.17,3.60,0.461,4,0.000,0.044,2629,3389,2474,0,0,0,0,0,0
$GC,4228,0.58,225.6,346.1,12.5,496,4252,0.00,2.12,19.38,0.750,6,0.000,0.032,2638,1999,2378,0,0,0,0,0,0
$GC,4574,0.55,225.6,300.0,14.0,528,4583,0.12,2.20,0.00,0.000,4,0.180,0.044,2607,3389,2372,0,0,0,0,0,0
$GC,4634,0.57,240.2,292.0,13.0,538,4657,0.00,2.12,12.25,0.688,6,0.000,0.033,2614,1999,2317,0,0,0,0,0,0
$GC,4993,0.62,284.8,248.6,11.2,601,5036,0.00,2.17,35.28,0.708,4,0.000,0.040,2626,589,2135,0,0,0,0,0,0
$GC,5196,0.69,315.1,223.1,12.1,635,5226,0.00,2.12,23.92,0.673,6,0.000,0.031,2625,1995,2013,0,0,0,0,0,0
$GC,5568,0.77,360.1,178.0,11.2,699,5611,0.12,2.22,34.83,0.650,4,0.091,0.039,2683,3415,1827,0,0,0,0,0,0
$GC,5650,0.75,360.1,165.5,18.8,711,5657,0.00,2.17,0.00,0.000,6,0.000,0.033,2694,2004,1823,0,0,0,0,0,0
$GC,5983,0.74,360.1,102.3,19.0,772,5991,0.12,2.15,0.00,0.000,4,0.171,0.040,2671,594,1820,0,0,0,0,0,0
$GC,6075,0.77,360.1,87.3,15.2,788,6083,0.00,2.15,0.00,0.000,6,0.000,0.032,2671,2004,1820,0,0,0,0,0,0
$GC,6409,1.01,501.8,50.8,5.4,849,6526,0.22,2.28,103.90,0.561,4,0.060,0.041,2771,3404,1251,0,0,0,0,0,0
$GC,6542,1.00,501.8,29.8,20.5,866,6552,0.10,2.22,0.00,0.000,6,0.145,0.034,2751,1997,1248,0,0,0,0,0,0
$STATE,6697,end climb,SURFACE_DEPTH_REACHED
$STATE,6697,begin surface coast
$FINISH,0.6,1.001162
$STATE,6716,end surface coast,CONTROL_FINISHED_OK
$STATE,6716,begin surface
$SM_CCo,6741,84.80,0.057,0,0,485,690.03
$SM_GC,1.42,0.00,0.00,84.80,0.000,0.000,0.057,202,2412,485,-6.95,0.48,690.03
$IRIDIUM_FIX,2356.84,12605.46,041010,111142
$TT8_MAMPS,0.026964
$HUMID,46.45
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.6,18.370
$10V_AH,10.3,21.933
$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,17.000,61.150,501.625,84.800,0.000,28.370,25.854,195.723,0.500,0.000,17.063,2141.027,1720.030,592.781,2592.844,178.949,0.000,1462.847,0.000,1413.447,0.000,0.543,0.000
$DEVICE_MAMPS,224.145,45.135,864.450,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,603.786,1365.260,1626.426,0.000,0.000,0.000,2245.040,0.000,0.000,0.000
$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,63565,897
$CAP_FILE_SIZE,94762,0
$CFSIZE,260165632,241340416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,323.5,1
$GPS,041010,155758,2402.725,12608.275,10,2.8,29,-3.6