version: 66.08
glider: 181
mission: 4
dive: 127
start: 10 4 110 16 5 22
data:
$ID,181
$MISSION,4
$DIVE,127
$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,-37997.629
$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,35
$R_STBD_OVSHOOT,34
$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,252.0
$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
$GPS1,041010,155758,2402.725,12608.275,10,2.8,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-57.5
$GPS2,041010,160455,2402.811,12608.211,56,1.2,56,-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,159.5,5374,-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,-155.7,0.0,0.0,0,108,0.00,0.00,-85.75,0.000,2,0.000,0.000,201,2412,2853,0,0,0,0,0,0
$GC,110,-0.89,-155.7,3.5,-6.7,11,151,7.50,2.20,-22.90,0.000,4,0.224,0.047,2132,979,3935,0,0,0,0,0,0
$GC,234,-0.79,-155.7,47.7,-34.5,31,243,0.12,2.20,0.00,0.000,6,0.158,0.036,2161,2402,3936,0,0,0,0,0,0
$GC,569,-0.74,-155.7,143.1,-24.7,92,577,0.00,2.12,0.00,0.000,4,0.000,0.043,2152,3779,3937,0,0,0,0,0,0
$GC,602,-0.69,-155.7,151.4,-23.0,97,611,0.17,2.08,0.00,0.000,6,0.150,0.029,2200,2381,3938,0,0,0,0,0,0
$GC,943,-0.69,-155.7,219.1,-19.8,158,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2378,3938,0,0,0,0,0,0
$GC,1272,-0.72,-155.7,274.8,-15.1,219,1279,0.00,2.03,0.00,0.000,4,0.000,0.034,2200,998,3938,0,0,0,0,0,0
$GC,1330,-0.77,-155.7,283.1,-13.4,229,1338,0.00,2.10,0.00,0.000,6,0.000,0.035,2192,2404,3938,0,0,0,0,0,0
$GC,1660,-0.79,-155.7,331.7,-15.2,270,1664,0.00,2.08,0.00,0.000,4,0.000,0.045,2182,3778,3938,0,0,0,0,0,0
$GC,1692,-0.82,-155.7,336.9,-14.2,272,1701,0.00,2.08,0.00,0.000,6,0.000,0.030,2182,2392,3935,0,0,0,0,0,0
$GC,2020,-0.85,-155.7,386.4,-14.2,303,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2390,3932,0,0,0,0,0,0
$GC,2339,-0.88,-155.7,433.8,-15.1,333,2344,0.12,2.17,0.00,0.000,4,0.083,0.048,2107,3780,3933,0,0,0,0,0,0
$GC,2403,-0.88,-155.7,446.8,-19.4,338,2413,0.08,2.08,0.00,0.000,6,0.140,0.030,2133,2401,3932,0,0,0,0,0,0
$STATE,2707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2707,begin apogee
$GC,2712,-0.16,0.0,501.0,16.3,367,2836,0.70,0.00,116.32,0.860,6,0.127,0.000,2366,1973,3298,0,0,0,0,0,0
$STATE,2837,end apogee,CONTROL_FINISHED_OK
$STATE,2837,begin climb
$GC,2839,0.89,155.7,507.7,0.0,377,2967,0.93,2.15,120.07,0.845,4,0.041,0.035,2739,602,2662,0,0,0,0,0,0
$GC,3217,0.75,155.7,468.7,15.2,409,3225,0.22,2.15,0.00,0.000,6,0.174,0.031,2674,2010,2656,0,0,0,0,0,0
$GC,3544,0.68,174.4,426.3,12.8,440,3566,0.00,0.00,14.18,0.760,6,0.000,0.000,2674,2009,2587,0,0,0,0,0,0
$GC,3885,0.60,174.4,377.8,14.0,472,3890,0.20,2.12,0.00,0.000,4,0.175,0.041,2617,3405,2582,0,0,0,0,0,0
$GC,4091,0.60,216.4,353.3,11.4,490,4130,0.00,2.08,32.72,0.775,6,0.000,0.032,2624,2009,2414,0,0,0,0,0,0
$GC,4446,0.62,244.6,311.4,12.2,523,4475,0.00,2.22,22.27,0.736,4,0.000,0.044,2624,3395,2299,0,0,0,0,0,0
$GC,4577,0.60,244.6,293.5,14.1,538,4586,0.00,2.15,0.00,0.000,6,0.000,0.033,2635,2004,2296,0,0,0,0,0,0
$GC,4920,0.61,266.0,249.9,12.6,599,4942,0.00,2.22,17.00,0.686,4,0.000,0.039,2646,583,2213,0,0,0,0,0,0
$GC,5086,0.63,281.1,228.5,13.0,628,5109,0.00,2.15,13.18,0.651,6,0.000,0.033,2646,1988,2150,0,0,0,0,0,0
$GC,5452,0.65,292.0,178.9,13.2,691,5469,0.00,2.20,9.25,0.589,4,0.000,0.044,2646,3404,2106,0,0,0,0,0,0
$GC,5498,0.66,301.1,172.6,13.3,698,5513,0.00,2.15,8.60,0.572,6,0.000,0.033,2656,2003,2068,0,0,0,0,0,0
$GC,5842,0.66,301.1,124.5,14.1,760,5851,0.00,2.20,0.00,0.000,4,0.000,0.044,2659,3409,2066,0,0,0,0,0,0
$GC,5876,0.66,301.1,119.8,14.6,765,5885,0.08,2.15,0.00,0.000,6,0.147,0.033,2643,2003,2066,0,0,0,0,0,0
$GC,6210,0.77,364.6,84.8,10.1,826,6266,0.00,2.22,47.95,0.589,4,0.000,0.042,2642,3412,1809,0,0,0,0,0,0
$GC,6292,0.88,413.3,75.7,11.0,837,6339,0.12,2.20,37.08,0.567,6,0.047,0.033,2726,1994,1613,0,0,0,0,0,0
$GC,6666,0.92,430.5,21.1,12.9,903,6685,0.00,2.20,13.38,0.500,4,0.000,0.041,2738,595,1542,0,0,0,0,0,0
$GC,6742,0.96,445.4,11.9,13.0,915,6760,0.00,2.15,11.80,0.481,6,0.000,0.031,2737,2001,1485,0,0,0,0,0,0
$STATE,6810,end climb,SURFACE_DEPTH_REACHED
$STATE,6810,begin surface coast
$FINISH,0.6,1.021744
$STATE,6834,end surface coast,CONTROL_FINISHED_OK
$STATE,6834,begin surface
$SM_CCo,6860,109.90,0.057,0,0,486,690.03
$SM_GC,1.31,0.00,0.00,109.90,0.000,0.000,0.057,195,2425,486,-6.97,0.71,690.03
$IRIDIUM_FIX,2354.48,12615.86,041010,131318
$TT8_MAMPS,0.027713
$HUMID,45.31
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,24.6,18.482
$10V_AH,10.3,22.096
$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,16.950,57.025,463.800,109.900,0.000,25.570,36.567,169.320,0.250,0.000,59.367,2237.280,1667.229,595.941,2707.671,184.440,0.000,1472.781,0.000,1457.637,0.000,0.542,0.000
$DEVICE_MAMPS,224.145,48.195,859.860,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,627.195,1415.084,1715.797,0.000,0.000,0.000,2433.873,0.000,0.000,0.000
$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,67073,930
$CAP_FILE_SIZE,96529,0
$CFSIZE,260165632,241266688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137,342.5,1
$GPS,041010,180220,2402.379,12608.406,10,1.6,10,-3.6