version: 66.08
glider: 181
mission: 4
dive: 129
start: 10 4 110 20 11 11
data:
$ID,181
$MISSION,4
$DIVE,129
$N_DIVES,140
$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,-38000.137
$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,39
$R_STBD_OVSHOOT,55
$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,256.0
$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
$GPS1,041010,200436,2401.807,12608.855,40,1.0,51,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-56.1
$GPS2,041010,201044,2401.827,12608.865,14,1.0,14,-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,188.2,3391,-22.5,-13.889
$D_GRID,1679
$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,-85.50,0.000,2,0.000,0.000,205,2439,2826,0,0,0,0,0,0
$GC,110,-0.89,-155.7,3.3,-5.6,11,151,7.55,2.17,-24.83,0.000,4,0.226,0.044,2129,978,3929,0,0,0,0,0,0
$GC,266,-0.80,-155.7,54.3,-34.0,37,276,0.12,2.17,0.00,0.000,6,0.159,0.037,2158,2385,3934,0,0,0,0,0,0
$GC,602,-0.74,-155.7,144.5,-24.4,98,610,0.00,2.15,0.00,0.000,4,0.000,0.041,2149,3787,3936,0,0,0,0,0,0
$GC,624,-0.69,-155.7,150.3,-24.2,101,632,0.20,2.08,0.00,0.000,6,0.154,0.029,2203,2385,3936,0,0,0,0,0,0
$GC,967,-0.69,-155.7,219.0,-19.3,162,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2384,3937,0,0,0,0,0,0
$GC,1296,-0.72,-155.7,269.8,-14.7,223,1302,0.00,2.05,0.00,0.000,4,0.000,0.034,2203,988,3937,0,0,0,0,0,0
$GC,1407,-0.78,-155.7,285.1,-13.0,243,1414,0.00,2.12,0.00,0.000,6,0.000,0.034,2196,2410,3937,0,0,0,0,0,0
$GC,1741,-0.81,-155.7,334.4,-14.3,283,1745,0.00,2.10,0.00,0.000,4,0.000,0.045,2187,3786,3936,0,0,0,0,0,0
$GC,1784,-0.85,-155.7,341.3,-14.2,286,1794,0.08,2.08,0.00,0.000,6,0.055,0.029,2125,2398,3935,0,0,0,0,0,0
$GC,2112,-0.82,-155.7,409.2,-20.4,317,2116,0.12,2.15,0.00,0.000,4,0.168,0.046,2149,3781,3932,0,0,0,0,0,0
$GC,2151,-0.84,-155.7,416.6,-17.5,320,2155,0.00,2.03,0.00,0.000,6,0.000,0.029,2148,2397,3932,0,0,0,0,0,0
$GC,2482,-0.84,-155.7,476.3,-18.2,351,2486,0.00,2.05,0.00,0.000,4,0.000,0.034,2150,997,3931,0,0,0,0,0,0
$GC,2520,-0.86,-155.7,483.4,-17.0,354,2529,0.00,2.15,0.00,0.000,6,0.000,0.036,2139,2401,3930,0,0,0,0,0,0
$STATE,2633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2633,begin apogee
$GC,2637,-0.16,0.0,501.7,16.6,365,2761,0.70,0.00,115.97,0.857,6,0.125,0.000,2371,1985,3297,0,0,0,0,0,0
$STATE,2761,end apogee,CONTROL_FINISHED_OK
$STATE,2761,begin climb
$GC,2763,0.89,155.7,506.3,0.0,375,2896,0.90,2.35,119.32,0.842,4,0.044,0.041,2721,3411,2662,0,0,0,0,0,0
$GC,2934,0.73,155.7,500.5,17.5,389,2943,0.22,2.20,0.00,0.000,6,0.174,0.031,2669,2010,2659,0,0,0,0,0,0
$GC,3261,0.70,195.3,457.6,11.5,420,3300,0.00,2.17,31.00,0.801,4,0.000,0.037,2679,595,2501,0,0,0,0,0,0
$GC,3348,0.62,195.3,445.7,14.1,427,3356,0.15,2.20,0.00,0.000,6,0.156,0.032,2633,2014,2499,0,0,0,0,0,0
$GC,3675,0.64,240.2,408.8,11.2,458,3715,0.00,2.20,35.08,0.789,4,0.000,0.045,2634,3411,2318,0,0,0,0,0,0
$GC,3850,0.61,240.2,383.2,15.9,473,3859,0.00,2.17,0.00,0.000,6,0.000,0.032,2642,2003,2313,0,0,0,0,0,0
$GC,4176,0.59,240.2,335.3,14.4,504,4180,0.00,2.15,0.00,0.000,4,0.000,0.044,2642,3406,2309,0,0,0,0,0,0
$GC,4248,0.55,240.2,323.8,16.2,510,4253,0.17,2.10,0.00,0.000,6,0.168,0.033,2607,2001,2308,0,0,0,0,0,0
$GC,4573,0.58,258.1,284.1,12.8,552,4589,0.00,0.00,13.60,0.688,6,0.000,0.000,2607,1998,2245,0,0,0,0,0,0
$GC,4911,0.66,300.0,243.8,11.4,614,4953,0.00,2.20,33.10,0.698,4,0.000,0.041,2615,600,2073,0,0,0,0,0,0
$GC,5119,0.79,373.7,222.7,9.5,651,5182,0.17,2.12,56.25,0.681,6,0.076,0.032,2693,2007,1775,0,0,0,0,0,0
$GC,5515,0.76,373.7,150.4,19.9,720,5523,0.00,2.17,0.00,0.000,4,0.000,0.042,2693,3404,1766,0,0,0,0,0,0
$GC,5560,0.76,373.7,141.5,19.9,727,5569,0.10,2.15,0.00,0.000,6,0.148,0.034,2672,2007,1766,0,0,0,0,0,0
$GC,5895,0.78,373.7,88.7,15.6,788,5903,0.00,2.17,0.00,0.000,4,0.000,0.041,2681,592,1764,0,0,0,0,0,0
$GC,5986,0.82,373.7,74.7,14.7,804,5994,0.00,2.12,0.00,0.000,6,0.000,0.033,2681,1992,1764,0,0,0,0,0,0
$GC,6320,0.99,469.1,43.0,8.2,865,6399,0.17,0.00,69.97,0.555,6,0.069,0.000,2763,1993,1384,0,0,0,0,0,0
$STATE,6555,end climb,SURFACE_DEPTH_REACHED
$STATE,6555,begin surface coast
$FINISH,0.8,1.021750
$STATE,6568,end surface coast,CONTROL_FINISHED_OK
$STATE,6568,begin surface
$SM_CCo,6654,0.00,0.000,0,0,1372,471.71
$SM_GC,1.63,6.62,0.00,0.00,0.036,0.000,0.000,207,2424,1372,-6.85,0.68,471.71
$IRIDIUM_FIX,2352.12,12615.86,041010,181830
$TT8_MAMPS,0.027713
$HUMID,47.00
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,25.20
$XPDR_PINGS,4
$24V_AH,24.7,18.718
$10V_AH,10.3,22.410
$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,17.300,56.975,474.300,0.000,0.000,23.089,27.765,174.360,1.000,0.000,16.814,2164.842,1611.484,496.963,2572.084,179.959,0.000,1348.140,0.000,1401.209,0.000,0.543,0.000
$DEVICE_MAMPS,226.440,45.900,856.800,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,609.877,1378.568,1662.642,0.000,0.000,0.000,2240.767,0.000,0.000,0.000
$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,63605,906
$CAP_FILE_SIZE,93382,0
$CFSIZE,260165632,241131520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129, 75.3,1
$GPS,041010,220310,2400.976,12609.251,10,2.4,29,-3.6