version: 66.08
glider: 181
mission: 4
dive: 147
start: 10 6 110 8 17 24
data:
$ID,181
$MISSION,4
$DIVE,147
$N_DIVES,165
$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,-38030.125
$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,45
$R_STBD_OVSHOOT,38
$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,292.0
$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
$GPS1,061010,081013,2416.657,12609.500,11,1.8,11,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-69.9
$GPS2,061010,081656,2416.662,12609.506,12,1.7,12,-3.7
$SPEED_LIMITS,0.241,0.296
$TGT_NAME,NWALL_N
$TGT_LATLONG,2420.000,12609.000
$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,334.4,6240,-22.5,-13.889
$D_GRID,1566
$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,-155.7,0.0,0.0,0,69,0.00,0.00,-46.90,0.000,2,0.000,0.000,201,2407,2792,0,0,0,0,0,0
$GC,71,-0.89,-155.7,3.2,-4.7,6,111,7.70,2.12,-25.48,0.000,4,0.232,0.053,2121,3787,3936,0,0,0,0,0,0
$GC,205,-0.80,-155.7,48.4,-34.9,28,215,0.12,2.12,0.00,0.000,6,0.159,0.031,2158,2394,3935,0,0,0,0,0,0
$GC,540,-0.73,-155.7,151.0,-25.1,89,547,0.12,0.00,0.00,0.000,6,0.177,0.000,2191,2391,3939,0,0,0,0,0,0
$GC,888,-0.71,-155.7,227.3,-21.5,150,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2391,3940,0,0,0,0,0,0
$GC,1229,-0.71,-155.7,292.0,-18.1,211,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2391,3940,0,0,0,0,0,0
$GC,1563,-0.73,-155.7,345.8,-14.8,246,1566,0.00,2.08,0.00,0.000,4,0.000,0.035,2191,994,3940,0,0,0,0,0,0
$GC,1621,-0.79,-155.7,354.1,-12.4,251,1625,0.00,2.12,0.00,0.000,6,0.000,0.037,2191,2399,3940,0,0,0,0,0,0
$GC,1952,-0.83,-155.7,400.0,-14.2,282,1955,0.00,2.10,0.00,0.000,4,0.000,0.045,2181,3780,3939,0,0,0,0,0,0
$GC,2062,-0.90,-155.7,413.3,-10.6,291,2070,0.12,2.08,0.00,0.000,6,0.082,0.028,2107,2365,3938,0,0,0,0,0,0
$GC,2389,-0.86,-155.7,478.1,-19.6,322,2393,0.15,2.03,0.00,0.000,4,0.167,0.036,2147,1004,3936,0,0,0,0,0,0
$GC,2420,-0.86,-155.7,484.5,-16.9,324,2430,0.00,2.15,0.00,0.000,6,0.000,0.037,2138,2406,3936,0,0,0,0,0,0
$STATE,2522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2522,begin apogee
$GC,2527,-0.16,0.0,501.5,18.0,334,2651,0.70,0.00,117.30,0.866,6,0.127,0.000,2368,1973,3298,0,0,0,0,0,0
$STATE,2652,end apogee,CONTROL_FINISHED_OK
$STATE,2652,begin climb
$GC,2653,0.89,155.7,509.3,0.0,344,2786,0.93,2.35,119.72,0.851,4,0.043,0.039,2727,3408,2662,0,0,0,0,0,0
$GC,2799,0.83,231.0,512.0,9.4,356,2865,0.17,2.15,59.70,0.834,6,0.190,0.029,2698,2009,2356,0,0,0,0,0,0
$GC,3186,0.74,231.0,439.0,19.5,391,3190,0.12,2.15,0.00,0.000,4,0.190,0.039,2676,592,2347,0,0,0,0,0,0
$GC,3240,0.69,231.0,428.0,18.1,395,3248,0.00,2.17,0.00,0.000,6,0.000,0.034,2676,2005,2346,0,0,0,0,0,0
$GC,3566,0.63,231.0,372.8,16.0,426,3570,0.17,2.17,0.00,0.000,4,0.161,0.043,2624,3415,2343,0,0,0,0,0,0
$GC,3662,0.61,239.2,359.2,13.4,434,3677,0.00,2.10,5.85,0.604,6,0.000,0.031,2636,2005,2322,0,0,0,0,0,0
$GC,3993,0.62,258.6,319.8,12.7,465,4019,0.00,2.17,16.33,0.729,4,0.000,0.040,2647,600,2242,0,0,0,0,0,0
$GC,4053,0.64,274.2,311.9,13.0,470,4071,0.00,2.15,13.35,0.699,6,0.000,0.034,2647,2014,2180,0,0,0,0,0,0
$GC,4402,0.62,274.2,259.4,14.6,524,4410,0.00,2.15,0.00,0.000,4,0.000,0.044,2647,3395,2174,0,0,0,0,0,0
$GC,4469,0.59,274.2,249.1,16.5,535,4476,0.15,2.10,0.00,0.000,6,0.162,0.032,2618,1996,2173,0,0,0,0,0,0
$GC,4812,0.66,316.1,207.3,11.4,596,4854,0.00,2.17,32.20,0.679,4,0.000,0.041,2626,603,2009,0,0,0,0,0,0
$GC,4884,0.74,351.0,199.6,11.8,606,4922,0.08,2.15,27.58,0.658,6,0.060,0.034,2675,1995,1867,0,0,0,0,0,0
$GC,5257,0.74,351.0,132.4,18.2,671,5265,0.00,2.20,0.00,0.000,4,0.000,0.042,2675,3408,1861,0,0,0,0,0,0
$GC,5301,0.74,351.0,124.7,17.9,678,5310,0.00,2.15,0.00,0.000,6,0.000,0.031,2685,2001,1860,0,0,0,0,0,0
$GC,5635,0.80,398.3,76.0,11.1,739,5682,0.00,2.20,35.25,0.584,4,0.000,0.041,2697,594,1673,0,0,0,0,0,0
$GC,5755,0.90,451.6,62.5,10.7,758,5803,0.00,2.15,40.90,0.566,6,0.000,0.033,2696,1996,1456,0,0,0,0,0,0
$GC,6130,0.97,470.3,17.9,12.8,824,6156,0.12,2.20,14.35,0.503,4,0.083,0.041,2758,3399,1380,0,0,0,0,0,0
$GC,6206,0.97,470.3,3.9,18.2,836,6215,0.08,2.15,0.00,0.000,6,0.155,0.031,2745,1999,1378,0,0,0,0,0,0
$STATE,6221,end climb,SURFACE_DEPTH_REACHED
$STATE,6221,begin surface coast
$FINISH,0.5,1.010447
$STATE,6241,end surface coast,CONTROL_FINISHED_OK
$STATE,6241,begin surface
$SM_CCo,6325,0.00,0.000,0,0,1375,471.47
$SM_GC,1.47,6.57,0.00,0.00,0.038,0.000,0.000,204,2407,1375,-6.84,0.20,471.47
$IRIDIUM_FIX,2406.29,12629.97,061010,060622
$TT8_MAMPS,0.027713
$HUMID,47.67
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,24.7,20.788
$10V_AH,10.3,25.197
$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,17.325,57.075,482.525,0.000,0.000,27.543,33.617,193.894,0.250,0.000,15.124,2022.668,1589.472,479.267,2454.377,186.230,0.000,1290.636,0.000,1310.428,0.000,0.543,0.000
$DEVICE_MAMPS,231.795,52.785,865.980,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,566.342,1279.451,1556.525,0.000,0.000,0.000,2188.151,0.000,0.000,0.000
$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,60522,841
$CAP_FILE_SIZE,90258,0
$CFSIZE,260165632,239894528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,125.8,1
$GPS,061010,100406,2417.371,12609.351,36,0.9,41,-3.7