version: 66.08
glider: 181
mission: 4
dive: 148
start: 10 6 110 10 10 35
data:
$ID,181
$MISSION,4
$DIVE,148
$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,-38031.379
$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,41
$R_STBD_OVSHOOT,35
$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,294.0
$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
$GPS1,061010,100406,2417.371,12609.351,36,0.9,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-69.1
$GPS2,061010,101008,2417.365,12609.354,15,1.0,15,-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,342.7,4918,-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,-155.7,0.0,0.0,0,76,0.00,0.00,-53.92,0.000,2,0.000,0.000,202,2407,2846,0,0,0,0,0,0
$GC,78,-0.89,-155.7,3.5,-5.9,7,119,7.53,2.15,-22.85,0.000,4,0.223,0.056,2120,3781,3936,0,0,0,0,0,0
$GC,252,-0.72,-155.7,68.0,-44.4,36,261,0.22,2.12,0.00,0.000,6,0.168,0.032,2184,2393,3936,0,0,0,0,0,0
$GC,586,-0.69,-155.7,153.1,-22.5,97,594,0.00,2.08,0.00,0.000,4,0.000,0.034,2185,983,3938,0,0,0,0,0,0
$GC,639,-0.67,-155.7,165.0,-20.6,106,648,0.08,2.17,0.00,0.000,6,0.145,0.036,2201,2405,3939,0,0,0,0,0,0
$GC,975,-0.68,-155.7,232.0,-16.4,167,982,0.00,2.10,0.00,0.000,4,0.000,0.043,2192,3791,3939,0,0,0,0,0,0
$GC,1002,-0.70,-155.7,236.5,-17.3,171,1009,0.00,2.05,0.00,0.000,6,0.000,0.027,2192,2393,3939,0,0,0,0,0,0
$GC,1327,-0.70,-155.7,295.7,-17.3,232,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2391,3939,0,0,0,0,0,0
$GC,1662,-0.72,-155.7,352.1,-16.3,265,1666,0.00,2.05,0.00,0.000,4,0.000,0.035,2192,1004,3938,0,0,0,0,0,0
$GC,1719,-0.77,-155.7,360.4,-13.3,270,1723,0.00,2.10,0.00,0.000,6,0.000,0.037,2191,2401,3938,0,0,0,0,0,0
$GC,2051,-0.80,-155.7,404.8,-12.6,301,2055,0.00,2.10,0.00,0.000,4,0.000,0.045,2182,3780,3938,0,0,0,0,0,0
$GC,2201,-0.87,-155.7,421.2,-10.4,314,2206,0.12,2.05,0.00,0.000,6,0.081,0.028,2106,2389,3936,0,0,0,0,0,0
$GC,2527,-0.83,-155.7,488.1,-20.4,344,2531,0.17,2.08,0.00,0.000,4,0.164,0.036,2153,1001,3935,0,0,0,0,0,0
$GC,2557,-0.83,-155.7,494.3,-17.8,346,2566,0.00,2.15,0.00,0.000,6,0.000,0.037,2151,2399,3934,0,0,0,0,0,0
$STATE,2606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2606,begin apogee
$GC,2611,-0.16,0.0,501.5,15.2,351,2734,0.65,0.00,117.18,0.866,6,0.123,0.000,2367,1981,3297,0,0,0,0,0,0
$STATE,2735,end apogee,CONTROL_FINISHED_OK
$STATE,2735,begin climb
$GC,2737,0.89,155.7,507.1,0.0,361,2865,0.90,2.38,119.32,0.848,4,0.045,0.041,2719,3416,2663,0,0,0,0,0,0
$GC,2968,0.74,155.7,489.3,18.5,381,2977,0.25,2.15,0.00,0.000,6,0.181,0.030,2666,2000,2658,0,0,0,0,0,0
$GC,3294,0.65,155.7,442.6,14.0,412,3298,0.12,2.10,0.00,0.000,4,0.187,0.040,2644,600,2654,0,0,0,0,0,0
$GC,3358,0.64,201.9,435.2,11.1,417,3402,0.00,2.15,35.55,0.808,6,0.000,0.034,2644,2007,2476,0,0,0,0,0,0
$GC,3720,0.63,231.1,386.0,12.1,451,3748,0.00,2.17,22.60,0.773,4,0.000,0.041,2654,601,2356,0,0,0,0,0,0
$GC,3833,0.62,246.6,371.2,13.0,461,3851,0.00,2.15,13.35,0.728,6,0.000,0.034,2654,2006,2293,0,0,0,0,0,0
$GC,4172,0.59,252.6,324.4,13.5,492,4186,0.12,2.20,5.45,0.577,4,0.176,0.042,2620,3410,2266,0,0,0,0,0,0
$GC,4246,0.60,265.6,314.1,13.1,498,4266,0.00,2.15,11.15,0.692,6,0.000,0.031,2629,1996,2219,0,0,0,0,0,0
$GC,4586,0.61,268.8,267.4,13.7,551,4601,0.00,2.17,4.32,0.492,4,0.000,0.041,2640,597,2204,0,0,0,0,0,0
$GC,4637,0.61,268.8,260.0,15.1,559,4644,0.00,2.12,0.00,0.000,6,0.000,0.034,2639,2006,2201,0,0,0,0,0,0
$GC,4963,0.61,268.8,212.0,14.9,620,4972,0.00,2.17,0.00,0.000,4,0.000,0.044,2639,3407,2199,0,0,0,0,0,0
$GC,5018,0.60,268.8,204.4,14.2,629,5026,0.12,2.10,0.00,0.000,6,0.166,0.031,2618,2001,2198,0,0,0,0,0,0
$GC,5358,0.69,323.5,171.0,10.6,690,5407,0.00,0.00,41.65,0.662,6,0.000,0.000,2618,1998,1977,0,0,0,0,0,0
$GC,5732,0.78,360.6,126.7,11.7,757,5773,0.17,2.20,28.67,0.614,4,0.070,0.041,2712,598,1827,0,0,0,0,0,0
$GC,5868,0.78,360.6,103.8,17.1,779,5876,0.08,2.15,0.00,0.000,6,0.145,0.033,2683,1995,1825,0,0,0,0,0,0
$GC,6202,0.89,425.4,59.7,10.0,840,6258,0.00,2.20,48.80,0.571,4,0.000,0.040,2692,589,1560,0,0,0,0,0,0
$GC,6321,1.08,514.2,47.9,8.6,858,6398,0.17,2.17,66.32,0.553,6,0.044,0.032,2781,2000,1203,0,0,0,0,0,0
$STATE,6562,end climb,SURFACE_DEPTH_REACHED
$STATE,6563,begin surface coast
$FINISH,0.9,1.021820
$STATE,6576,end surface coast,CONTROL_FINISHED_OK
$STATE,6576,begin surface
$SM_CCo,6661,0.00,0.000,0,0,1192,516.36
$SM_GC,1.50,6.65,0.00,0.00,0.033,0.000,0.000,201,2406,1192,-6.84,0.17,516.36
$IRIDIUM_FIX,2406.29,12618.15,061010,080838
$TT8_MAMPS,0.027713
$HUMID,47.95
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.7,20.907
$10V_AH,10.2,25.354
$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,17.375,61.125,514.375,0.000,0.000,23.743,20.543,169.720,0.000,0.000,17.716,2159.147,1618.997,500.920,2566.542,181.709,0.000,1369.124,0.000,1413.834,0.000,0.542,0.000
$DEVICE_MAMPS,223.380,55.845,865.980,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,606.172,1369.938,1637.405,0.000,0.000,0.000,2387.675,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331496
$DATA_FILE_SIZE,63760,900
$CAP_FILE_SIZE,94928,0
$CFSIZE,260165632,239820800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.115,173.0,1
$GPS,061010,120240,2417.886,12609.186,9,3.7,28,-3.7