version: 66.08
glider: 181
mission: 4
dive: 160
start: 10 7 110 10 14 12
data:
$ID,181
$MISSION,4
$DIVE,160
$N_DIVES,170
$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,-38046.547
$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,42
$R_STBD_OVSHOOT,43
$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,318.0
$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
$GPS1,071010,100720,2412.516,12609.706,11,1.7,11,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-68.0
$GPS2,071010,101344,2412.536,12609.686,13,1.8,13,-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,204.9,23245,-22.5,-13.889
$D_GRID,1666
$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,20,-0.89,-155.7,0.0,0.0,0,68,0.00,0.00,-45.90,0.000,2,0.000,0.000,199,2411,2729,0,0,0,0,0,0
$GC,70,-0.89,-155.7,3.1,-4.7,6,112,7.60,2.15,-27.23,0.000,4,0.224,0.047,2129,984,3934,0,0,0,0,0,0
$GC,195,-0.76,-155.7,44.2,-38.9,26,205,0.17,2.17,0.00,0.000,6,0.171,0.036,2171,2394,3936,0,0,0,0,0,0
$GC,530,-0.72,-155.7,147.3,-20.5,87,538,0.00,2.12,0.00,0.000,4,0.000,0.042,2162,3774,3938,0,0,0,0,0,0
$GC,558,-0.69,-155.7,153.6,-21.7,91,566,0.10,2.08,0.00,0.000,6,0.123,0.028,2205,2391,3938,0,0,0,0,0,0
$GC,914,-0.70,-155.7,219.5,-16.6,152,922,0.00,2.08,0.00,0.000,4,0.000,0.034,2205,1004,3939,0,0,0,0,0,0
$GC,948,-0.72,-155.7,224.9,-16.8,157,955,0.00,2.10,0.00,0.000,6,0.000,0.036,2198,2402,3939,0,0,0,0,0,0
$GC,1289,-0.74,-155.7,278.8,-15.4,218,1298,0.00,2.10,0.00,0.000,4,0.000,0.034,2198,1004,3939,0,0,0,0,0,0
$GC,1334,-0.78,-155.7,285.4,-14.6,225,1341,0.00,2.10,0.00,0.000,6,0.000,0.036,2191,2398,3938,0,0,0,0,0,0
$GC,1673,-0.80,-155.7,333.1,-15.3,265,1677,0.00,2.08,0.00,0.000,4,0.000,0.034,2191,990,3938,0,0,0,0,0,0
$GC,1705,-0.84,-155.7,338.1,-14.2,267,1713,0.00,2.15,0.00,0.000,6,0.000,0.037,2184,2400,3938,0,0,0,0,0,0
$GC,2031,-0.86,-155.7,387.0,-14.6,298,2035,0.12,2.15,0.00,0.000,4,0.083,0.045,2110,3791,3937,0,0,0,0,0,0
$GC,2097,-0.84,-155.7,399.3,-19.4,303,2105,0.12,2.10,0.00,0.000,6,0.141,0.029,2150,2393,3936,0,0,0,0,0,0
$GC,2422,-0.84,-155.7,457.0,-17.6,334,2425,0.00,2.05,0.00,0.000,4,0.000,0.036,2150,996,3935,0,0,0,0,0,0
$GC,2458,-0.87,-155.7,462.8,-16.5,337,2462,0.00,2.15,0.00,0.000,6,0.000,0.038,2144,2408,3935,0,0,0,0,0,0
$STATE,2676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2676,begin apogee
$GC,2681,-0.16,0.0,500.0,16.7,357,2803,0.68,0.00,116.93,0.865,6,0.125,0.000,2367,1973,3298,0,0,0,0,0,0
$STATE,2804,end apogee,CONTROL_FINISHED_OK
$STATE,2804,begin climb
$GC,2806,0.89,155.7,504.9,0.0,367,2934,0.93,2.17,119.32,0.850,4,0.045,0.038,2734,601,2663,0,0,0,0,0,0
$GC,3123,0.76,155.7,475.7,16.1,394,3133,0.20,2.17,0.00,0.000,6,0.169,0.033,2676,2008,2657,0,0,0,0,0,0
$GC,3449,0.66,156.7,434.4,13.8,425,3454,0.15,2.15,0.00,0.000,4,0.184,0.043,2637,3407,2654,0,0,0,0,0,0
$GC,3705,0.58,156.7,398.4,14.2,447,3713,0.10,2.12,0.00,0.000,6,0.164,0.031,2616,2005,2651,0,0,0,0,0,0
$GC,4031,0.67,259.2,366.6,7.8,478,4116,0.00,2.25,77.62,0.796,4,0.000,0.041,2616,3408,2241,0,0,0,0,0,0
$GC,4187,0.68,260.3,348.7,13.8,491,4191,0.00,2.17,0.00,0.000,6,0.000,0.031,2624,1997,2237,0,0,0,0,0,0
$GC,4513,0.73,301.2,307.8,11.4,521,4553,0.10,2.25,32.47,0.745,4,0.102,0.041,2685,588,2070,0,0,0,0,0,0
$GC,4648,0.70,301.2,284.3,18.0,540,4657,0.10,2.17,0.00,0.000,6,0.142,0.034,2654,1992,2066,0,0,0,0,0,0
$GC,4995,0.69,301.2,225.3,16.6,601,5002,0.00,2.17,0.00,0.000,4,0.000,0.043,2654,3417,2062,0,0,0,0,0,0
$GC,5044,0.68,301.2,217.1,16.2,609,5050,0.00,2.15,0.00,0.000,6,0.000,0.032,2662,1988,2060,0,0,0,0,0,0
$GC,5392,0.66,301.2,168.4,14.5,670,5402,0.00,2.12,0.00,0.000,4,0.000,0.042,2674,595,2059,0,0,0,0,0,0
$GC,5441,0.66,301.2,160.5,14.8,678,5451,0.10,2.15,0.00,0.000,6,0.135,0.034,2641,2007,2059,0,0,0,0,0,0
$GC,5780,0.74,347.0,117.5,11.1,739,5820,0.00,2.20,33.85,0.623,4,0.000,0.042,2641,3414,1883,0,0,0,0,0,0
$GC,5893,0.83,385.9,103.3,11.6,757,5934,0.08,2.17,30.33,0.600,6,0.057,0.032,2703,2001,1722,0,0,0,0,0,0
$GC,6261,0.90,421.1,49.0,11.8,822,6292,0.00,0.00,26.55,0.557,6,0.000,0.000,2703,2000,1580,0,0,0,0,0,0
$GC,6619,0.94,424.3,5.2,13.7,886,6628,0.00,2.20,0.00,0.000,4,0.000,0.042,2714,588,1574,0,0,0,0,0,0
$STATE,6634,end climb,SURFACE_DEPTH_REACHED
$STATE,6634,begin surface coast
$FINISH,0.7,1.021946
$STATE,6664,end surface coast,CONTROL_FINISHED_OK
$STATE,6664,begin surface
$SM_CCo,6754,0.00,0.000,0,0,1572,423.14
$SM_GC,1.69,6.47,0.00,0.00,0.039,0.000,0.000,208,2411,1572,-6.83,0.31,423.14
$IRIDIUM_FIX,2408.65,12554.52,071010,080816
$TT8_MAMPS,0.027713
$HUMID,47.20
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.7,22.268
$10V_AH,10.3,27.215
$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,17.025,65.625,437.075,0.000,0.000,28.358,23.432,179.916,0.500,0.000,15.795,2173.503,1718.628,449.717,2597.320,202.322,0.000,1292.314,0.000,1419.314,0.000,0.544,0.000
$DEVICE_MAMPS,224.145,46.665,865.215,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,603.105,1358.790,1648.563,0.000,0.000,0.000,2372.848,0.000,0.000,0.000
$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,63679,893
$CAP_FILE_SIZE,94859,0
$CFSIZE,260165632,238997504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.133,152.9,1
$GPS,071010,120801,2411.276,12609.542,40,1.8,40,-3.6