version: 66.08
glider: 181
mission: 4
dive: 161
start: 10 7 110 12 14 48
data:
$ID,181
$MISSION,4
$DIVE,161
$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,-38047.801
$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,40
$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,320.0
$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
$GPS1,071010,120801,2411.276,12609.542,40,1.8,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-67.6
$GPS2,071010,121420,2411.247,12609.496,10,1.5,10,-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,198.6,20847,-22.5,-13.889
$D_GRID,1712
$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,-46.12,0.000,2,0.000,0.000,202,2411,2834,0,0,0,0,0,0
$GC,71,-0.89,-155.7,3.4,-5.6,6,111,7.55,2.17,-23.77,0.000,4,0.225,0.046,2128,959,3930,0,0,0,0,0,0
$GC,195,-0.77,-155.7,45.1,-38.6,26,204,0.17,2.22,0.00,0.000,6,0.169,0.037,2171,2397,3931,0,0,0,0,0,0
$GC,529,-0.72,-155.7,140.6,-24.3,87,538,0.00,2.15,0.00,0.000,4,0.000,0.041,2161,3790,3932,0,0,0,0,0,0
$GC,614,-0.72,-155.7,160.7,-19.0,102,623,0.08,2.10,0.00,0.000,6,0.140,0.028,2186,2389,3933,0,0,0,0,0,0
$GC,953,-0.72,-155.7,230.9,-18.9,163,961,0.00,2.05,0.00,0.000,4,0.000,0.034,2185,994,3934,0,0,0,0,0,0
$GC,1037,-0.76,-155.7,245.4,-15.6,178,1045,0.00,2.15,0.00,0.000,6,0.000,0.035,2176,2405,3934,0,0,0,0,0,0
$GC,1365,-0.76,-155.7,303.9,-17.4,237,1369,0.00,2.10,0.00,0.000,4,0.000,0.044,2167,3782,3933,0,0,0,0,0,0
$GC,1385,-0.76,-155.7,308.0,-17.7,238,1394,0.00,2.08,0.00,0.000,6,0.000,0.028,2167,2395,3934,0,0,0,0,0,0
$GC,1712,-0.76,-155.7,365.2,-17.2,269,1716,0.00,2.05,0.00,0.000,4,0.000,0.034,2167,992,3933,0,0,0,0,0,0
$GC,1799,-0.80,-155.7,379.6,-14.5,276,1808,0.00,2.15,0.00,0.000,6,0.000,0.037,2164,2398,3932,0,0,0,0,0,0
$GC,2127,-0.81,-155.7,431.6,-16.4,307,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2399,3931,0,0,0,0,0,0
$GC,2446,-0.82,-155.7,481.1,-15.0,337,2450,0.00,2.12,0.00,0.000,4,0.000,0.045,2154,3784,3929,0,0,0,0,0,0
$GC,2533,-0.87,-155.7,493.5,-12.7,344,2541,0.00,2.08,0.00,0.000,6,0.000,0.028,2154,2397,3935,0,0,0,0,0,0
$STATE,2590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2590,begin apogee
$GC,2595,-0.16,0.0,501.6,14.0,350,2716,0.65,0.00,115.88,0.870,6,0.122,0.000,2370,1987,3298,0,0,0,0,0,0
$STATE,2717,end apogee,CONTROL_FINISHED_OK
$STATE,2717,begin climb
$GC,2719,0.89,155.7,506.4,0.0,360,2846,0.90,2.20,119.00,0.852,4,0.043,0.038,2737,618,2665,0,0,0,0,0,0
$GC,2965,0.75,155.7,491.4,16.8,381,2970,0.25,2.12,0.00,0.000,6,0.179,0.033,2667,2018,2660,0,0,0,0,0,0
$GC,3291,0.70,186.2,448.5,12.1,411,3320,0.00,2.20,24.02,0.803,4,0.000,0.043,2663,3402,2538,0,0,0,0,0,0
$GC,3428,0.61,186.2,427.1,16.2,423,3433,0.20,2.12,0.00,0.000,6,0.177,0.031,2625,2006,2534,0,0,0,0,0,0
$GC,3755,0.66,255.7,390.3,9.7,453,3815,0.00,2.22,53.38,0.806,4,0.000,0.039,2633,589,2255,0,0,0,0,0,0
$GC,3883,0.68,272.8,375.6,12.9,464,3907,0.00,2.15,14.43,0.735,6,0.000,0.034,2633,1996,2185,0,0,0,0,0,0
$GC,4225,0.67,272.8,324.3,14.7,496,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1995,2178,0,0,0,0,0,0
$GC,4547,0.67,272.8,274.5,15.6,540,4555,0.00,2.15,0.00,0.000,4,0.000,0.041,2644,601,2176,0,0,0,0,0,0
$GC,4583,0.67,272.8,268.8,16.3,546,4591,0.00,2.15,0.00,0.000,6,0.000,0.034,2643,2003,2177,0,0,0,0,0,0
$GC,4916,0.66,274.8,217.8,13.8,607,4923,0.00,2.15,0.00,0.000,4,0.000,0.043,2644,3412,2175,0,0,0,0,0,0
$GC,5056,0.65,281.4,198.1,13.5,631,5072,0.00,2.12,6.30,0.558,6,0.000,0.031,2654,1991,2151,0,0,0,0,0,0
$GC,5401,0.66,300.6,154.5,12.7,693,5423,0.00,2.12,15.93,0.632,4,0.000,0.041,2665,597,2071,0,0,0,0,0,0
$GC,5447,0.67,305.9,148.3,13.6,700,5464,0.00,2.15,5.93,0.512,6,0.000,0.034,2667,2001,2051,0,0,0,0,0,0
$GC,5790,0.70,328.1,102.2,12.6,762,5815,0.00,2.17,17.88,0.594,4,0.000,0.041,2665,3408,1959,0,0,0,0,0,0
$GC,5916,0.73,351.8,86.5,12.5,783,5941,0.00,2.15,18.85,0.578,6,0.000,0.031,2676,2003,1864,0,0,0,0,0,0
$GC,6267,0.87,427.7,50.4,9.3,846,6330,0.00,2.20,56.80,0.567,4,0.000,0.041,2686,594,1553,0,0,0,0,0,0
$GC,6360,1.00,476.8,40.8,10.9,859,6408,0.12,2.17,37.67,0.544,6,0.046,0.032,2756,1999,1352,0,0,0,0,0,0
$STATE,6565,end climb,SURFACE_DEPTH_REACHED
$STATE,6565,begin surface coast
$FINISH,0.7,1.021526
$STATE,6578,end surface coast,CONTROL_FINISHED_OK
$STATE,6578,begin surface
$SM_CCo,6664,0.00,0.000,0,0,1344,479.07
$SM_GC,1.48,6.62,0.00,0.00,0.036,0.000,0.000,200,2422,1344,-6.85,0.62,479.07
$IRIDIUM_FIX,2403.92,12621.96,071010,101041
$TT8_MAMPS,0.027713
$HUMID,47.20
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.6,22.384
$10V_AH,10.2,27.371
$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,16.550,61.150,486.050,0.000,0.000,29.893,16.675,184.044,0.500,0.000,13.625,2158.247,1660.192,469.522,2564.193,195.405,0.000,1319.704,0.000,1399.303,0.000,0.544,0.000
$DEVICE_MAMPS,224.910,45.900,869.805,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,604.485,1363.300,1654.104,0.000,0.000,0.000,2399.633,0.000,0.000,0.000
$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,63620,896
$CAP_FILE_SIZE,93484,0
$CFSIZE,260165632,238931968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082,176.0,1
$GPS,071010,140659,2410.065,12609.248,12,2.1,31,-3.6