version: 66.08
glider: 181
mission: 4
dive: 162
start: 10 7 110 14 14 32
data:
$ID,181
$MISSION,4
$DIVE,162
$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,-38049.059
$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,46
$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,322.0
$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
$GPS1,071010,140659,2410.065,12609.248,12,2.1,31,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-67.2
$GPS2,071010,141404,2410.106,12609.204,10,2.6,29,-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,186.1,18719,-22.5,-13.889
$D_GRID,1738
$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,-155.7,0.0,0.0,0,75,0.00,0.00,-52.62,0.000,2,0.000,0.000,200,2422,2760,0,0,0,0,0,0
$GC,77,-0.89,-155.7,3.3,-5.2,7,118,7.55,2.15,-25.60,0.000,4,0.221,0.044,2129,981,3933,0,0,0,0,0,0
$GC,188,-0.79,-155.7,39.0,-36.3,24,197,0.15,2.17,0.00,0.000,6,0.161,0.036,2164,2388,3935,0,0,0,0,0,0
$GC,523,-0.73,-155.7,140.7,-22.2,85,531,0.00,2.15,0.00,0.000,4,0.000,0.041,2155,3782,3937,0,0,0,0,0,0
$GC,605,-0.73,-155.7,158.7,-20.3,99,613,0.12,2.08,0.00,0.000,6,0.156,0.028,2188,2380,3937,0,0,0,0,0,0
$GC,958,-0.73,-155.7,229.0,-19.2,160,967,0.00,2.08,0.00,0.000,4,0.000,0.034,2188,991,3938,0,0,0,0,0,0
$GC,1036,-0.77,-155.7,242.7,-15.1,173,1043,0.00,2.12,0.00,0.000,6,0.000,0.035,2180,2407,3938,0,0,0,0,0,0
$GC,1376,-0.77,-155.7,303.5,-16.0,232,1380,0.00,2.08,0.00,0.000,4,0.000,0.043,2169,3778,3938,0,0,0,0,0,0
$GC,1406,-0.78,-155.7,308.3,-16.7,234,1409,0.00,2.05,0.00,0.000,6,0.000,0.028,2169,2391,3935,0,0,0,0,0,0
$GC,1738,-0.78,-155.7,361.6,-15.6,265,1742,0.00,2.08,0.00,0.000,4,0.000,0.035,2166,987,3940,0,0,0,0,0,0
$GC,1815,-0.83,-155.7,374.2,-14.5,271,1822,0.00,2.15,0.00,0.000,6,0.000,0.037,2164,2395,3936,0,0,0,0,0,0
$GC,2140,-0.83,-155.7,426.7,-16.3,302,2144,0.00,2.08,0.00,0.000,4,0.000,0.034,2164,987,3934,0,0,0,0,0,0
$GC,2160,-0.84,-155.7,430.3,-16.8,303,2168,0.00,2.17,0.00,0.000,6,0.000,0.037,2156,2408,3934,0,0,0,0,0,0
$GC,2486,-0.85,-155.7,487.8,-16.8,334,2490,0.00,2.10,0.00,0.000,4,0.000,0.046,2146,3782,3932,0,0,0,0,0,0
$GC,2563,-0.88,-155.7,499.9,-14.3,340,2573,0.00,2.08,0.00,0.000,6,0.000,0.028,2146,2390,3931,0,0,0,0,0,0
$STATE,2578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2579,begin apogee
$GC,2583,-0.16,0.0,502.1,14.9,342,2706,0.68,0.00,116.55,0.871,6,0.124,0.000,2369,1984,3298,0,0,0,0,0,0
$STATE,2706,end apogee,CONTROL_FINISHED_OK
$STATE,2707,begin climb
$GC,2708,0.89,155.7,507.7,0.0,352,2839,0.90,0.00,119.72,0.853,6,0.044,0.000,2721,1983,2661,0,0,0,0,0,0
$GC,3156,0.76,155.7,454.6,15.0,393,3158,0.17,0.00,0.00,0.000,6,0.181,0.000,2677,1983,2655,0,0,0,0,0,0
$GC,3474,0.70,178.2,415.5,12.5,423,3498,0.00,2.22,16.95,0.774,4,0.000,0.041,2677,3410,2570,0,0,0,0,0,0
$GC,3625,0.60,178.2,392.3,15.8,436,3635,0.22,2.12,0.00,0.000,6,0.165,0.031,2619,2023,2568,0,0,0,0,0,0
$GC,3952,0.65,242.0,358.7,10.1,467,4012,0.00,2.30,49.25,0.789,4,0.000,0.041,2629,588,2310,0,0,0,0,0,0
$GC,4028,0.67,272.2,350.0,12.1,473,4060,0.00,2.20,24.25,0.748,6,0.000,0.034,2628,2015,2189,0,0,0,0,0,0
$GC,4379,0.67,272.2,299.3,14.6,506,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2015,2181,0,0,0,0,0,0
$GC,4713,0.67,272.2,246.5,15.4,567,4720,0.00,2.12,0.00,0.000,4,0.000,0.042,2628,3408,2178,0,0,0,0,0,0
$GC,4803,0.67,272.2,233.1,15.7,583,4810,0.00,2.12,0.00,0.000,6,0.000,0.031,2639,1991,2175,0,0,0,0,0,0
$GC,5140,0.72,313.8,189.4,11.4,644,5176,0.00,2.15,31.02,0.673,4,0.000,0.041,2650,598,2018,0,0,0,0,0,0
$GC,5222,0.77,339.5,180.0,12.4,657,5251,0.00,2.15,20.85,0.644,6,0.000,0.033,2650,2014,1912,0,0,0,0,0,0
$GC,5579,0.79,339.5,130.5,14.5,721,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2015,1907,0,0,0,0,0,0
$GC,5911,0.89,392.7,89.8,10.7,782,5959,0.17,2.22,39.92,0.599,4,0.073,0.040,2733,3412,1695,0,0,0,0,0,0
$GC,5997,0.85,392.7,75.5,21.0,794,6005,0.12,2.17,0.00,0.000,6,0.145,0.032,2701,2010,1692,0,0,0,0,0,0
$GC,6332,0.94,441.5,36.4,11.0,855,6379,0.00,2.22,36.10,0.553,4,0.000,0.041,2714,592,1498,0,0,0,0,0,0
$GC,6524,1.03,468.8,13.0,12.3,887,6557,0.08,2.15,21.23,0.516,6,0.059,0.032,2763,1998,1387,0,0,0,0,0,0
$STATE,6580,end climb,SURFACE_DEPTH_REACHED
$STATE,6581,begin surface coast
$FINISH,0.6,1.022024
$STATE,6600,end surface coast,CONTROL_FINISHED_OK
$STATE,6600,begin surface
$SM_CCo,6686,0.00,0.000,0,0,1382,470.24
$SM_GC,1.42,6.70,0.00,0.00,0.041,0.000,0.000,203,2411,1382,-6.85,0.31,470.24
$IRIDIUM_FIX,2403.92,12613.45,071010,121216
$TT8_MAMPS,0.027713
$HUMID,47.32
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,25.10
$XPDR_PINGS,3
$24V_AH,24.6,22.500
$10V_AH,10.2,27.529
$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,16.875,56.850,475.850,0.000,0.000,25.884,50.806,177.338,0.750,0.000,32.795,2155.150,1676.500,486.071,2597.246,200.015,0.000,1324.012,0.000,1380.603,0.000,0.542,0.000
$DEVICE_MAMPS,221.085,45.900,871.335,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,605.449,1366.415,1662.468,0.000,0.000,0.000,2420.547,0.000,0.000,0.000
$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,63800,898
$CAP_FILE_SIZE,92510,0
$CFSIZE,260165632,238862336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,332.7,1
$GPS,071010,160644,2409.282,12609.065,11,1.7,11,-3.6