version: 66.08
glider: 181
mission: 4
dive: 165
start: 10 7 110 20 15 41
data:
$ID,181
$MISSION,4
$DIVE,165
$N_DIVES,175
$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,-38052.824
$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,36
$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,328.0
$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
$GPS1,071010,200838,2408.509,12608.855,10,1.8,10,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-68.5
$GPS2,071010,201513,2408.604,12608.830,12,1.9,29,-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,184.9,15937,-22.5,-13.889
$D_GRID,1731
$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,-155.7,0.0,0.0,0,69,0.00,0.00,-46.75,0.000,2,0.000,0.000,200,2403,2748,0,0,0,0,0,0
$GC,71,-0.89,-155.7,3.0,-4.4,6,112,7.55,2.15,-26.58,0.000,4,0.223,0.047,2130,981,3935,0,0,0,0,0,0
$GC,175,-0.75,-155.7,36.4,-39.4,22,184,0.20,2.20,0.00,0.000,6,0.168,0.036,2178,2405,3936,0,0,0,0,0,0
$GC,510,-0.69,-155.7,138.4,-24.5,83,518,0.00,2.12,0.00,0.000,4,0.000,0.042,2169,3784,3937,0,0,0,0,0,0
$GC,591,-0.69,-155.7,156.5,-20.4,97,599,0.12,2.08,0.00,0.000,6,0.163,0.028,2200,2383,3938,0,0,0,0,0,0
$GC,931,-0.70,-155.7,224.6,-17.0,158,940,0.00,2.08,0.00,0.000,4,0.000,0.034,2200,995,3939,0,0,0,0,0,0
$GC,974,-0.73,-155.7,231.6,-15.4,165,982,0.00,2.12,0.00,0.000,6,0.000,0.035,2192,2410,3939,0,0,0,0,0,0
$GC,1302,-0.73,-155.7,291.7,-18.6,226,1310,0.00,2.10,0.00,0.000,4,0.000,0.044,2182,3774,3938,0,0,0,0,0,0
$GC,1372,-0.78,-155.7,303.3,-15.2,237,1376,0.00,2.03,0.00,0.000,6,0.000,0.028,2182,2384,3938,0,0,0,0,0,0
$GC,1702,-0.78,-155.7,358.6,-16.3,268,1706,0.00,2.15,0.00,0.000,4,0.000,0.044,2172,3782,3938,0,0,0,0,0,0
$GC,1765,-0.82,-155.7,367.8,-14.2,273,1768,0.00,2.03,0.00,0.000,6,0.000,0.028,2171,2390,3938,0,0,0,0,0,0
$GC,2095,-0.84,-155.7,420.3,-16.2,304,2099,0.00,2.05,0.00,0.000,4,0.000,0.035,2172,1006,3937,0,0,0,0,0,0
$GC,2163,-0.90,-155.7,430.4,-13.9,310,2167,0.00,2.10,0.00,0.000,6,0.000,0.037,2165,2408,3936,0,0,0,0,0,0
$GC,2488,-0.92,-155.7,480.6,-15.5,340,2490,0.10,0.00,0.00,0.000,6,0.099,0.000,2112,2408,3935,0,0,0,0,0,0
$STATE,2594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2594,begin apogee
$GC,2599,-0.16,0.0,501.0,19.4,350,2721,0.80,0.00,116.18,0.872,6,0.135,0.000,2368,1987,3300,0,0,0,0,0,0
$STATE,2722,end apogee,CONTROL_FINISHED_OK
$STATE,2722,begin climb
$GC,2723,0.89,155.7,509.1,0.0,360,2851,0.93,0.00,119.97,0.857,6,0.044,0.000,2729,1987,2662,0,0,0,0,0,0
$GC,3169,0.75,155.7,464.2,17.0,401,3174,0.22,2.20,0.00,0.000,4,0.180,0.039,2670,3414,2655,0,0,0,0,0,0
$GC,3257,0.65,163.8,450.6,13.4,408,3269,0.15,2.15,6.43,0.649,6,0.173,0.031,2636,2006,2630,0,0,0,0,0,0
$GC,3595,0.65,208.1,412.5,11.2,440,3636,0.00,2.25,34.97,0.810,4,0.000,0.043,2636,3401,2449,0,0,0,0,0,0
$GC,3714,0.61,208.1,396.5,14.5,450,3722,0.00,2.17,0.00,0.000,6,0.000,0.031,2644,1998,2445,0,0,0,0,0,0
$GC,4040,0.57,208.1,351.0,14.5,481,4045,0.15,2.15,0.00,0.000,4,0.176,0.041,2615,597,2442,0,0,0,0,0,0
$GC,4171,0.62,253.4,334.7,11.2,492,4215,0.00,2.15,34.78,0.770,6,0.000,0.034,2615,2000,2264,0,0,0,0,0,0
$GC,4535,0.65,271.9,289.3,12.8,533,4556,0.00,2.20,14.57,0.705,4,0.000,0.042,2615,3409,2190,0,0,0,0,0,0
$GC,4651,0.65,275.7,273.7,13.7,553,4660,0.00,2.12,4.18,0.482,6,0.000,0.031,2625,2003,2175,0,0,0,0,0,0
$GC,4985,0.69,304.3,227.4,12.2,614,5013,0.00,0.00,23.40,0.689,6,0.000,0.000,2625,2002,2057,0,0,0,0,0,0
$GC,5339,0.74,329.6,181.6,12.4,678,5370,0.12,2.20,19.75,0.649,4,0.088,0.042,2697,597,1955,0,0,0,0,0,0
$GC,5491,0.73,329.6,157.6,15.1,704,5500,0.10,2.15,0.00,0.000,6,0.137,0.033,2665,2001,1952,0,0,0,0,0,0
$GC,5824,0.73,329.6,111.3,15.1,765,5832,0.00,2.17,0.00,0.000,4,0.000,0.042,2664,3404,1949,0,0,0,0,0,0
$GC,5905,0.74,329.6,99.2,15.1,779,5913,0.00,2.15,0.00,0.000,6,0.000,0.031,2674,1993,1947,0,0,0,0,0,0
$GC,6239,0.91,431.0,63.0,7.8,840,6325,0.12,2.28,74.95,0.581,4,0.085,0.041,2738,3406,1541,0,0,0,0,0,0
$GC,6394,0.91,431.0,41.5,16.2,863,6403,0.10,2.17,0.00,0.000,6,0.141,0.031,2716,2004,1537,0,0,0,0,0,0
$STATE,6689,end climb,SURFACE_DEPTH_REACHED
$STATE,6689,begin surface coast
$FINISH,0.7,1.021352
$STATE,6716,end surface coast,CONTROL_FINISHED_OK
$STATE,6716,begin surface
$SM_CCo,6802,0.00,0.000,0,0,1532,432.95
$SM_GC,1.58,6.47,0.00,0.00,0.037,0.000,0.000,201,2417,1532,-6.84,0.48,432.95
$IRIDIUM_FIX,2356.84,12608.76,071010,181814
$TT8_MAMPS,0.027713
$HUMID,47.08
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,25.30
$XPDR_PINGS,1
$24V_AH,24.6,22.841
$10V_AH,10.3,28.003
$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,17.150,56.900,449.175,0.000,0.000,25.910,21.289,176.963,0.250,0.000,32.182,2224.750,1705.583,445.508,2629.818,195.479,0.000,1288.021,0.000,1422.472,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,47.430,872.100,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,621.461,1401.346,1701.592,0.000,0.000,0.000,2378.837,0.000,0.000,0.000
$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,67206,921
$CAP_FILE_SIZE,93393,0
$CFSIZE,260165632,238649344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032, 44.7,1
$GPS,071010,221007,2407.814,12608.874,29,1.5,29,-3.6