version: 66.08
glider: 181
mission: 4
dive: 171
start: 10 8 110 8 24 24
data:
$ID,181
$MISSION,4
$DIVE,171
$N_DIVES,180
$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,-38060.359
$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,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,340.0
$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
$GPS1,081010,081737,2403.484,12609.052,42,1.1,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-68.8
$GPS2,081010,082356,2403.491,12609.007,12,1.4,12,-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,186.3,6465,-22.5,-13.889
$D_GRID,1664
$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,-45.58,0.000,2,0.000,0.000,202,2408,2727,0,0,0,0,0,0
$GC,70,-0.89,-155.7,3.1,-4.9,6,111,7.57,2.15,-27.98,0.000,4,0.224,0.047,2134,980,3938,0,0,0,0,0,0
$GC,142,-0.75,-155.7,21.7,-35.6,16,150,0.17,2.17,0.00,0.000,6,0.170,0.035,2175,2392,3937,0,0,0,0,0,0
$GC,476,-0.70,-155.7,132.2,-22.1,77,484,0.00,2.12,0.00,0.000,4,0.000,0.041,2166,3775,3938,0,0,0,0,0,0
$GC,569,-0.70,-155.7,151.7,-18.9,93,577,0.12,2.05,0.00,0.000,6,0.151,0.027,2200,2384,3938,0,0,0,0,0,0
$GC,909,-0.70,-155.7,217.9,-18.3,154,917,0.00,2.08,0.00,0.000,4,0.000,0.034,2200,995,3939,0,0,0,0,0,0
$GC,963,-0.74,-155.7,226.8,-16.6,163,971,0.00,2.12,0.00,0.000,6,0.000,0.035,2193,2410,3939,0,0,0,0,0,0
$GC,1291,-0.75,-155.7,284.3,-17.1,224,1299,0.00,2.10,0.00,0.000,4,0.000,0.044,2182,3774,3939,0,0,0,0,0,0
$GC,1361,-0.79,-155.7,294.3,-12.0,236,1369,0.00,2.05,0.00,0.000,6,0.000,0.028,2182,2399,3939,0,0,0,0,0,0
$GC,1691,-0.81,-155.7,344.6,-14.6,270,1694,0.00,2.08,0.00,0.000,4,0.000,0.034,2182,995,3939,0,0,0,0,0,0
$GC,1748,-0.85,-155.7,352.5,-13.4,275,1751,0.00,2.10,0.00,0.000,6,0.000,0.036,2178,2399,3938,0,0,0,0,0,0
$GC,2074,-0.87,-155.7,400.5,-15.4,305,2078,0.00,2.12,0.00,0.000,4,0.000,0.044,2167,3777,3937,0,0,0,0,0,0
$GC,2123,-0.91,-155.7,408.7,-15.6,309,2130,0.12,2.08,0.00,0.000,6,0.082,0.028,2094,2394,3937,0,0,0,0,0,0
$GC,2448,-0.86,-155.7,481.8,-21.6,340,2453,0.20,2.05,0.00,0.000,4,0.161,0.032,2149,995,3935,0,0,0,0,0,0
$GC,2467,-0.82,-155.7,485.6,-22.3,341,2471,0.00,2.10,0.00,0.000,6,0.000,0.036,2142,2401,3935,0,0,0,0,0,0
$STATE,2548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2548,begin apogee
$GC,2553,-0.16,0.0,500.3,17.4,348,2677,0.70,0.00,117.30,0.863,6,0.125,0.000,2372,1977,3297,0,0,0,0,0,0
$STATE,2678,end apogee,CONTROL_FINISHED_OK
$STATE,2678,begin climb
$GC,2680,0.89,155.7,507.3,0.0,358,2812,0.88,2.17,119.28,0.847,4,0.042,0.037,2730,617,2662,0,0,0,0,0,0
$GC,3059,0.76,155.7,466.8,14.4,391,3068,0.20,2.12,0.00,0.000,6,0.166,0.031,2671,2009,2657,0,0,0,0,0,0
$GC,3387,0.70,183.2,428.7,12.2,422,3413,0.00,2.20,20.85,0.786,4,0.000,0.037,2680,611,2551,0,0,0,0,0,0
$GC,3429,0.63,196.2,422.9,13.1,425,3449,0.20,2.10,11.57,0.725,6,0.166,0.032,2628,2002,2499,0,0,0,0,0,0
$GC,3766,0.64,228.4,380.7,12.0,457,3802,0.00,2.25,25.55,0.775,4,0.000,0.041,2628,3402,2366,0,0,0,0,0,0
$GC,3871,0.61,229.0,367.1,13.9,466,3875,0.00,2.10,0.00,0.000,6,0.000,0.031,2636,2014,2364,0,0,0,0,0,0
$GC,4197,0.62,255.2,324.3,12.3,496,4224,0.00,2.22,21.25,0.739,4,0.000,0.040,2647,593,2256,0,0,0,0,0,0
$GC,4243,0.61,272.6,318.1,12.8,500,4268,0.00,2.12,15.07,0.705,6,0.000,0.032,2647,2000,2185,0,0,0,0,0,0
$GC,4589,0.59,272.6,263.9,16.6,553,4596,0.12,2.17,0.00,0.000,4,0.169,0.040,2624,585,2179,0,0,0,0,0,0
$GC,4656,0.62,272.6,253.9,14.1,565,4663,0.00,2.15,0.00,0.000,6,0.000,0.033,2624,2012,2179,0,0,0,0,0,0
$GC,4986,0.67,318.4,212.5,11.1,626,5029,0.00,2.17,34.65,0.685,4,0.000,0.040,2622,3404,2000,0,0,0,0,0,0
$GC,5053,0.74,359.2,205.4,11.4,636,5095,0.00,2.17,32.42,0.665,6,0.000,0.031,2634,2000,1832,0,0,0,0,0,0
$GC,5425,0.77,359.2,152.9,15.2,702,5434,0.10,2.17,0.00,0.000,4,0.099,0.041,2700,590,1825,0,0,0,0,0,0
$GC,5540,0.75,359.2,133.6,16.8,722,5548,0.10,2.15,0.00,0.000,6,0.140,0.031,2667,2000,1825,0,0,0,0,0,0
$GC,5875,0.84,412.8,89.7,10.7,783,5923,0.00,2.17,39.83,0.594,4,0.000,0.040,2667,3396,1614,0,0,0,0,0,0
$GC,5986,0.90,412.8,74.8,14.4,800,5995,0.08,2.17,0.00,0.000,6,0.051,0.031,2732,1995,1614,0,0,0,0,0,0
$GC,6321,0.90,412.8,22.0,15.2,861,6329,0.00,2.15,0.00,0.000,4,0.000,0.041,2743,592,1608,0,0,0,0,0,0
$GC,6382,0.91,412.8,12.6,15.0,871,6391,0.00,2.15,0.00,0.000,6,0.000,0.032,2740,2008,1608,0,0,0,0,0,0
$STATE,6440,end climb,SURFACE_DEPTH_REACHED
$STATE,6440,begin surface coast
$FINISH,0.6,1.020871
$STATE,6458,end surface coast,CONTROL_FINISHED_OK
$STATE,6458,begin surface
$SM_CCo,6545,0.00,0.000,0,0,1604,415.54
$SM_GC,1.75,6.57,0.00,0.00,0.041,0.000,0.000,201,2416,1604,-6.86,0.45,415.54
$IRIDIUM_FIX,2359.20,12603.55,081010,060609
$TT8_MAMPS,0.027713
$HUMID,48.11
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,24.7,23.508
$10V_AH,10.3,28.946
$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,17.150,69.475,437.775,0.000,0.000,30.413,18.047,177.868,0.500,0.000,15.092,2150.658,1585.169,463.386,2520.949,207.190,0.000,1294.064,0.000,1381.973,0.000,0.543,0.000
$DEVICE_MAMPS,224.145,47.430,862.920,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,596.239,1345.146,1612.286,0.000,0.000,0.000,2235.693,0.000,0.000,0.000
$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,63695,884
$CAP_FILE_SIZE,96161,0
$CFSIZE,260165632,238231552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040, 37.8,1
$GPS,081010,101434,2402.687,12608.869,10,2.3,29,-3.6