version: 66.08
glider: 181
mission: 4
dive: 173
start: 10 8 110 12 24 26
data:
$ID,181
$MISSION,4
$DIVE,173
$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,-38062.875
$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,32
$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,344.0
$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
$GPS1,081010,121722,2401.469,12608.999,10,2.3,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-70.7
$GPS2,081010,122358,2401.476,12608.979,11,2.7,30,-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,190.2,2734,-22.5,-13.889
$D_GRID,1773
$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,-46.80,0.000,2,0.000,0.000,201,2405,2889,0,0,0,0,0,0
$GC,71,-0.89,-155.7,3.5,-6.0,6,104,7.53,0.00,-22.02,0.000,6,0.224,0.000,2129,2403,3935,0,0,0,0,0,0
$GC,430,-0.79,-155.7,134.6,-29.0,70,439,0.15,2.15,0.00,0.000,4,0.188,0.040,2158,3783,3938,0,0,0,0,0,0
$GC,506,-0.79,-155.7,153.9,-20.5,83,513,0.00,2.08,0.00,0.000,6,0.000,0.028,2158,2383,3938,0,0,0,0,0,0
$GC,861,-0.75,-155.7,235.7,-24.4,144,870,0.00,2.08,0.00,0.000,4,0.000,0.034,2158,995,3941,0,0,0,0,0,0
$GC,905,-0.73,-155.7,245.9,-22.6,151,913,0.15,2.12,0.00,0.000,6,0.153,0.035,2189,2410,3939,0,0,0,0,0,0
$GC,1246,-0.75,-155.7,303.9,-16.0,210,1250,0.00,2.10,0.00,0.000,4,0.000,0.033,2189,998,3939,0,0,0,0,0,0
$GC,1289,-0.78,-155.7,310.6,-15.8,213,1293,0.00,2.12,0.00,0.000,6,0.000,0.036,2183,2405,3937,0,0,0,0,0,0
$GC,1620,-0.80,-155.7,361.7,-13.8,244,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2405,3939,0,0,0,0,0,0
$GC,1939,-0.83,-155.7,405.7,-14.8,274,1943,0.00,2.08,0.00,0.000,4,0.000,0.034,2183,996,3937,0,0,0,0,0,0
$GC,1983,-0.88,-155.7,412.4,-14.2,277,1991,0.12,2.12,0.00,0.000,6,0.084,0.037,2121,2405,3937,0,0,0,0,0,0
$GC,2309,-0.85,-155.7,479.9,-21.0,308,2313,0.00,2.10,0.00,0.000,4,0.000,0.045,2115,3778,3936,0,0,0,0,0,0
$GC,2404,-0.85,-155.7,497.3,-17.3,316,2409,0.15,2.03,0.00,0.000,6,0.151,0.029,2151,2396,3935,0,0,0,0,0,0
$STATE,2423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2423,begin apogee
$GC,2428,-0.16,0.0,500.2,16.7,317,2552,0.65,0.00,117.10,0.864,6,0.125,0.000,2367,1989,3298,0,0,0,0,0,0
$STATE,2552,end apogee,CONTROL_FINISHED_OK
$STATE,2553,begin climb
$GC,2554,0.89,155.7,506.2,0.0,327,2682,0.93,2.35,119.40,0.848,4,0.050,0.040,2719,3411,2665,0,0,0,0,0,0
$GC,2929,0.74,155.7,466.2,17.1,360,2939,0.20,2.12,0.00,0.000,6,0.172,0.029,2672,2018,2657,0,0,0,0,0,0
$GC,3256,0.72,213.0,427.4,10.5,391,3305,0.00,0.00,43.83,0.808,6,0.000,0.000,2672,2016,2430,0,0,0,0,0,0
$GC,3625,0.66,213.0,373.4,14.0,426,3627,0.12,0.00,0.00,0.000,6,0.183,0.000,2639,2016,2424,0,0,0,0,0,0
$GC,3942,0.64,223.0,330.9,13.3,456,3956,0.00,2.22,7.93,0.653,4,0.000,0.040,2648,595,2388,0,0,0,0,0,0
$GC,4126,0.60,223.0,303.1,15.4,472,4135,0.00,2.15,0.00,0.000,6,0.000,0.033,2648,2004,2387,0,0,0,0,0,0
$GC,4453,0.58,234.1,256.5,13.2,531,4469,0.12,2.22,9.77,0.647,4,0.171,0.040,2625,585,2343,0,0,0,0,0,0
$GC,4634,0.61,253.9,235.6,12.7,563,4656,0.00,2.12,16.25,0.677,6,0.000,0.034,2625,2006,2264,0,0,0,0,0,0
$GC,4985,0.70,330.0,199.6,9.3,626,5050,0.00,2.22,58.12,0.680,4,0.000,0.041,2636,595,1952,0,0,0,0,0,0
$GC,5087,0.77,358.3,187.5,12.2,641,5117,0.12,2.15,22.42,0.641,6,0.085,0.033,2692,1998,1837,0,0,0,0,0,0
$GC,5443,0.75,358.3,121.7,18.8,705,5451,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1999,1831,0,0,0,0,0,0
$GC,5775,0.75,358.3,66.1,15.2,766,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1999,1827,0,0,0,0,0,0
$GC,6107,0.87,432.6,27.6,9.4,827,6168,0.00,0.00,54.60,0.555,6,0.000,0.000,2694,1999,1533,0,0,0,0,0,0
$STATE,6324,end climb,SURFACE_DEPTH_REACHED
$STATE,6324,begin surface coast
$FINISH,0.6,1.018873
$STATE,6347,end surface coast,CONTROL_FINISHED_OK
$STATE,6347,begin surface
$SM_CCo,6435,0.00,0.000,0,0,1525,434.92
$SM_GC,1.65,6.40,0.00,0.00,0.032,0.000,0.000,200,2433,1525,-6.85,0.93,434.92
$IRIDIUM_FIX,2359.20,12556.96,081010,101046
$TT8_MAMPS,0.027713
$HUMID,47.83
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.6,23.727
$10V_AH,10.3,29.256
$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,16.650,39.700,449.425,0.000,0.000,30.798,15.530,176.380,0.000,0.000,33.955,2093.059,1612.368,431.516,2499.711,198.128,0.000,1220.741,0.000,1358.082,0.000,0.542,0.000
$DEVICE_MAMPS,224.145,45.135,863.685,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,585.767,1321.570,1589.976,0.000,0.000,0.000,2143.946,0.000,0.000,0.000
$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,60391,868
$CAP_FILE_SIZE,86331,0
$CFSIZE,260165632,238108672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129,153.4,1
$GPS,081010,141255,2400.138,12609.021,38,1.4,38,-3.6