version: 66.08
glider: 181
mission: 4
dive: 131
start: 10 5 110 0 9 17
data:
$ID,181
$MISSION,4
$DIVE,131
$N_DIVES,140
$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,-38002.648
$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,45
$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,260.0
$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
$GPS1,051010,000237,2400.316,12609.147,37,1.2,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-64.5
$GPS2,051010,000849,2400.349,12609.186,11,1.4,16,-3.6
$SPEED_LIMITS,0.241,0.296
$TGT_NAME,NWALL_N
$TGT_LATLONG,2420.000,12609.000
$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,333.4,36396,-22.5,-13.889
$D_GRID,1679
$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,19,-0.89,-155.7,0.0,0.0,0,69,0.00,0.00,-46.95,0.000,2,0.000,0.000,202,2416,2793,0,0,0,0,0,0
$GC,71,-0.89,-155.7,3.2,-5.6,6,111,7.60,2.10,-25.92,0.000,4,0.227,0.057,2123,3770,3936,0,0,0,0,0,0
$GC,202,-0.80,-155.7,48.7,-35.2,27,210,0.12,2.10,0.00,0.000,6,0.166,0.031,2159,2390,3937,0,0,0,0,0,0
$GC,536,-0.74,-155.7,147.9,-23.4,88,545,0.00,2.10,0.00,0.000,4,0.000,0.034,2159,991,3939,0,0,0,0,0,0
$GC,638,-0.72,-155.7,170.4,-19.7,105,645,0.15,2.10,0.00,0.000,6,0.155,0.034,2191,2393,3939,0,0,0,0,0,0
$GC,990,-0.72,-155.7,237.0,-18.4,166,999,0.00,2.12,0.00,0.000,4,0.000,0.042,2182,3775,3940,0,0,0,0,0,0
$GC,1039,-0.74,-155.7,245.6,-16.3,174,1047,0.00,2.08,0.00,0.000,6,0.000,0.028,2182,2391,3940,0,0,0,0,0,0
$GC,1384,-0.74,-155.7,308.3,-17.9,232,1387,0.00,2.05,0.00,0.000,4,0.000,0.034,2182,999,3940,0,0,0,0,0,0
$GC,1477,-0.77,-155.7,324.5,-15.2,240,1487,0.00,2.12,0.00,0.000,6,0.000,0.035,2175,2399,3940,0,0,0,0,0,0
$GC,1805,-0.79,-155.7,374.8,-14.4,271,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2400,3939,0,0,0,0,0,0
$GC,2124,-0.81,-155.7,422.4,-14.5,301,2128,0.00,2.12,0.00,0.000,4,0.000,0.034,2175,985,3938,0,0,0,0,0,0
$GC,2145,-0.84,-155.7,426.2,-14.7,302,2154,0.00,2.15,0.00,0.000,6,0.000,0.035,2165,2401,3938,0,0,0,0,0,0
$GC,2473,-0.87,-155.7,474.6,-15.3,333,2477,0.00,2.08,0.00,0.000,4,0.000,0.045,2155,3777,3936,0,0,0,0,0,0
$GC,2592,-0.90,-155.7,492.0,-14.3,343,2596,0.00,2.05,0.00,0.000,6,0.000,0.030,2155,2395,3935,0,0,0,0,0,0
$STATE,2645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2645,begin apogee
$GC,2649,-0.16,0.0,500.2,14.5,348,2772,0.65,0.00,116.72,0.859,6,0.122,0.000,2371,1983,3299,0,0,0,0,0,0
$STATE,2773,end apogee,CONTROL_FINISHED_OK
$STATE,2773,begin climb
$GC,2774,0.89,155.7,506.2,0.0,358,2902,0.90,2.35,119.80,0.842,4,0.043,0.040,2724,3409,2663,0,0,0,0,0,0
$GC,3152,0.74,155.7,464.9,17.8,391,3160,0.22,2.12,0.00,0.000,6,0.175,0.031,2669,2021,2655,0,0,0,0,0,0
$GC,3479,0.67,174.3,422.5,12.8,422,3503,0.00,2.22,14.02,0.751,4,0.000,0.043,2669,3410,2588,0,0,0,0,0,0
$GC,3598,0.57,174.3,405.8,14.2,432,3607,0.22,2.15,0.00,0.000,6,0.171,0.032,2613,2003,2586,0,0,0,0,0,0
$GC,3924,0.61,227.0,372.5,10.7,463,3973,0.00,2.17,41.30,0.783,4,0.000,0.039,2622,596,2371,0,0,0,0,0,0
$GC,4021,0.62,230.7,361.2,13.7,471,4033,0.00,2.17,3.83,0.466,6,0.000,0.033,2622,2014,2358,0,0,0,0,0,0
$GC,4352,0.64,250.1,319.8,12.7,502,4376,0.00,2.20,16.33,0.718,4,0.000,0.044,2622,3400,2278,0,0,0,0,0,0
$GC,4437,0.64,252.2,308.0,13.8,509,4445,0.00,2.12,0.00,0.000,6,0.000,0.032,2632,2002,2275,0,0,0,0,0,0
$GC,4773,0.67,284.4,263.9,12.0,564,4809,0.00,2.20,27.30,0.707,4,0.000,0.039,2643,595,2136,0,0,0,0,0,0
$GC,4861,0.70,293.8,252.3,13.3,578,4876,0.00,2.17,8.50,0.605,6,0.000,0.033,2643,2005,2100,0,0,0,0,0,0
$GC,5211,0.70,293.8,203.3,14.5,640,5219,0.00,2.17,0.00,0.000,4,0.000,0.043,2643,3404,2094,0,0,0,0,0,0
$GC,5331,0.70,293.8,183.8,15.3,660,5340,0.00,2.15,0.00,0.000,6,0.000,0.032,2653,1996,2093,0,0,0,0,0,0
$GC,5675,0.74,328.5,137.4,11.8,721,5707,0.00,2.15,26.38,0.620,4,0.000,0.041,2664,595,1958,0,0,0,0,0,0
$GC,5781,0.81,365.3,123.8,11.7,738,5821,0.00,2.15,29.00,0.604,6,0.000,0.031,2664,2003,1807,0,0,0,0,0,0
$GC,6147,0.91,410.8,74.3,11.2,803,6188,0.15,2.20,34.28,0.571,4,0.077,0.040,2747,593,1625,0,0,0,0,0,0
$GC,6225,0.89,410.8,62.1,16.8,814,6233,0.10,2.17,0.00,0.000,6,0.141,0.032,2715,2003,1623,0,0,0,0,0,0
$GC,6561,1.00,473.1,21.3,10.2,875,6617,0.10,2.20,46.55,0.530,4,0.100,0.040,2761,3395,1368,0,0,0,0,0,0
$GC,6665,1.02,473.1,4.2,17.5,890,6673,0.00,2.15,0.00,0.000,6,0.000,0.031,2770,2003,1365,0,0,0,0,0,0
$STATE,6679,end climb,SURFACE_DEPTH_REACHED
$STATE,6679,begin surface coast
$FINISH,0.8,1.021776
$STATE,6697,end surface coast,CONTROL_FINISHED_OK
$STATE,6697,begin surface
$SM_CCo,6781,0.00,0.000,0,0,1361,475.15
$SM_GC,1.48,6.60,0.00,0.00,0.032,0.000,0.000,201,2409,1361,-6.84,0.25,475.15
$IRIDIUM_FIX,2352.12,12547.07,041010,222228
$TT8_MAMPS,0.027713
$HUMID,47.28
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.7,18.944
$10V_AH,10.3,22.720
$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,16.825,65.600,484.000,0.000,0.000,31.528,23.446,173.474,0.000,0.000,20.597,2161.041,1742.673,482.050,2593.003,179.028,0.000,1349.049,0.000,1419.828,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,57.375,859.095,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,602.649,1362.471,1643.173,0.000,0.000,0.000,2313.839,0.000,0.000,0.000
$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,63622,895
$CAP_FILE_SIZE,95431,0
$CFSIZE,260165632,240992256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111, 80.4,1
$GPS,051010,020302,2401.188,12608.982,9,1.7,9,-3.6