version: 66.08
glider: 181
mission: 4
dive: 132
start: 10 5 110 2 9 36
data:
$ID,181
$MISSION,4
$DIVE,132
$N_DIVES,145
$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,-38003.902
$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,37
$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,262.0
$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
$GPS1,051010,020302,2401.188,12608.982,9,1.7,9,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-61.1
$GPS2,051010,020908,2401.203,12609.017,10,2.0,10,-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,341.9,34812,-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,19,-0.89,-155.7,0.0,0.0,0,78,0.00,0.00,-55.78,0.000,2,0.000,0.000,200,2410,2895,0,0,0,0,0,0
$GC,80,-0.89,-155.7,3.7,-6.2,7,121,7.57,2.15,-21.38,0.000,4,0.226,0.056,2124,3783,3937,0,0,0,0,0,0
$GC,190,-0.79,-155.7,42.6,-37.5,24,199,0.12,2.12,0.00,0.000,6,0.164,0.033,2161,2400,3938,0,0,0,0,0,0
$GC,524,-0.74,-155.7,141.4,-25.0,85,533,0.00,2.12,0.00,0.000,4,0.000,0.035,2161,985,3939,0,0,0,0,0,0
$GC,651,-0.74,-155.7,171.4,-21.9,108,660,0.10,2.15,0.00,0.000,6,0.138,0.035,2184,2395,3940,0,0,0,0,0,0
$GC,995,-0.74,-155.7,237.3,-18.0,169,1003,0.00,2.10,0.00,0.000,4,0.000,0.041,2177,3787,3941,0,0,0,0,0,0
$GC,1086,-0.77,-155.7,251.8,-13.7,185,1095,0.00,2.08,0.00,0.000,6,0.000,0.028,2176,2380,3941,0,0,0,0,0,0
$GC,1418,-0.77,-155.7,305.9,-17.0,243,1422,0.00,2.03,0.00,0.000,4,0.000,0.034,2176,988,3940,0,0,0,0,0,0
$GC,1540,-0.80,-155.7,325.3,-14.7,254,1544,0.00,2.12,0.00,0.000,6,0.000,0.034,2165,2414,3940,0,0,0,0,0,0
$GC,1871,-0.80,-155.7,383.4,-17.1,285,1875,0.00,2.05,0.00,0.000,4,0.000,0.043,2155,3781,3939,0,0,0,0,0,0
$GC,1924,-0.84,-155.7,392.4,-15.1,289,1933,0.00,2.08,0.00,0.000,6,0.000,0.029,2156,2390,3939,0,0,0,0,0,0
$GC,2249,-0.84,-155.7,446.3,-16.9,320,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2390,3937,0,0,0,0,0,0
$GC,2570,-0.85,-155.7,496.0,-15.7,350,2574,0.00,2.12,0.00,0.000,4,0.000,0.046,2146,3776,3936,0,0,0,0,0,0
$STATE,2596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2596,begin apogee
$GC,2603,-0.16,0.0,500.5,16.0,352,2726,0.68,0.00,117.15,0.862,6,0.120,0.000,2371,1996,3297,0,0,0,0,0,0
$STATE,2727,end apogee,CONTROL_FINISHED_OK
$STATE,2727,begin climb
$GC,2729,0.89,155.7,506.8,0.0,362,2859,0.90,2.25,119.15,0.845,4,0.047,0.037,2728,597,2663,0,0,0,0,0,0
$GC,2876,0.80,197.3,506.2,11.4,374,2921,0.15,2.22,33.70,0.812,6,0.171,0.032,2686,2004,2493,0,0,0,0,0,0
$GC,3238,0.71,197.3,445.2,14.4,408,3243,0.12,2.17,0.00,0.000,4,0.190,0.042,2655,3402,2486,0,0,0,0,0,0
$GC,3345,0.64,197.3,429.9,14.2,417,3349,0.12,2.10,0.00,0.000,6,0.184,0.031,2634,1997,2484,0,0,0,0,0,0
$GC,3671,0.62,208.7,387.8,13.2,447,3684,0.00,2.17,8.27,0.680,4,0.000,0.040,2643,596,2448,0,0,0,0,0,0
$GC,3720,0.59,213.1,381.1,13.6,451,3733,0.00,2.12,5.28,0.581,6,0.000,0.033,2643,2004,2429,0,0,0,0,0,0
$GC,4051,0.59,236.4,337.4,12.5,482,4076,0.00,2.22,18.95,0.741,4,0.000,0.043,2643,3404,2334,0,0,0,0,0,0
$GC,4156,0.55,236.4,322.3,16.3,491,4161,0.17,2.12,0.00,0.000,6,0.164,0.032,2613,1990,2331,0,0,0,0,0,0
$GC,4485,0.63,290.4,282.6,10.7,535,4534,0.00,2.15,42.20,0.731,4,0.000,0.041,2616,597,2113,0,0,0,0,0,0
$GC,4579,0.70,322.2,272.1,12.0,550,4614,0.00,2.17,25.58,0.699,6,0.000,0.033,2616,1999,1982,0,0,0,0,0,0
$GC,4938,0.76,347.4,226.0,12.4,615,4967,0.15,2.20,20.17,0.666,4,0.080,0.040,2684,3395,1879,0,0,0,0,0,0
$GC,4995,0.73,347.4,215.6,19.7,624,5005,0.10,2.15,0.00,0.000,6,0.151,0.033,2664,2007,1877,0,0,0,0,0,0
$GC,5336,0.73,347.4,161.1,15.8,685,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2006,1874,0,0,0,0,0,0
$GC,5670,0.75,347.4,110.3,14.7,746,5678,0.00,2.15,0.00,0.000,4,0.000,0.041,2674,593,1873,0,0,0,0,0,0
$GC,5724,0.79,350.4,102.4,13.7,755,5732,0.00,2.12,0.00,0.000,6,0.000,0.032,2674,2000,1872,0,0,0,0,0,0
$GC,6055,0.93,423.3,64.2,9.5,816,6119,0.15,2.22,56.00,0.576,4,0.076,0.040,2757,595,1571,0,0,0,0,0,0
$GC,6145,0.93,423.3,54.0,13.9,828,6154,0.10,2.17,0.00,0.000,6,0.139,0.031,2726,2004,1568,0,0,0,0,0,0
$GC,6480,0.95,423.3,6.7,15.1,889,6489,0.00,2.17,0.00,0.000,4,0.000,0.042,2726,3408,1565,0,0,0,0,0,0
$STATE,6506,end climb,SURFACE_DEPTH_REACHED
$STATE,6506,begin surface coast
$FINISH,0.5,1.021780
$STATE,6529,end surface coast,CONTROL_FINISHED_OK
$STATE,6529,begin surface
$SM_CCo,6614,0.00,0.000,0,0,1562,426.09
$SM_GC,1.69,6.53,0.00,0.00,0.041,0.000,0.000,202,2366,1562,-6.83,-0.96,426.09
$IRIDIUM_FIX,2349.77,12605.98,051010,000051
$TT8_MAMPS,0.027713
$HUMID,47.55
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.30
$XPDR_PINGS,3
$24V_AH,24.7,19.055
$10V_AH,10.3,22.874
$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,16.975,64.300,446.450,0.000,0.000,31.082,17.031,176.829,0.750,0.000,13.324,2164.523,1621.461,461.020,2548.420,189.378,0.000,1294.704,0.000,1392.130,0.000,0.543,0.000
$DEVICE_MAMPS,225.675,55.845,862.155,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,604.737,1366.037,1657.122,0.000,0.000,0.000,2291.406,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331472
$DATA_FILE_SIZE,63640,897
$CAP_FILE_SIZE,93564,0
$CFSIZE,260165632,240926720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078, 52.5,1
$GPS,051010,040125,2402.219,12608.855,60,1.1,60,-3.6