version: 66.08
glider: 181
mission: 4
dive: 137
start: 10 5 110 12 11 56
data:
$ID,181
$MISSION,4
$DIVE,137
$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,-38010.176
$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,37
$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,272.0
$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
$GPS1,051010,120440,2405.722,12608.689,11,4.0,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-69.1
$GPS2,051010,121128,2405.718,12608.639,13,3.2,32,-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,0.9,26457,-22.5,-13.889
$D_GRID,1747
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.89,-155.7,0.0,0.0,0,77,0.00,0.00,-55.78,0.000,2,0.000,0.000,194,2407,2828,0,0,0,0,0,0
$GC,79,-0.89,-155.7,3.2,-5.3,7,120,7.72,2.10,-24.40,0.000,4,0.231,0.054,2123,3780,3933,0,0,0,0,0,0
$GC,192,-0.79,-155.7,40.8,-38.5,25,202,0.15,2.12,0.00,0.000,6,0.158,0.031,2167,2395,3935,0,0,0,0,0,0
$GC,527,-0.73,-155.7,139.6,-26.1,86,535,0.00,2.10,0.00,0.000,4,0.000,0.035,2166,994,3936,0,0,0,0,0,0
$GC,544,-0.67,-155.7,144.4,-25.4,88,552,0.15,2.15,0.00,0.000,6,0.138,0.033,2205,2406,3936,0,0,0,0,0,0
$GC,886,-0.67,-155.7,210.1,-18.0,149,893,0.00,2.12,0.00,0.000,4,0.000,0.035,2205,979,3938,0,0,0,0,0,0
$GC,945,-0.71,-155.7,219.5,-15.0,159,951,0.00,2.15,0.00,0.000,6,0.000,0.036,2198,2408,3938,0,0,0,0,0,0
$GC,1273,-0.73,-155.7,274.1,-16.4,220,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2408,3938,0,0,0,0,0,0
$GC,1607,-0.76,-155.7,327.0,-15.1,266,1610,0.00,2.10,0.00,0.000,4,0.000,0.044,2187,3788,3937,0,0,0,0,0,0
$GC,1629,-0.79,-155.7,330.5,-15.3,268,1633,0.00,2.08,0.00,0.000,6,0.000,0.028,2187,2381,3937,0,0,0,0,0,0
$GC,1961,-0.82,-155.7,380.8,-15.7,299,1965,0.00,2.05,0.00,0.000,4,0.000,0.035,2187,996,3936,0,0,0,0,0,0
$GC,2017,-0.87,-155.7,389.3,-15.2,304,2021,0.00,2.10,0.00,0.000,6,0.000,0.037,2178,2399,3936,0,0,0,0,0,0
$GC,2344,-0.90,-155.7,438.3,-13.9,334,2348,0.12,2.12,0.00,0.000,4,0.085,0.046,2104,3777,3934,0,0,0,0,0,0
$GC,2437,-0.90,-155.7,455.3,-18.4,342,2442,0.12,2.05,0.00,0.000,6,0.157,0.030,2137,2394,3933,0,0,0,0,0,0
$STATE,2703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2704,begin apogee
$GC,2708,-0.16,0.0,500.3,17.4,367,2832,0.70,0.00,116.65,0.862,6,0.125,0.000,2370,1982,3298,0,0,0,0,0,0
$STATE,2833,end apogee,CONTROL_FINISHED_OK
$STATE,2833,begin climb
$GC,2835,0.89,155.7,506.7,0.0,377,2962,0.90,2.20,119.80,0.845,4,0.042,0.038,2733,604,2663,0,0,0,0,0,0
$GC,3089,0.75,155.7,490.8,16.1,398,3100,0.20,2.17,0.00,0.000,6,0.173,0.033,2675,2004,2658,0,0,0,0,0,0
$GC,3416,0.66,161.0,447.1,13.6,429,3429,0.15,2.17,4.53,0.553,4,0.187,0.043,2637,3407,2641,0,0,0,0,0,0
$GC,3546,0.63,203.1,431.1,11.4,440,3589,0.00,2.12,33.65,0.808,6,0.000,0.031,2645,2004,2470,0,0,0,0,0,0
$GC,3909,0.62,227.3,389.4,12.4,474,3930,0.00,0.00,19.05,0.767,6,0.000,0.000,2645,2004,2372,0,0,0,0,0,0
$GC,4247,0.58,227.3,338.2,15.1,506,4251,0.12,2.17,0.00,0.000,4,0.183,0.044,2614,3411,2366,0,0,0,0,0,0
$GC,4310,0.57,231.0,329.5,13.7,511,4323,0.00,2.10,3.60,0.451,6,0.000,0.032,2623,2008,2355,0,0,0,0,0,0
$GC,4646,0.62,273.0,287.9,11.4,551,4686,0.00,0.00,33.62,0.738,6,0.000,0.000,2622,2007,2184,0,0,0,0,0,0
$GC,5024,0.66,301.1,241.0,12.2,617,5053,0.00,2.20,22.52,0.691,4,0.000,0.042,2623,3404,2068,0,0,0,0,0,0
$GC,5116,0.68,301.1,228.3,14.0,632,5124,0.00,2.17,0.00,0.000,6,0.000,0.032,2633,2000,2065,0,0,0,0,0,0
$GC,5467,0.70,309.9,183.9,13.4,693,5482,0.00,2.12,7.00,0.556,4,0.000,0.041,2644,595,2035,0,0,0,0,0,0
$GC,5563,0.75,325.0,170.9,13.0,709,5585,0.00,2.12,12.90,0.613,6,0.000,0.034,2644,2003,1977,0,0,0,0,0,0
$GC,5916,0.79,341.6,125.0,12.9,772,5941,0.10,2.17,14.32,0.590,4,0.101,0.043,2695,3393,1904,0,0,0,0,0,0
$GC,6011,0.76,341.6,109.3,18.0,787,6019,0.10,2.15,0.00,0.000,6,0.149,0.032,2674,1991,1901,0,0,0,0,0,0
$GC,6344,0.80,357.3,65.7,12.9,848,6369,0.00,2.17,12.77,0.542,4,0.000,0.041,2683,593,1840,0,0,0,0,0,0
$GC,6459,0.90,401.8,53.6,11.2,867,6500,0.00,2.15,34.30,0.561,6,0.000,0.034,2683,1998,1659,0,0,0,0,0,0
$GC,6827,1.04,462.9,22.2,10.2,932,6882,0.20,2.17,45.80,0.532,4,0.060,0.040,2774,3404,1410,0,0,0,0,0,0
$GC,6934,1.01,462.9,3.4,22.0,948,6943,0.12,2.17,0.00,0.000,6,0.145,0.031,2747,1995,1406,0,0,0,0,0,0
$STATE,6949,end climb,SURFACE_DEPTH_REACHED
$STATE,6949,begin surface coast
$FINISH,0.7,1.021929
$STATE,6968,end surface coast,CONTROL_FINISHED_OK
$STATE,6968,begin surface
$SM_CCo,7054,0.00,0.000,0,0,1403,464.60
$SM_GC,1.40,6.57,0.00,0.00,0.035,0.000,0.000,202,2418,1403,-6.84,0.51,464.60
$IRIDIUM_FIX,2359.20,12850.28,051010,101020
$TT8_MAMPS,0.027713
$HUMID,47.08
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,25.30
$XPDR_PINGS,1
$24V_AH,24.6,19.637
$10V_AH,10.2,23.662
$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,17.450,61.000,480.525,0.000,0.000,38.611,24.233,181.367,0.250,0.000,35.946,2293.573,1761.975,484.556,2737.722,189.297,0.000,1371.638,0.000,1472.548,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,54.315,862.155,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,642.715,1450.291,1760.178,0.000,0.000,0.000,2516.993,0.000,0.000,0.000
$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,67018,953
$CAP_FILE_SIZE,98509,0
$CFSIZE,260165632,240566272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,273.1,1
$GPS,051010,141034,2406.729,12608.402,9,2.6,28,-3.6