version: 66.08
glider: 181
mission: 4
dive: 138
start: 10 5 110 14 17 36
data:
$ID,181
$MISSION,4
$DIVE,138
$N_DIVES,155
$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,-38011.434
$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,43
$R_STBD_OVSHOOT,38
$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,274.0
$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
$GPS1,051010,141034,2406.729,12608.402,9,2.6,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-67.3
$GPS2,051010,141708,2406.751,12608.322,14,0.8,14,-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,13.8,24564,-22.5,-13.889
$D_GRID,1776
$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,-155.7,0.0,0.0,0,70,0.00,0.00,-49.40,0.000,2,0.000,0.000,201,2418,2736,0,0,0,0,0,0
$GC,73,-0.89,-155.7,3.1,-4.3,6,114,7.62,2.10,-27.27,0.000,4,0.227,0.055,2122,3777,3936,0,0,0,0,0,0
$GC,183,-0.78,-155.7,37.9,-37.4,23,192,0.15,2.10,0.00,0.000,6,0.171,0.030,2166,2399,3937,0,0,0,0,0,0
$GC,516,-0.71,-155.7,137.0,-27.0,84,525,0.10,2.15,0.00,0.000,4,0.187,0.041,2181,3771,3938,0,0,0,0,0,0
$GC,554,-0.69,-155.7,147.0,-23.8,90,563,0.00,2.08,0.00,0.000,6,0.000,0.028,2181,2393,3939,0,0,0,0,0,0
$GC,906,-0.69,-155.7,220.9,-19.7,151,913,0.00,2.05,0.00,0.000,4,0.000,0.035,2181,1000,3939,0,0,0,0,0,0
$GC,1014,-0.70,-155.7,238.7,-16.0,170,1023,0.00,2.12,0.00,0.000,6,0.000,0.036,2172,2396,3939,0,0,0,0,0,0
$GC,1358,-0.70,-155.7,300.3,-18.1,231,1362,0.00,2.08,0.00,0.000,4,0.000,0.043,2161,3776,3939,0,0,0,0,0,0
$GC,1457,-0.73,-155.7,316.8,-14.4,239,1465,0.00,2.05,0.00,0.000,6,0.000,0.028,2161,2399,3939,0,0,0,0,0,0
$GC,1783,-0.73,-155.7,375.5,-19.3,270,1787,0.00,2.05,0.00,0.000,4,0.000,0.034,2161,995,3938,0,0,0,0,0,0
$GC,1815,-0.75,-155.7,382.0,-18.9,272,1825,0.08,2.15,0.00,0.000,6,0.139,0.036,2176,2401,3937,0,0,0,0,0,0
$GC,2143,-0.78,-155.7,434.0,-15.5,303,2146,0.00,2.10,0.00,0.000,4,0.000,0.044,2167,3782,3936,0,0,0,0,0,0
$GC,2219,-0.83,-155.7,445.2,-12.7,309,2226,0.00,2.08,0.00,0.000,6,0.000,0.028,2167,2391,3936,0,0,0,0,0,0
$GC,2545,-0.86,-155.7,490.8,-13.9,340,2549,0.00,2.05,0.00,0.000,4,0.000,0.035,2168,997,3937,0,0,0,0,0,0
$GC,2583,-0.91,-155.7,496.3,-13.2,343,2591,0.00,2.12,0.00,0.000,6,0.000,0.037,2160,2405,3934,0,0,0,0,0,0
$STATE,2622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2622,begin apogee
$GC,2627,-0.16,0.0,501.1,13.4,347,2748,0.62,0.00,116.30,0.862,6,0.121,0.000,2368,1986,3301,0,0,0,0,0,0
$STATE,2749,end apogee,CONTROL_FINISHED_OK
$STATE,2749,begin climb
$GC,2751,0.89,155.7,506.1,0.0,357,2879,0.93,2.17,120.20,0.845,4,0.048,0.036,2732,604,2664,0,0,0,0,0,0
$GC,3039,0.75,155.7,482.5,16.2,381,3043,0.25,2.15,0.00,0.000,6,0.177,0.034,2668,2014,2656,0,0,0,0,0,0
$GC,3366,0.71,192.2,439.5,11.7,411,3402,0.00,2.17,27.98,0.801,4,0.000,0.041,2667,3404,2515,0,0,0,0,0,0
$GC,3439,0.62,192.2,429.3,14.8,417,3448,0.15,2.15,0.00,0.000,6,0.164,0.031,2632,2014,2512,0,0,0,0,0,0
$GC,3767,0.64,232.5,390.5,11.5,448,3805,0.00,2.25,31.45,0.786,4,0.000,0.042,2632,3404,2351,0,0,0,0,0,0
$GC,3830,0.60,232.5,382.5,14.4,453,3834,0.00,2.17,0.00,0.000,6,0.000,0.032,2640,1990,2348,0,0,0,0,0,0
$GC,4157,0.58,232.5,336.8,14.7,483,4161,0.00,2.17,0.00,0.000,4,0.000,0.043,2637,3401,2344,0,0,0,0,0,0
$GC,4222,0.54,232.5,325.5,16.9,488,4232,0.15,2.15,0.00,0.000,6,0.149,0.032,2605,1995,2343,0,0,0,0,0,0
$GC,4554,0.63,292.7,286.5,10.3,529,4602,0.00,0.00,46.30,0.739,6,0.000,0.000,2602,1993,2104,0,0,0,0,0,0
$GC,4939,0.68,306.1,240.4,13.1,596,4963,0.12,2.22,10.80,0.641,4,0.086,0.042,2663,3395,2049,0,0,0,0,0,0
$GC,4992,0.66,306.1,230.9,19.8,604,5001,0.10,2.15,0.00,0.000,6,0.147,0.033,2642,2004,2047,0,0,0,0,0,0
$GC,5346,0.69,332.9,182.2,12.3,665,5375,0.00,2.15,21.15,0.649,4,0.000,0.041,2651,596,1940,0,0,0,0,0,0
$GC,5471,0.73,345.2,165.5,13.1,686,5487,0.00,2.15,10.77,0.591,6,0.000,0.034,2651,1995,1890,0,0,0,0,0,0
$GC,5819,0.75,348.5,119.5,13.7,748,5828,0.00,2.17,3.65,0.381,4,0.000,0.042,2651,3408,1877,0,0,0,0,0,0
$GC,5886,0.79,362.3,110.3,13.1,759,5903,0.00,2.15,12.12,0.568,6,0.000,0.031,2663,2000,1821,0,0,0,0,0,0
$GC,6228,0.88,405.4,68.0,11.3,821,6269,0.12,2.15,33.17,0.575,4,0.086,0.041,2738,595,1644,0,0,0,0,0,0
$GC,6364,1.00,472.6,49.5,9.9,843,6426,0.00,2.17,50.17,0.558,6,0.000,0.033,2739,2011,1375,0,0,0,0,0,0
$STATE,6695,end climb,SURFACE_DEPTH_REACHED
$STATE,6695,begin surface coast
$FINISH,0.6,1.021798
$STATE,6714,end surface coast,CONTROL_FINISHED_OK
$STATE,6714,begin surface
$SM_CCo,6799,0.00,0.000,0,0,1364,474.41
$SM_GC,1.64,6.57,0.00,0.00,0.037,0.000,0.000,194,2427,1364,-6.86,0.76,474.41
$IRIDIUM_FIX,2356.84,12605.46,051010,121205
$TT8_MAMPS,0.027713
$HUMID,47.32
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.7,19.754
$10V_AH,10.2,23.819
$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,16.975,65.150,484.075,0.000,0.000,28.162,39.354,178.700,0.000,0.000,18.868,2181.440,1737.927,477.211,2611.302,188.562,0.000,1330.818,0.000,1414.259,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,55.080,862.155,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,609.453,1376.062,1668.084,0.000,0.000,0.000,2369.524,0.000,0.000,0.000
$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,63751,904
$CAP_FILE_SIZE,96335,0
$CFSIZE,260165632,240500736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102,332.1,1
$GPS,051010,161149,2408.033,12608.377,8,1.2,13,-3.6