version: 66.08
glider: 181
mission: 4
dive: 169
start: 10 8 110 4 22 53
data:
$ID,181
$MISSION,4
$DIVE,169
$N_DIVES,175
$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,-38057.844
$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,39
$R_STBD_OVSHOOT,59
$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,336.0
$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
$GPS1,081010,041604,2404.938,12609.183,9,2.5,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-67.2
$GPS2,081010,042225,2404.993,12609.199,11,1.3,17,-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,198.2,9253,-22.5,-13.889
$D_GRID,1697
$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,-155.7,0.0,0.0,0,71,0.00,0.00,-49.40,0.000,2,0.000,0.000,201,2421,2875,0,0,0,0,0,0
$GC,74,-0.89,-155.7,3.3,-5.4,6,113,7.50,2.20,-22.95,0.000,4,0.221,0.046,2134,982,3935,0,0,0,0,0,0
$GC,176,-0.75,-155.7,38.0,-40.8,22,185,0.17,2.12,0.00,0.000,6,0.169,0.033,2176,2372,3936,0,0,0,0,0,0
$GC,511,-0.71,-155.7,138.7,-23.7,83,520,0.00,2.17,0.00,0.000,4,0.000,0.042,2166,3780,3938,0,0,0,0,0,0
$GC,555,-0.69,-155.7,149.4,-23.0,90,563,0.10,2.10,0.00,0.000,6,0.133,0.028,2199,2392,3938,0,0,0,0,0,0
$GC,898,-0.69,-155.7,212.6,-18.2,151,906,0.00,2.05,0.00,0.000,4,0.000,0.034,2199,991,3939,0,0,0,0,0,0
$GC,957,-0.73,-155.7,222.6,-15.2,161,964,0.00,2.12,0.00,0.000,6,0.000,0.035,2192,2407,3938,0,0,0,0,0,0
$GC,1283,-0.73,-155.7,279.0,-17.5,222,1291,0.00,2.10,0.00,0.000,4,0.000,0.044,2181,3774,3939,0,0,0,0,0,0
$GC,1325,-0.77,-155.7,286.0,-15.6,229,1332,0.00,2.03,0.00,0.000,6,0.000,0.028,2181,2391,3940,0,0,0,0,0,0
$GC,1654,-0.78,-155.7,344.9,-18.2,267,1657,0.00,2.05,0.00,0.000,4,0.000,0.034,2181,1004,3938,0,0,0,0,0,0
$GC,1735,-0.83,-155.7,359.5,-15.4,274,1744,0.00,2.12,0.00,0.000,6,0.000,0.036,2178,2394,3938,0,0,0,0,0,0
$GC,2062,-0.85,-155.7,411.2,-16.1,305,2066,0.00,2.12,0.00,0.000,4,0.000,0.044,2167,3785,3937,0,0,0,0,0,0
$GC,2095,-0.88,-155.7,416.8,-15.5,307,2103,0.00,2.08,0.00,0.000,6,0.000,0.028,2167,2397,3937,0,0,0,0,0,0
$GC,2421,-0.90,-155.7,466.4,-13.1,338,2424,0.00,2.05,0.00,0.000,4,0.000,0.034,2167,998,3936,0,0,0,0,0,0
$GC,2456,-0.94,-155.7,471.0,-13.3,341,2460,0.12,2.12,0.00,0.000,6,0.086,0.037,2100,2399,3935,0,0,0,0,0,0
$STATE,2620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2620,begin apogee
$GC,2625,-0.16,0.0,500.7,18.0,356,2749,0.85,0.00,116.60,0.864,6,0.139,0.000,2370,1974,3300,0,0,0,0,0,0
$STATE,2749,end apogee,CONTROL_FINISHED_OK
$STATE,2749,begin climb
$GC,2751,0.89,155.7,505.7,0.0,366,2880,0.90,2.30,120.05,0.846,4,0.041,0.037,2727,3409,2664,0,0,0,0,0,0
$GC,2905,0.75,167.7,503.1,13.2,379,2922,0.28,2.17,11.02,0.733,6,0.187,0.029,2669,2007,2613,0,0,0,0,0,0
$GC,3249,0.66,167.7,453.4,14.6,411,3254,0.12,2.15,0.00,0.000,4,0.189,0.038,2646,600,2607,0,0,0,0,0,0
$GC,3391,0.65,207.9,436.0,11.5,423,3427,0.00,2.15,31.08,0.802,6,0.000,0.032,2646,2007,2449,0,0,0,0,0,0
$GC,3748,0.61,207.9,384.6,15.9,456,3752,0.00,2.15,0.00,0.000,4,0.000,0.041,2646,3405,2443,0,0,0,0,0,0
$GC,3944,0.55,207.9,351.1,16.1,473,3952,0.15,2.12,0.00,0.000,6,0.155,0.031,2601,2010,2441,0,0,0,0,0,0
$GC,4269,0.65,289.2,318.0,9.0,504,4333,0.00,0.00,61.62,0.761,6,0.000,0.000,2602,2008,2120,0,0,0,0,0,0
$GC,4652,0.71,310.1,276.2,12.6,559,4674,0.15,2.25,16.67,0.692,4,0.080,0.040,2678,589,2032,0,0,0,0,0,0
$GC,4751,0.69,310.1,259.7,17.6,576,4760,0.10,2.17,0.00,0.000,6,0.138,0.032,2650,1998,2030,0,0,0,0,0,0
$GC,5084,0.69,313.3,211.6,13.7,637,5091,0.00,2.15,0.00,0.000,4,0.000,0.041,2648,3407,2028,0,0,0,0,0,0
$GC,5191,0.69,313.3,195.3,15.4,655,5198,0.00,2.12,0.00,0.000,6,0.000,0.031,2664,1990,2027,0,0,0,0,0,0
$GC,5520,0.69,313.3,149.9,14.5,716,5528,0.00,2.12,0.00,0.000,4,0.000,0.040,2668,598,2026,0,0,0,0,0,0
$GC,5580,0.69,313.3,141.3,14.7,726,5588,0.00,2.12,0.00,0.000,6,0.000,0.031,2668,2004,2026,0,0,0,0,0,0
$GC,5913,0.75,361.3,93.5,11.0,787,5961,0.00,2.20,38.17,0.598,4,0.000,0.041,2668,3404,1825,0,0,0,0,0,0
$GC,6012,0.78,361.3,80.1,15.2,802,6020,0.00,2.15,0.00,0.000,6,0.000,0.031,2678,2006,1822,0,0,0,0,0,0
$GC,6346,0.92,438.9,49.4,9.2,863,6410,0.12,2.20,57.78,0.558,4,0.086,0.040,2745,3399,1508,0,0,0,0,0,0
$GC,6452,0.92,438.9,33.9,17.3,878,6461,0.10,2.17,0.00,0.000,6,0.142,0.032,2724,2001,1504,0,0,0,0,0,0
$STATE,6661,end climb,SURFACE_DEPTH_REACHED
$STATE,6661,begin surface coast
$FINISH,0.6,1.010302
$STATE,6691,end surface coast,CONTROL_FINISHED_OK
$STATE,6691,begin surface
$SM_CCo,6780,0.00,0.000,0,0,1499,441.29
$SM_GC,1.48,6.45,0.00,0.00,0.033,0.000,0.000,205,2419,1499,-6.84,0.54,441.29
$IRIDIUM_FIX,2356.84,12612.06,081010,020218
$TT8_MAMPS,0.027713
$HUMID,47.44
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,25.30
$XPDR_PINGS,1
$24V_AH,24.7,23.288
$10V_AH,10.3,28.637
$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,17.125,65.350,453.000,0.000,0.000,27.645,17.872,176.531,0.250,0.000,19.951,2232.386,1647.635,466.014,2617.933,200.142,0.000,1313.057,0.000,1428.688,0.000,0.544,0.000
$DEVICE_MAMPS,221.085,45.900,863.685,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,621.322,1401.153,1696.006,0.000,0.000,0.000,2418.217,0.000,0.000,0.000
$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,66871,921
$CAP_FILE_SIZE,95564,0
$CFSIZE,260165632,238366720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066, 38.2,1
$GPS,081010,061658,2404.275,12609.152,10,2.9,29,-3.6