version: 66.08
glider: 181
mission: 4
dive: 175
start: 10 8 110 16 20 12
data:
$ID,181
$MISSION,4
$DIVE,175
$N_DIVES,183
$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,-38065.387
$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,46
$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,348.0
$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
$GPS1,081010,161320,2400.798,12608.835,9,1.8,9,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-66.5
$GPS2,081010,161944,2400.835,12608.765,12,1.7,12,-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,358.1,35495,-22.5,-13.889
$D_GRID,1638
$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,19,-0.89,-155.7,0.0,0.0,0,67,0.00,0.00,-45.90,0.000,2,0.000,0.000,202,2424,2741,0,0,0,0,0,0
$GC,69,-0.89,-155.7,3.0,-4.6,6,117,7.57,2.17,-27.30,0.000,4,0.224,0.047,2131,985,3936,0,0,0,0,0,0
$GC,240,-0.84,-155.7,58.0,-30.6,34,248,0.00,2.17,0.00,0.000,6,0.000,0.036,2122,2386,3936,0,0,0,0,0,0
$GC,573,-0.74,-155.7,166.4,-32.0,95,582,0.22,2.12,0.00,0.000,4,0.174,0.040,2172,3787,3939,0,0,0,0,0,0
$GC,715,-0.75,-155.7,198.4,-18.0,120,724,0.00,2.10,0.00,0.000,6,0.000,0.027,2172,2388,3940,0,0,0,0,0,0
$GC,1057,-0.74,-155.7,263.7,-19.1,181,1064,0.00,2.12,0.00,0.000,4,0.000,0.043,2162,3786,3940,0,0,0,0,0,0
$GC,1105,-0.76,-155.7,272.1,-15.3,189,1113,0.00,2.08,0.00,0.000,6,0.000,0.028,2162,2398,3940,0,0,0,0,0,0
$GC,1438,-0.76,-155.7,330.6,-17.4,235,1441,0.00,2.08,0.00,0.000,4,0.000,0.034,2162,996,3940,0,0,0,0,0,0
$GC,1538,-0.77,-155.7,347.8,-16.6,244,1542,0.00,2.12,0.00,0.000,6,0.000,0.036,2151,2413,3939,0,0,0,0,0,0
$GC,1862,-0.77,-155.7,403.9,-16.7,274,1866,0.00,2.08,0.00,0.000,4,0.000,0.044,2142,3787,3939,0,0,0,0,0,0
$GC,1912,-0.79,-155.7,411.8,-15.7,278,1916,0.00,2.05,0.00,0.000,6,0.000,0.028,2142,2388,3938,0,0,0,0,0,0
$GC,2239,-0.79,-155.7,465.8,-17.1,308,2243,0.00,2.15,0.00,0.000,4,0.000,0.045,2132,3783,3937,0,0,0,0,0,0
$GC,2301,-0.81,-155.7,476.4,-15.8,313,2306,0.12,2.05,0.00,0.000,6,0.149,0.029,2165,2400,3936,0,0,0,0,0,0
$STATE,2467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2467,begin apogee
$GC,2472,-0.16,0.0,500.2,13.6,328,2596,0.60,0.00,117.10,0.873,6,0.117,0.000,2369,1973,3296,0,0,0,0,0,0
$STATE,2597,end apogee,CONTROL_FINISHED_OK
$STATE,2597,begin climb
$GC,2598,0.89,155.7,506.0,0.0,338,2731,0.90,2.20,119.22,0.855,4,0.047,0.038,2727,615,2663,0,0,0,0,0,0
$GC,2743,0.83,223.5,507.1,9.8,350,2806,0.15,2.15,53.88,0.834,6,0.184,0.033,2693,2007,2385,0,0,0,0,0,0
$GC,3122,0.75,223.5,437.6,18.0,385,3126,0.00,2.15,0.00,0.000,4,0.000,0.042,2692,3408,2379,0,0,0,0,0,0
$GC,3197,0.65,223.5,422.1,20.9,391,3206,0.20,2.12,0.00,0.000,6,0.166,0.031,2643,2022,2376,0,0,0,0,0,0
$GC,3523,0.62,224.1,377.0,13.9,422,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2019,2374,0,0,0,0,0,0
$GC,3843,0.63,259.4,336.7,11.8,452,3875,0.00,2.28,26.55,0.765,4,0.000,0.041,2651,582,2239,0,0,0,0,0,0
$GC,3891,0.64,284.4,330.4,12.4,456,3923,0.00,2.17,20.73,0.734,6,0.000,0.034,2652,1991,2136,0,0,0,0,0,0
$GC,4240,0.62,284.4,277.8,15.7,502,4248,0.00,2.17,0.00,0.000,4,0.000,0.041,2661,591,2131,0,0,0,0,0,0
$GC,4285,0.61,284.4,270.7,14.9,510,4294,0.12,2.17,0.00,0.000,6,0.143,0.034,2620,2007,2131,0,0,0,0,0,0
$GC,4617,0.65,309.8,229.7,12.4,571,4646,0.00,2.20,19.35,0.684,4,0.000,0.044,2623,3405,2035,0,0,0,0,0,0
$GC,4702,0.70,328.2,218.8,12.8,585,4724,0.00,2.15,15.62,0.657,6,0.000,0.031,2631,1982,1959,0,0,0,0,0,0
$GC,5052,0.76,354.7,171.7,12.3,648,5082,0.10,2.12,21.00,0.643,4,0.099,0.040,2695,598,1851,0,0,0,0,0,0
$GC,5127,0.74,354.7,159.7,17.3,660,5136,0.08,2.17,0.00,0.000,6,0.138,0.033,2671,2009,1848,0,0,0,0,0,0
$GC,5461,0.74,354.7,107.5,14.4,721,5469,0.00,2.17,0.00,0.000,4,0.000,0.040,2679,598,1846,0,0,0,0,0,0
$GC,5499,0.76,354.7,101.9,14.8,727,5509,0.00,2.15,0.00,0.000,6,0.000,0.034,2679,2007,1846,0,0,0,0,0,0
$GC,5834,0.80,373.9,57.8,12.7,788,5857,0.00,0.00,14.98,0.551,6,0.000,0.000,2679,2008,1772,0,0,0,0,0,0
$GC,6183,0.96,457.1,24.3,8.9,851,6255,0.15,2.20,62.17,0.546,4,0.074,0.038,2755,3414,1432,0,0,0,0,0,0
$GC,6274,0.95,457.1,10.9,17.0,863,6284,0.10,2.20,0.00,0.000,6,0.147,0.031,2733,1997,1430,0,0,0,0,0,0
$STATE,6322,end climb,SURFACE_DEPTH_REACHED
$STATE,6323,begin surface coast
$FINISH,0.7,1.021693
$STATE,6346,end surface coast,CONTROL_FINISHED_OK
$STATE,6346,begin surface
$SM_CCo,6435,0.00,0.000,0,0,1425,459.45
$SM_GC,1.64,6.62,0.00,0.00,0.040,0.000,0.000,196,2406,1425,-6.85,0.17,459.45
$IRIDIUM_FIX,2347.41,12607.88,081010,141410
$TT8_MAMPS,0.027713
$HUMID,47.67
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.6,23.954
$10V_AH,10.2,29.568
$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,16.950,61.300,470.600,0.000,0.000,30.722,15.819,182.975,0.000,0.000,15.212,2100.611,1550.893,472.317,2499.305,198.978,0.000,1296.935,0.000,1346.325,0.000,0.543,0.000
$DEVICE_MAMPS,224.145,46.665,872.865,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,589.725,1331.110,1626.202,0.000,0.000,0.000,2293.712,0.000,0.000,0.000
$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,63796,875
$CAP_FILE_SIZE,92254,0
$CFSIZE,260165632,237965312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,  2.3,1
$GPS,081010,180837,2401.874,12608.669,35,0.9,35,-3.6