version: 66.08
glider: 181
mission: 4
dive: 180
start: 10 9 110 2 11 19
data:
$ID,181
$MISSION,4
$DIVE,180
$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,-38071.664
$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,46
$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,358.0
$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
$GPS1,091010,020346,2405.948,12609.263,9,5.0,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-69.5
$GPS2,091010,021052,2405.915,12609.357,11,2.8,30,-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,350.3,26093,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.89,-155.7,0.0,0.0,0,67,0.00,0.00,-45.25,0.000,2,0.000,0.000,197,2423,2756,0,0,0,0,0,0
$GC,70,-0.89,-155.7,3.3,-5.5,6,110,7.57,2.17,-26.20,0.000,4,0.223,0.048,2134,992,3935,0,0,0,0,0,0
$GC,173,-0.76,-155.7,36.1,-38.0,22,183,0.15,2.17,0.00,0.000,6,0.165,0.037,2174,2394,3936,0,0,0,0,0,0
$GC,508,-0.72,-155.7,130.3,-24.1,83,517,0.00,2.12,0.00,0.000,4,0.000,0.042,2160,3774,3938,0,0,0,0,0,0
$GC,610,-0.72,-155.7,151.8,-19.0,101,618,0.12,2.05,0.00,0.000,6,0.153,0.027,2193,2384,3938,0,0,0,0,0,0
$GC,955,-0.72,-155.7,216.4,-19.4,162,963,0.00,2.08,0.00,0.000,4,0.000,0.034,2193,998,3939,0,0,0,0,0,0
$GC,1019,-0.76,-155.7,227.2,-15.5,173,1026,0.00,2.12,0.00,0.000,6,0.000,0.036,2187,2413,3939,0,0,0,0,0,0
$GC,1349,-0.76,-155.7,285.6,-16.2,234,1357,0.00,2.12,0.00,0.000,4,0.000,0.033,2187,1000,3939,0,0,0,0,0,0
$GC,1375,-0.77,-155.7,289.7,-15.8,238,1383,0.00,2.12,0.00,0.000,6,0.000,0.036,2178,2394,3939,0,0,0,0,0,0
$GC,1703,-0.77,-155.7,341.2,-17.2,275,1707,0.00,2.10,0.00,0.000,4,0.000,0.044,2168,3781,3938,0,0,0,0,0,0
$GC,1725,-0.79,-155.7,345.3,-16.7,276,1733,0.00,2.05,0.00,0.000,6,0.000,0.028,2167,2410,3937,0,0,0,0,0,0
$GC,2052,-0.80,-155.7,403.1,-17.4,307,2056,0.00,2.08,0.00,0.000,4,0.000,0.034,2167,994,3937,0,0,0,0,0,0
$GC,2150,-0.84,-155.7,418.5,-13.3,315,2157,0.00,2.12,0.00,0.000,6,0.000,0.037,2164,2406,3936,0,0,0,0,0,0
$GC,2475,-0.86,-155.7,466.1,-13.9,346,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2407,3935,0,0,0,0,0,0
$STATE,2718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2718,begin apogee
$GC,2723,-0.16,0.0,500.2,13.4,369,2846,0.60,0.00,116.78,0.868,6,0.118,0.000,2366,1970,3298,0,0,0,0,0,0
$STATE,2846,end apogee,CONTROL_FINISHED_OK
$STATE,2846,begin climb
$GC,2848,0.89,155.7,505.2,0.0,379,2978,0.93,2.17,119.32,0.852,4,0.045,0.036,2737,598,2663,0,0,0,0,0,0
$GC,3192,0.75,155.7,475.4,16.6,409,3200,0.20,2.17,0.00,0.000,6,0.169,0.033,2669,2010,2658,0,0,0,0,0,0
$GC,3520,0.69,179.8,434.3,12.4,440,3545,0.00,2.22,18.67,0.783,4,0.000,0.041,2669,3408,2564,0,0,0,0,0,0
$GC,3569,0.60,179.8,426.7,16.1,444,3574,0.22,2.10,0.00,0.000,6,0.178,0.030,2620,2013,2562,0,0,0,0,0,0
$GC,3901,0.63,221.7,387.4,11.4,475,3940,0.00,2.22,32.60,0.793,4,0.000,0.042,2619,3399,2393,0,0,0,0,0,0
$GC,3959,0.62,239.4,380.3,12.8,480,3984,0.00,2.12,15.12,0.736,6,0.000,0.031,2628,1998,2323,0,0,0,0,0,0
$GC,4302,0.63,253.0,335.1,13.1,512,4318,0.00,2.20,11.23,0.703,4,0.000,0.041,2639,595,2266,0,0,0,0,0,0
$GC,4392,0.63,254.4,323.3,13.8,520,4396,0.00,2.12,0.00,0.000,6,0.000,0.033,2643,2004,2265,0,0,0,0,0,0
$GC,4722,0.65,287.9,277.6,11.9,565,4756,0.00,2.17,27.75,0.728,4,0.000,0.041,2639,3401,2124,0,0,0,0,0,0
$GC,4818,0.65,287.9,263.7,15.7,581,4825,0.00,2.15,0.00,0.000,6,0.000,0.031,2649,2014,2118,0,0,0,0,0,0
$GC,5149,0.65,291.9,217.2,13.7,642,5158,0.00,2.22,3.75,0.428,4,0.000,0.040,2660,583,2107,0,0,0,0,0,0
$GC,5176,0.65,292.8,213.3,13.8,646,5184,0.00,2.17,0.00,0.000,6,0.000,0.034,2660,2004,2107,0,0,0,0,0,0
$GC,5515,0.67,310.8,168.3,12.8,707,5536,0.00,0.00,15.55,0.630,6,0.000,0.000,2660,2004,2032,0,0,0,0,0,0
$GC,5863,0.67,310.8,122.8,15.3,770,5871,0.00,2.17,0.00,0.000,4,0.000,0.040,2670,593,2029,0,0,0,0,0,0
$GC,5902,0.69,319.8,117.3,13.4,776,5918,0.00,2.15,8.27,0.541,6,0.000,0.033,2671,2005,1993,0,0,0,0,0,0
$GC,6246,0.82,415.6,75.8,8.2,838,6325,0.00,2.22,71.97,0.588,4,0.000,0.041,2668,3410,1602,0,0,0,0,0,0
$GC,6399,0.98,494.6,61.5,9.2,861,6470,0.12,2.20,59.08,0.562,6,0.041,0.031,2751,1989,1280,0,0,0,0,0,0
$STATE,6751,end climb,SURFACE_DEPTH_REACHED
$STATE,6751,begin surface coast
$FINISH,0.6,1.003652
$STATE,6769,end surface coast,CONTROL_FINISHED_OK
$STATE,6770,begin surface
$SM_CCo,6856,0.00,0.000,0,0,1275,497.22
$SM_GC,1.55,6.62,0.00,0.00,0.040,0.000,0.000,201,2410,1275,-6.85,0.28,497.22
$IRIDIUM_FIX,2352.12,12557.48,091010,000024
$TT8_MAMPS,0.027713
$HUMID,47.36
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.6,24.518
$10V_AH,10.2,30.347
$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,16.550,61.375,500.100,0.000,0.000,22.646,40.636,181.941,0.000,0.000,33.830,2213.646,1710.138,478.986,2671.455,210.558,0.000,1350.075,0.000,1435.411,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,48.195,867.510,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,623.519,1407.781,1698.758,0.000,0.000,0.000,2432.032,0.000,0.000,0.000
$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,66890,925
$CAP_FILE_SIZE,94689,0
$CFSIZE,260165632,237617152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081, 86.9,1
$GPS,091010,040654,2406.798,12609.517,26,1.7,43,-3.6