version: 66.08
glider: 181
mission: 4
dive: 182
start: 10 9 110 6 12 34
data:
$ID,181
$MISSION,4
$DIVE,182
$N_DIVES,189
$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,-38074.172
$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,40
$R_STBD_OVSHOOT,58
$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,362.0
$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
$GPS1,091010,060544,2407.666,12609.580,12,1.5,12,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-71.0
$GPS2,091010,061207,2407.592,12609.633,11,1.8,16,-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,349.7,23004,-22.5,-13.889
$D_GRID,1758
$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,-155.7,0.0,0.0,0,68,0.00,0.00,-45.80,0.000,2,0.000,0.000,201,2427,2717,0,0,0,0,0,0
$GC,70,-0.89,-155.7,3.2,-5.4,6,112,7.55,2.10,-27.62,0.000,4,0.223,0.054,2121,3759,3934,0,0,0,0,0,0
$GC,138,-0.74,-155.7,20.2,-35.6,15,147,0.20,2.08,0.00,0.000,6,0.160,0.029,2179,2396,3936,0,0,0,0,0,0
$GC,472,-0.68,-155.7,120.2,-25.9,76,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2394,3937,0,0,0,0,0,0
$GC,813,-0.66,-155.7,197.3,-21.5,137,821,0.12,2.10,0.00,0.000,4,0.167,0.043,2204,3765,3939,0,0,0,0,0,0
$GC,876,-0.71,-155.7,208.7,-15.5,146,885,0.00,2.05,0.00,0.000,6,0.000,0.028,2204,2393,3938,0,0,0,0,0,0
$GC,1223,-0.73,-155.7,261.3,-15.7,207,1230,0.00,2.08,0.00,0.000,4,0.000,0.034,2204,1003,3938,0,0,0,0,0,0
$GC,1339,-0.79,-155.7,277.9,-12.6,227,1347,0.00,2.10,0.00,0.000,6,0.000,0.034,2198,2385,3938,0,0,0,0,0,0
$GC,1679,-0.82,-155.7,328.1,-14.2,271,1684,0.12,2.12,0.00,0.000,4,0.083,0.044,2123,3784,3938,0,0,0,0,0,0
$GC,1722,-0.82,-155.7,336.2,-18.2,274,1732,0.10,2.08,0.00,0.000,6,0.141,0.028,2155,2389,3938,0,0,0,0,0,0
$GC,2048,-0.82,-155.7,395.6,-18.2,305,2052,0.00,2.05,0.00,0.000,4,0.000,0.034,2155,1003,3937,0,0,0,0,0,0
$GC,2165,-0.85,-155.7,415.2,-14.7,315,2172,0.00,2.10,0.00,0.000,6,0.000,0.035,2148,2405,3937,0,0,0,0,0,0
$GC,2492,-0.85,-155.7,470.7,-17.3,346,2495,0.00,2.10,0.00,0.000,4,0.000,0.044,2137,3775,3935,0,0,0,0,0,0
$GC,2565,-0.88,-155.7,483.2,-14.7,352,2569,0.00,2.05,0.00,0.000,6,0.000,0.029,2138,2394,3934,0,0,0,0,0,0
$STATE,2684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2684,begin apogee
$GC,2689,-0.16,0.0,501.6,15.6,363,2811,0.70,0.00,116.88,0.868,6,0.125,0.000,2368,1979,3298,0,0,0,0,0,0
$STATE,2812,end apogee,CONTROL_FINISHED_OK
$STATE,2812,begin climb
$GC,2813,0.89,155.7,507.7,0.0,373,2946,0.93,2.35,119.53,0.855,4,0.046,0.039,2725,3412,2662,0,0,0,0,0,0
$GC,3196,0.74,155.7,468.9,14.5,407,3204,0.22,2.15,0.00,0.000,6,0.178,0.030,2662,2009,2655,0,0,0,0,0,0
$GC,3522,0.68,172.2,428.9,12.9,438,3542,0.00,0.00,12.68,0.753,6,0.000,0.000,2662,2007,2596,0,0,0,0,0,0
$GC,3862,0.64,202.6,385.5,12.1,470,3891,0.00,2.15,24.15,0.785,4,0.000,0.037,2671,598,2472,0,0,0,0,0,0
$GC,3952,0.59,213.2,373.4,13.3,477,3974,0.20,2.15,9.55,0.696,6,0.170,0.032,2619,2017,2428,0,0,0,0,0,0
$GC,4290,0.62,246.0,332.8,11.9,509,4326,0.00,2.28,26.02,0.759,4,0.000,0.039,2627,592,2294,0,0,0,0,0,0
$GC,4498,0.66,277.8,306.8,12.0,527,4529,0.00,2.17,25.33,0.736,6,0.000,0.033,2627,2005,2165,0,0,0,0,0,0
$GC,4863,0.70,315.2,261.8,11.6,587,4898,0.00,2.25,29.27,0.711,4,0.000,0.041,2633,3404,2011,0,0,0,0,0,0
$GC,4963,0.73,330.4,249.2,13.0,603,4984,0.00,2.12,12.88,0.651,6,0.000,0.031,2638,2004,1950,0,0,0,0,0,0
$GC,5320,0.75,334.9,201.7,13.6,666,5330,0.00,2.20,4.28,0.457,4,0.000,0.040,2645,596,1932,0,0,0,0,0,0
$GC,5443,0.79,337.9,184.0,13.7,686,5453,0.00,2.15,3.85,0.416,6,0.000,0.033,2649,2006,1920,0,0,0,0,0,0
$GC,5789,0.82,346.2,136.4,13.4,747,5806,0.12,2.17,8.02,0.548,4,0.088,0.040,2717,3404,1886,0,0,0,0,0,0
$GC,5854,0.78,346.2,125.1,17.5,757,5862,0.12,2.15,0.00,0.000,6,0.152,0.031,2684,1998,1884,0,0,0,0,0,0
$GC,6187,0.78,346.2,75.2,15.3,818,6196,0.00,2.17,0.00,0.000,4,0.000,0.041,2685,3404,1884,0,0,0,0,0,0
$GC,6237,0.80,348.3,68.1,13.8,826,6246,0.00,2.12,0.00,0.000,6,0.000,0.031,2692,2007,1883,0,0,0,0,0,0
$GC,6572,0.93,428.0,33.2,9.1,887,6642,0.00,2.20,60.85,0.557,4,0.000,0.038,2703,599,1552,0,0,0,0,0,0
$GC,6764,1.05,479.6,11.4,10.8,918,6813,0.12,2.15,38.78,0.523,6,0.048,0.031,2772,2003,1343,0,0,0,0,0,0
$STATE,6819,end climb,SURFACE_DEPTH_REACHED
$STATE,6820,begin surface coast
$FINISH,0.8,1.021867
$STATE,6840,end surface coast,CONTROL_FINISHED_OK
$STATE,6841,begin surface
$SM_CCo,6929,0.00,0.000,0,0,1338,480.79
$SM_GC,1.55,6.78,0.00,0.00,0.041,0.000,0.000,204,2406,1338,-6.85,0.17,480.79
$IRIDIUM_FIX,2401.56,12604.94,091010,040415
$TT8_MAMPS,0.027713
$HUMID,46.25
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.6,24.747
$10V_AH,10.2,30.661
$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,17.300,61.100,492.050,0.000,0.000,23.441,22.374,178.675,0.000,0.000,18.835,2237.227,1701.436,495.091,2668.229,213.238,0.000,1370.605,0.000,1465.474,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,54.315,867.510,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,625.271,1412.001,1707.133,0.000,0.000,0.000,2392.989,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331436
$DATA_FILE_SIZE,67053,928
$CAP_FILE_SIZE,96990,0
$CFSIZE,260165632,237477888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079, 64.1,1
$GPS,091010,080907,2408.555,12609.597,28,1.4,28,-3.6