version: 66.08
glider: 181
mission: 4
dive: 134
start: 10 5 110 6 8 33
data:
$ID,181
$MISSION,4
$DIVE,134
$N_DIVES,145
$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,-38006.41
$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,42
$R_STBD_OVSHOOT,33
$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,266.0
$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
$GPS1,051010,060122,2403.326,12608.802,8,3.0,27,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-63.3
$GPS2,051010,060806,2403.301,12608.796,12,1.2,28,-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,357.9,30928,-22.5,-13.889
$D_GRID,1633
$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,19,-0.89,-155.7,0.0,0.0,0,68,0.00,0.00,-45.92,0.000,2,0.000,0.000,201,2411,2772,0,0,0,0,0,0
$GC,70,-0.89,-155.7,3.1,-4.4,6,111,7.57,2.12,-26.17,0.000,4,0.227,0.055,2120,3784,3935,0,0,0,0,0,0
$GC,126,-0.73,-155.7,17.3,-31.4,13,135,0.22,2.12,0.00,0.000,6,0.180,0.030,2181,2391,3936,0,0,0,0,0,0
$GC,460,-0.69,-155.7,118.2,-24.4,74,469,0.00,2.10,0.00,0.000,4,0.000,0.037,2182,1002,3936,0,0,0,0,0,0
$GC,530,-0.67,-155.7,134.9,-21.9,86,540,0.10,2.15,0.00,0.000,6,0.142,0.036,2204,2404,3938,0,0,0,0,0,0
$GC,875,-0.67,-155.7,198.0,-16.6,147,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2404,3937,0,0,0,0,0,0
$GC,1224,-0.69,-155.7,256.8,-15.0,208,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2404,3939,0,0,0,0,0,0
$GC,1565,-0.72,-155.7,308.3,-14.5,264,1569,0.00,2.10,0.00,0.000,4,0.000,0.037,2205,983,3938,0,0,0,0,0,0
$GC,1616,-0.78,-155.7,315.2,-12.8,268,1619,0.00,2.12,0.00,0.000,6,0.000,0.037,2199,2405,3938,0,0,0,0,0,0
$GC,1941,-0.82,-155.7,359.2,-13.3,298,1945,0.12,2.10,0.00,0.000,4,0.082,0.045,2124,3785,3938,0,0,0,0,0,0
$GC,1973,-0.81,-155.7,364.9,-17.5,300,1982,0.10,2.08,0.00,0.000,6,0.138,0.028,2157,2394,3938,0,0,0,0,0,0
$GC,2300,-0.81,-155.7,420.9,-17.0,331,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2392,3936,0,0,0,0,0,0
$GC,2619,-0.82,-155.7,476.6,-17.3,361,2623,0.00,2.12,0.00,0.000,4,0.000,0.045,2148,3787,3935,0,0,0,0,0,0
$GC,2682,-0.86,-155.7,487.2,-15.7,366,2685,0.00,2.05,0.00,0.000,6,0.000,0.029,2148,2400,3934,0,0,0,0,0,0
$STATE,2768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2768,begin apogee
$GC,2772,-0.16,0.0,501.3,16.4,374,2896,0.68,0.00,116.60,0.863,6,0.124,0.000,2372,1973,3300,0,0,0,0,0,0
$STATE,2896,end apogee,CONTROL_FINISHED_OK
$STATE,2896,begin climb
$GC,2898,0.89,155.7,508.5,0.0,384,3028,0.90,2.38,120.10,0.848,4,0.038,0.040,2729,3411,2662,0,0,0,0,0,0
$GC,3277,0.74,155.7,468.4,16.6,417,3286,0.25,2.12,0.00,0.000,6,0.177,0.031,2671,2017,2655,0,0,0,0,0,0
$GC,3605,0.67,169.5,427.5,13.1,448,3622,0.00,2.20,10.75,0.728,4,0.000,0.040,2678,599,2606,0,0,0,0,0,0
$GC,3642,0.61,188.0,422.7,12.8,451,3667,0.20,2.12,16.10,0.759,6,0.172,0.034,2626,2009,2530,0,0,0,0,0,0
$GC,3984,0.62,225.5,382.2,11.6,483,4020,0.00,2.17,29.20,0.779,4,0.000,0.042,2626,3402,2378,0,0,0,0,0,0
$GC,4104,0.60,225.5,365.6,14.1,493,4111,0.00,2.12,0.00,0.000,6,0.000,0.031,2634,2003,2374,0,0,0,0,0,0
$GC,4429,0.59,238.3,320.6,13.1,524,4444,0.00,2.17,10.30,0.681,4,0.000,0.044,2634,3405,2325,0,0,0,0,0,0
$GC,4455,0.57,242.4,316.8,13.6,526,4466,0.10,2.15,5.22,0.551,6,0.158,0.032,2614,2007,2309,0,0,0,0,0,0
$GC,4791,0.65,294.9,273.4,10.7,575,4839,0.00,2.20,41.22,0.724,4,0.000,0.040,2623,595,2094,0,0,0,0,0,0
$GC,4894,0.73,339.0,261.9,11.3,591,4936,0.12,2.15,34.88,0.702,6,0.091,0.033,2677,2003,1915,0,0,0,0,0,0
$GC,5277,0.71,339.0,199.5,14.9,657,5284,0.00,2.15,0.00,0.000,4,0.000,0.042,2677,3407,1907,0,0,0,0,0,0
$GC,5307,0.70,339.0,193.2,16.7,662,5317,0.10,2.15,0.00,0.000,6,0.151,0.032,2660,2003,1906,0,0,0,0,0,0
$GC,5654,0.71,339.0,141.8,15.8,723,5662,0.00,2.15,0.00,0.000,4,0.000,0.042,2665,598,1909,0,0,0,0,0,0
$GC,5767,0.75,339.0,124.6,14.8,743,5775,0.00,2.12,0.00,0.000,6,0.000,0.034,2666,1994,1905,0,0,0,0,0,0
$GC,6101,0.81,372.4,81.2,11.9,804,6132,0.00,0.00,24.52,0.581,6,0.000,0.000,2666,1994,1779,0,0,0,0,0,0
$GC,6457,1.03,491.3,45.0,6.8,868,6553,0.25,2.22,88.32,0.557,4,0.059,0.039,2786,3414,1294,0,0,0,0,0,0
$GC,6590,1.03,491.3,23.7,18.7,886,6599,0.10,2.20,0.00,0.000,6,0.151,0.030,2763,1992,1290,0,0,0,0,0,0
$STATE,6711,end climb,SURFACE_DEPTH_REACHED
$STATE,6712,begin surface coast
$FINISH,0.6,1.010948
$STATE,6732,end surface coast,CONTROL_FINISHED_OK
$STATE,6732,begin surface
$SM_CCo,6817,0.00,0.000,0,0,1285,493.79
$SM_GC,1.42,6.65,0.00,0.00,0.037,0.000,0.000,200,2425,1285,-6.85,0.71,493.79
$IRIDIUM_FIX,2354.48,12513.06,051010,040435
$TT8_MAMPS,0.021721
$HUMID,47.75
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,25.00
$XPDR_PINGS,2
$24V_AH,24.7,19.286
$10V_AH,10.3,23.187
$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,17.475,57.100,497.225,0.000,0.000,25.519,37.938,181.597,0.500,0.000,31.463,2194.905,1733.718,480.872,2634.284,181.399,0.000,1335.984,0.000,1416.349,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,55.080,862.920,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,613.950,1386.504,1682.216,0.000,0.000,0.000,2404.503,0.000,0.000,0.000
$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,63739,911
$CAP_FILE_SIZE,94943,0
$CFSIZE,260165632,240783360
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.046, 60.4,1
$GPS,051010,080306,2404.444,12608.845,11,1.6,21,-3.6