version: 66.08
glider: 181
mission: 4
dive: 135
start: 10 5 110 8 11 59
data:
$ID,181
$MISSION,4
$DIVE,135
$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,-38007.664
$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,45
$R_STBD_OVSHOOT,36
$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,268.0
$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
$GPS1,051010,080306,2404.444,12608.845,11,1.6,21,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-62.2
$GPS2,051010,081132,2404.435,12608.770,11,1.5,11,-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,356.6,28829,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.89,-155.7,0.0,0.0,0,73,0.00,0.00,-52.45,0.000,2,0.000,0.000,198,2424,2701,0,0,0,0,0,0
$GC,76,-0.89,-155.7,3.0,-4.1,7,117,7.57,2.10,-27.88,0.000,4,0.226,0.056,2120,3780,3936,0,0,0,0,0,0
$GC,201,-0.81,-155.7,45.1,-34.0,27,209,0.12,2.10,0.00,0.000,6,0.168,0.031,2155,2405,3936,0,0,0,0,0,0
$GC,535,-0.74,-155.7,145.1,-26.2,88,544,0.12,2.15,0.00,0.000,4,0.177,0.036,2188,985,3935,0,0,0,0,0,0
$GC,562,-0.70,-155.7,152.4,-24.3,92,571,0.00,2.15,0.00,0.000,6,0.000,0.035,2179,2394,3938,0,0,0,0,0,0
$GC,915,-0.68,-155.7,228.3,-19.5,153,922,0.00,2.12,0.00,0.000,4,0.000,0.043,2169,3775,3939,0,0,0,0,0,0
$GC,1008,-0.71,-155.7,244.1,-15.9,169,1015,0.00,2.05,0.00,0.000,6,0.000,0.028,2168,2383,3939,0,0,0,0,0,0
$GC,1354,-0.70,-155.7,311.1,-20.8,226,1359,0.12,2.05,0.00,0.000,4,0.163,0.036,2201,997,3938,0,0,0,0,0,0
$GC,1382,-0.71,-155.7,316.4,-18.3,228,1386,0.00,2.12,0.00,0.000,6,0.000,0.036,2194,2405,3938,0,0,0,0,0,0
$GC,1708,-0.74,-155.7,367.7,-15.4,258,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2406,3937,0,0,0,0,0,0
$GC,2026,-0.79,-155.7,414.1,-14.3,288,2030,0.00,2.10,0.00,0.000,4,0.000,0.044,2184,3783,3936,0,0,0,0,0,0
$GC,2069,-0.84,-155.7,419.3,-12.6,291,2073,0.00,2.08,0.00,0.000,6,0.000,0.029,2184,2376,3936,0,0,0,0,0,0
$GC,2399,-0.88,-155.7,464.1,-13.9,322,2401,0.12,0.00,0.00,0.000,6,0.083,0.000,2120,2374,3933,0,0,0,0,0,0
$STATE,2588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2588,begin apogee
$GC,2593,-0.16,0.0,501.8,19.0,340,2716,0.77,0.00,116.57,0.864,6,0.135,0.000,2368,1980,3298,0,0,0,0,0,0
$STATE,2717,end apogee,CONTROL_FINISHED_OK
$STATE,2717,begin climb
$GC,2719,0.89,155.7,509.1,0.0,350,2847,0.90,2.38,119.50,0.847,4,0.041,0.040,2722,3416,2664,0,0,0,0,0,0
$GC,2919,0.74,155.7,500.8,18.3,367,2927,0.22,2.17,0.00,0.000,6,0.173,0.030,2669,2023,2656,0,0,0,0,0,0
$GC,3247,0.68,180.3,458.1,12.4,398,3268,0.00,0.00,19.25,0.785,6,0.000,0.000,2669,2021,2563,0,0,0,0,0,0
$GC,3585,0.61,189.2,413.2,13.4,430,3600,0.17,2.22,8.07,0.685,4,0.175,0.042,2622,3416,2526,0,0,0,0,0,0
$GC,3635,0.60,223.6,407.1,11.8,434,3673,0.00,2.12,28.08,0.786,6,0.000,0.031,2631,1994,2385,0,0,0,0,0,0
$GC,3989,0.60,240.8,362.3,12.9,467,4015,0.00,2.25,13.75,0.729,4,0.000,0.043,2631,3407,2315,0,0,0,0,0,0
$GC,4072,0.58,240.8,349.7,15.3,474,4076,0.00,2.12,0.00,0.000,6,0.000,0.032,2641,1996,2313,0,0,0,0,0,0
$GC,4397,0.56,241.3,304.1,13.9,504,4402,0.15,2.17,0.00,0.000,4,0.170,0.044,2601,3406,2310,0,0,0,0,0,0
$GC,4476,0.56,245.2,293.8,13.7,514,4485,0.00,2.15,4.12,0.483,6,0.000,0.033,2611,2000,2298,0,0,0,0,0,0
$GC,4819,0.59,259.3,248.6,13.0,575,4841,0.00,2.17,12.25,0.664,4,0.000,0.041,2618,601,2240,0,0,0,0,0,0
$GC,4910,0.62,266.8,237.0,13.4,590,4924,0.00,2.15,7.15,0.586,6,0.000,0.034,2622,2003,2211,0,0,0,0,0,0
$GC,5263,0.71,327.8,194.7,10.2,652,5320,0.10,2.25,46.88,0.672,4,0.105,0.041,2669,3408,1961,0,0,0,0,0,0
$GC,5353,0.70,327.8,181.4,16.4,665,5360,0.00,2.17,0.00,0.000,6,0.000,0.031,2679,1992,1959,0,0,0,0,0,0
$GC,5692,0.70,327.8,125.6,16.1,726,5700,0.00,2.15,0.00,0.000,4,0.000,0.041,2690,595,1955,0,0,0,0,0,0
$GC,5742,0.70,327.8,117.5,14.9,734,5751,0.10,2.15,0.00,0.000,6,0.129,0.034,2657,2001,1955,0,0,0,0,0,0
$GC,6075,0.77,360.3,77.1,11.9,795,6108,0.00,2.15,24.73,0.577,4,0.000,0.039,2665,595,1828,0,0,0,0,0,0
$GC,6148,0.84,375.4,68.0,13.0,806,6172,0.00,2.15,12.32,0.533,6,0.000,0.033,2666,1996,1766,0,0,0,0,0,0
$GC,6499,1.06,493.9,37.1,6.8,869,6601,0.25,2.28,88.10,0.545,4,0.056,0.040,2784,3408,1282,0,0,0,0,0,0
$GC,6642,1.06,493.9,11.3,18.9,889,6650,0.00,2.20,0.00,0.000,6,0.000,0.032,2794,2001,1280,0,0,0,0,0,0
$STATE,6677,end climb,SURFACE_DEPTH_REACHED
$STATE,6677,begin surface coast
$FINISH,0.5,1.021762
$STATE,6690,end surface coast,CONTROL_FINISHED_OK
$STATE,6690,begin surface
$SM_CCo,6777,0.00,0.000,0,0,1275,496.00
$SM_GC,1.37,6.75,0.00,0.00,0.036,0.000,0.000,209,2412,1275,-6.84,0.34,496.00
$IRIDIUM_FIX,2359.20,12655.97,051010,080812
$TT8_MAMPS,0.026964
$HUMID,47.40
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,25.10
$XPDR_PINGS,3
$24V_AH,24.7,19.405
$10V_AH,10.3,23.342
$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,17.500,61.600,500.775,0.000,0.000,51.058,69.667,176.738,0.750,0.000,14.992,2146.854,1848.786,494.703,2605.977,189.802,0.000,1336.644,0.000,1362.435,0.000,0.543,0.000
$DEVICE_MAMPS,226.440,55.845,863.685,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,604.208,1365.470,1654.238,0.000,0.000,0.000,2310.641,0.000,0.000,0.000
$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,63737,897
$CAP_FILE_SIZE,95396,0
$CFSIZE,260165632,240713728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,142.6,1
$GPS,051010,100606,2405.227,12608.801,35,0.9,35,-3.6