version: 66.08
glider: 181
mission: 4
dive: 145
start: 10 6 110 4 14 18
data:
$ID,181
$MISSION,4
$DIVE,145
$N_DIVES,155
$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,-38027.609
$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,34
$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,288.0
$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
$GPS1,061010,040749,2414.416,12609.308,7,1.4,12,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-69.4
$GPS2,061010,041350,2414.438,12609.322,14,1.8,14,-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,346.9,10315,-22.5,-13.889
$D_GRID,1512
$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,-45.95,0.000,2,0.000,0.000,195,2408,2751,0,0,0,0,0,0
$GC,70,-0.89,-155.7,3.2,-4.9,6,110,7.62,2.12,-27.00,0.000,4,0.227,0.054,2122,3791,3935,0,0,0,0,0,0
$GC,212,-0.80,-155.7,49.6,-36.4,29,221,0.12,2.12,0.00,0.000,6,0.162,0.031,2159,2397,3936,0,0,0,0,0,0
$GC,545,-0.74,-155.7,150.3,-23.6,90,553,0.00,2.10,0.00,0.000,4,0.000,0.034,2159,995,3938,0,0,0,0,0,0
$GC,621,-0.72,-155.7,167.0,-20.3,103,630,0.15,2.12,0.00,0.000,6,0.164,0.035,2189,2408,3939,0,0,0,0,0,0
$GC,958,-0.72,-155.7,235.8,-19.4,164,966,0.00,2.10,0.00,0.000,4,0.000,0.042,2181,3775,3939,0,0,0,0,0,0
$GC,1015,-0.76,-155.7,245.5,-15.3,174,1023,0.00,2.08,0.00,0.000,6,0.000,0.028,2181,2392,3940,0,0,0,0,0,0
$GC,1343,-0.76,-155.7,302.8,-17.2,234,1347,0.00,2.05,0.00,0.000,4,0.000,0.035,2181,1001,3939,0,0,0,0,0,0
$GC,1392,-0.79,-155.7,311.3,-15.5,238,1401,0.00,2.12,0.00,0.000,6,0.000,0.036,2174,2396,3939,0,0,0,0,0,0
$GC,1719,-0.79,-155.7,367.3,-17.9,269,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2396,3937,0,0,0,0,0,0
$GC,2039,-0.80,-155.7,418.0,-15.4,299,2043,0.00,2.12,0.00,0.000,4,0.000,0.044,2163,3785,3937,0,0,0,0,0,0
$GC,2093,-0.85,-155.7,426.4,-13.7,303,2101,0.00,2.05,0.00,0.000,6,0.000,0.028,2163,2394,3936,0,0,0,0,0,0
$GC,2418,-0.87,-155.7,476.9,-15.1,334,2422,0.00,2.08,0.00,0.000,4,0.000,0.036,2163,997,3936,0,0,0,0,0,0
$GC,2507,-0.90,-155.7,489.5,-14.0,342,2511,0.00,2.10,0.00,0.000,6,0.000,0.036,2155,2401,3936,0,0,0,0,0,0
$STATE,2576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2576,begin apogee
$GC,2580,-0.16,0.0,500.3,16.3,348,2703,0.65,0.00,116.82,0.864,6,0.124,0.000,2371,1984,3299,0,0,0,0,0,0
$STATE,2704,end apogee,CONTROL_FINISHED_OK
$STATE,2704,begin climb
$GC,2706,0.89,155.7,506.6,0.0,358,2834,0.90,2.17,119.90,0.848,4,0.034,0.036,2747,607,2662,0,0,0,0,0,0
$GC,3082,0.74,155.7,470.7,15.7,390,3092,0.28,2.15,0.00,0.000,6,0.172,0.033,2667,2007,2656,0,0,0,0,0,0
$GC,3410,0.69,182.6,432.0,12.3,421,3438,0.00,0.00,20.80,0.786,6,0.000,0.000,2667,2007,2552,0,0,0,0,0,0
$GC,3758,0.62,182.6,383.8,14.9,454,3760,0.15,0.00,0.00,0.000,6,0.177,0.000,2627,2010,2547,0,0,0,0,0,0
$GC,4075,0.63,214.5,345.2,12.0,484,4104,0.00,2.15,24.48,0.763,4,0.000,0.042,2627,3398,2422,0,0,0,0,0,0
$GC,4249,0.60,214.5,322.0,15.5,499,4253,0.00,2.08,0.00,0.000,6,0.000,0.031,2635,2012,2420,0,0,0,0,0,0
$GC,4576,0.61,246.4,282.8,12.0,542,4613,0.00,2.22,25.15,0.724,4,0.000,0.041,2646,595,2292,0,0,0,0,0,0
$GC,4641,0.61,249.2,274.6,13.7,552,4651,0.00,2.17,3.58,0.422,6,0.000,0.034,2646,2001,2282,0,0,0,0,0,0
$GC,4977,0.59,249.2,227.9,14.2,613,4985,0.00,2.15,0.00,0.000,4,0.000,0.044,2646,3405,2279,0,0,0,0,0,0
$GC,5018,0.56,249.2,221.6,14.0,620,5028,0.15,2.15,0.00,0.000,6,0.145,0.031,2610,1998,2278,0,0,0,0,0,0
$GC,5357,0.68,325.2,186.0,9.3,681,5422,0.10,2.25,57.62,0.669,4,0.100,0.042,2657,3412,1971,0,0,0,0,0,0
$GC,5469,0.68,325.2,169.8,16.0,698,5477,0.00,2.20,0.00,0.000,6,0.000,0.032,2668,2000,1967,0,0,0,0,0,0
$GC,5802,0.68,325.2,118.1,14.7,759,5810,0.00,2.17,0.00,0.000,4,0.000,0.041,2679,593,1963,0,0,0,0,0,0
$GC,5850,0.69,325.2,110.9,14.4,767,5859,0.08,2.15,0.00,0.000,6,0.130,0.034,2653,1997,1963,0,0,0,0,0,0
$GC,6186,0.87,434.8,75.7,7.3,828,6271,0.15,0.00,80.60,0.584,6,0.076,0.000,2725,1997,1524,0,0,0,0,0,0
$GC,6596,0.88,434.8,20.3,14.5,899,6604,0.00,2.17,0.00,0.000,4,0.000,0.041,2737,595,1518,0,0,0,0,0,0
$GC,6629,0.91,434.8,15.2,14.3,904,6638,0.00,2.15,0.00,0.000,6,0.000,0.032,2736,2001,1517,0,0,0,0,0,0
$STATE,6716,end climb,SURFACE_DEPTH_REACHED
$STATE,6716,begin surface coast
$FINISH,0.6,1.015766
$STATE,6735,end surface coast,CONTROL_FINISHED_OK
$STATE,6735,begin surface
$SM_CCo,6821,0.00,0.000,0,0,1514,437.62
$SM_GC,1.67,6.53,0.00,0.00,0.036,0.000,0.000,196,2402,1514,-6.86,0.06,437.62
$IRIDIUM_FIX,2406.29,12608.24,061010,020246
$TT8_MAMPS,0.027713
$HUMID,47.20
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,24.7,20.557
$10V_AH,10.2,24.890
$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,16.875,56.700,448.950,0.000,0.000,31.044,16.416,169.366,0.250,0.000,16.995,2221.822,1709.733,449.659,2610.507,196.394,0.000,1304.537,0.000,1439.370,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,53.550,864.450,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,622.120,1403.789,1693.159,0.000,0.000,0.000,2352.851,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331496
$DATA_FILE_SIZE,66983,922
$CAP_FILE_SIZE,93414,0
$CFSIZE,260165632,240025600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111, 40.1,1
$GPS,061010,060906,2415.662,12609.312,32,0.9,32,-3.7