version: 66.08
glider: 181
mission: 4
dive: 163
start: 10 7 110 16 13 59
data:
$ID,181
$MISSION,4
$DIVE,163
$N_DIVES,170
$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,-38050.312
$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,38
$R_STBD_OVSHOOT,43
$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,324.0
$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
$GPS1,071010,160644,2409.282,12609.065,11,1.7,11,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-66.9
$GPS2,071010,161332,2409.356,12609.001,13,1.5,13,-3.6
$SPEED_LIMITS,0.241,0.296
$TGT_NAME,NWALL_S
$TGT_LATLONG,2400.000,12609.000
$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,180.8,17327,-22.5,-13.889
$D_GRID,1786
$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,-155.7,0.0,0.0,0,74,0.00,0.00,-52.45,0.000,2,0.000,0.000,202,2411,2798,0,0,0,0,0,0
$GC,77,-0.89,-155.7,3.2,-5.1,7,119,7.55,2.15,-24.90,0.000,4,0.222,0.046,2132,982,3935,0,0,0,0,0,0
$GC,181,-0.76,-155.7,37.3,-38.7,23,190,0.17,2.17,0.00,0.000,6,0.161,0.036,2174,2389,3936,0,0,0,0,0,0
$GC,516,-0.71,-155.7,132.7,-22.6,84,524,0.00,2.15,0.00,0.000,4,0.000,0.042,2165,3784,3938,0,0,0,0,0,0
$GC,592,-0.73,-155.7,149.0,-17.6,97,600,0.00,2.10,0.00,0.000,6,0.000,0.028,2165,2387,3937,0,0,0,0,0,0
$GC,935,-0.69,-155.7,225.0,-23.4,158,944,0.12,2.10,0.00,0.000,4,0.167,0.034,2198,997,3937,0,0,0,0,0,0
$GC,1015,-0.73,-155.7,239.1,-14.5,172,1023,0.00,2.15,0.00,0.000,6,0.000,0.036,2190,2409,3938,0,0,0,0,0,0
$GC,1345,-0.75,-155.7,293.8,-15.5,233,1352,0.00,2.10,0.00,0.000,4,0.000,0.044,2180,3784,3938,0,0,0,0,0,0
$GC,1416,-0.79,-155.7,304.5,-13.0,243,1424,0.00,2.05,0.00,0.000,6,0.000,0.028,2180,2385,3938,0,0,0,0,0,0
$GC,1741,-0.80,-155.7,355.3,-15.8,274,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2384,3937,0,0,0,0,0,0
$GC,2061,-0.82,-155.7,403.3,-14.6,304,2064,0.00,2.03,0.00,0.000,4,0.000,0.034,2180,1005,3936,0,0,0,0,0,0
$GC,2143,-0.88,-155.7,415.8,-13.1,311,2152,0.10,2.10,0.00,0.000,6,0.095,0.037,2127,2397,3936,0,0,0,0,0,0
$GC,2468,-0.85,-155.7,479.1,-20.3,342,2472,0.00,2.12,0.00,0.000,4,0.000,0.045,2115,3784,3934,0,0,0,0,0,0
$GC,2531,-0.85,-155.7,490.9,-18.1,347,2536,0.12,2.03,0.00,0.000,6,0.155,0.029,2149,2403,3933,0,0,0,0,0,0
$STATE,2590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2591,begin apogee
$GC,2595,-0.16,0.0,500.6,15.8,352,2717,0.65,0.00,116.65,0.868,6,0.123,0.000,2367,1977,3298,0,0,0,0,0,0
$STATE,2718,end apogee,CONTROL_FINISHED_OK
$STATE,2718,begin climb
$GC,2720,0.89,155.7,506.0,0.0,362,2848,0.93,2.20,119.57,0.851,4,0.045,0.038,2734,615,2662,0,0,0,0,0,0
$GC,3099,0.75,155.7,466.5,15.9,395,3104,0.25,2.12,0.00,0.000,6,0.177,0.032,2668,2015,2657,0,0,0,0,0,0
$GC,3426,0.69,179.0,424.0,12.5,425,3447,0.00,0.00,17.77,0.776,6,0.000,0.000,2668,2013,2568,0,0,0,0,0,0
$GC,3765,0.63,189.4,376.6,13.3,457,3781,0.15,2.20,9.35,0.698,4,0.177,0.040,2637,605,2525,0,0,0,0,0,0
$GC,3834,0.66,240.5,368.7,10.8,463,3883,0.00,2.10,40.53,0.783,6,0.000,0.034,2637,2004,2315,0,0,0,0,0,0
$GC,4201,0.65,249.3,320.3,13.4,497,4213,0.00,2.22,7.10,0.629,4,0.000,0.042,2637,3403,2281,0,0,0,0,0,0
$GC,4250,0.62,249.3,312.8,14.5,501,4258,0.00,2.12,0.00,0.000,6,0.000,0.031,2647,2015,2280,0,0,0,0,0,0
$GC,4581,0.60,249.3,267.7,14.2,553,4588,0.00,2.15,0.00,0.000,4,0.000,0.042,2647,3411,2278,0,0,0,0,0,0
$GC,4729,0.56,249.3,246.2,14.7,580,4738,0.15,2.15,0.00,0.000,6,0.146,0.032,2611,2001,2276,0,0,0,0,0,0
$GC,5064,0.65,303.4,211.3,10.7,641,5112,0.00,2.22,41.58,0.693,4,0.000,0.041,2620,599,2061,0,0,0,0,0,0
$GC,5136,0.72,338.3,202.8,11.8,652,5172,0.08,2.17,27.33,0.659,6,0.061,0.033,2665,1999,1917,0,0,0,0,0,0
$GC,5500,0.72,338.3,144.0,15.3,716,5508,0.00,2.17,0.00,0.000,4,0.000,0.041,2676,599,1909,0,0,0,0,0,0
$GC,5576,0.73,343.7,133.0,13.6,729,5586,0.00,2.15,4.45,0.436,6,0.000,0.033,2676,2003,1895,0,0,0,0,0,0
$GC,5911,0.74,350.8,85.8,13.5,790,5928,0.00,2.20,6.90,0.500,4,0.000,0.042,2676,3412,1866,0,0,0,0,0,0
$GC,6054,0.75,351.3,65.1,13.9,815,6063,0.00,2.15,0.00,0.000,6,0.000,0.031,2686,2000,1865,0,0,0,0,0,0
$GC,6390,0.89,432.8,33.9,9.0,876,6459,0.00,2.17,60.80,0.558,4,0.000,0.038,2694,596,1534,0,0,0,0,0,0
$GC,6597,1.03,497.9,12.8,10.0,910,6653,0.12,2.15,48.90,0.526,6,0.047,0.031,2767,2004,1268,0,0,0,0,0,0
$STATE,6659,end climb,SURFACE_DEPTH_REACHED
$STATE,6660,begin surface coast
$FINISH,0.6,1.021924
$STATE,6674,end surface coast,CONTROL_FINISHED_OK
$STATE,6674,begin surface
$SM_CCo,6761,0.00,0.000,0,0,1262,499.43
$SM_GC,1.40,6.70,0.00,0.00,0.034,0.000,0.000,207,2414,1262,-6.85,0.45,499.43
$IRIDIUM_FIX,2356.84,12608.76,071010,141419
$TT8_MAMPS,0.028462
$HUMID,46.73
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,25.20
$XPDR_PINGS,2
$24V_AH,24.6,22.618
$10V_AH,10.2,27.689
$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,17.100,61.100,500.925,0.000,0.000,30.113,41.739,180.930,0.500,0.000,15.666,2211.472,1617.532,486.249,2657.802,198.777,0.000,1354.477,0.000,1430.181,0.000,0.544,0.000
$DEVICE_MAMPS,221.850,45.900,868.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,620.157,1399.631,1712.703,0.000,0.000,0.000,2393.562,0.000,0.000,0.000
$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,63786,920
$CAP_FILE_SIZE,96229,0
$CFSIZE,260165632,238788608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,  2.3,1
$GPS,071010,180755,2408.932,12609.045,40,1.4,40,-3.6