version: 66.08
glider: 181
mission: 4
dive: 85
start: 10 1 110 3 35 38
data:
$ID,181
$MISSION,4
$DIVE,85
$N_DIVES,90
$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,690
$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,-37944.906
$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,44
$R_STBD_OVSHOOT,52
$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,168.0
$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
$GPS1,011010,032832,2400.971,12608.766,12,2.0,12,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-61.8
$GPS2,011010,033506,2400.998,12608.774,16,1.5,32,-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,181.8,1887,-26.2,-13.889
$D_GRID,1773
$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,-0.96,-114.6,0.0,0.0,0,107,0.00,0.00,-84.65,0.000,2,0.000,0.000,201,2424,2805,0,0,0,0,0,0
$GC,109,-1.01,-155.7,3.3,-5.5,11,149,7.40,2.15,-24.70,0.000,4,0.226,0.044,2093,989,3934,0,0,0,0,0,0
$GC,250,-0.88,-155.7,58.6,-47.7,34,259,0.17,2.15,0.00,0.000,6,0.172,0.036,2135,2389,3934,0,0,0,0,0,0
$GC,585,-0.84,-155.7,165.3,-29.6,95,591,0.00,2.10,0.00,0.000,4,0.000,0.041,2125,3781,3936,0,0,0,0,0,0
$GC,637,-0.82,-155.7,180.3,-25.8,104,647,0.10,2.08,0.00,0.000,6,0.150,0.028,2156,2391,3937,0,0,0,0,0,0
$GC,990,-0.82,-155.7,259.1,-21.2,165,997,0.00,2.05,0.00,0.000,4,0.000,0.035,2156,997,3937,0,0,0,0,0,0
$GC,1039,-0.84,-155.7,268.7,-19.1,173,1046,0.00,2.12,0.00,0.000,6,0.000,0.037,2149,2412,3936,0,0,0,0,0,0
$GC,1374,-0.87,-155.7,334.1,-19.2,218,1378,0.00,2.10,0.00,0.000,4,0.000,0.035,2148,1002,3937,0,0,0,0,0,0
$GC,1425,-0.91,-155.7,343.7,-17.9,222,1429,0.00,2.08,0.00,0.000,6,0.000,0.037,2136,2397,3934,0,0,0,0,0,0
$GC,1750,-0.93,-155.7,408.2,-19.3,252,1754,0.00,2.10,0.00,0.000,4,0.000,0.044,2128,3777,3935,0,0,0,0,0,0
$GC,1827,-0.97,-155.7,423.6,-19.1,258,1836,0.00,2.05,0.00,0.000,6,0.000,0.028,2128,2403,3934,0,0,0,0,0,0
$GC,2155,-1.00,-155.7,486.6,-19.4,289,2159,0.00,2.12,0.00,0.000,4,0.000,0.045,2118,3781,3932,0,0,0,0,0,0
$GC,2207,-1.05,-155.7,496.2,-17.3,293,2211,0.00,2.05,0.00,0.000,6,0.000,0.029,2118,2391,3931,0,0,0,0,0,0
$STATE,2229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2229,begin apogee
$GC,2234,-0.16,0.0,500.2,16.7,295,2356,0.77,0.00,116.70,0.855,6,0.133,0.000,2370,1983,3297,0,0,0,0,0,0
$STATE,2357,end apogee,CONTROL_FINISHED_OK
$STATE,2357,begin climb
$GC,2359,1.01,155.7,506.2,0.0,305,2488,1.00,2.17,119.80,0.838,4,0.039,0.036,2775,610,2662,0,0,0,0,0,0
$GC,2682,0.88,155.7,472.3,17.2,333,2690,0.22,2.15,0.00,0.000,6,0.184,0.033,2716,2006,2657,0,0,0,0,0,0
$GC,3010,0.81,172.5,428.2,12.5,364,3027,0.00,2.15,13.15,0.742,4,0.000,0.041,2713,3401,2594,0,0,0,0,0,0
$GC,3225,0.71,172.5,396.2,15.5,383,3230,0.25,2.10,0.00,0.000,6,0.187,0.031,2657,2006,2589,0,0,0,0,0,0
$GC,3551,0.72,200.2,357.2,11.6,413,3579,0.00,2.20,21.58,0.755,4,0.000,0.042,2657,3394,2482,0,0,0,0,0,0
$GC,3643,0.69,200.2,344.4,15.5,421,3647,0.00,2.12,0.00,0.000,6,0.000,0.031,2666,1993,2479,0,0,0,0,0,0
$GC,3969,0.68,215.6,302.0,12.6,451,3994,0.00,2.20,12.65,0.694,4,0.000,0.041,2676,589,2418,0,0,0,0,0,0
$GC,4056,0.68,227.3,290.9,12.9,464,4073,0.10,2.15,10.48,0.662,6,0.155,0.034,2647,1992,2371,0,0,0,0,0,0
$GC,4409,0.72,251.5,247.5,11.9,526,4437,0.00,2.22,19.73,0.687,4,0.000,0.043,2647,3396,2271,0,0,0,0,0,0
$GC,4467,0.72,251.5,238.9,16.7,535,4473,0.00,2.12,0.00,0.000,6,0.000,0.032,2655,1995,2269,0,0,0,0,0,0
$GC,4810,0.78,282.4,193.9,11.4,596,4840,0.00,2.22,24.42,0.656,4,0.000,0.041,2654,3412,2148,0,0,0,0,0,0
$GC,4860,0.82,300.9,187.9,12.4,603,4881,0.00,2.15,15.45,0.623,6,0.000,0.031,2666,1996,2071,0,0,0,0,0,0
$GC,5217,0.84,300.9,136.9,15.0,666,5226,0.00,2.15,0.00,0.000,4,0.000,0.042,2676,598,2066,0,0,0,0,0,0
$GC,5288,0.89,300.9,126.0,14.6,678,5296,0.08,2.15,0.00,0.000,6,0.061,0.034,2725,2004,2066,0,0,0,0,0,0
$GC,5621,0.89,300.9,66.0,15.0,739,5629,0.00,2.15,0.00,0.000,4,0.000,0.040,2735,601,2064,0,0,0,0,0,0
$GC,5685,0.89,300.9,55.7,13.9,750,5694,0.00,2.12,0.00,0.000,6,0.000,0.034,2734,2002,2064,0,0,0,0,0,0
$GC,6018,0.99,365.2,28.6,8.7,811,6074,0.00,2.17,47.10,0.546,4,0.000,0.041,2735,3414,1810,0,0,0,0,0,0
$GC,6153,1.02,365.2,12.9,14.2,832,6162,0.00,2.17,0.00,0.000,6,0.000,0.031,2745,1994,1805,0,0,0,0,0,0
$STATE,6223,end climb,SURFACE_DEPTH_REACHED
$STATE,6223,begin surface coast
$FINISH,0.5,1.012713
$STATE,6248,end surface coast,CONTROL_FINISHED_OK
$STATE,6248,begin surface
$SM_CCo,6271,148.48,0.057,0,0,484,690.03
$SM_GC,1.31,0.00,0.00,148.48,0.000,0.000,0.057,199,2422,484,-6.95,0.62,690.03
$IRIDIUM_FIX,2349.77,12607.37,011010,010152
$TT8_MAMPS,0.027713
$HUMID,44.36
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.7,13.647
$10V_AH,10.3,15.506
$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,16.675,65.225,401.050,148.475,0.000,29.868,42.324,173.517,0.000,0.000,35.356,2071.124,1502.793,591.507,2512.660,148.076,0.000,1402.681,0.000,1347.017,0.000,0.543,0.000
$DEVICE_MAMPS,225.675,45.135,855.270,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,571.641,1290.715,1578.870,0.000,0.000,0.000,2268.861,0.000,0.000,0.000
$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,60409,848
$CAP_FILE_SIZE,93261,0
$CFSIZE,260165632,244183040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.028,155.1,1
$GPS,011010,052354,2400.058,12608.806,22,0.9,40,-3.6