version: 66.08
glider: 181
mission: 4
dive: 100
start: 10 2 110 9 30 17
data:
$ID,181
$MISSION,4
$DIVE,100
$N_DIVES,110
$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,-37963.738
$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,41
$R_STBD_OVSHOOT,39
$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,198.0
$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
$GPS1,021010,092406,2413.799,12608.611,31,1.1,31,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-65.0
$GPS2,021010,092950,2413.784,12608.571,10,1.6,10,-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,9.1,11535,-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,-155.7,0.0,0.0,0,106,0.00,0.00,-83.90,0.000,2,0.000,0.000,194,2408,2781,0,0,0,0,0,0
$GC,108,-0.89,-155.7,3.2,-5.5,11,149,7.62,2.10,-25.08,0.000,4,0.229,0.052,2120,3778,3935,0,0,0,0,0,0
$GC,239,-0.77,-155.7,49.7,-37.2,32,248,0.17,2.10,0.00,0.000,6,0.166,0.028,2170,2389,3935,0,0,0,0,0,0
$GC,571,-0.72,-155.7,145.8,-25.5,93,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2387,3937,0,0,0,0,0,0
$GC,912,-0.68,-155.7,224.0,-23.2,154,921,0.12,2.17,0.00,0.000,4,0.168,0.044,2195,3775,3937,0,0,0,0,0,0
$GC,998,-0.73,-155.7,240.9,-16.4,169,1006,0.00,2.03,0.00,0.000,6,0.000,0.028,2195,2394,3937,0,0,0,0,0,0
$GC,1328,-0.75,-155.7,296.5,-15.0,230,1336,0.00,2.08,0.00,0.000,4,0.000,0.035,2195,1002,3938,0,0,0,0,0,0
$GC,1476,-0.81,-155.7,315.4,-11.6,245,1480,0.00,2.08,0.00,0.000,6,0.000,0.036,2191,2398,3937,0,0,0,0,0,0
$GC,1802,-0.84,-155.7,361.6,-14.9,275,1807,0.12,2.10,0.00,0.000,4,0.082,0.045,2117,3778,3936,0,0,0,0,0,0
$GC,1831,-0.84,-155.7,366.7,-19.0,277,1836,0.12,2.00,0.00,0.000,6,0.160,0.028,2150,2401,3935,0,0,0,0,0,0
$GC,2157,-0.84,-155.7,427.7,-16.9,307,2161,0.00,2.08,0.00,0.000,4,0.000,0.034,2150,995,3934,0,0,0,0,0,0
$GC,2204,-0.87,-155.7,435.8,-16.1,311,2208,0.00,2.10,0.00,0.000,6,0.000,0.037,2144,2397,3934,0,0,0,0,0,0
$GC,2534,-0.87,-155.7,493.3,-15.5,342,2538,0.00,2.10,0.00,0.000,4,0.000,0.047,2134,3787,3932,0,0,0,0,0,0
$STATE,2576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2576,begin apogee
$GC,2582,-0.16,0.0,500.4,15.1,345,2709,0.70,0.00,116.45,0.859,6,0.122,0.000,2367,2003,3298,0,0,0,0,0,0
$STATE,2709,end apogee,CONTROL_FINISHED_OK
$STATE,2710,begin climb
$GC,2711,0.89,155.7,506.2,0.0,356,2839,0.93,2.25,120.12,0.842,4,0.047,0.036,2732,588,2661,0,0,0,0,0,0
$GC,2986,0.75,155.7,480.9,18.8,379,2991,0.25,2.15,0.00,0.000,6,0.181,0.034,2668,2008,2656,0,0,0,0,0,0
$GC,3312,0.72,200.8,438.3,11.2,409,3352,0.00,2.22,34.50,0.802,4,0.000,0.043,2668,3397,2479,0,0,0,0,0,0
$GC,3448,0.64,200.8,419.1,16.2,421,3453,0.17,2.12,0.00,0.000,6,0.181,0.031,2633,1997,2475,0,0,0,0,0,0
$GC,3778,0.65,233.2,380.0,11.9,452,3808,0.00,2.15,24.95,0.771,4,0.000,0.040,2642,595,2347,0,0,0,0,0,0
$GC,3857,0.63,235.3,369.2,13.8,458,3866,0.00,2.15,3.25,0.401,6,0.000,0.034,2642,1990,2338,0,0,0,0,0,0
$GC,4184,0.61,235.3,319.5,16.3,489,4188,0.00,2.15,0.00,0.000,4,0.000,0.043,2642,3404,2334,0,0,0,0,0,0
$GC,4343,0.58,235.3,294.1,15.2,506,4352,0.12,2.12,0.00,0.000,6,0.150,0.031,2614,2006,2333,0,0,0,0,0,0
$GC,4672,0.66,300.8,259.1,10.0,567,4728,0.00,2.25,50.70,0.720,4,0.000,0.041,2622,599,2070,0,0,0,0,0,0
$GC,4766,0.73,337.3,248.7,11.7,581,4802,0.12,2.15,28.75,0.686,6,0.092,0.034,2676,2006,1923,0,0,0,0,0,0
$GC,5132,0.71,337.3,182.8,18.8,646,5140,0.00,2.17,0.00,0.000,4,0.000,0.042,2676,3402,1915,0,0,0,0,0,0
$GC,5240,0.70,337.3,164.4,16.4,665,5249,0.15,2.12,0.00,0.000,6,0.168,0.031,2648,1992,1913,0,0,0,0,0,0
$GC,5573,0.76,368.9,121.9,12.0,726,5605,0.00,2.12,23.42,0.607,4,0.000,0.041,2657,596,1793,0,0,0,0,0,0
$GC,5663,0.81,385.5,110.5,12.9,740,5687,0.00,2.15,14.15,0.571,6,0.000,0.033,2657,2001,1725,0,0,0,0,0,0
$GC,6012,0.91,420.8,67.3,11.8,803,6045,0.17,2.17,27.30,0.565,4,0.071,0.041,2741,3404,1582,0,0,0,0,0,0
$GC,6125,0.91,420.8,48.5,18.2,821,6135,0.10,2.15,0.00,0.000,6,0.142,0.031,2720,2006,1578,0,0,0,0,0,0
$GC,6460,0.95,436.8,3.3,12.9,882,6469,0.00,0.00,7.05,0.433,2,0.000,0.000,2719,2003,1523,0,0,0,0,0,0
$STATE,6469,end climb,SURFACE_DEPTH_REACHED
$STATE,6470,begin surface coast
$FINISH,0.5,1.002758
$STATE,6494,end surface coast,CONTROL_FINISHED_OK
$STATE,6494,begin surface
$SM_CCo,6517,112.75,0.057,0,0,485,690.03
$SM_GC,1.35,0.00,0.00,112.75,0.000,0.000,0.057,197,2401,485,-6.96,0.00,690.03
$IRIDIUM_FIX,2406.29,12611.55,021010,070742
$TT8_MAMPS,0.027713
$HUMID,45.58
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.7,15.373
$10V_AH,10.3,17.836
$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,17.400,60.850,450.650,112.750,0.000,25.737,15.260,171.537,0.500,0.000,13.271,2144.106,1544.205,576.124,2551.610,164.702,0.000,1422.818,0.000,1408.439,0.000,0.544,0.000
$DEVICE_MAMPS,228.735,52.020,859.095,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,598.083,1349.933,1651.314,0.000,0.000,0.000,2308.780,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331436
$DATA_FILE_SIZE,63710,887
$CAP_FILE_SIZE,94558,0
$CFSIZE,260165632,243142656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,242.6,1
$GPS,021010,112137,2414.567,12608.469,8,1.9,13,-3.6