version: 66.08
glider: 181
mission: 4
dive: 170
start: 10 8 110 6 24 0
data:
$ID,181
$MISSION,4
$DIVE,170
$N_DIVES,180
$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,-38059.102
$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,39
$R_STBD_OVSHOOT,47
$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,338.0
$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
$GPS1,081010,061658,2404.275,12609.152,10,2.9,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-64.9
$GPS2,081010,062332,2404.290,12609.150,12,1.6,12,-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,193.0,7950,-22.5,-13.889
$D_GRID,1638
$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,-155.7,0.0,0.0,0,70,0.00,0.00,-47.65,0.000,2,0.000,0.000,202,2419,2785,0,0,0,0,0,0
$GC,72,-0.89,-155.7,3.2,-5.5,6,112,7.53,2.17,-25.48,0.000,4,0.223,0.046,2130,974,3935,0,0,0,0,0,0
$GC,142,-0.74,-155.7,23.9,-39.5,16,152,0.20,2.17,0.00,0.000,6,0.168,0.034,2178,2392,3936,0,0,0,0,0,0
$GC,477,-0.69,-155.7,131.4,-23.7,77,485,0.00,2.12,0.00,0.000,4,0.000,0.040,2170,3772,3937,0,0,0,0,0,0
$GC,527,-0.69,-155.7,143.5,-22.7,85,536,0.08,2.08,0.00,0.000,6,0.135,0.028,2194,2389,3938,0,0,0,0,0,0
$GC,880,-0.69,-155.7,214.0,-18.8,146,888,0.00,2.08,0.00,0.000,4,0.000,0.033,2195,998,3938,0,0,0,0,0,0
$GC,958,-0.72,-155.7,227.8,-16.4,159,965,0.00,2.10,0.00,0.000,6,0.000,0.035,2191,2399,3938,0,0,0,0,0,0
$GC,1301,-0.74,-155.7,290.1,-16.8,220,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2399,3938,0,0,0,0,0,0
$GC,1631,-0.77,-155.7,342.0,-14.4,256,1634,0.00,2.08,0.00,0.000,4,0.000,0.033,2191,1003,3938,0,0,0,0,0,0
$GC,1677,-0.82,-155.7,348.3,-13.3,260,1681,0.00,2.10,0.00,0.000,6,0.000,0.036,2191,2406,3938,0,0,0,0,0,0
$GC,2002,-0.85,-155.7,392.9,-13.3,290,2007,0.12,2.12,0.00,0.000,4,0.083,0.045,2117,3784,3936,0,0,0,0,0,0
$GC,2066,-0.84,-155.7,403.3,-18.3,295,2070,0.12,2.03,0.00,0.000,6,0.161,0.028,2150,2400,3936,0,0,0,0,0,0
$GC,2392,-0.84,-155.7,461.3,-17.0,325,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2397,3934,0,0,0,0,0,0
$STATE,2633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2633,begin apogee
$GC,2638,-0.16,0.0,500.6,14.5,348,2761,0.65,0.00,116.88,0.865,6,0.121,0.000,2369,1966,3298,0,0,0,0,0,0
$STATE,2762,end apogee,CONTROL_FINISHED_OK
$STATE,2762,begin climb
$GC,2764,0.89,155.7,506.0,0.0,358,2892,0.90,2.40,119.60,0.849,4,0.041,0.039,2721,3420,2662,0,0,0,0,0,0
$GC,2986,0.73,155.7,489.5,20.3,377,2994,0.22,2.17,0.00,0.000,6,0.177,0.030,2661,2021,2656,0,0,0,0,0,0
$GC,3313,0.72,211.0,444.8,10.6,408,3363,0.00,2.22,42.65,0.815,4,0.000,0.037,2671,595,2437,0,0,0,0,0,0
$GC,3433,0.67,224.1,430.1,13.1,418,3450,0.00,2.15,11.27,0.724,6,0.000,0.032,2671,2012,2384,0,0,0,0,0,0
$GC,3776,0.61,224.1,375.0,15.9,450,3781,0.17,2.15,0.00,0.000,4,0.169,0.042,2625,3406,2378,0,0,0,0,0,0
$GC,3929,0.58,224.1,352.8,14.1,463,3933,0.00,2.12,0.00,0.000,6,0.000,0.031,2633,1997,2375,0,0,0,0,0,0
$GC,4256,0.61,265.5,313.7,11.4,493,4294,0.00,2.20,31.52,0.751,4,0.000,0.041,2644,601,2215,0,0,0,0,0,0
$GC,4351,0.61,268.0,301.0,13.7,501,4358,0.00,2.12,0.00,0.000,6,0.000,0.033,2644,2001,2212,0,0,0,0,0,0
$GC,4691,0.60,268.0,251.8,15.0,561,4698,0.00,2.12,0.00,0.000,4,0.000,0.040,2654,598,2208,0,0,0,0,0,0
$GC,4727,0.60,268.0,246.2,14.8,567,4735,0.12,2.10,0.00,0.000,6,0.169,0.032,2620,2001,2208,0,0,0,0,0,0
$GC,5071,0.65,300.8,206.0,11.9,628,5109,0.00,2.20,27.35,0.677,4,0.000,0.041,2623,3398,2071,0,0,0,0,0,0
$GC,5236,0.68,302.4,184.3,13.8,654,5244,0.00,2.15,0.00,0.000,6,0.000,0.032,2632,1998,2066,0,0,0,0,0,0
$GC,5580,0.78,362.9,144.0,10.3,715,5636,0.12,2.17,46.80,0.634,4,0.086,0.039,2704,590,1817,0,0,0,0,0,0
$GC,5699,0.78,362.9,126.3,16.0,733,5707,0.00,2.17,0.00,0.000,6,0.000,0.032,2704,1999,1813,0,0,0,0,0,0
$GC,6032,0.78,362.9,73.3,15.8,794,6040,0.00,2.20,0.00,0.000,4,0.000,0.040,2704,3406,1811,0,0,0,0,0,0
$GC,6086,0.80,378.9,65.5,12.9,803,6104,0.10,2.15,12.30,0.534,6,0.144,0.031,2683,1998,1753,0,0,0,0,0,0
$GC,6431,0.93,438.7,33.5,10.3,865,6486,0.12,2.20,45.35,0.543,4,0.082,0.041,2761,597,1508,0,0,0,0,0,0
$GC,6545,0.93,438.7,15.8,16.9,882,6554,0.10,2.15,0.00,0.000,6,0.140,0.031,2726,2003,1503,0,0,0,0,0,0
$STATE,6626,end climb,SURFACE_DEPTH_REACHED
$STATE,6626,begin surface coast
$FINISH,0.6,1.009012
$STATE,6652,end surface coast,CONTROL_FINISHED_OK
$STATE,6652,begin surface
$SM_CCo,6740,0.00,0.000,0,0,1500,440.80
$SM_GC,1.68,6.60,0.00,0.00,0.044,0.000,0.000,211,2408,1500,-6.83,0.23,440.80
$IRIDIUM_FIX,2359.20,12610.15,081010,040421
$TT8_MAMPS,0.027713
$HUMID,46.88
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,25.20
$XPDR_PINGS,2
$24V_AH,24.7,23.399
$10V_AH,10.3,28.793
$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,17.175,61.375,453.725,0.000,0.000,23.055,36.684,179.199,0.500,0.000,14.948,2182.861,1716.011,450.876,2584.351,203.600,0.000,1290.637,0.000,1399.320,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,45.900,865.215,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,607.069,1369.319,1654.179,0.000,0.000,0.000,2401.122,0.000,0.000,0.000
$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,63721,900
$CAP_FILE_SIZE,93976,0
$CFSIZE,260165632,238305280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036, 21.9,1
$GPS,081010,081737,2403.484,12609.052,42,1.1,42,-3.6