version: 66.08
glider: 181
mission: 4
dive: 191
start: 10 10 110 0 18 14
data:
$ID,181
$MISSION,4
$DIVE,191
$N_DIVES,200
$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,-38085.48
$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,36
$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,380.0
$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
$GPS1,101010,001026,2414.662,12609.930,10,1.6,10,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-67.6
$GPS2,101010,001746,2414.681,12610.043,10,2.2,29,-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,340.5,10006,-22.5,-13.889
$D_GRID,1588
$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,-52.30,0.000,2,0.000,0.000,202,2409,2763,0,0,0,0,0,0
$GC,77,-0.89,-155.7,3.1,-5.0,7,119,7.55,2.12,-26.73,0.000,4,0.223,0.056,2121,3785,3934,0,0,0,0,0,0
$GC,224,-0.83,-155.7,49.8,-30.4,31,234,0.10,2.10,0.00,0.000,6,0.157,0.029,2150,2395,3936,0,0,0,0,0,0
$GC,560,-0.77,-155.7,143.0,-25.3,92,569,0.10,2.10,0.00,0.000,4,0.187,0.034,2174,1002,3937,0,0,0,0,0,0
$GC,668,-0.77,-155.7,166.8,-20.5,111,675,0.00,2.10,0.00,0.000,6,0.000,0.035,2166,2401,3938,0,0,0,0,0,0
$GC,1010,-0.73,-155.7,246.9,-22.9,172,1019,0.00,2.10,0.00,0.000,4,0.000,0.042,2156,3772,3938,0,0,0,0,0,0
$GC,1162,-0.75,-155.7,274.5,-17.2,199,1170,0.00,2.03,0.00,0.000,6,0.000,0.027,2156,2389,3938,0,0,0,0,0,0
$GC,1489,-0.74,-155.7,336.7,-18.1,242,1494,0.12,2.08,0.00,0.000,4,0.161,0.034,2189,995,3938,0,0,0,0,0,0
$GC,1518,-0.76,-155.7,341.4,-16.9,244,1522,0.00,2.12,0.00,0.000,6,0.000,0.037,2182,2401,3938,0,0,0,0,0,0
$GC,1849,-0.78,-155.7,391.9,-15.6,275,1853,0.00,2.08,0.00,0.000,4,0.000,0.044,2172,3780,3937,0,0,0,0,0,0
$GC,1903,-0.83,-155.7,400.6,-14.4,279,1911,0.00,2.05,0.00,0.000,6,0.000,0.028,2171,2400,3934,0,0,0,0,0,0
$GC,2229,-0.86,-155.7,449.7,-15.2,310,2232,0.00,2.08,0.00,0.000,4,0.000,0.036,2171,1003,3935,0,0,0,0,0,0
$GC,2310,-0.92,-155.7,462.3,-14.0,317,2318,0.08,2.12,0.00,0.000,6,0.055,0.036,2111,2397,3934,0,0,0,0,0,0
$STATE,2518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2518,begin apogee
$GC,2524,-0.16,0.0,501.2,18.2,337,2647,0.80,0.00,116.93,0.866,6,0.131,0.000,2369,1977,3297,0,0,0,0,0,0
$STATE,2648,end apogee,CONTROL_FINISHED_OK
$STATE,2648,begin climb
$GC,2650,0.89,155.7,507.6,0.0,347,2780,0.90,2.35,119.57,0.851,4,0.041,0.038,2726,3411,2662,0,0,0,0,0,0
$GC,2958,0.73,155.7,480.3,17.2,374,2967,0.22,2.15,0.00,0.000,6,0.172,0.029,2670,2015,2655,0,0,0,0,0,0
$GC,3285,0.70,205.0,439.0,10.9,405,3334,0.00,2.25,37.12,0.812,4,0.000,0.039,2680,597,2464,0,0,0,0,0,0
$GC,3361,0.63,205.0,428.1,15.1,411,3370,0.20,2.15,0.00,0.000,6,0.162,0.033,2627,2007,2461,0,0,0,0,0,0
$GC,3687,0.68,266.5,393.7,10.2,442,3740,0.00,2.20,47.92,0.803,4,0.000,0.041,2627,3404,2208,0,0,0,0,0,0
$GC,3777,0.66,266.5,383.3,13.9,449,3781,0.00,2.15,0.00,0.000,6,0.000,0.031,2636,1996,2207,0,0,0,0,0,0
$GC,4103,0.65,266.5,334.9,14.8,479,4107,0.00,2.15,0.00,0.000,4,0.000,0.041,2647,583,2202,0,0,0,0,0,0
$GC,4133,0.64,266.5,330.6,15.1,481,4137,0.00,2.15,0.00,0.000,6,0.000,0.034,2647,2002,2203,0,0,0,0,0,0
$GC,4458,0.62,266.5,277.8,15.6,524,4466,0.00,2.17,0.00,0.000,4,0.000,0.040,2657,596,2200,0,0,0,0,0,0
$GC,4495,0.61,266.5,271.5,16.5,530,4504,0.10,2.15,0.00,0.000,6,0.147,0.034,2626,2004,2200,0,0,0,0,0,0
$GC,4826,0.68,308.8,230.5,11.4,591,4860,0.00,0.00,31.42,0.701,6,0.000,0.000,2626,2005,2039,0,0,0,0,0,0
$GC,5190,0.75,349.1,187.6,11.5,656,5227,0.12,2.20,31.33,0.662,4,0.090,0.040,2693,596,1873,0,0,0,0,0,0
$GC,5252,0.74,349.1,177.9,16.6,665,5260,0.12,2.15,0.00,0.000,6,0.154,0.033,2661,2006,1870,0,0,0,0,0,0
$GC,5588,0.75,349.1,122.5,18.0,726,5596,0.00,2.17,0.00,0.000,4,0.000,0.042,2661,3408,1868,0,0,0,0,0,0
$GC,5658,0.77,349.1,110.1,16.6,738,5666,0.00,2.15,0.00,0.000,6,0.000,0.031,2670,1998,1869,0,0,0,0,0,0
$GC,5991,0.88,419.3,66.7,9.7,799,6053,0.12,2.20,51.85,0.582,4,0.085,0.041,2745,601,1589,0,0,0,0,0,0
$GC,6128,0.90,419.3,46.6,15.3,820,6137,0.00,2.15,0.00,0.000,6,0.000,0.034,2745,1995,1585,0,0,0,0,0,0
$STATE,6417,end climb,SURFACE_DEPTH_REACHED
$STATE,6417,begin surface coast
$FINISH,0.5,1.022102
$STATE,6435,end surface coast,CONTROL_FINISHED_OK
$STATE,6435,begin surface
$SM_CCo,6525,0.00,0.000,0,0,1580,421.43
$SM_GC,1.44,6.55,0.00,0.00,0.037,0.000,0.000,197,2408,1580,-6.85,0.23,421.43
$IRIDIUM_FIX,2403.92,12616.75,091010,222252
$TT8_MAMPS,0.027713
$HUMID,48.66
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.6,25.761
$10V_AH,10.2,32.063
$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,17.100,61.175,436.150,0.000,0.000,22.733,46.578,192.033,0.000,0.000,33.231,2117.470,1629.614,448.556,2561.802,210.577,0.000,1265.015,0.000,1364.338,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,55.845,865.980,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,591.087,1333.113,1606.688,0.000,0.000,0.000,2224.378,0.000,0.000,0.000
$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,63587,876
$CAP_FILE_SIZE,91705,0
$CFSIZE,260165632,236855296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.118,144.4,1
$GPS,101010,020807,2415.193,12609.942,30,0.9,30,-3.7