version: 66.08
glider: 181
mission: 4
dive: 192
start: 10 10 110 2 14 48
data:
$ID,181
$MISSION,4
$DIVE,192
$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,-38086.734
$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,42
$R_STBD_OVSHOOT,33
$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,382.0
$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
$GPS1,101010,020807,2415.193,12609.942,30,0.9,30,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-68.9
$GPS2,101010,021420,2415.141,12610.016,9,1.8,9,-3.7
$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,343.3,9160,-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,-155.7,0.0,0.0,0,67,0.00,0.00,-45.25,0.000,2,0.000,0.000,197,2409,2795,0,0,0,0,0,0
$GC,70,-0.89,-155.7,3.2,-5.3,6,110,7.72,2.12,-25.33,0.000,4,0.232,0.050,2117,3791,3932,0,0,0,0,0,0
$GC,248,-0.79,-155.7,60.5,-36.3,36,257,0.15,2.12,0.00,0.000,6,0.145,0.029,2163,2388,3935,0,0,0,0,0,0
$GC,583,-0.74,-155.7,148.5,-24.5,97,591,0.00,2.08,0.00,0.000,4,0.000,0.034,2163,1003,3937,0,0,0,0,0,0
$GC,604,-0.68,-155.7,154.4,-24.3,100,613,0.15,2.12,0.00,0.000,6,0.133,0.035,2203,2398,3937,0,0,0,0,0,0
$GC,946,-0.68,-155.7,220.7,-18.5,161,953,0.00,2.10,0.00,0.000,4,0.000,0.042,2194,3784,3938,0,0,0,0,0,0
$GC,1029,-0.74,-155.7,234.8,-13.9,176,1037,0.00,2.08,0.00,0.000,6,0.000,0.027,2194,2396,3938,0,0,0,0,0,0
$GC,1363,-0.76,-155.7,288.2,-14.6,237,1369,0.00,2.05,0.00,0.000,4,0.000,0.034,2194,997,3938,0,0,0,0,0,0
$GC,1391,-0.79,-155.7,292.7,-15.0,242,1400,0.00,2.15,0.00,0.000,6,0.000,0.037,2190,2405,3939,0,0,0,0,0,0
$GC,1721,-0.82,-155.7,342.4,-14.6,277,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2405,3937,0,0,0,0,0,0
$GC,2039,-0.85,-155.7,388.0,-15.0,307,2044,0.12,2.10,0.00,0.000,4,0.082,0.045,2115,3777,3936,0,0,0,0,0,0
$GC,2071,-0.83,-155.7,394.5,-19.8,309,2079,0.15,2.05,0.00,0.000,6,0.154,0.028,2156,2387,3935,0,0,0,0,0,0
$GC,2397,-0.83,-155.7,449.7,-16.3,340,2400,0.00,2.05,0.00,0.000,4,0.000,0.035,2156,1003,3934,0,0,0,0,0,0
$GC,2456,-0.87,-155.7,458.9,-13.8,345,2463,0.00,2.12,0.00,0.000,6,0.000,0.038,2148,2406,3933,0,0,0,0,0,0
$STATE,2728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2729,begin apogee
$GC,2734,-0.16,0.0,501.4,16.0,371,2860,0.65,0.00,116.70,0.871,6,0.122,0.000,2365,1970,3298,0,0,0,0,0,0
$STATE,2861,end apogee,CONTROL_FINISHED_OK
$STATE,2861,begin climb
$GC,2862,0.89,155.7,507.8,0.0,381,2990,0.93,2.15,119.62,0.855,4,0.043,0.036,2735,604,2662,0,0,0,0,0,0
$GC,3228,0.76,155.7,476.1,15.0,412,3239,0.20,2.17,0.00,0.000,6,0.168,0.033,2676,2014,2656,0,0,0,0,0,0
$GC,3555,0.68,166.7,435.4,13.2,443,3571,0.12,2.20,8.57,0.705,4,0.188,0.042,2643,3405,2618,0,0,0,0,0,0
$GC,3582,0.62,187.6,431.6,12.6,445,3604,0.00,2.10,17.60,0.778,6,0.000,0.030,2653,2000,2533,0,0,0,0,0,0
$GC,3930,0.60,214.5,386.3,12.3,478,3954,0.12,0.00,21.40,0.776,6,0.187,0.000,2623,2000,2423,0,0,0,0,0,0
$GC,4272,0.60,225.8,341.7,13.2,510,4286,0.00,2.25,9.65,0.691,4,0.000,0.042,2623,3411,2377,0,0,0,0,0,0
$GC,4335,0.57,225.8,332.1,14.7,515,4343,0.00,2.15,0.00,0.000,6,0.000,0.031,2631,2003,2375,0,0,0,0,0,0
$GC,4666,0.62,279.2,291.2,10.7,553,4714,0.00,2.25,41.88,0.744,4,0.000,0.041,2643,593,2159,0,0,0,0,0,0
$GC,4771,0.63,290.3,278.1,13.2,570,4786,0.00,2.17,9.57,0.643,6,0.000,0.033,2643,1993,2116,0,0,0,0,0,0
$GC,5121,0.63,290.3,227.2,15.5,632,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1993,2110,0,0,0,0,0,0
$GC,5474,0.63,290.3,174.2,14.7,693,5481,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1993,2108,0,0,0,0,0,0
$GC,5812,0.72,358.0,134.3,9.8,754,5867,0.00,2.28,50.38,0.635,4,0.000,0.041,2643,3411,1840,0,0,0,0,0,0
$GC,6002,0.77,367.2,111.5,13.3,785,6018,0.00,2.17,8.23,0.524,6,0.000,0.031,2652,1998,1800,0,0,0,0,0,0
$GC,6345,0.90,439.0,67.4,9.6,847,6408,0.17,2.17,54.12,0.579,4,0.069,0.040,2752,597,1507,0,0,0,0,0,0
$GC,6471,0.90,439.0,47.9,15.7,866,6479,0.10,2.17,0.00,0.000,6,0.133,0.034,2719,1998,1503,0,0,0,0,0,0
$STATE,6796,end climb,SURFACE_DEPTH_REACHED
$STATE,6796,begin surface coast
$FINISH,0.5,1.021817
$STATE,6821,end surface coast,CONTROL_FINISHED_OK
$STATE,6821,begin surface
$SM_CCo,6910,0.00,0.000,0,0,1498,441.79
$SM_GC,1.53,6.53,0.00,0.00,0.041,0.000,0.000,192,2402,1498,-6.87,0.06,441.79
$IRIDIUM_FIX,2403.92,12613.45,101010,000048
$TT8_MAMPS,0.027713
$HUMID,47.99
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.6,25.872
$10V_AH,10.2,32.223
$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,17.125,52.600,457.725,0.000,0.000,29.821,18.654,172.472,0.250,0.000,11.758,2235.184,1765.991,447.763,2611.839,226.226,0.000,1288.663,0.000,1424.846,0.000,0.543,0.000
$DEVICE_MAMPS,231.795,50.490,871.335,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,627.763,1415.552,1718.275,0.000,0.000,0.000,2410.608,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331444
$DATA_FILE_SIZE,67055,930
$CAP_FILE_SIZE,91987,0
$CFSIZE,260165632,236785664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,126.0,1
$GPS,101010,041044,2415.922,12609.804,10,2.0,10,-3.7