version: 66.08
glider: 181
mission: 4
dive: 84
start: 10 1 110 1 35 29
data:
$ID,181
$MISSION,4
$DIVE,84
$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,-37943.656
$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,46
$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,166.0
$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
$GPS1,011010,012855,2401.973,12608.591,41,1.1,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-61.3
$GPS2,011010,013501,2401.959,12608.614,10,1.4,10,-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,182.2,3687,-22.5,-13.889
$D_GRID,1679
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.89,-155.7,0.0,0.0,0,108,0.00,0.00,-86.88,0.000,2,0.000,0.000,200,2412,2887,0,0,0,0,0,0
$GC,110,-0.89,-155.7,3.3,-5.7,11,150,7.60,2.17,-22.52,0.000,4,0.227,0.045,2136,985,3934,0,0,0,0,0,0
$GC,222,-0.77,-155.7,43.5,-40.1,29,231,0.15,2.17,0.00,0.000,6,0.169,0.038,2170,2387,3935,0,0,0,0,0,0
$GC,556,-0.71,-155.7,145.1,-24.2,90,565,0.00,2.15,0.00,0.000,4,0.000,0.042,2161,3782,3937,0,0,0,0,0,0
$GC,638,-0.71,-155.7,164.7,-20.2,104,647,0.08,2.08,0.00,0.000,6,0.143,0.027,2186,2391,3938,0,0,0,0,0,0
$GC,987,-0.71,-155.7,236.8,-18.3,165,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2388,3937,0,0,0,0,0,0
$GC,1325,-0.72,-155.7,296.4,-16.5,226,1335,0.00,2.08,0.00,0.000,4,0.000,0.035,2186,1002,3937,0,0,0,0,0,0
$GC,1420,-0.77,-155.7,311.4,-14.8,236,1424,0.00,2.12,0.00,0.000,6,0.000,0.036,2179,2414,3938,0,0,0,0,0,0
$GC,1746,-0.78,-155.7,365.7,-16.4,266,1750,0.00,2.08,0.00,0.000,4,0.000,0.045,2169,3777,3936,0,0,0,0,0,0
$GC,1814,-0.83,-155.7,376.3,-13.9,272,1817,0.00,2.03,0.00,0.000,6,0.000,0.028,2169,2389,3936,0,0,0,0,0,0
$GC,2146,-0.85,-155.7,427.1,-15.0,303,2150,0.00,2.12,0.00,0.000,4,0.000,0.045,2159,3785,3933,0,0,0,0,0,0
$GC,2177,-0.87,-155.7,432.1,-14.6,305,2185,0.00,2.05,0.00,0.000,6,0.000,0.028,2160,2405,3933,0,0,0,0,0,0
$GC,2504,-0.89,-155.7,479.2,-15.2,336,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2402,3932,0,0,0,0,0,0
$STATE,2640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2641,begin apogee
$GC,2645,-0.16,0.0,500.6,15.3,349,2767,0.62,0.00,116.60,0.861,6,0.123,0.000,2364,1977,3298,0,0,0,0,0,0
$STATE,2768,end apogee,CONTROL_FINISHED_OK
$STATE,2768,begin climb
$GC,2770,0.89,155.7,507.4,0.0,359,2898,0.90,2.17,120.45,0.844,4,0.039,0.037,2738,601,2661,0,0,0,0,0,0
$GC,2990,0.75,155.7,497.6,15.3,377,2995,0.28,2.15,0.00,0.000,6,0.184,0.033,2668,2009,2655,0,0,0,0,0,0
$GC,3317,0.69,174.0,453.4,12.8,407,3341,0.00,2.20,14.20,0.760,4,0.000,0.043,2668,3395,2588,0,0,0,0,0,0
$GC,3371,0.59,174.0,446.1,14.4,411,3378,0.22,2.10,0.00,0.000,6,0.184,0.031,2618,2008,2586,0,0,0,0,0,0
$GC,3696,0.68,278.1,416.5,7.7,442,3783,0.00,2.28,80.90,0.812,4,0.000,0.043,2619,3391,2163,0,0,0,0,0,0
$GC,3903,0.68,278.1,391.2,15.1,460,3907,0.00,2.15,0.00,0.000,6,0.000,0.032,2627,1993,2161,0,0,0,0,0,0
$GC,4227,0.68,278.1,341.0,15.3,490,4231,0.00,2.17,0.00,0.000,4,0.000,0.043,2627,3408,2154,0,0,0,0,0,0
$GC,4259,0.67,278.1,335.5,16.7,492,4269,0.00,2.15,0.00,0.000,6,0.000,0.031,2637,2004,2150,0,0,0,0,0,0
$GC,4591,0.69,295.5,287.2,12.8,531,4611,0.00,2.17,13.02,0.689,4,0.000,0.043,2648,591,2093,0,0,0,0,0,0
$GC,4652,0.69,295.5,278.5,14.0,541,4659,0.00,2.12,0.00,0.000,6,0.000,0.034,2648,1996,2091,0,0,0,0,0,0
$GC,4994,0.69,295.5,226.8,15.7,602,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1997,2089,0,0,0,0,0,0
$GC,5345,0.69,295.5,172.6,16.4,663,5352,0.00,2.15,0.00,0.000,4,0.000,0.044,2648,3408,2087,0,0,0,0,0,0
$GC,5386,0.69,295.5,165.6,15.9,670,5395,0.00,2.15,0.00,0.000,6,0.000,0.031,2659,1990,2086,0,0,0,0,0,0
$GC,5724,0.71,315.5,121.0,12.7,731,5747,0.00,2.10,15.90,0.597,4,0.000,0.041,2669,596,2010,0,0,0,0,0,0
$GC,5794,0.77,348.7,112.3,11.9,742,5827,0.00,2.15,26.20,0.602,6,0.000,0.034,2670,2008,1876,0,0,0,0,0,0
$GC,6152,0.89,423.9,61.8,9.4,806,6216,0.12,2.25,56.22,0.571,4,0.086,0.042,2734,3416,1569,0,0,0,0,0,0
$GC,6296,0.91,423.9,44.4,14.0,828,6304,0.00,2.20,0.00,0.000,6,0.000,0.031,2741,1994,1565,0,0,0,0,0,0
$STATE,6569,end climb,SURFACE_DEPTH_REACHED
$STATE,6569,begin surface coast
$FINISH,0.4,1.009858
$STATE,6594,end surface coast,CONTROL_FINISHED_OK
$STATE,6594,begin surface
$SM_CCo,6615,118.43,0.058,0,0,485,690.03
$SM_GC,1.30,0.00,0.00,118.43,0.000,0.000,0.058,201,2424,485,-6.95,0.68,690.03
$IRIDIUM_FIX,2352.12,12609.27,300910,232321
$TT8_MAMPS,0.027713
$HUMID,45.15
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.6,13.545
$10V_AH,10.3,15.356
$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,16.550,56.900,443.500,118.425,0.000,29.693,40.343,167.511,0.500,0.000,12.874,2127.641,1704.494,583.252,2537.725,154.989,0.000,1417.371,0.000,1374.515,0.000,0.542,0.000
$DEVICE_MAMPS,227.205,45.135,861.390,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,595.039,1342.650,1629.028,0.000,0.000,0.000,2280.015,0.000,0.000,0.000
$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,63805,882
$CAP_FILE_SIZE,91394,0
$CFSIZE,260165632,244248576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045, 92.7,1
$GPS,011010,032832,2400.971,12608.766,12,2.0,12,-3.6