version: 66.08
glider: 181
mission: 4
dive: 96
start: 10 2 110 1 28 40
data:
$ID,181
$MISSION,4
$DIVE,96
$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,-37958.719
$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,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,190.0
$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
$GPS1,021010,012206,2410.331,12608.840,37,1.1,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-63.6
$GPS2,021010,012813,2410.360,12608.884,9,1.1,14,-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,355.4,17855,-22.5,-13.889
$D_GRID,1584
$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,-155.7,0.0,0.0,0,107,0.00,0.00,-85.03,0.000,2,0.000,0.000,199,2399,2817,0,0,0,0,0,0
$GC,109,-0.89,-155.7,3.3,-5.5,11,149,7.57,2.12,-24.55,0.000,4,0.226,0.052,2125,3789,3933,0,0,0,0,0,0
$GC,282,-0.82,-155.7,59.8,-29.4,40,292,0.10,2.12,0.00,0.000,6,0.160,0.032,2154,2402,3934,0,0,0,0,0,0
$GC,617,-0.76,-155.7,157.3,-29.1,101,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2399,3937,0,0,0,0,0,0
$GC,963,-0.71,-155.7,245.4,-25.1,162,972,0.15,2.12,0.00,0.000,4,0.164,0.035,2196,988,3936,0,0,0,0,0,0
$GC,1031,-0.74,-155.7,258.7,-16.5,173,1038,0.00,2.12,0.00,0.000,6,0.000,0.035,2189,2406,3937,0,0,0,0,0,0
$GC,1373,-0.74,-155.7,319.5,-17.3,225,1377,0.00,2.08,0.00,0.000,4,0.000,0.044,2178,3789,3936,0,0,0,0,0,0
$GC,1457,-0.79,-155.7,333.6,-14.9,232,1461,0.00,2.08,0.00,0.000,6,0.000,0.028,2175,2378,3935,0,0,0,0,0,0
$GC,1782,-0.81,-155.7,389.5,-15.7,262,1785,0.00,2.00,0.00,0.000,4,0.000,0.034,2178,1003,3935,0,0,0,0,0,0
$GC,1908,-0.86,-155.7,407.0,-12.9,273,1912,0.00,2.08,0.00,0.000,6,0.000,0.036,2172,2401,3931,0,0,0,0,0,0
$GC,2235,-0.89,-155.7,455.7,-14.6,303,2238,0.00,2.08,0.00,0.000,4,0.000,0.045,2161,3777,3932,0,0,0,0,0,0
$GC,2267,-0.92,-155.7,460.9,-14.3,305,2275,0.00,2.05,0.00,0.000,6,0.000,0.028,2161,2399,3932,0,0,0,0,0,0
$STATE,2549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2549,begin apogee
$GC,2554,-0.16,0.0,501.1,13.8,332,2675,0.62,0.00,115.57,0.858,6,0.120,0.000,2371,1985,3300,0,0,0,0,0,0
$STATE,2676,end apogee,CONTROL_FINISHED_OK
$STATE,2676,begin climb
$GC,2677,0.89,155.7,507.3,0.0,342,2811,0.90,2.33,120.53,0.842,4,0.039,0.041,2732,3402,2661,0,0,0,0,0,0
$GC,2962,0.73,155.7,486.3,16.8,366,2971,0.28,2.12,0.00,0.000,6,0.181,0.030,2665,2022,2655,0,0,0,0,0,0
$GC,3289,0.66,167.5,446.1,13.2,397,3304,0.00,2.20,9.12,0.711,4,0.000,0.041,2665,3411,2615,0,0,0,0,0,0
$GC,3382,0.56,167.5,432.0,15.1,405,3390,0.22,2.15,0.00,0.000,6,0.169,0.031,2607,1998,2613,0,0,0,0,0,0
$GC,3708,0.59,207.7,393.2,11.5,436,3746,0.00,2.22,31.65,0.789,4,0.000,0.041,2617,597,2451,0,0,0,0,0,0
$GC,3807,0.60,230.2,381.3,12.5,444,3831,0.00,2.17,18.58,0.757,6,0.000,0.034,2617,1999,2359,0,0,0,0,0,0
$GC,4152,0.64,263.5,338.9,11.9,476,4190,0.00,2.28,26.38,0.752,4,0.000,0.043,2619,3414,2222,0,0,0,0,0,0
$GC,4195,0.69,299.9,333.4,11.7,479,4230,0.00,2.20,29.40,0.741,6,0.000,0.031,2627,1993,2076,0,0,0,0,0,0
$GC,4554,0.69,299.9,283.9,14.5,522,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1993,2071,0,0,0,0,0,0
$GC,4896,0.70,299.9,234.8,14.0,583,4903,0.00,2.17,0.00,0.000,4,0.000,0.041,2627,3412,2066,0,0,0,0,0,0
$GC,5005,0.72,299.9,217.9,15.8,602,5013,0.00,2.15,0.00,0.000,6,0.000,0.031,2638,2001,2064,0,0,0,0,0,0
$GC,5357,0.75,314.4,169.2,13.0,663,5373,0.00,2.15,10.52,0.598,4,0.000,0.041,2648,595,2017,0,0,0,0,0,0
$GC,5469,0.84,363.2,155.7,11.0,682,5513,0.10,2.15,38.22,0.639,6,0.055,0.033,2708,2007,1817,0,0,0,0,0,0
$GC,5839,0.82,363.2,90.9,16.1,748,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2007,1811,0,0,0,0,0,0
$GC,6171,0.92,427.3,48.4,10.0,809,6225,0.00,2.20,47.60,0.560,4,0.000,0.040,2718,596,1554,0,0,0,0,0,0
$GC,6379,1.01,471.0,25.9,11.3,844,6420,0.00,2.15,33.03,0.529,6,0.000,0.031,2718,2004,1377,0,0,0,0,0,0
$STATE,6551,end climb,SURFACE_DEPTH_REACHED
$STATE,6551,begin surface coast
$FINISH,0.5,1.021391
$STATE,6576,end surface coast,CONTROL_FINISHED_OK
$STATE,6576,begin surface
$SM_CCo,6598,98.43,0.057,0,0,484,690.27
$SM_GC,1.46,0.00,0.00,98.43,0.000,0.000,0.057,209,2415,484,-6.92,0.42,690.27
$IRIDIUM_FIX,2359.20,12612.06,011010,232344
$TT8_MAMPS,0.027713
$HUMID,44.52
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.40
$XPDR_PINGS,1
$24V_AH,24.7,14.915
$10V_AH,10.3,17.209
$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,16.500,52.650,480.600,98.425,0.000,28.937,40.098,165.770,0.250,0.000,17.018,2100.857,1690.041,584.795,2542.796,153.005,0.000,1422.921,0.000,1382.495,0.000,0.544,0.000
$DEVICE_MAMPS,226.440,52.020,858.330,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,590.965,1335.018,1620.658,0.000,0.000,0.000,2277.898,0.000,0.000,0.000
$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,63734,877
$CAP_FILE_SIZE,90631,0
$CFSIZE,260165632,243425280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.017, 66.5,1
$GPS,021010,032102,2411.285,12608.756,8,2.0,8,-3.6