version: 66.08
glider: 181
mission: 4
dive: 99
start: 10 2 110 7 32 4
data:
$ID,181
$MISSION,4
$DIVE,99
$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,-37962.48
$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,41
$R_STBD_OVSHOOT,42
$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,196.0
$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
$GPS1,021010,072550,2412.990,12608.658,10,1.5,10,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-66.7
$GPS2,021010,073137,2412.976,12608.612,9,1.3,14,-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,3.5,13025,-22.5,-13.889
$D_GRID,1512
$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,-155.7,0.0,0.0,0,106,0.00,0.00,-84.30,0.000,2,0.000,0.000,203,2414,2803,0,0,0,0,0,0
$GC,109,-0.89,-155.7,3.3,-5.5,11,149,7.62,2.10,-24.40,0.000,4,0.230,0.053,2120,3777,3934,0,0,0,0,0,0
$GC,325,-0.82,-155.7,75.1,-27.3,48,333,0.12,2.10,0.00,0.000,6,0.154,0.029,2157,2393,3935,0,0,0,0,0,0
$GC,659,-0.75,-155.7,167.7,-24.1,109,667,0.00,2.08,0.00,0.000,4,0.000,0.035,2157,985,3937,0,0,0,0,0,0
$GC,722,-0.74,-155.7,182.0,-20.6,120,731,0.10,2.15,0.00,0.000,6,0.138,0.037,2182,2392,3938,0,0,0,0,0,0
$GC,1057,-0.74,-155.7,242.5,-17.7,181,1065,0.00,2.10,0.00,0.000,4,0.000,0.043,2173,3781,3937,0,0,0,0,0,0
$GC,1193,-0.77,-155.7,265.0,-16.1,206,1202,0.00,2.08,0.00,0.000,6,0.000,0.028,2173,2391,3938,0,0,0,0,0,0
$GC,1528,-0.77,-155.7,324.3,-16.7,255,1532,0.00,2.05,0.00,0.000,4,0.000,0.034,2173,998,3936,0,0,0,0,0,0
$GC,1587,-0.80,-155.7,334.6,-16.0,260,1596,0.00,2.15,0.00,0.000,6,0.000,0.036,2164,2406,3936,0,0,0,0,0,0
$GC,1913,-0.80,-155.7,389.7,-17.2,291,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2406,3935,0,0,0,0,0,0
$GC,2234,-0.82,-155.7,440.6,-16.3,321,2238,0.00,2.08,0.00,0.000,4,0.000,0.034,2164,995,3933,0,0,0,0,0,0
$GC,2264,-0.84,-155.7,445.4,-16.9,323,2268,0.00,2.10,0.00,0.000,6,0.000,0.038,2164,2400,3933,0,0,0,0,0,0
$GC,2590,-0.87,-155.7,493.5,-14.1,353,2594,0.00,2.12,0.00,0.000,4,0.000,0.047,2154,3777,3931,0,0,0,0,0,0
$STATE,2640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2640,begin apogee
$GC,2647,-0.16,0.0,500.3,12.8,357,2769,0.65,0.00,116.30,0.860,6,0.116,0.000,2373,1990,3298,0,0,0,0,0,0
$STATE,2770,end apogee,CONTROL_FINISHED_OK
$STATE,2770,begin climb
$GC,2772,0.89,155.7,506.4,0.0,367,2900,0.88,2.20,120.03,0.842,4,0.035,0.035,2742,594,2663,0,0,0,0,0,0
$GC,2999,0.75,155.7,492.5,17.5,386,3004,0.28,2.15,0.00,0.000,6,0.183,0.032,2671,2007,2658,0,0,0,0,0,0
$GC,3326,0.71,199.6,447.4,11.3,416,3364,0.00,2.25,33.45,0.806,4,0.000,0.042,2671,3401,2486,0,0,0,0,0,0
$GC,3425,0.62,199.6,432.9,16.8,424,3434,0.17,2.15,0.00,0.000,6,0.168,0.030,2629,2009,2482,0,0,0,0,0,0
$GC,3752,0.61,215.1,388.4,13.0,455,3776,0.00,2.22,12.80,0.734,4,0.000,0.040,2638,594,2420,0,0,0,0,0,0
$GC,3789,0.62,245.8,383.4,12.1,458,3826,0.00,2.12,25.40,0.768,6,0.000,0.034,2638,2003,2294,0,0,0,0,0,0
$GC,4143,0.61,245.8,331.4,14.2,491,4147,0.00,2.12,0.00,0.000,4,0.000,0.040,2649,597,2289,0,0,0,0,0,0
$GC,4164,0.59,245.8,327.6,15.6,492,4174,0.10,2.15,0.00,0.000,6,0.152,0.034,2618,2002,2288,0,0,0,0,0,0
$GC,4490,0.65,295.1,287.6,10.9,532,4533,0.00,2.25,37.62,0.731,4,0.000,0.041,2626,596,2094,0,0,0,0,0,0
$GC,4545,0.70,327.6,281.0,11.9,540,4581,0.00,2.17,26.23,0.703,6,0.000,0.033,2626,1996,1961,0,0,0,0,0,0
$GC,4908,0.72,333.0,227.6,13.6,605,4923,0.00,2.25,4.72,0.490,4,0.000,0.043,2626,3410,1940,0,0,0,0,0,0
$GC,4960,0.74,333.0,220.0,14.9,613,4968,0.00,2.12,0.00,0.000,6,0.000,0.031,2642,2003,1937,0,0,0,0,0,0
$GC,5299,0.76,333.0,169.3,15.1,674,5308,0.10,2.20,0.00,0.000,4,0.097,0.042,2686,3408,1937,0,0,0,0,0,0
$GC,5377,0.74,333.0,156.0,16.9,687,5384,0.12,2.12,0.00,0.000,6,0.173,0.032,2666,1987,1936,0,0,0,0,0,0
$GC,5710,0.76,333.0,107.5,13.9,748,5718,0.00,2.12,0.00,0.000,4,0.000,0.041,2675,596,1935,0,0,0,0,0,0
$GC,5758,0.80,354.9,100.9,12.6,756,5783,0.00,2.12,17.70,0.584,6,0.000,0.033,2675,1998,1850,0,0,0,0,0,0
$GC,6109,0.92,413.8,56.1,10.4,819,6165,0.15,2.22,44.62,0.567,4,0.077,0.042,2747,3402,1609,0,0,0,0,0,0
$GC,6226,0.92,413.8,39.0,15.4,837,6236,0.10,2.15,0.00,0.000,6,0.142,0.031,2726,2007,1606,0,0,0,0,0,0
$STATE,6483,end climb,SURFACE_DEPTH_REACHED
$STATE,6483,begin surface coast
$FINISH,0.5,1.001914
$STATE,6508,end surface coast,CONTROL_FINISHED_OK
$STATE,6508,begin surface
$SM_CCo,6531,122.50,0.057,0,0,484,690.03
$SM_GC,1.25,0.00,0.00,122.50,0.000,0.000,0.057,194,2408,484,-6.97,0.23,690.03
$IRIDIUM_FIX,2406.29,12609.64,021010,050536
$TT8_MAMPS,0.027713
$HUMID,45.07
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,24.6,15.262
$10V_AH,10.3,17.681
$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,16.900,65.525,438.875,122.500,0.000,23.652,14.703,171.643,0.250,0.000,17.006,2132.933,1599.995,600.681,2511.409,161.988,0.000,1435.775,0.000,1365.940,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,52.785,859.860,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,598.565,1351.696,1645.768,0.000,0.000,0.000,2292.744,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331472
$DATA_FILE_SIZE,63633,888
$CAP_FILE_SIZE,93753,0
$CFSIZE,260165632,243216384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.041,198.0,1
$GPS,021010,092406,2413.799,12608.611,31,1.1,31,-3.6