version: 66.08
glider: 181
mission: 4
dive: 105
start: 10 2 110 19 30 6
data:
$ID,181
$MISSION,4
$DIVE,105
$N_DIVES,115
$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,-37970.016
$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,31
$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,208.0
$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
$GPS1,021010,192337,2418.773,12609.194,5,1.5,10,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-68.3
$GPS2,021010,192932,2418.823,12609.184,14,1.9,14,-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,343.8,2203,-23.0,-13.889
$D_GRID,1664
$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,-0.90,-148.2,0.0,0.0,0,106,0.00,0.00,-83.70,0.000,2,0.000,0.000,197,2415,2782,0,0,0,0,0,0
$GC,108,-0.91,-155.7,3.3,-5.8,11,149,7.68,2.10,-25.52,0.000,4,0.230,0.054,2119,3782,3936,0,0,0,0,0,0
$GC,307,-0.81,-155.7,75.3,-34.6,45,316,0.15,2.12,0.00,0.000,6,0.156,0.030,2158,2388,3937,0,0,0,0,0,0
$GC,640,-0.74,-155.7,167.5,-27.9,106,648,0.00,2.15,0.00,0.000,4,0.000,0.041,2150,3772,3939,0,0,0,0,0,0
$GC,673,-0.70,-155.7,176.0,-24.8,111,682,0.17,2.05,0.00,0.000,6,0.153,0.028,2197,2391,3939,0,0,0,0,0,0
$GC,1013,-0.71,-155.7,239.4,-17.8,172,1021,0.00,2.08,0.00,0.000,4,0.000,0.034,2197,1000,3940,0,0,0,0,0,0
$GC,1081,-0.76,-155.7,250.6,-15.5,184,1090,0.00,2.12,0.00,0.000,6,0.000,0.036,2191,2396,3940,0,0,0,0,0,0
$GC,1416,-0.78,-155.7,307.5,-16.6,242,1420,0.00,2.08,0.00,0.000,4,0.000,0.043,2181,3784,3939,0,0,0,0,0,0
$GC,1444,-0.80,-155.7,312.3,-17.0,244,1448,0.00,2.05,0.00,0.000,6,0.000,0.028,2180,2391,3938,0,0,0,0,0,0
$GC,1776,-0.82,-155.7,368.2,-17.3,275,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2388,3937,0,0,0,0,0,0
$GC,2095,-0.85,-155.7,420.3,-15.9,305,2099,0.00,2.05,0.00,0.000,4,0.000,0.035,2181,1003,3937,0,0,0,0,0,0
$GC,2141,-0.90,-155.7,427.7,-14.7,309,2146,0.12,2.10,0.00,0.000,6,0.085,0.037,2117,2405,3936,0,0,0,0,0,0
$GC,2468,-0.87,-155.7,495.2,-20.7,339,2471,0.00,2.08,0.00,0.000,4,0.000,0.046,2105,3780,3934,0,0,0,0,0,0
$STATE,2487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2487,begin apogee
$GC,2494,-0.16,0.0,500.2,20.8,340,2616,0.82,0.00,116.80,0.857,6,0.139,0.000,2369,1993,3297,0,0,0,0,0,0
$STATE,2616,end apogee,CONTROL_FINISHED_OK
$STATE,2616,begin climb
$GC,2618,0.91,155.7,507.5,0.0,350,2748,0.93,2.22,120.03,0.841,4,0.041,0.037,2743,597,2662,0,0,0,0,0,0
$GC,2775,0.76,155.7,504.9,14.2,363,2783,0.25,2.22,0.00,0.000,6,0.175,0.033,2674,2009,2659,0,0,0,0,0,0
$GC,3101,0.69,166.6,461.2,13.2,394,3116,0.10,2.22,8.98,0.702,4,0.201,0.042,2650,3407,2618,0,0,0,0,0,0
$GC,3363,0.63,181.8,426.7,12.9,417,3384,0.12,2.12,12.73,0.741,6,0.189,0.030,2629,1987,2556,0,0,0,0,0,0
$GC,3701,0.63,214.3,388.4,11.8,449,3737,0.00,2.28,25.77,0.775,4,0.000,0.042,2629,3404,2424,0,0,0,0,0,0
$GC,3753,0.63,238.8,381.7,12.4,453,3779,0.00,2.15,20.42,0.750,6,0.000,0.031,2637,2009,2325,0,0,0,0,0,0
$GC,4100,0.62,244.2,333.8,13.5,485,4113,0.00,2.17,4.90,0.543,4,0.000,0.043,2638,3405,2302,0,0,0,0,0,0
$GC,4194,0.61,247.5,320.5,13.7,493,4204,0.00,2.15,4.12,0.486,6,0.000,0.031,2648,1993,2289,0,0,0,0,0,0
$GC,4523,0.59,247.5,275.5,14.1,540,4531,0.12,0.00,0.00,0.000,6,0.179,0.000,2617,1994,2287,0,0,0,0,0,0
$GC,4854,0.69,313.7,236.5,9.7,601,4910,0.00,2.22,51.40,0.699,4,0.000,0.041,2626,602,2016,0,0,0,0,0,0
$GC,5009,0.77,348.0,218.4,11.7,627,5044,0.12,2.15,27.20,0.665,6,0.090,0.033,2683,2013,1878,0,0,0,0,0,0
$GC,5369,0.77,348.0,153.5,16.0,692,5377,0.00,2.17,0.00,0.000,4,0.000,0.041,2693,609,1871,0,0,0,0,0,0
$GC,5390,0.77,348.0,150.2,16.6,695,5397,0.00,2.10,0.00,0.000,6,0.000,0.033,2693,2001,1871,0,0,0,0,0,0
$GC,5721,0.77,348.0,93.9,15.8,756,5729,0.00,2.15,0.00,0.000,4,0.000,0.041,2690,3397,1869,0,0,0,0,0,0
$GC,5786,0.77,348.0,82.2,17.2,767,5795,0.10,2.12,0.00,0.000,6,0.150,0.031,2672,2001,1869,0,0,0,0,0,0
$GC,6120,0.94,437.0,46.9,8.3,828,6192,0.15,2.17,65.32,0.559,4,0.076,0.041,2757,596,1515,0,0,0,0,0,0
$GC,6243,0.96,437.0,30.9,14.6,846,6252,0.00,2.15,0.00,0.000,6,0.000,0.032,2757,1993,1511,0,0,0,0,0,0
$STATE,6419,end climb,SURFACE_DEPTH_REACHED
$STATE,6419,begin surface coast
$FINISH,0.5,1.009731
$STATE,6438,end surface coast,CONTROL_FINISHED_OK
$STATE,6438,begin surface
$SM_CCo,6463,112.75,0.057,0,0,486,690.03
$SM_GC,1.41,0.00,0.00,112.75,0.000,0.000,0.057,206,2404,486,-6.93,0.11,690.03
$IRIDIUM_FIX,2406.29,12611.55,021010,171704
$TT8_MAMPS,0.034454
$HUMID,45.23
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,24.7,15.946
$10V_AH,10.3,18.612
$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,17.450,61.075,457.675,112.750,0.000,28.904,14.978,169.476,0.250,0.000,16.822,2120.817,1554.121,591.502,2511.425,166.576,0.000,1422.576,0.000,1372.639,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,54.315,856.800,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,593.345,1341.243,1617.843,0.000,0.000,0.000,2171.853,0.000,0.000,0.000
$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,63733,881
$CAP_FILE_SIZE,93559,0
$CFSIZE,260165632,242798592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120, 82.3,1
$GPS,021010,212100,2419.740,12609.278,36,1.0,41,-3.7