version: 66.08
glider: 181
mission: 4
dive: 108
start: 10 3 110 1 23 0
data:
$ID,181
$MISSION,4
$DIVE,108
$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,-37973.785
$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,40
$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,214.0
$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
$GPS1,031010,011625,2418.447,12609.392,39,1.4,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-65.9
$GPS2,031010,012232,2418.450,12609.426,13,1.4,13,-3.7
$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,202.1,34176,-22.5,-13.889
$D_GRID,1566
$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,-84.20,0.000,2,0.000,0.000,200,2412,2793,0,0,0,0,0,0
$GC,109,-0.89,-155.7,3.3,-5.1,11,149,7.62,2.12,-25.25,0.000,4,0.229,0.045,2135,987,3934,0,0,0,0,0,0
$GC,254,-0.78,-155.7,52.9,-36.4,35,263,0.12,2.17,0.00,0.000,6,0.164,0.037,2166,2396,3936,0,0,0,0,0,0
$GC,589,-0.72,-155.7,147.8,-25.4,96,597,0.00,2.12,0.00,0.000,4,0.000,0.041,2154,3786,3936,0,0,0,0,0,0
$GC,622,-0.67,-155.7,156.2,-24.7,101,631,0.17,2.05,0.00,0.000,6,0.147,0.027,2204,2393,3937,0,0,0,0,0,0
$GC,963,-0.67,-155.7,217.6,-17.7,162,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2390,3937,0,0,0,0,0,0
$GC,1296,-0.67,-155.7,275.9,-19.8,223,1303,0.00,2.12,0.00,0.000,4,0.000,0.044,2194,3786,3937,0,0,0,0,0,0
$GC,1431,-0.72,-155.7,297.8,-14.1,248,1440,0.00,2.08,0.00,0.000,6,0.000,0.027,2194,2388,3937,0,0,0,0,0,0
$GC,1760,-0.74,-155.7,348.5,-14.8,280,1763,0.00,2.03,0.00,0.000,4,0.000,0.034,2193,999,3936,0,0,0,0,0,0
$GC,1808,-0.79,-155.7,356.0,-14.2,284,1817,0.00,2.15,0.00,0.000,6,0.000,0.037,2191,2404,3935,0,0,0,0,0,0
$GC,2136,-0.82,-155.7,402.1,-13.2,315,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2404,3934,0,0,0,0,0,0
$GC,2454,-0.86,-155.7,448.6,-14.6,345,2459,0.12,2.12,0.00,0.000,4,0.083,0.047,2118,3783,3932,0,0,0,0,0,0
$GC,2548,-0.86,-155.7,467.0,-20.4,353,2552,0.00,2.05,0.00,0.000,6,0.000,0.028,2118,2395,3931,0,0,0,0,0,0
$STATE,2728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2728,begin apogee
$GC,2732,-0.16,0.0,500.5,17.3,370,2855,0.77,0.00,116.25,0.855,6,0.138,0.000,2366,1982,3297,0,0,0,0,0,0
$STATE,2855,end apogee,CONTROL_FINISHED_OK
$STATE,2856,begin climb
$GC,2857,0.89,155.7,505.1,0.0,380,2989,0.90,2.35,119.43,0.838,4,0.034,0.041,2737,3412,2661,0,0,0,0,0,0
$GC,3234,0.72,155.7,457.2,19.1,413,3243,0.30,2.15,0.00,0.000,6,0.179,0.030,2662,2017,2654,0,0,0,0,0,0
$GC,3561,0.70,200.6,421.3,11.2,444,3602,0.00,2.25,34.22,0.793,4,0.000,0.041,2662,3409,2480,0,0,0,0,0,0
$GC,3746,0.62,200.6,392.8,17.2,460,3755,0.15,2.17,0.00,0.000,6,0.162,0.030,2626,1992,2474,0,0,0,0,0,0
$GC,4073,0.62,220.3,352.8,12.7,491,4098,0.00,2.25,15.48,0.729,4,0.000,0.043,2626,3411,2399,0,0,0,0,0,0
$GC,4213,0.59,220.3,331.2,16.5,503,4221,0.00,2.15,0.00,0.000,6,0.000,0.031,2635,2000,2395,0,0,0,0,0,0
$GC,4540,0.60,256.1,288.9,11.7,542,4576,0.00,2.15,27.85,0.723,4,0.000,0.040,2646,594,2254,0,0,0,0,0,0
$GC,4654,0.63,282.3,274.6,12.3,561,4683,0.00,2.15,21.92,0.695,6,0.000,0.033,2645,2011,2146,0,0,0,0,0,0
$GC,5005,0.63,294.3,225.3,13.2,625,5021,0.00,2.20,9.77,0.613,4,0.000,0.042,2645,3402,2098,0,0,0,0,0,0
$GC,5091,0.62,294.3,212.3,14.6,640,5101,0.10,2.15,0.00,0.000,6,0.148,0.031,2625,2003,2096,0,0,0,0,0,0
$GC,5433,0.67,317.6,168.5,12.5,701,5462,0.00,2.22,18.90,0.625,4,0.000,0.041,2624,3407,2002,0,0,0,0,0,0
$GC,5501,0.71,319.7,159.2,13.8,712,5509,0.00,2.15,0.00,0.000,6,0.000,0.031,2633,2003,1998,0,0,0,0,0,0
$GC,5832,0.79,361.2,121.4,11.4,773,5873,0.12,2.17,33.17,0.606,4,0.085,0.041,2705,595,1825,0,0,0,0,0,0
$GC,5931,0.79,361.2,107.2,15.7,788,5939,0.00,2.15,0.00,0.000,6,0.000,0.031,2705,1996,1823,0,0,0,0,0,0
$GC,6263,0.87,405.0,56.9,11.3,849,6303,0.00,2.20,33.47,0.557,4,0.000,0.041,2705,3411,1643,0,0,0,0,0,0
$GC,6365,0.93,427.8,45.5,12.5,865,6390,0.00,2.17,17.90,0.525,6,0.000,0.030,2715,1993,1554,0,0,0,0,0,0
$STATE,6685,end climb,SURFACE_DEPTH_REACHED
$STATE,6685,begin surface coast
$FINISH,0.7,1.021396
$STATE,6709,end surface coast,CONTROL_FINISHED_OK
$STATE,6709,begin surface
$SM_CCo,6732,118.57,0.057,0,0,484,690.03
$SM_GC,1.40,0.00,0.00,118.57,0.000,0.000,0.057,207,2414,484,-6.93,0.40,690.03
$IRIDIUM_FIX,2408.65,12611.55,021010,232354
$TT8_MAMPS,0.027713
$HUMID,44.84
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.30
$XPDR_PINGS,2
$24V_AH,24.7,16.290
$10V_AH,10.3,19.083
$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,16.925,57.250,448.375,118.575,0.000,25.688,20.093,181.395,0.500,0.000,15.720,2219.941,1587.950,594.568,2649.870,173.211,0.000,1466.053,0.000,1456.642,0.000,0.543,0.000
$DEVICE_MAMPS,228.735,46.665,855.270,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,624.383,1410.241,1707.161,0.000,0.000,0.000,2440.465,0.000,0.000,0.000
$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,67346,927
$CAP_FILE_SIZE,95285,0
$CFSIZE,260165632,242589696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106, 68.9,1
$GPS,031010,031756,2417.746,12609.567,8,2.0,8,-3.7