version: 66.08
glider: 181
mission: 4
dive: 193
start: 10 10 110 4 18 8
data:
$ID,181
$MISSION,4
$DIVE,193
$N_DIVES,200
$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,375
$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,-38087.988
$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,42
$R_STBD_OVSHOOT,33
$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,384.0
$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
$GPS1,101010,041044,2415.922,12609.804,10,2.0,10,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-65.8
$GPS2,101010,041740,2415.860,12609.815,10,3.2,29,-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,347.0,7790,-22.5,-13.889
$D_GRID,1528
$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,20,-0.89,-155.7,0.0,0.0,0,75,0.00,0.00,-52.50,0.000,2,0.000,0.000,192,2404,2933,0,0,0,0,0,0
$GC,77,-0.89,-155.7,3.8,-6.7,7,111,7.65,2.12,-20.27,0.000,4,0.225,0.055,2125,3784,3936,0,0,0,0,0,0
$GC,244,-0.80,-155.7,60.6,-35.5,35,253,0.12,2.10,0.00,0.000,6,0.148,0.029,2163,2399,3937,0,0,0,0,0,0
$GC,579,-0.75,-155.7,150.6,-22.2,96,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2396,3939,0,0,0,0,0,0
$GC,921,-0.71,-155.7,227.2,-22.4,157,929,0.12,2.15,0.00,0.000,4,0.164,0.041,2189,3790,3940,0,0,0,0,0,0
$GC,952,-0.71,-155.7,233.8,-19.7,162,960,0.00,2.10,0.00,0.000,6,0.000,0.028,2188,2391,3940,0,0,0,0,0,0
$GC,1286,-0.72,-155.7,291.2,-16.9,223,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2389,3940,0,0,0,0,0,0
$GC,1619,-0.74,-155.7,343.6,-15.0,259,1622,0.00,2.08,0.00,0.000,4,0.000,0.034,2188,991,3939,0,0,0,0,0,0
$GC,1690,-0.79,-155.7,353.6,-13.4,265,1698,0.00,2.12,0.00,0.000,6,0.000,0.036,2181,2406,3939,0,0,0,0,0,0
$GC,2015,-0.82,-155.7,399.7,-14.9,296,2019,0.00,2.08,0.00,0.000,4,0.000,0.044,2170,3782,3938,0,0,0,0,0,0
$GC,2101,-0.88,-155.7,411.7,-13.5,303,2105,0.00,2.03,0.00,0.000,6,0.000,0.028,2170,2394,3937,0,0,0,0,0,0
$GC,2431,-0.90,-155.7,460.1,-14.2,334,2436,0.10,2.08,0.00,0.000,4,0.096,0.036,2114,1004,3937,0,0,0,0,0,0
$GC,2506,-0.90,-155.7,473.8,-18.2,340,2515,0.00,2.12,0.00,0.000,6,0.000,0.037,2105,2394,3936,0,0,0,0,0,0
$STATE,2650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2650,begin apogee
$GC,2655,-0.16,0.0,501.6,20.1,354,2779,0.82,0.00,116.93,0.875,6,0.136,0.000,2367,1973,3298,0,0,0,0,0,0
$STATE,2780,end apogee,CONTROL_FINISHED_OK
$STATE,2780,begin climb
$GC,2782,0.89,155.7,507.4,0.0,364,2915,0.90,2.20,119.20,0.856,4,0.037,0.037,2741,609,2662,0,0,0,0,0,0
$GC,2920,0.85,246.0,508.7,8.5,375,3001,0.17,2.17,70.65,0.839,6,0.187,0.032,2700,2007,2296,0,0,0,0,0,0
$GC,3318,0.77,246.0,431.6,18.9,412,3322,0.00,2.15,0.00,0.000,4,0.000,0.041,2700,3412,2288,0,0,0,0,0,0
$GC,3340,0.67,246.0,426.9,18.6,413,3348,0.25,2.12,0.00,0.000,6,0.171,0.031,2642,2005,2287,0,0,0,0,0,0
$GC,3665,0.65,246.0,379.6,16.4,444,3669,0.00,2.15,0.00,0.000,4,0.000,0.040,2651,592,2285,0,0,0,0,0,0
$GC,3707,0.62,246.0,372.5,16.1,447,3714,0.00,2.12,0.00,0.000,6,0.000,0.033,2651,2009,2284,0,0,0,0,0,0
$GC,4035,0.59,246.0,321.4,15.4,478,4039,0.12,2.12,0.00,0.000,4,0.170,0.042,2619,3402,2282,0,0,0,0,0,0
$GC,4141,0.61,256.9,306.6,13.2,487,4153,0.00,2.08,7.97,0.647,6,0.000,0.031,2627,2000,2249,0,0,0,0,0,0
$GC,4474,0.64,286.0,266.2,12.1,544,4503,0.00,2.20,23.75,0.717,4,0.000,0.040,2638,599,2130,0,0,0,0,0,0
$GC,4565,0.66,286.0,254.3,14.1,559,4571,0.00,2.12,0.00,0.000,6,0.000,0.033,2639,2004,2128,0,0,0,0,0,0
$GC,4895,0.67,292.8,208.0,13.5,620,4910,0.00,2.17,5.80,0.540,4,0.000,0.040,2648,601,2104,0,0,0,0,0,0
$GC,4956,0.70,304.1,200.5,13.2,630,4972,0.00,2.15,9.95,0.614,6,0.000,0.034,2648,2004,2058,0,0,0,0,0,0
$GC,5302,0.71,310.0,154.6,13.5,691,5316,0.00,2.20,5.40,0.496,4,0.000,0.043,2644,3410,2035,0,0,0,0,0,0
$GC,5372,0.71,310.0,143.7,15.9,703,5380,0.00,2.15,0.00,0.000,6,0.000,0.031,2659,1998,2033,0,0,0,0,0,0
$GC,5706,0.75,336.8,98.6,12.3,764,5731,0.00,0.00,21.73,0.596,6,0.000,0.000,2659,1995,1924,0,0,0,0,0,0
$GC,6058,0.86,393.4,60.8,10.5,827,6114,0.12,2.28,42.72,0.574,4,0.086,0.041,2728,3422,1693,0,0,0,0,0,0
$GC,6132,0.86,393.4,50.1,15.5,837,6142,0.10,2.20,0.00,0.000,6,0.149,0.031,2708,2001,1691,0,0,0,0,0,0
$GC,6469,0.91,412.9,8.6,12.7,898,6493,0.00,2.17,15.35,0.504,4,0.000,0.040,2708,3415,1613,0,0,0,0,0,0
$STATE,6517,end climb,SURFACE_DEPTH_REACHED
$STATE,6517,begin surface coast
$FINISH,0.5,1.021690
$STATE,6546,end surface coast,CONTROL_FINISHED_OK
$STATE,6546,begin surface
$SM_CCo,6636,0.00,0.000,0,0,1609,414.31
$SM_GC,1.70,6.47,0.00,0.00,0.038,0.000,0.000,202,2391,1609,-6.84,-0.25,414.31
$IRIDIUM_FIX,2408.65,12609.64,101010,020230
$TT8_MAMPS,0.028462
$HUMID,47.63
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.6,25.982
$10V_AH,10.3,32.382
$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,16.975,59.875,439.450,0.000,0.000,30.369,15.771,189.427,0.000,0.000,32.861,2203.749,1561.182,446.518,2629.487,214.490,0.000,1288.053,0.000,1409.062,0.000,0.543,0.000
$DEVICE_MAMPS,224.910,55.080,875.160,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,614.149,1384.548,1701.500,0.000,0.000,0.000,2440.042,0.000,0.000,0.000
$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,63639,910
$CAP_FILE_SIZE,93638,0
$CFSIZE,260165632,236720128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058, 38.0,1
$GPS,101010,061001,2416.907,12609.577,41,1.2,41,-3.7