version: 66.08
glider: 181
mission: 4
dive: 202
start: 10 10 110 22 34 6
data:
$ID,181
$MISSION,4
$DIVE,202
$N_DIVES,211
$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,-38099.289
$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,44
$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,402.0
$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
$GPS1,101010,222706,2415.941,12609.544,41,0.8,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-68.8
$GPS2,101010,223338,2415.993,12609.551,14,0.8,14,-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,210.5,29633,-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,20,-0.89,-155.7,0.0,0.0,0,79,0.00,0.00,-57.33,0.000,2,0.000,0.000,199,2421,2902,0,0,0,0,0,0
$GC,82,-0.89,-155.7,3.5,-5.9,7,122,7.53,2.20,-21.23,0.000,4,0.222,0.047,2130,981,3936,0,0,0,0,0,0
$GC,196,-0.77,-155.7,45.6,-41.3,25,205,0.17,2.17,0.00,0.000,6,0.163,0.036,2171,2389,3937,0,0,0,0,0,0
$GC,531,-0.71,-155.7,143.2,-24.2,86,540,0.00,2.15,0.00,0.000,4,0.000,0.041,2163,3784,3939,0,0,0,0,0,0
$GC,558,-0.67,-155.7,150.0,-23.5,90,568,0.12,2.10,0.00,0.000,6,0.130,0.027,2203,2388,3939,0,0,0,0,0,0
$GC,918,-0.69,-155.7,220.3,-16.3,151,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2386,3940,0,0,0,0,0,0
$GC,1258,-0.71,-155.7,277.6,-15.0,212,1266,0.00,2.08,0.00,0.000,4,0.000,0.034,2204,1000,3940,0,0,0,0,0,0
$GC,1307,-0.76,-155.7,284.4,-13.2,220,1315,0.00,2.15,0.00,0.000,6,0.000,0.036,2197,2405,3940,0,0,0,0,0,0
$GC,1643,-0.79,-155.7,335.2,-15.0,260,1647,0.00,2.10,0.00,0.000,4,0.000,0.044,2187,3779,3940,0,0,0,0,0,0
$GC,1710,-0.85,-155.7,345.0,-13.4,265,1718,0.10,2.05,0.00,0.000,6,0.093,0.027,2123,2384,3940,0,0,0,0,0,0
$GC,2035,-0.82,-155.7,411.4,-20.6,296,2040,0.15,2.17,0.00,0.000,4,0.158,0.043,2154,3788,3938,0,0,0,0,0,0
$GC,2077,-0.83,-155.7,419.1,-17.1,299,2081,0.00,2.08,0.00,0.000,6,0.000,0.028,2154,2388,3938,0,0,0,0,0,0
$GC,2408,-0.85,-155.7,472.1,-15.1,330,2411,0.00,2.05,0.00,0.000,4,0.000,0.034,2154,992,3935,0,0,0,0,0,0
$GC,2457,-0.87,-155.7,479.9,-14.7,334,2467,0.00,2.17,0.00,0.000,6,0.000,0.037,2151,2402,3937,0,0,0,0,0,0
$STATE,2591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2592,begin apogee
$GC,2597,-0.16,0.0,501.4,17.1,347,2720,0.65,0.00,117.40,0.871,6,0.119,0.000,2368,1978,3298,0,0,0,0,0,0
$STATE,2721,end apogee,CONTROL_FINISHED_OK
$STATE,2721,begin climb
$GC,2723,0.89,155.7,510.1,0.0,357,2856,0.90,2.20,120.03,0.857,4,0.042,0.037,2732,614,2662,0,0,0,0,0,0
$GC,2884,0.75,155.7,509.7,14.2,371,2891,0.25,2.17,0.00,0.000,6,0.175,0.031,2668,2016,2659,0,0,0,0,0,0
$GC,3209,0.68,168.9,465.5,13.1,402,3225,0.00,2.22,10.70,0.741,4,0.000,0.037,2677,602,2609,0,0,0,0,0,0
$GC,3436,0.63,196.6,437.3,12.2,422,3465,0.17,2.12,22.65,0.799,6,0.170,0.033,2632,2008,2494,0,0,0,0,0,0
$GC,3793,0.64,229.7,396.0,11.9,455,3828,0.00,2.22,25.85,0.793,4,0.000,0.039,2641,612,2360,0,0,0,0,0,0
$GC,3852,0.64,252.3,388.3,12.5,460,3877,0.00,2.12,18.90,0.762,6,0.000,0.034,2640,1999,2269,0,0,0,0,0,0
$GC,4197,0.65,281.0,339.5,12.2,492,4224,0.00,2.20,22.58,0.756,4,0.000,0.043,2641,3407,2152,0,0,0,0,0,0
$GC,4318,0.63,281.0,320.0,15.8,502,4328,0.00,2.15,0.00,0.000,6,0.000,0.031,2651,2010,2149,0,0,0,0,0,0
$GC,4655,0.61,281.0,268.3,15.7,551,4661,0.12,0.00,0.00,0.000,6,0.175,0.000,2619,2009,2146,0,0,0,0,0,0
$GC,4996,0.66,304.9,224.7,12.5,612,5019,0.00,2.22,18.40,0.680,4,0.000,0.041,2628,595,2056,0,0,0,0,0,0
$GC,5059,0.69,304.9,215.8,14.1,622,5068,0.00,2.15,0.00,0.000,6,0.000,0.033,2628,1994,2054,0,0,0,0,0,0
$GC,5414,0.79,368.8,172.5,10.1,683,5471,0.15,2.20,48.53,0.661,4,0.081,0.039,2695,3409,1795,0,0,0,0,0,0
$GC,5502,0.77,368.8,158.2,18.1,696,5511,0.12,2.17,0.00,0.000,6,0.145,0.031,2668,2010,1792,0,0,0,0,0,0
$GC,5840,0.79,368.8,106.9,14.6,757,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2009,1788,0,0,0,0,0,0
$GC,6172,0.90,426.7,66.8,10.4,818,6221,0.15,2.20,43.42,0.577,4,0.075,0.040,2754,591,1557,0,0,0,0,0,0
$GC,6305,0.90,426.7,47.7,15.2,839,6313,0.10,2.17,0.00,0.000,6,0.141,0.033,2720,2001,1551,0,0,0,0,0,0
$STATE,6636,end climb,SURFACE_DEPTH_REACHED
$STATE,6636,begin surface coast
$FINISH,0.6,1.021960
$STATE,6656,end surface coast,CONTROL_FINISHED_OK
$STATE,6656,begin surface
$SM_CCo,6745,0.00,0.000,0,0,1549,428.78
$SM_GC,1.57,6.50,0.00,0.00,0.039,0.000,0.000,195,2424,1549,-6.85,0.68,428.78
$IRIDIUM_FIX,2403.92,12608.24,101010,202029
$TT8_MAMPS,0.027713
$HUMID,47.12
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.30
$XPDR_PINGS,1
$24V_AH,24.6,27.020
$10V_AH,10.2,33.797
$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,17.200,57.200,448.450,0.000,0.000,24.315,15.684,183.224,0.250,0.000,17.050,2181.995,1682.656,465.177,2584.781,225.779,0.000,1303.568,0.000,1409.155,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,46.665,870.570,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,608.995,1374.203,1662.506,0.000,0.000,0.000,2349.553,0.000,0.000,0.000
$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,63784,903
$CAP_FILE_SIZE,94431,0
$CFSIZE,260165632,236089344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091,123.7,1
$GPS,111010,002719,2414.874,12609.417,7,1.8,12,-3.6