version: 66.08
glider: 181
mission: 4
dive: 86
start: 10 1 110 5 30 17
data:
$ID,181
$MISSION,4
$DIVE,86
$N_DIVES,100
$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,-37946.16
$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,45
$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,170.0
$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
$GPS1,011010,052354,2400.058,12608.806,22,0.9,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-60.8
$GPS2,011010,052949,2400.048,12608.760,8,0.9,14,-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,1.9,36954,-22.5,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.89,-155.7,0.0,0.0,0,106,0.00,0.00,-84.95,0.000,2,0.000,0.000,199,2423,2827,0,0,0,0,0,0
$GC,108,-0.89,-155.7,3.3,-5.9,11,148,7.57,2.10,-24.15,0.000,4,0.227,0.055,2122,3782,3933,0,0,0,0,0,0
$GC,242,-0.79,-155.7,50.7,-37.0,33,251,0.15,2.10,0.00,0.000,6,0.161,0.029,2164,2400,3935,0,0,0,0,0,0
$GC,576,-0.71,-155.7,144.5,-28.1,94,584,0.12,0.00,0.00,0.000,6,0.180,0.000,2196,2397,3936,0,0,0,0,0,0
$GC,928,-0.71,-155.7,216.4,-18.5,155,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2396,3937,0,0,0,0,0,0
$GC,1267,-0.71,-155.7,277.5,-16.9,216,1277,0.00,2.10,0.00,0.000,4,0.000,0.034,2197,995,3937,0,0,0,0,0,0
$GC,1305,-0.74,-155.7,283.6,-15.8,222,1313,0.00,2.12,0.00,0.000,6,0.000,0.037,2190,2391,3937,0,0,0,0,0,0
$GC,1642,-0.76,-155.7,337.9,-15.4,262,1646,0.00,2.10,0.00,0.000,4,0.000,0.044,2179,3784,3936,0,0,0,0,0,0
$GC,1740,-0.81,-155.7,351.6,-13.9,270,1749,0.00,2.08,0.00,0.000,6,0.000,0.028,2179,2382,3933,0,0,0,0,0,0
$GC,2068,-0.83,-155.7,399.6,-15.3,301,2072,0.00,2.03,0.00,0.000,4,0.000,0.034,2179,1008,3933,0,0,0,0,0,0
$GC,2151,-0.88,-155.7,411.5,-13.1,308,2160,0.00,2.12,0.00,0.000,6,0.000,0.037,2174,2399,3932,0,0,0,0,0,0
$GC,2478,-0.91,-155.7,457.0,-13.6,339,2483,0.12,2.10,0.00,0.000,4,0.086,0.034,2110,1001,3931,0,0,0,0,0,0
$GC,2508,-0.91,-155.7,461.8,-17.0,341,2513,0.12,2.10,0.00,0.000,6,0.173,0.037,2132,2407,3931,0,0,0,0,0,0
$STATE,2736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2736,begin apogee
$GC,2741,-0.16,0.0,501.4,16.8,362,2863,0.73,0.00,116.10,0.861,6,0.129,0.000,2372,1989,3299,0,0,0,0,0,0
$STATE,2864,end apogee,CONTROL_FINISHED_OK
$STATE,2864,begin climb
$GC,2865,0.89,155.7,507.5,0.0,372,2999,0.90,2.33,120.62,0.844,4,0.044,0.041,2724,3405,2662,0,0,0,0,0,0
$GC,3024,0.76,176.4,505.9,12.7,385,3050,0.25,2.15,17.52,0.776,6,0.186,0.030,2673,2003,2578,0,0,0,0,0,0
$GC,3366,0.67,176.4,455.0,14.4,417,3370,0.00,2.17,0.00,0.000,4,0.000,0.042,2672,3420,2571,0,0,0,0,0,0
$GC,3618,0.57,176.4,415.4,14.6,439,3626,0.22,2.15,0.00,0.000,6,0.169,0.031,2615,2007,2568,0,0,0,0,0,0
$GC,3945,0.63,250.1,380.2,9.5,470,4005,0.00,0.00,55.85,0.793,6,0.000,0.000,2615,2004,2278,0,0,0,0,0,0
$GC,4323,0.66,267.1,334.5,12.9,505,4344,0.00,0.00,13.50,0.710,6,0.000,0.000,2615,2004,2209,0,0,0,0,0,0
$GC,4661,0.67,278.7,290.8,13.2,543,4676,0.00,2.25,9.98,0.662,4,0.000,0.043,2615,3414,2161,0,0,0,0,0,0
$GC,4690,0.68,289.4,286.9,13.3,547,4705,0.00,2.15,10.25,0.657,6,0.000,0.032,2623,1992,2117,0,0,0,0,0,0
$GC,5029,0.74,326.7,241.5,11.7,609,5064,0.12,0.00,29.38,0.698,6,0.090,0.000,2681,1989,1966,0,0,0,0,0,0
$GC,5390,0.71,326.7,179.4,17.3,674,5398,0.00,2.22,0.00,0.000,4,0.000,0.044,2681,3411,1959,0,0,0,0,0,0
$GC,5404,0.68,326.7,176.9,16.5,676,5413,0.12,2.15,0.00,0.000,6,0.148,0.031,2653,2004,1959,0,0,0,0,0,0
$GC,5737,0.72,348.6,126.6,12.6,737,5762,0.00,2.15,16.75,0.599,4,0.000,0.041,2659,589,1878,0,0,0,0,0,0
$GC,5788,0.75,353.1,119.6,13.6,744,5805,0.00,2.17,5.30,0.464,6,0.000,0.034,2667,2009,1858,0,0,0,0,0,0
$GC,6130,0.77,353.5,70.9,13.9,806,6138,0.00,2.15,0.00,0.000,4,0.000,0.042,2661,3399,1856,0,0,0,0,0,0
$GC,6189,0.84,376.9,63.0,12.5,816,6214,0.00,2.12,18.88,0.557,6,0.000,0.031,2672,1997,1761,0,0,0,0,0,0
$GC,6540,1.01,464.4,32.0,8.7,879,6610,0.22,0.00,65.62,0.543,6,0.060,0.000,2772,1993,1402,0,0,0,0,0,0
$STATE,6708,end climb,SURFACE_DEPTH_REACHED
$STATE,6708,begin surface coast
$FINISH,0.6,1.021687
$STATE,6722,end surface coast,CONTROL_FINISHED_OK
$STATE,6722,begin surface
$SM_CCo,6744,101.28,0.057,0,0,485,690.03
$SM_GC,1.15,0.00,0.00,101.28,0.000,0.000,0.057,204,2397,485,-6.94,-0.08,690.03
$IRIDIUM_FIX,2354.48,12607.37,011010,030326
$TT8_MAMPS,0.027713
$HUMID,45.39
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.10
$XPDR_PINGS,4
$24V_AH,24.6,13.763
$10V_AH,10.3,15.663
$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,17.375,48.325,479.750,101.275,0.000,24.534,38.212,160.533,1.000,0.000,16.992,2167.831,1702.293,594.351,2587.576,156.390,0.000,1449.794,0.000,1408.186,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,55.080,860.625,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,611.920,1381.928,1682.124,0.000,0.000,0.000,2341.087,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331436
$DATA_FILE_SIZE,63724,908
$CAP_FILE_SIZE,92468,0
$CFSIZE,260165632,244113408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,223.5,1
$GPS,011010,072508,2400.798,12608.478,9,1.3,9,-3.6