version: 66.08
glider: 181
mission: 4
dive: 73
start: 9 30 110 3 13 35
data:
$ID,181
$MISSION,4
$DIVE,73
$N_DIVES,85
$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,-37929.844
$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,2300
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,64
$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,144.0
$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
$GPS1,300910,030707,2409.583,12607.707,10,1.7,15,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-65.9
$GPS2,300910,031307,2409.576,12607.704,10,1.8,15,-3.6
$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,180.4,17869,-22.5,-13.889
$D_GRID,1737
$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,-85.22,0.000,2,0.000,0.000,205,2332,2828,0,0,0,0,0,0
$GC,108,-0.89,-155.7,3.1,-4.9,11,148,7.65,2.15,-24.33,0.000,4,0.230,0.046,2127,891,3931,0,0,0,0,0,0
$GC,238,-0.76,-155.7,51.9,-41.7,32,247,0.17,2.12,0.00,0.000,6,0.165,0.039,2171,2261,3932,0,0,0,0,0,0
$GC,573,-0.70,-155.7,148.9,-26.7,93,581,0.00,2.22,0.00,0.000,4,0.000,0.041,2162,3713,3932,0,0,0,0,0,0
$GC,616,-0.67,-155.7,160.4,-23.1,100,625,0.12,2.12,0.00,0.000,6,0.135,0.029,2202,2299,3935,0,0,0,0,0,0
$GC,967,-0.67,-155.7,226.1,-18.9,161,974,0.00,2.08,0.00,0.000,4,0.000,0.035,2202,891,3935,0,0,0,0,0,0
$GC,1053,-0.72,-155.7,240.0,-14.7,176,1062,0.00,2.15,0.00,0.000,6,0.000,0.036,2195,2303,3934,0,0,0,0,0,0
$GC,1396,-0.74,-155.7,296.0,-16.5,237,1403,0.00,2.12,0.00,0.000,4,0.000,0.044,2185,3708,3934,0,0,0,0,0,0
$GC,1492,-0.79,-155.7,310.4,-13.5,247,1499,0.00,2.12,0.00,0.000,6,0.000,0.028,2185,2287,3934,0,0,0,0,0,0
$GC,1817,-0.81,-155.7,359.9,-14.7,278,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2284,3933,0,0,0,0,0,0
$GC,2136,-0.84,-155.7,410.1,-16.2,308,2140,0.00,2.17,0.00,0.000,4,0.000,0.046,2175,3712,3931,0,0,0,0,0,0
$GC,2347,-0.89,-155.7,439.1,-12.0,326,2358,0.08,2.12,0.00,0.000,6,0.057,0.029,2117,2284,3930,0,0,0,0,0,0
$GC,2674,-0.87,-155.7,498.4,-18.6,357,2677,0.00,2.03,0.00,0.000,4,0.000,0.037,2117,902,3928,0,0,0,0,0,0
$STATE,2684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2684,begin apogee
$GC,2689,-0.16,0.0,500.8,17.9,358,2811,0.80,0.00,115.97,0.858,6,0.142,0.000,2365,2015,3298,0,0,0,0,0,0
$STATE,2812,end apogee,CONTROL_FINISHED_OK
$STATE,2812,begin climb
$GC,2813,0.89,155.7,506.9,0.0,368,2945,0.93,2.22,120.43,0.842,4,0.044,0.041,2723,3407,2662,0,0,0,0,0,0
$GC,2972,0.75,166.7,505.9,13.2,381,2993,0.28,2.17,9.65,0.711,6,0.186,0.031,2665,2001,2620,0,0,0,0,0,0
$GC,3310,0.72,213.3,461.1,11.1,413,3359,0.00,2.25,36.58,0.807,4,0.000,0.040,2674,596,2429,0,0,0,0,0,0
$GC,3452,0.66,213.3,441.2,15.6,425,3460,0.10,2.17,0.00,0.000,6,0.159,0.034,2644,1998,2426,0,0,0,0,0,0
$GC,3780,0.62,216.4,396.4,13.7,456,3784,0.00,2.17,0.00,0.000,4,0.000,0.045,2644,3420,2422,0,0,0,0,0,0
$GC,3843,0.56,216.4,386.8,14.9,461,3848,0.17,2.15,0.00,0.000,6,0.177,0.032,2608,1996,2420,0,0,0,0,0,0
$GC,4170,0.63,272.9,349.6,10.5,491,4222,0.00,2.28,45.78,0.775,4,0.000,0.044,2608,3405,2184,0,0,0,0,0,0
$GC,4308,0.67,297.7,333.8,12.4,503,4333,0.00,2.15,20.25,0.731,6,0.000,0.032,2617,1999,2083,0,0,0,0,0,0
$GC,4654,0.71,320.3,290.9,12.5,541,4683,0.12,2.20,18.10,0.703,4,0.090,0.041,2684,601,1991,0,0,0,0,0,0
$GC,4690,0.69,320.3,285.0,15.7,546,4700,0.10,2.17,0.00,0.000,6,0.142,0.034,2653,2003,1990,0,0,0,0,0,0
$GC,5035,0.69,320.3,228.8,15.5,607,5042,0.00,2.15,0.00,0.000,4,0.000,0.044,2653,3405,1986,0,0,0,0,0,0
$GC,5182,0.69,320.3,204.4,16.1,633,5189,0.00,2.12,0.00,0.000,6,0.000,0.032,2661,1988,1983,0,0,0,0,0,0
$GC,5529,0.69,320.3,150.9,15.3,694,5538,0.00,2.12,0.00,0.000,4,0.000,0.042,2673,596,1984,0,0,0,0,0,0
$GC,5684,0.70,320.3,128.3,14.3,722,5693,0.00,2.12,0.00,0.000,6,0.000,0.034,2672,1999,1984,0,0,0,0,0,0
$GC,6018,0.75,361.4,77.7,11.4,783,6057,0.00,2.17,31.17,0.584,4,0.000,0.042,2668,3403,1822,0,0,0,0,0,0
$GC,6120,0.82,395.9,65.0,11.8,799,6151,0.00,2.15,26.23,0.561,6,0.000,0.032,2683,2001,1689,0,0,0,0,0,0
$GC,6477,0.95,458.0,28.5,10.2,863,6532,0.12,2.20,46.75,0.539,4,0.084,0.041,2749,3409,1431,0,0,0,0,0,0
$GC,6547,0.95,458.0,18.6,16.1,872,6556,0.00,2.17,0.00,0.000,6,0.000,0.031,2759,2004,1430,0,0,0,0,0,0
$STATE,6639,end climb,SURFACE_DEPTH_REACHED
$STATE,6639,begin surface coast
$FINISH,0.4,1.000179
$STATE,6657,end surface coast,CONTROL_FINISHED_OK
$STATE,6657,begin surface
$SM_CCo,6678,105.12,0.058,0,0,485,690.03
$SM_GC,1.26,0.00,0.00,105.12,0.000,0.000,0.058,208,2330,485,-6.93,0.85,690.03
$IRIDIUM_FIX,2359.20,12605.46,300910,010133
$TT8_MAMPS,0.027713
$HUMID,45.31
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.6,12.280
$10V_AH,10.3,13.623
$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,17.300,64.750,470.900,105.125,0.000,24.194,37.307,170.486,0.000,0.000,18.202,2143.683,1682.324,609.233,2572.525,143.797,0.000,1466.018,0.000,1399.417,0.000,0.544,0.000
$DEVICE_MAMPS,230.265,45.900,858.330,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,600.387,1356.411,1648.548,0.000,0.000,0.000,2319.863,0.000,0.000,0.000
$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,63821,891
$CAP_FILE_SIZE,95343,0
$CFSIZE,260165632,245018624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021,135.3,1
$GPS,300910,050754,2408.686,12607.765,39,2.0,39,-3.6