version: 66.08
glider: 181
mission: 4
dive: 93
start: 10 1 110 19 32 58
data:
$ID,181
$MISSION,4
$DIVE,93
$N_DIVES,110
$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,-37954.945
$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,36
$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,184.0
$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
$GPS1,011010,192606,2407.379,12608.825,39,1.1,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-62.8
$GPS2,011010,193231,2407.445,12608.809,11,1.6,16,-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,346.1,23254,-22.5,-13.889
$D_GRID,1738
$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,-155.7,0.0,0.0,0,108,0.00,0.00,-85.62,0.000,2,0.000,0.000,197,2401,2848,0,0,0,0,0,0
$GC,110,-0.89,-155.7,3.2,-5.5,11,150,7.62,2.12,-23.75,0.000,4,0.229,0.053,2122,3780,3933,0,0,0,0,0,0
$GC,233,-0.78,-155.7,48.7,-36.6,31,242,0.15,2.10,0.00,0.000,6,0.161,0.031,2166,2408,3935,0,0,0,0,0,0
$GC,566,-0.73,-155.7,145.6,-23.3,92,575,0.00,2.12,0.00,0.000,4,0.000,0.041,2155,3781,3936,0,0,0,0,0,0
$GC,627,-0.71,-155.7,159.9,-20.6,102,636,0.10,2.08,0.00,0.000,6,0.139,0.027,2190,2389,3936,0,0,0,0,0,0
$GC,979,-0.71,-155.7,225.8,-18.4,163,986,0.00,2.03,0.00,0.000,4,0.000,0.032,2190,1000,3937,0,0,0,0,0,0
$GC,1072,-0.75,-155.7,240.8,-15.4,179,1079,0.00,2.10,0.00,0.000,6,0.000,0.036,2183,2403,3939,0,0,0,0,0,0
$GC,1411,-0.75,-155.7,303.9,-18.5,238,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2404,3935,0,0,0,0,0,0
$GC,1731,-0.77,-155.7,361.5,-16.6,268,1735,0.00,2.08,0.00,0.000,4,0.000,0.044,2172,3781,3935,0,0,0,0,0,0
$GC,1781,-0.81,-155.7,369.5,-15.4,272,1785,0.00,2.03,0.00,0.000,6,0.000,0.027,2172,2388,3935,0,0,0,0,0,0
$GC,2113,-0.83,-155.7,422.0,-14.7,303,2117,0.00,2.12,0.00,0.000,4,0.000,0.044,2162,3787,3933,0,0,0,0,0,0
$GC,2168,-0.87,-155.7,430.2,-13.6,307,2175,0.00,2.03,0.00,0.000,6,0.000,0.027,2162,2398,3933,0,0,0,0,0,0
$GC,2494,-0.89,-155.7,477.2,-15.4,338,2498,0.00,2.05,0.00,0.000,4,0.000,0.034,2162,991,3931,0,0,0,0,0,0
$GC,2616,-0.93,-155.7,495.2,-13.6,348,2624,0.00,2.15,0.00,0.000,6,0.000,0.036,2152,2399,3930,0,0,0,0,0,0
$STATE,2652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2652,begin apogee
$GC,2656,-0.16,0.0,500.2,13.5,352,2778,0.65,0.00,116.35,0.859,6,0.123,0.000,2370,1975,3298,0,0,0,0,0,0
$STATE,2779,end apogee,CONTROL_FINISHED_OK
$STATE,2779,begin climb
$GC,2780,0.89,155.7,505.5,0.0,362,2908,0.90,2.15,120.30,0.842,4,0.040,0.034,2736,604,2661,0,0,0,0,0,0
$GC,3079,0.75,155.7,480.8,16.5,387,3084,0.25,2.12,0.00,0.000,6,0.183,0.032,2671,2012,2657,0,0,0,0,0,0
$GC,3406,0.68,166.5,437.6,13.2,417,3421,0.00,2.20,8.48,0.692,4,0.000,0.038,2680,609,2619,0,0,0,0,0,0
$GC,3510,0.62,197.4,424.1,12.0,426,3544,0.17,2.12,25.08,0.784,6,0.163,0.034,2628,1999,2493,0,0,0,0,0,0
$GC,3861,0.66,250.9,384.2,10.7,459,3910,0.00,2.20,41.72,0.784,4,0.000,0.041,2628,3399,2275,0,0,0,0,0,0
$GC,3982,0.64,250.9,367.3,15.3,469,3989,0.00,2.10,0.00,0.000,6,0.000,0.031,2636,2018,2271,0,0,0,0,0,0
$GC,4309,0.63,253.4,321.1,13.7,500,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2016,2267,0,0,0,0,0,0
$GC,4633,0.63,253.4,272.2,15.7,546,4641,0.00,2.15,0.00,0.000,4,0.000,0.042,2637,3398,2265,0,0,0,0,0,0
$GC,4692,0.62,253.4,262.7,16.1,556,4701,0.00,2.12,0.00,0.000,6,0.000,0.031,2647,1998,2264,0,0,0,0,0,0
$GC,5036,0.64,286.5,219.5,11.9,617,5070,0.00,2.15,27.12,0.679,4,0.000,0.039,2658,595,2128,0,0,0,0,0,0
$GC,5156,0.66,297.3,204.4,13.2,637,5171,0.00,2.12,9.62,0.600,6,0.000,0.032,2658,2005,2085,0,0,0,0,0,0
$GC,5512,0.67,308.9,152.8,13.2,699,5528,0.00,2.17,9.55,0.574,4,0.000,0.040,2668,596,2038,0,0,0,0,0,0
$GC,5542,0.68,318.5,148.7,13.3,703,5559,0.00,2.15,9.23,0.561,6,0.000,0.031,2669,2006,1996,0,0,0,0,0,0
$GC,5885,0.69,318.5,100.9,14.3,765,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2006,1995,0,0,0,0,0,0
$GC,6216,0.83,402.2,62.6,8.9,826,6285,0.00,2.20,62.60,0.572,4,0.000,0.041,2668,3398,1657,0,0,0,0,0,0
$GC,6305,0.97,475.7,54.8,9.5,838,6367,0.12,2.15,55.45,0.550,6,0.044,0.029,2748,2006,1358,0,0,0,0,0,0
$STATE,6642,end climb,SURFACE_DEPTH_REACHED
$STATE,6642,begin surface coast
$FINISH,0.6,1.021791
$STATE,6661,end surface coast,CONTROL_FINISHED_OK
$STATE,6661,begin surface
$SM_CCo,6684,95.38,0.057,0,0,485,690.03
$SM_GC,1.39,0.00,0.00,95.38,0.000,0.000,0.057,204,2412,485,-6.94,0.34,690.03
$IRIDIUM_FIX,2354.48,12605.46,011010,171710
$TT8_MAMPS,0.027713
$HUMID,45.58
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.6,14.570
$10V_AH,10.3,16.751
$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,16.500,56.300,485.500,95.375,0.000,30.389,46.735,173.792,0.500,0.000,18.849,2153.990,1666.831,582.330,2616.171,152.518,0.000,1439.636,0.000,1411.566,0.000,0.543,0.000
$DEVICE_MAMPS,228.735,52.785,859.095,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,606.105,1369.411,1662.495,0.000,0.000,0.000,2366.445,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331444
$DATA_FILE_SIZE,63598,900
$CAP_FILE_SIZE,93580,0
$CFSIZE,260165632,243625984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.135, 74.3,1
$GPS,011010,212704,2408.453,12609.118,10,4.5,29,-3.6