version: 66.08
glider: 181
mission: 4
dive: 110
start: 10 3 110 5 27 23
data:
$ID,181
$MISSION,4
$DIVE,110
$N_DIVES,125
$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,-37976.297
$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,41
$R_STBD_OVSHOOT,42
$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,218.0
$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
$GPS1,031010,052037,2416.924,12609.477,39,0.9,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-67.3
$GPS2,031010,052655,2416.916,12609.474,14,0.9,14,-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,201.0,31339,-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,19,-0.89,-155.7,0.0,0.0,0,108,0.00,0.00,-86.03,0.000,2,0.000,0.000,211,2427,2851,0,0,0,0,0,0
$GC,111,-0.89,-155.7,3.3,-5.9,11,151,7.57,2.17,-23.40,0.000,4,0.227,0.044,2134,995,3932,0,0,0,0,0,0
$GC,220,-0.78,-155.7,39.4,-37.0,28,229,0.15,2.15,0.00,0.000,6,0.167,0.034,2168,2396,3934,0,0,0,0,0,0
$GC,554,-0.71,-155.7,137.3,-26.5,89,563,0.00,2.12,0.00,0.000,4,0.000,0.041,2165,3783,3935,0,0,0,0,0,0
$GC,614,-0.70,-155.7,152.3,-23.2,99,622,0.15,2.05,0.00,0.000,6,0.148,0.027,2200,2389,3935,0,0,0,0,0,0
$GC,952,-0.70,-155.7,215.2,-18.0,160,960,0.00,2.15,0.00,0.000,4,0.000,0.041,2192,3781,3936,0,0,0,0,0,0
$GC,1020,-0.72,-155.7,226.7,-16.3,172,1028,0.00,2.05,0.00,0.000,6,0.000,0.027,2192,2405,3936,0,0,0,0,0,0
$GC,1349,-0.73,-155.7,280.4,-16.4,233,1357,0.00,2.08,0.00,0.000,4,0.000,0.034,2192,985,3935,0,0,0,0,0,0
$GC,1444,-0.78,-155.7,295.6,-15.2,250,1452,0.00,2.15,0.00,0.000,6,0.000,0.035,2192,2399,3935,0,0,0,0,0,0
$GC,1773,-0.80,-155.7,346.6,-14.8,283,1777,0.00,2.10,0.00,0.000,4,0.000,0.044,2180,3784,3933,0,0,0,0,0,0
$GC,1870,-0.86,-155.7,360.7,-12.8,291,1878,0.00,2.05,0.00,0.000,6,0.000,0.026,2180,2398,3932,0,0,0,0,0,0
$GC,2198,-0.88,-155.7,411.0,-16.4,322,2200,0.12,0.00,0.00,0.000,6,0.084,0.000,2116,2395,3931,0,0,0,0,0,0
$GC,2514,-0.85,-155.7,475.9,-16.8,352,2516,0.12,0.00,0.00,0.000,6,0.167,0.000,2147,2395,3929,0,0,0,0,0,0
$STATE,2684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2684,begin apogee
$GC,2688,-0.16,0.0,500.1,14.3,368,2811,0.68,0.00,115.53,0.855,6,0.125,0.000,2373,1979,3298,0,0,0,0,0,0
$STATE,2811,end apogee,CONTROL_FINISHED_OK
$STATE,2812,begin climb
$GC,2813,0.89,155.7,504.4,0.0,378,2940,0.88,2.15,119.80,0.839,4,0.035,0.034,2745,611,2663,0,0,0,0,0,0
$GC,3188,0.74,155.7,466.4,17.5,410,3198,0.28,2.15,0.00,0.000,6,0.175,0.031,2663,2015,2656,0,0,0,0,0,0
$GC,3516,0.70,188.8,425.6,11.9,441,3548,0.00,0.00,25.33,0.789,6,0.000,0.000,2663,2017,2528,0,0,0,0,0,0
$GC,3868,0.64,203.1,379.7,13.0,474,3885,0.00,2.17,11.85,0.721,4,0.000,0.043,2663,3413,2470,0,0,0,0,0,0
$GC,4133,0.57,203.1,337.1,14.8,498,4138,0.22,2.08,0.00,0.000,6,0.175,0.030,2612,2017,2465,0,0,0,0,0,0
$GC,4459,0.60,241.4,299.9,11.6,528,4495,0.00,2.22,29.90,0.737,4,0.000,0.041,2612,3404,2312,0,0,0,0,0,0
$GC,4584,0.60,241.5,283.4,13.9,549,4592,0.00,2.12,0.00,0.000,6,0.000,0.031,2620,1998,2308,0,0,0,0,0,0
$GC,4912,0.65,281.0,243.7,11.5,610,4948,0.00,2.22,30.62,0.697,4,0.000,0.041,2631,595,2152,0,0,0,0,0,0
$GC,5067,0.70,308.3,225.2,12.3,637,5096,0.00,2.12,21.95,0.669,6,0.000,0.032,2631,2002,2041,0,0,0,0,0,0
$GC,5426,0.70,308.3,176.0,14.6,701,5434,0.00,2.15,0.00,0.000,4,0.000,0.041,2633,3411,2034,0,0,0,0,0,0
$GC,5485,0.73,315.2,167.8,13.5,711,5500,0.00,2.12,5.88,0.511,6,0.000,0.031,2641,1997,2012,0,0,0,0,0,0
$GC,5824,0.78,338.4,123.6,12.5,773,5850,0.10,2.15,19.08,0.597,4,0.098,0.038,2703,590,1917,0,0,0,0,0,0
$GC,5879,0.75,338.4,114.8,16.7,781,5889,0.10,2.15,0.00,0.000,6,0.142,0.032,2674,1995,1915,0,0,0,0,0,0
$GC,6215,0.85,395.1,71.6,10.5,842,6269,0.00,2.22,42.72,0.575,4,0.000,0.039,2681,596,1685,0,0,0,0,0,0
$GC,6397,1.03,475.9,54.7,9.1,872,6467,0.17,2.15,60.62,0.554,6,0.044,0.031,2768,1999,1356,0,0,0,0,0,0
$STATE,6695,end climb,SURFACE_DEPTH_REACHED
$STATE,6695,begin surface coast
$FINISH,0.5,1.020704
$STATE,6710,end surface coast,CONTROL_FINISHED_OK
$STATE,6710,begin surface
$SM_CCo,6734,97.20,0.057,0,0,484,690.03
$SM_GC,1.29,0.00,0.00,97.20,0.000,0.000,0.057,204,2421,484,-6.94,0.59,690.03
$IRIDIUM_FIX,2411.01,12606.33,031010,030356
$TT8_MAMPS,0.026964
$HUMID,45.43
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,24.7,16.519
$10V_AH,10.3,19.400
$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,17.225,52.425,483.275,97.200,0.000,31.239,23.162,183.346,0.250,0.000,16.967,2210.971,1606.125,588.220,2637.392,173.860,0.000,1459.750,0.000,1441.542,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,43.605,855.270,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,622.958,1407.918,1693.179,0.000,0.000,0.000,2376.693,0.000,0.000,0.000
$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,67118,925
$CAP_FILE_SIZE,94214,0
$CFSIZE,260165632,242450432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,103.5,1
$GPS,031010,072202,2416.068,12609.418,10,1.5,10,-3.7