version: 66.08
glider: 181
mission: 4
dive: 159
start: 10 7 110 8 14 48
data:
$ID,181
$MISSION,4
$DIVE,159
$N_DIVES,170
$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,-38045.289
$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,40
$R_STBD_OVSHOOT,52
$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,316.0
$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
$GPS1,071010,080037,2413.416,12609.764,30,1.0,30,-3.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-67.7
$GPS2,071010,081420,2413.434,12609.758,14,1.4,14,-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,204.8,24913,-22.5,-13.889
$D_GRID,1584
$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,-155.7,0.0,0.0,0,74,0.00,0.00,-52.35,0.000,2,0.000,0.000,201,2425,2724,0,0,0,0,0,0
$GC,77,-0.89,-155.7,3.1,-4.9,7,119,7.57,2.22,-28.35,0.000,4,0.224,0.045,2137,978,3934,0,0,0,0,0,0
$GC,210,-0.76,-155.7,45.8,-38.6,28,219,0.17,2.17,0.00,0.000,6,0.164,0.036,2173,2386,3936,0,0,0,0,0,0
$GC,544,-0.72,-155.7,143.9,-22.7,89,552,0.00,2.15,0.00,0.000,4,0.000,0.041,2164,3780,3940,0,0,0,0,0,0
$GC,582,-0.70,-155.7,152.7,-21.2,95,591,0.10,2.05,0.00,0.000,6,0.164,0.028,2193,2389,3938,0,0,0,0,0,0
$GC,919,-0.70,-155.7,222.9,-19.0,156,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2387,3938,0,0,0,0,0,0
$GC,1253,-0.70,-155.7,280.3,-17.5,217,1260,0.00,2.05,0.00,0.000,4,0.000,0.034,2193,992,3937,0,0,0,0,0,0
$GC,1294,-0.74,-155.7,286.9,-15.5,224,1302,0.00,2.15,0.00,0.000,6,0.000,0.037,2191,2397,3937,0,0,0,0,0,0
$GC,1630,-0.76,-155.7,339.6,-16.1,263,1634,0.00,2.05,0.00,0.000,4,0.000,0.034,2191,1001,3936,0,0,0,0,0,0
$GC,1673,-0.81,-155.7,346.4,-14.3,266,1681,0.00,2.15,0.00,0.000,6,0.000,0.037,2183,2410,3936,0,0,0,0,0,0
$GC,1999,-0.84,-155.7,396.3,-16.1,297,2003,0.00,2.10,0.00,0.000,4,0.000,0.045,2172,3788,3934,0,0,0,0,0,0
$GC,2083,-0.88,-155.7,409.7,-15.2,304,2087,0.00,2.05,0.00,0.000,6,0.000,0.029,2173,2398,3933,0,0,0,0,0,0
$GC,2415,-0.91,-155.7,459.1,-14.3,335,2420,0.12,2.08,0.00,0.000,4,0.084,0.037,2108,998,3931,0,0,0,0,0,0
$GC,2457,-0.89,-155.7,467.0,-18.3,338,2467,0.12,2.15,0.00,0.000,6,0.149,0.037,2136,2399,3931,0,0,0,0,0,0
$STATE,2655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2655,begin apogee
$GC,2661,-0.16,0.0,500.8,17.6,357,2782,0.70,0.00,116.12,0.865,6,0.125,0.000,2368,1978,3298,0,0,0,0,0,0
$STATE,2783,end apogee,CONTROL_FINISHED_OK
$STATE,2783,begin climb
$GC,2785,0.89,155.7,507.1,0.0,367,2915,0.90,2.17,119.45,0.848,4,0.042,0.036,2733,603,2663,0,0,0,0,0,0
$GC,3149,0.75,155.7,470.3,17.7,399,3158,0.20,2.17,0.00,0.000,6,0.168,0.033,2675,2014,2656,0,0,0,0,0,0
$GC,3475,0.66,155.7,422.9,14.6,430,3480,0.15,2.10,0.00,0.000,4,0.186,0.041,2636,3405,2653,0,0,0,0,0,0
$GC,3627,0.62,186.1,402.1,12.1,443,3659,0.00,2.10,23.05,0.783,6,0.000,0.031,2645,2010,2538,0,0,0,0,0,0
$GC,3978,0.61,221.7,360.6,11.8,476,4014,0.00,2.22,27.60,0.770,4,0.000,0.043,2645,3401,2393,0,0,0,0,0,0
$GC,4105,0.56,221.7,343.0,15.2,487,4110,0.17,2.12,0.00,0.000,6,0.165,0.031,2610,2005,2390,0,0,0,0,0,0
$GC,4432,0.64,288.3,311.4,9.9,517,4491,0.00,2.20,51.50,0.754,4,0.000,0.041,2618,601,2121,0,0,0,0,0,0
$GC,4601,0.68,302.5,291.6,13.0,538,4624,0.00,2.17,11.93,0.670,6,0.000,0.033,2619,1999,2063,0,0,0,0,0,0
$GC,4951,0.72,310.6,240.2,13.4,601,4966,0.10,2.17,6.95,0.584,4,0.104,0.039,2676,592,2031,0,0,0,0,0,0
$GC,5004,0.70,310.6,231.6,15.6,610,5012,0.00,2.17,0.00,0.000,6,0.000,0.033,2676,2006,2030,0,0,0,0,0,0
$GC,5338,0.68,310.6,179.4,15.0,671,5346,0.12,2.17,0.00,0.000,4,0.159,0.043,2643,3412,2029,0,0,0,0,0,0
$GC,5392,0.69,310.6,171.1,14.8,680,5400,0.00,2.15,0.00,0.000,6,0.000,0.032,2652,2004,2027,0,0,0,0,0,0
$GC,5725,0.73,334.6,126.9,12.5,741,5749,0.00,2.17,18.75,0.607,4,0.000,0.041,2663,589,1935,0,0,0,0,0,0
$GC,5822,0.79,363.5,115.4,12.2,757,5854,0.00,2.17,23.00,0.599,6,0.000,0.033,2663,2009,1816,0,0,0,0,0,0
$GC,6182,0.94,439.6,71.0,9.3,821,6246,0.17,2.20,57.05,0.576,4,0.070,0.041,2747,3406,1506,0,0,0,0,0,0
$GC,6318,0.94,439.6,51.5,16.0,842,6326,0.00,2.17,0.00,0.000,6,0.000,0.031,2757,2001,1500,0,0,0,0,0,0
$STATE,6600,end climb,SURFACE_DEPTH_REACHED
$STATE,6600,begin surface coast
$FINISH,0.5,0.999940
$STATE,6619,end surface coast,CONTROL_FINISHED_OK
$STATE,6620,begin surface
$SM_CCo,6704,0.00,0.000,0,0,1497,442.03
$SM_GC,1.50,6.65,0.00,0.00,0.043,0.000,0.000,200,2411,1497,-6.84,0.31,442.03
$IRIDIUM_FIX,2411.01,12528.96,071010,080856
$TT8_MAMPS,0.027713
$HUMID,47.95
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,25.10
$XPDR_PINGS,3
$24V_AH,24.7,22.158
$10V_AH,10.2,27.059
$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,17.275,61.225,455.400,0.000,0.000,146.437,91.777,181.065,0.750,0.000,17.256,2169.309,1906.478,462.649,2790.771,202.914,0.000,1316.881,0.000,1429.351,0.000,0.544,0.000
$DEVICE_MAMPS,224.145,45.135,865.215,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,605.143,1365.082,1640.210,0.000,0.000,0.000,2281.845,0.000,0.000,0.000
$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,63602,897
$CAP_FILE_SIZE,97707,0
$CFSIZE,260165632,239067136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,102.5,1
$GPS,071010,100720,2412.516,12609.706,11,1.7,11,-3.6