version: 66.08
glider: 181
mission: 4
dive: 172
start: 10 8 110 10 21 35
data:
$ID,181
$MISSION,4
$DIVE,172
$N_DIVES,180
$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,-38061.617
$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,48
$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,342.0
$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
$GPS1,081010,101434,2402.687,12608.869,10,2.3,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-71.0
$GPS2,081010,102107,2402.716,12608.830,12,1.3,12,-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,185.4,5037,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.89,-155.7,0.0,0.0,0,67,0.00,0.00,-45.35,0.000,2,0.000,0.000,200,2416,2844,0,0,0,0,0,0
$GC,70,-0.89,-155.7,3.2,-5.4,6,110,7.53,2.08,-24.35,0.000,4,0.223,0.052,2121,3769,3935,0,0,0,0,0,0
$GC,126,-0.73,-155.7,17.5,-31.3,13,135,0.20,2.10,0.00,0.000,6,0.165,0.029,2178,2391,3936,0,0,0,0,0,0
$GC,460,-0.66,-155.7,123.9,-25.1,74,469,0.12,2.15,0.00,0.000,4,0.172,0.041,2205,3761,3937,0,0,0,0,0,0
$GC,499,-0.68,-155.7,131.9,-18.0,80,507,0.00,2.05,0.00,0.000,6,0.000,0.028,2203,2395,3939,0,0,0,0,0,0
$GC,832,-0.69,-155.7,190.4,-17.2,141,839,0.00,2.08,0.00,0.000,4,0.000,0.034,2203,985,3941,0,0,0,0,0,0
$GC,935,-0.73,-155.7,207.0,-14.4,158,943,0.00,2.12,0.00,0.000,6,0.000,0.034,2193,2382,3939,0,0,0,0,0,0
$GC,1266,-0.73,-155.7,264.6,-19.3,219,1273,0.00,2.12,0.00,0.000,4,0.000,0.043,2183,3785,3939,0,0,0,0,0,0
$GC,1315,-0.77,-155.7,273.0,-16.3,227,1323,0.00,2.05,0.00,0.000,6,0.000,0.028,2184,2391,3939,0,0,0,0,0,0
$GC,1644,-0.77,-155.7,329.9,-17.6,272,1648,0.00,2.03,0.00,0.000,4,0.000,0.034,2183,1004,3938,0,0,0,0,0,0
$GC,1681,-0.79,-155.7,336.3,-16.2,275,1690,0.00,2.12,0.00,0.000,6,0.000,0.035,2176,2402,3938,0,0,0,0,0,0
$GC,2008,-0.81,-155.7,389.1,-15.3,306,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2403,3937,0,0,0,0,0,0
$GC,2327,-0.83,-155.7,437.8,-15.7,336,2331,0.00,2.10,0.00,0.000,4,0.000,0.044,2166,3780,3937,0,0,0,0,0,0
$GC,2413,-0.88,-155.7,450.1,-12.9,343,2417,0.00,2.03,0.00,0.000,6,0.000,0.029,2165,2397,3935,0,0,0,0,0,0
$GC,2744,-0.90,-155.7,498.3,-13.9,374,2748,0.00,2.05,0.00,0.000,4,0.000,0.034,2165,999,3934,0,0,0,0,0,0
$STATE,2755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2756,begin apogee
$GC,2762,-0.16,0.0,500.1,14.0,375,2883,0.62,0.00,116.62,0.868,6,0.121,0.000,2372,2014,3300,0,0,0,0,0,0
$STATE,2884,end apogee,CONTROL_FINISHED_OK
$STATE,2884,begin climb
$GC,2886,0.89,155.7,505.8,0.0,385,3019,0.90,2.28,119.85,0.851,4,0.045,0.041,2721,3402,2661,0,0,0,0,0,0
$GC,3164,0.74,155.7,484.3,16.4,409,3169,0.25,2.12,0.00,0.000,6,0.181,0.031,2668,1998,2656,0,0,0,0,0,0
$GC,3491,0.73,217.1,444.6,10.2,439,3541,0.00,0.00,47.12,0.820,6,0.000,0.000,2667,1996,2413,0,0,0,0,0,0
$GC,3860,0.67,217.1,390.0,15.3,474,3864,0.00,2.15,0.00,0.000,4,0.000,0.041,2667,3400,2406,0,0,0,0,0,0
$GC,3910,0.60,217.1,381.4,17.9,478,3915,0.20,2.12,0.00,0.000,6,0.165,0.031,2622,1998,2404,0,0,0,0,0,0
$GC,4236,0.66,277.3,345.4,10.3,508,4292,0.00,2.22,45.97,0.776,4,0.000,0.043,2631,595,2166,0,0,0,0,0,0
$GC,4349,0.69,285.7,331.3,13.4,518,4363,0.00,2.15,7.78,0.636,6,0.000,0.032,2631,1998,2133,0,0,0,0,0,0
$GC,4681,0.69,285.7,281.4,15.5,560,4689,0.00,2.17,0.00,0.000,4,0.000,0.042,2631,3395,2128,0,0,0,0,0,0
$GC,4791,0.69,285.7,264.4,14.7,580,4800,0.00,2.15,0.00,0.000,6,0.000,0.032,2641,1993,2126,0,0,0,0,0,0
$GC,5122,0.72,309.6,222.2,12.5,641,5143,0.00,0.00,18.70,0.672,6,0.000,0.000,2641,1990,2035,0,0,0,0,0,0
$GC,5471,0.72,309.6,173.6,14.8,704,5479,0.00,2.15,0.00,0.000,4,0.000,0.041,2652,592,2031,0,0,0,0,0,0
$GC,5526,0.73,309.6,165.6,15.1,713,5533,0.00,2.12,0.00,0.000,6,0.000,0.032,2652,2009,2031,0,0,0,0,0,0
$GC,5860,0.77,329.8,122.4,12.7,774,5884,0.00,2.20,15.88,0.596,4,0.000,0.038,2663,596,1956,0,0,0,0,0,0
$GC,5954,0.82,350.4,110.2,12.7,789,5979,0.00,2.15,17.27,0.584,6,0.000,0.032,2662,2006,1868,0,0,0,0,0,0
$GC,6305,0.92,398.9,68.1,11.0,852,6353,0.17,2.20,36.60,0.571,4,0.070,0.040,2746,3401,1671,0,0,0,0,0,0
$GC,6373,0.90,398.9,56.7,18.4,861,6381,0.12,2.17,0.00,0.000,6,0.148,0.031,2714,1995,1669,0,0,0,0,0,0
$GC,6708,0.94,416.9,10.8,12.8,922,6734,0.00,2.20,14.27,0.499,4,0.000,0.041,2727,592,1597,0,0,0,0,0,0
$STATE,6768,end climb,SURFACE_DEPTH_REACHED
$STATE,6768,begin surface coast
$FINISH,0.6,1.010987
$STATE,6792,end surface coast,CONTROL_FINISHED_OK
$STATE,6793,begin surface
$SM_CCo,6882,0.00,0.000,0,0,1593,417.99
$SM_GC,1.53,6.50,0.00,0.00,0.035,0.000,0.000,203,2404,1593,-6.84,0.11,417.99
$IRIDIUM_FIX,2354.48,12613.96,081010,080859
$TT8_MAMPS,0.02996
$HUMID,47.44
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.6,23.618
$10V_AH,10.3,29.107
$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,16.625,64.000,440.075,0.000,0.000,27.674,42.078,173.433,0.500,0.000,14.922,2268.612,1707.124,457.865,2644.616,201.016,0.000,1303.433,0.000,1431.502,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,52.020,868.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,631.518,1423.134,1723.848,0.000,0.000,0.000,2448.601,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331496
$DATA_FILE_SIZE,67112,935
$CAP_FILE_SIZE,94856,0
$CFSIZE,260165632,238161920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079,150.5,1
$GPS,081010,121722,2401.469,12608.999,10,2.3,29,-3.6