version: 66.08
glider: 181
mission: 4
dive: 179
start: 10 9 110 0 9 5
data:
$ID,181
$MISSION,4
$DIVE,179
$N_DIVES,183
$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,-38070.41
$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,38
$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,356.0
$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
$GPS1,091010,000204,2405.119,12609.033,13,2.8,32,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-70.2
$GPS2,091010,000837,2405.089,12609.121,10,1.1,15,-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,355.4,27617,-22.5,-13.889
$D_GRID,1747
$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,-155.7,0.0,0.0,0,68,0.00,0.00,-45.95,0.000,2,0.000,0.000,196,2419,2791,0,0,0,0,0,0
$GC,71,-0.89,-155.7,3.2,-5.3,6,111,7.70,2.17,-25.45,0.000,4,0.230,0.047,2126,981,3935,0,0,0,0,0,0
$GC,216,-0.78,-155.7,52.9,-38.5,30,225,0.15,2.20,0.00,0.000,6,0.159,0.037,2162,2397,3936,0,0,0,0,0,0
$GC,550,-0.74,-155.7,140.7,-24.6,91,559,0.00,2.15,0.00,0.000,4,0.000,0.041,2153,3777,3938,0,0,0,0,0,0
$GC,578,-0.70,-155.7,148.2,-25.0,95,588,0.12,2.08,0.00,0.000,6,0.131,0.028,2194,2397,3938,0,0,0,0,0,0
$GC,927,-0.70,-155.7,214.5,-17.8,156,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2394,3939,0,0,0,0,0,0
$GC,1260,-0.71,-155.7,270.2,-16.0,217,1267,0.00,2.08,0.00,0.000,4,0.000,0.034,2194,985,3942,0,0,0,0,0,0
$GC,1296,-0.74,-155.7,275.8,-14.9,223,1305,0.00,2.17,0.00,0.000,6,0.000,0.035,2191,2433,3939,0,0,0,0,0,0
$GC,1626,-0.77,-155.7,327.5,-15.9,268,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2434,3938,0,0,0,0,0,0
$GC,1947,-0.80,-155.7,375.2,-13.5,298,1951,0.00,2.15,0.00,0.000,4,0.000,0.033,2191,990,3935,0,0,0,0,0,0
$GC,2032,-0.86,-155.7,386.8,-12.4,305,2036,0.12,2.12,0.00,0.000,6,0.081,0.037,2130,2408,3937,0,0,0,0,0,0
$GC,2358,-0.84,-155.7,447.7,-19.4,335,2362,0.00,2.10,0.00,0.000,4,0.000,0.044,2120,3784,3936,0,0,0,0,0,0
$GC,2434,-0.84,-155.7,462.6,-18.3,341,2442,0.08,2.08,0.00,0.000,6,0.133,0.028,2143,2398,3936,0,0,0,0,0,0
$STATE,2665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2665,begin apogee
$GC,2670,-0.16,0.0,501.7,17.6,363,2793,0.68,0.00,116.45,0.869,6,0.122,0.000,2370,1972,3298,0,0,0,0,0,0
$STATE,2794,end apogee,CONTROL_FINISHED_OK
$STATE,2794,begin climb
$GC,2796,0.89,155.7,508.4,0.0,373,2923,0.90,2.15,119.28,0.855,4,0.044,0.035,2732,602,2659,0,0,0,0,0,0
$GC,3037,0.76,155.7,497.2,14.8,393,3042,0.22,2.15,0.00,0.000,6,0.177,0.032,2674,2015,2658,0,0,0,0,0,0
$GC,3363,0.67,166.3,455.7,13.3,423,3378,0.12,2.20,8.30,0.699,4,0.188,0.041,2643,3403,2620,0,0,0,0,0,0
$GC,3436,0.60,171.3,445.8,13.6,429,3449,0.12,2.10,5.45,0.604,6,0.180,0.031,2622,2010,2600,0,0,0,0,0,0
$GC,3769,0.65,238.7,410.7,9.9,460,3830,0.00,2.25,52.22,0.812,4,0.000,0.041,2622,3400,2325,0,0,0,0,0,0
$GC,3888,0.63,238.7,395.4,14.9,470,3892,0.00,2.12,0.00,0.000,6,0.000,0.031,2630,2005,2323,0,0,0,0,0,0
$GC,4214,0.62,247.9,350.1,13.3,500,4227,0.00,2.15,7.57,0.651,4,0.000,0.039,2640,592,2288,0,0,0,0,0,0
$GC,4319,0.62,257.6,336.2,13.3,509,4335,0.00,2.12,9.48,0.677,6,0.000,0.034,2641,2006,2247,0,0,0,0,0,0
$GC,4657,0.61,257.6,287.7,15.0,548,4665,0.00,2.17,0.00,0.000,4,0.000,0.040,2651,596,2243,0,0,0,0,0,0
$GC,4713,0.60,261.9,280.4,13.6,557,4728,0.12,2.12,4.00,0.473,6,0.169,0.034,2620,2009,2231,0,0,0,0,0,0
$GC,5050,0.69,325.1,242.7,10.1,619,5105,0.00,0.00,49.42,0.711,6,0.000,0.000,2620,2010,1971,0,0,0,0,0,0
$GC,5433,0.77,370.7,192.5,11.2,687,5476,0.15,0.00,35.03,0.662,6,0.079,0.000,2682,2009,1787,0,0,0,0,0,0
$GC,5803,0.76,370.7,129.1,16.7,753,5811,0.00,2.20,0.00,0.000,4,0.000,0.041,2697,592,1778,0,0,0,0,0,0
$GC,5869,0.76,370.7,118.4,16.7,764,5877,0.00,2.15,0.00,0.000,6,0.000,0.034,2697,1996,1778,0,0,0,0,0,0
$GC,6201,0.76,370.7,63.5,14.5,825,6209,0.00,2.17,0.00,0.000,4,0.000,0.041,2697,3402,1776,0,0,0,0,0,0
$GC,6326,0.84,419.8,46.1,10.9,847,6367,0.00,2.12,36.08,0.562,6,0.000,0.030,2708,1998,1588,0,0,0,0,0,0
$GC,6694,0.91,456.9,3.7,11.7,912,6703,0.00,0.00,7.07,0.441,2,0.000,0.000,2708,1995,1545,0,0,0,0,0,0
$STATE,6703,end climb,SURFACE_DEPTH_REACHED
$STATE,6703,begin surface coast
$FINISH,0.6,1.021933
$STATE,6728,end surface coast,CONTROL_FINISHED_OK
$STATE,6729,begin surface
$SM_CCo,6816,0.00,0.000,0,0,1540,431.24
$SM_GC,1.76,6.53,0.00,0.00,0.043,0.000,0.000,198,2423,1540,-6.84,0.65,431.24
$IRIDIUM_FIX,2354.48,12610.66,081010,222257
$TT8_MAMPS,0.027713
$HUMID,47.44
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.7,24.400
$10V_AH,10.3,30.186
$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,17.025,52.700,450.350,0.000,0.000,28.821,16.172,187.775,0.250,0.000,19.672,2218.426,1717.812,447.779,2617.960,210.667,0.000,1287.059,0.000,1427.079,0.000,0.542,0.000
$DEVICE_MAMPS,230.265,46.665,869.040,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,619.091,1395.778,1673.638,0.000,0.000,0.000,2269.080,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331436
$DATA_FILE_SIZE,63646,917
$CAP_FILE_SIZE,93803,0
$CFSIZE,260165632,237694976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,116.0,1
$GPS,091010,020346,2405.948,12609.263,9,5.0,28,-3.6