version: 66.08
glider: 181
mission: 4
dive: 213
start: 10 11 110 20 48 48
data:
$ID,181
$MISSION,4
$DIVE,213
$N_DIVES,223
$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,-38114.094
$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,38
$R_STBD_OVSHOOT,46
$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,424.0
$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
$GPS1,111010,204201,2404.658,12609.040,38,1.4,38,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-72.7
$GPS2,111010,204820,2404.679,12609.040,9,1.8,9,-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,194.4,8666,-22.5,-13.889
$D_GRID,1638
$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,-45.20,0.000,2,0.000,0.000,198,2412,2734,0,0,0,0,0,0
$GC,70,-0.89,-155.7,3.3,-5.2,6,111,7.50,2.15,-27.00,0.000,4,0.220,0.046,2130,984,3934,0,0,0,0,0,0
$GC,158,-0.75,-155.7,29.4,-40.0,19,168,0.20,2.17,0.00,0.000,6,0.167,0.035,2179,2393,3936,0,0,0,0,0,0
$GC,494,-0.70,-155.7,135.8,-21.1,80,502,0.00,2.12,0.00,0.000,4,0.000,0.042,2170,3771,3937,0,0,0,0,0,0
$GC,590,-0.72,-155.7,157.3,-18.1,97,597,0.00,2.08,0.00,0.000,6,0.000,0.027,2170,2387,3938,0,0,0,0,0,0
$GC,932,-0.70,-155.7,229.7,-20.6,158,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2384,3938,0,0,0,0,0,0
$GC,1265,-0.69,-155.7,294.5,-17.5,219,1274,0.12,2.05,0.00,0.000,4,0.158,0.034,2204,1001,3938,0,0,0,0,0,0
$GC,1306,-0.73,-155.7,300.9,-13.5,225,1313,0.00,2.12,0.00,0.000,6,0.000,0.034,2196,2415,3938,0,0,0,0,0,0
$GC,1632,-0.76,-155.7,349.2,-15.3,256,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2420,3938,0,0,0,0,0,0
$GC,1952,-0.81,-155.7,393.8,-12.3,286,1956,0.00,2.10,0.00,0.000,4,0.000,0.044,2186,3784,3937,0,0,0,0,0,0
$GC,2050,-0.88,-155.7,406.4,-12.0,294,2059,0.10,2.08,0.00,0.000,6,0.046,0.028,2110,2393,3936,0,0,0,0,0,0
$GC,2377,-0.84,-155.7,470.3,-18.2,325,2381,0.15,2.08,0.00,0.000,4,0.162,0.035,2151,1003,3935,0,0,0,0,0,0
$GC,2416,-0.84,-155.7,477.4,-16.8,328,2420,0.00,2.12,0.00,0.000,6,0.000,0.037,2143,2403,3935,0,0,0,0,0,0
$STATE,2569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2570,begin apogee
$GC,2575,-0.16,0.0,500.9,15.2,342,2698,0.68,0.00,117.05,0.871,6,0.124,0.000,2366,1979,3298,0,0,0,0,0,0
$STATE,2699,end apogee,CONTROL_FINISHED_OK
$STATE,2699,begin climb
$GC,2701,0.89,155.7,505.6,0.0,352,2829,0.93,0.00,119.65,0.854,6,0.045,0.000,2725,1979,2662,0,0,0,0,0,0
$GC,3148,0.77,161.9,462.6,13.5,393,3161,0.20,2.08,4.95,0.578,4,0.180,0.035,2677,612,2639,0,0,0,0,0,0
$GC,3245,0.67,162.8,448.2,13.8,401,3253,0.15,2.10,0.00,0.000,6,0.172,0.032,2644,2011,2639,0,0,0,0,0,0
$GC,3571,0.66,200.1,409.5,11.7,432,3608,0.00,0.00,29.98,0.806,6,0.000,0.000,2644,2011,2484,0,0,0,0,0,0
$GC,3927,0.69,263.8,367.4,10.1,465,3987,0.00,2.28,49.22,0.792,4,0.000,0.041,2644,3408,2224,0,0,0,0,0,0
$GC,4060,0.68,272.4,350.5,13.4,476,4073,0.00,2.15,8.05,0.655,6,0.000,0.031,2653,2022,2187,0,0,0,0,0,0
$GC,4399,0.65,272.4,300.2,15.9,508,4403,0.00,2.17,0.00,0.000,4,0.000,0.040,2663,592,2182,0,0,0,0,0,0
$GC,4483,0.64,272.4,286.8,15.0,522,4491,0.10,2.15,0.00,0.000,6,0.140,0.033,2632,1999,2181,0,0,0,0,0,0
$GC,4826,0.67,301.2,245.4,12.2,583,4855,0.00,2.22,22.58,0.702,4,0.000,0.041,2632,3397,2070,0,0,0,0,0,0
$GC,4872,0.67,301.2,238.8,14.5,590,4880,0.00,2.15,0.00,0.000,6,0.000,0.032,2640,2003,2067,0,0,0,0,0,0
$GC,5219,0.67,301.2,186.7,15.2,651,5226,0.00,2.15,0.00,0.000,4,0.000,0.041,2640,3400,2064,0,0,0,0,0,0
$GC,5271,0.67,301.2,178.5,15.4,660,5280,0.00,2.15,0.00,0.000,6,0.000,0.031,2650,1995,2063,0,0,0,0,0,0
$GC,5614,0.77,380.4,138.3,9.2,721,5684,0.00,2.22,59.08,0.640,4,0.000,0.041,2662,596,1745,0,0,0,0,0,0
$GC,5722,0.85,416.5,126.6,11.7,736,5763,0.08,2.17,28.33,0.607,6,0.054,0.031,2713,2000,1598,0,0,0,0,0,0
$GC,6090,0.92,454.9,61.4,11.6,801,6122,0.00,0.00,28.65,0.567,6,0.000,0.000,2713,2001,1444,0,0,0,0,0,0
$GC,6449,0.95,454.9,16.2,14.1,865,6457,0.00,2.17,0.00,0.000,4,0.000,0.040,2724,592,1437,0,0,0,0,0,0
$GC,6494,1.01,464.3,9.7,13.3,872,6512,0.00,2.15,8.02,0.458,6,0.000,0.033,2724,2000,1404,0,0,0,0,0,0
$STATE,6546,end climb,SURFACE_DEPTH_REACHED
$STATE,6546,begin surface coast
$FINISH,0.7,1.019400
$STATE,6571,end surface coast,CONTROL_FINISHED_OK
$STATE,6571,begin surface
$SM_CCo,6659,0.00,0.000,0,0,1401,464.84
$SM_GC,1.67,6.55,0.00,0.00,0.041,0.000,0.000,194,2424,1401,-6.85,0.68,464.84
$IRIDIUM_FIX,2354.48,12610.66,111010,181818
$TT8_MAMPS,0.027713
$HUMID,48.30
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,24.6,28.290
$10V_AH,10.2,35.503
$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,16.750,52.575,475.550,0.000,0.000,30.364,17.575,174.371,0.250,0.000,11.782,2127.643,1728.607,472.725,2491.385,221.203,0.000,1296.516,0.000,1354.240,0.000,0.543,0.000
$DEVICE_MAMPS,219.555,45.900,871.335,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,596.198,1345.740,1617.846,0.000,0.000,0.000,2296.913,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331424
$DATA_FILE_SIZE,63522,884
$CAP_FILE_SIZE,91091,0
$CFSIZE,260165632,235331584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062, 89.1,1
$GPS,111010,224032,2403.727,12609.024,9,1.3,9,-3.6