version: 66.08
glider: 181
mission: 4
dive: 224
start: 10 12 110 19 0 44
data:
$ID,181
$MISSION,4
$DIVE,224
$N_DIVES,236
$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,-38127.895
$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,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,446.0
$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
$GPS1,121010,185237,2406.384,12609.972,8,1.8,13,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-72.6
$GPS2,121010,190016,2406.409,12609.980,12,2.9,31,-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,328.4,25225,-22.5,-13.889
$D_GRID,1779
$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,-45.12,0.000,2,0.000,0.000,206,2411,2719,0,0,0,0,0,0
$GC,70,-0.89,-155.7,3.2,-5.1,6,111,7.50,2.17,-27.48,0.000,4,0.220,0.047,2134,979,3936,0,0,0,0,0,0
$GC,245,-0.81,-155.7,59.3,-34.1,35,254,0.10,2.17,0.00,0.000,6,0.166,0.038,2154,2380,3937,0,0,0,0,0,0
$GC,579,-0.73,-155.7,159.8,-30.3,96,588,0.12,2.17,0.00,0.000,4,0.181,0.040,2176,3780,3938,0,0,0,0,0,0
$GC,704,-0.75,-155.7,187.6,-20.1,118,713,0.00,2.08,0.00,0.000,6,0.000,0.027,2177,2393,3942,0,0,0,0,0,0
$GC,1048,-0.75,-155.7,259.0,-17.7,179,1056,0.00,2.12,0.00,0.000,4,0.000,0.041,2166,3783,3939,0,0,0,0,0,0
$GC,1128,-0.78,-155.7,271.6,-15.2,193,1135,0.00,2.05,0.00,0.000,6,0.000,0.027,2167,2391,3939,0,0,0,0,0,0
$GC,1460,-0.78,-155.7,333.4,-17.7,238,1463,0.00,2.05,0.00,0.000,4,0.000,0.033,2166,1003,3939,0,0,0,0,0,0
$GC,1553,-0.80,-155.7,348.9,-16.1,246,1561,0.00,2.15,0.00,0.000,6,0.000,0.036,2162,2406,3939,0,0,0,0,0,0
$GC,1880,-0.80,-155.7,405.7,-16.9,277,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2407,3938,0,0,0,0,0,0
$GC,2199,-0.81,-155.7,454.9,-14.6,307,2203,0.00,2.10,0.00,0.000,4,0.000,0.044,2151,3787,3937,0,0,0,0,0,0
$GC,2254,-0.84,-155.7,463.0,-13.1,311,2262,0.00,2.08,0.00,0.000,6,0.000,0.028,2151,2404,3937,0,0,0,0,0,0
$STATE,2514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2514,begin apogee
$GC,2520,-0.16,0.0,501.6,15.6,336,2647,0.65,0.00,116.40,0.872,6,0.121,0.000,2367,1975,3302,0,0,0,0,0,0
$STATE,2648,end apogee,CONTROL_FINISHED_OK
$STATE,2648,begin climb
$GC,2650,0.89,155.7,509.4,0.0,346,2779,0.90,2.22,120.05,0.858,4,0.046,0.037,2726,605,2662,0,0,0,0,0,0
$GC,2954,0.76,155.7,491.5,15.9,372,2962,0.17,2.17,0.00,0.000,6,0.164,0.033,2675,2009,2663,0,0,0,0,0,0
$GC,3281,0.71,187.8,451.5,12.0,403,3311,0.00,2.25,24.60,0.809,4,0.000,0.041,2675,3409,2533,0,0,0,0,0,0
$GC,3373,0.61,187.8,438.4,15.8,410,3383,0.20,2.15,0.00,0.000,6,0.166,0.030,2625,2017,2529,0,0,0,0,0,0
$GC,3700,0.63,233.7,402.0,11.1,441,3740,0.00,2.20,35.15,0.806,4,0.000,0.038,2635,595,2346,0,0,0,0,0,0
$GC,3846,0.64,247.2,382.8,13.1,453,3867,0.00,2.15,11.85,0.726,6,0.000,0.033,2635,2000,2291,0,0,0,0,0,0
$GC,4184,0.62,247.2,332.2,14.7,485,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2000,2286,0,0,0,0,0,0
$GC,4506,0.63,271.1,288.3,12.5,523,4534,0.00,0.00,18.85,0.721,6,0.000,0.000,2635,2000,2195,0,0,0,0,0,0
$GC,4871,0.67,300.8,240.7,12.1,587,4900,0.00,2.22,23.95,0.698,4,0.000,0.041,2645,597,2071,0,0,0,0,0,0
$GC,4936,0.70,324.2,232.4,12.5,597,4964,0.00,2.15,18.62,0.673,6,0.000,0.033,2645,2009,1977,0,0,0,0,0,0
$GC,5303,0.76,376.7,182.7,10.7,661,5352,0.00,2.22,40.53,0.662,4,0.000,0.041,2645,3399,1761,0,0,0,0,0,0
$GC,5419,0.80,376.7,166.0,15.0,679,5426,0.00,2.15,0.00,0.000,6,0.000,0.031,2655,1995,1757,0,0,0,0,0,0
$GC,5754,0.85,392.6,116.3,12.9,740,5780,0.12,2.17,12.43,0.570,4,0.085,0.040,2732,600,1696,0,0,0,0,0,0
$GC,5841,0.85,392.6,102.9,16.4,754,5851,0.10,2.15,0.00,0.000,6,0.133,0.034,2699,1994,1695,0,0,0,0,0,0
$GC,6177,0.96,455.4,63.5,10.1,815,6232,0.10,0.00,47.70,0.571,6,0.096,0.000,2748,1995,1439,0,0,0,0,0,0
$STATE,6550,end climb,SURFACE_DEPTH_REACHED
$STATE,6550,begin surface coast
$FINISH,0.7,0.998335
$STATE,6569,end surface coast,CONTROL_FINISHED_OK
$STATE,6569,begin surface
$SM_CCo,6657,0.00,0.000,0,0,1432,457.73
$SM_GC,1.74,6.57,0.00,0.00,0.037,0.000,0.000,197,2422,1432,-6.86,0.62,457.73
$IRIDIUM_FIX,2354.48,12610.66,121010,161632
$TT8_MAMPS,0.029211
$HUMID,47.99
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,25.40
$XPDR_PINGS,1
$24V_AH,24.6,29.558
$10V_AH,10.2,37.217
$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,16.550,48.575,470.125,0.000,0.000,25.129,40.434,205.604,0.250,0.000,35.332,2109.990,1725.164,465.432,2583.372,234.390,0.000,1283.672,0.000,1374.916,0.000,0.543,0.000
$DEVICE_MAMPS,219.555,47.430,872.100,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,595.728,1345.815,1620.662,0.000,0.000,0.000,2241.634,0.000,0.000,0.000
$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,63537,884
$CAP_FILE_SIZE,88448,0
$CFSIZE,260165632,234582016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092,102.4,1
$GPS,121010,205254,2407.093,12609.973,37,1.4,37,-3.6