version: 66.08
glider: 181
mission: 4
dive: 228
start: 10 13 110 3 6 30
data:
$ID,181
$MISSION,4
$DIVE,228
$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,-38132.918
$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,39
$R_STBD_OVSHOOT,42
$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,454.0
$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
$GPS1,131010,025906,2408.960,12610.259,25,1.1,35,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-72.6
$GPS2,131010,030602,2408.886,12610.253,11,1.4,11,-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,355.3,20691,-22.5,-13.889
$D_GRID,1710
$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,-45.03,0.000,2,0.000,0.000,211,2403,2633,0,0,0,0,0,0
$GC,70,-0.89,-155.7,3.0,-4.4,6,119,7.53,2.12,-31.50,0.000,4,0.221,0.051,2126,3784,3933,0,0,0,0,0,0
$GC,241,-0.78,-155.7,55.0,-37.2,34,250,0.12,2.12,0.00,0.000,6,0.149,0.029,2163,2391,3934,0,0,0,0,0,0
$GC,577,-0.74,-155.7,143.4,-19.2,95,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2389,3936,0,0,0,0,0,0
$GC,917,-0.70,-155.7,219.6,-23.0,156,926,0.12,2.12,0.00,0.000,4,0.165,0.034,2197,986,3937,0,0,0,0,0,0
$GC,971,-0.73,-155.7,228.8,-15.4,165,978,0.00,2.12,0.00,0.000,6,0.000,0.034,2190,2401,3937,0,0,0,0,0,0
$GC,1301,-0.74,-155.7,281.3,-14.0,226,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2401,3937,0,0,0,0,0,0
$GC,1630,-0.77,-155.7,325.7,-13.8,269,1634,0.00,2.08,0.00,0.000,4,0.000,0.042,2180,3780,3936,0,0,0,0,0,0
$GC,1672,-0.81,-155.7,331.4,-13.3,272,1676,0.00,2.05,0.00,0.000,6,0.000,0.027,2180,2379,3936,0,0,0,0,0,0
$GC,1997,-0.84,-155.7,384.2,-15.7,302,2001,0.00,2.03,0.00,0.000,4,0.000,0.034,2180,994,3934,0,0,0,0,0,0
$GC,2035,-0.87,-155.7,390.6,-16.7,305,2042,0.00,2.15,0.00,0.000,6,0.000,0.036,2171,2398,3934,0,0,0,0,0,0
$GC,2361,-0.89,-155.7,443.6,-15.6,336,2365,0.00,2.10,0.00,0.000,4,0.000,0.044,2160,3784,3933,0,0,0,0,0,0
$GC,2434,-0.93,-155.7,454.3,-13.8,342,2439,0.10,2.05,0.00,0.000,6,0.096,0.028,2102,2396,3932,0,0,0,0,0,0
$STATE,2664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2664,begin apogee
$GC,2669,-0.16,0.0,501.7,21.9,363,2793,0.85,0.00,116.35,0.872,6,0.144,0.000,2367,1986,3298,0,0,0,0,0,0
$STATE,2794,end apogee,CONTROL_FINISHED_OK
$STATE,2794,begin climb
$GC,2796,0.89,155.7,508.4,0.0,373,2928,0.90,2.20,119.35,0.856,4,0.037,0.036,2743,614,2663,0,0,0,0,0,0
$GC,3121,0.75,155.7,480.4,16.5,401,3129,0.22,2.15,0.00,0.000,6,0.170,0.031,2668,2010,2657,0,0,0,0,0,0
$GC,3448,0.69,180.1,438.6,12.4,432,3471,0.00,2.15,18.95,0.788,4,0.000,0.039,2668,3400,2563,0,0,0,0,0,0
$GC,3495,0.62,193.3,432.0,13.1,436,3512,0.20,2.10,11.55,0.734,6,0.175,0.031,2625,2016,2508,0,0,0,0,0,0
$GC,3839,0.63,230.3,390.6,11.7,468,3870,0.00,0.00,29.15,0.791,6,0.000,0.000,2625,2015,2359,0,0,0,0,0,0
$GC,4188,0.63,243.6,344.0,13.1,501,4204,0.00,2.20,10.95,0.705,4,0.000,0.040,2634,592,2304,0,0,0,0,0,0
$GC,4237,0.63,250.5,337.1,13.5,505,4249,0.00,2.15,7.12,0.633,6,0.000,0.032,2635,2008,2277,0,0,0,0,0,0
$GC,4569,0.61,250.5,290.3,14.2,542,4577,0.00,2.17,0.00,0.000,4,0.000,0.042,2635,3407,2272,0,0,0,0,0,0
$GC,4734,0.59,250.5,266.7,14.1,572,4742,0.08,2.15,0.00,0.000,6,0.155,0.031,2621,1997,2270,0,0,0,0,0,0
$GC,5064,0.62,278.2,225.9,12.2,633,5093,0.00,2.15,21.92,0.692,4,0.000,0.038,2630,595,2164,0,0,0,0,0,0
$GC,5123,0.66,295.0,218.5,12.9,642,5145,0.00,2.15,14.20,0.653,6,0.000,0.032,2630,1996,2094,0,0,0,0,0,0
$GC,5475,0.71,321.8,176.0,12.3,705,5504,0.00,2.20,20.77,0.648,4,0.000,0.038,2640,595,1986,0,0,0,0,0,0
$GC,5518,0.76,352.3,170.7,12.1,711,5554,0.00,2.15,24.88,0.640,6,0.000,0.031,2640,2011,1860,0,0,0,0,0,0
$GC,5881,0.79,355.6,120.4,13.7,776,5889,0.12,0.00,0.00,0.000,6,0.088,0.000,2709,2012,1854,0,0,0,0,0,0
$GC,6215,0.81,377.8,68.1,12.6,837,6240,0.00,2.15,19.17,0.569,4,0.000,0.040,2703,3407,1757,0,0,0,0,0,0
$GC,6325,0.83,384.5,52.5,13.5,855,6342,0.00,2.15,6.50,0.467,6,0.000,0.031,2713,1998,1730,0,0,0,0,0,0
$GC,6669,0.90,420.9,12.6,11.7,917,6708,0.00,2.17,28.17,0.535,4,0.000,0.039,2724,598,1581,0,0,0,0,0,0
$STATE,6747,end climb,SURFACE_DEPTH_REACHED
$STATE,6747,begin surface coast
$FINISH,0.6,1.008753
$STATE,6771,end surface coast,CONTROL_FINISHED_OK
$STATE,6771,begin surface
$SM_CCo,6864,0.00,0.000,0,0,1576,422.41
$SM_GC,1.73,6.60,0.00,0.00,0.043,0.000,0.000,205,2402,1576,-6.84,0.06,422.41
$IRIDIUM_FIX,2359.20,12606.85,131010,000018
$TT8_MAMPS,0.027713
$HUMID,48.03
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.6,30.017
$10V_AH,10.2,37.854
$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,16.850,56.700,449.050,0.000,0.000,28.804,16.762,203.777,0.000,0.000,14.606,2244.061,1694.341,461.389,2635.783,245.739,0.000,1305.571,0.000,1430.963,0.000,0.542,0.000
$DEVICE_MAMPS,221.085,51.255,872.100,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,630.038,1420.388,1715.493,0.000,0.000,0.000,2387.362,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331592
$DATA_FILE_SIZE,67187,933
$CAP_FILE_SIZE,95009,0
$CFSIZE,260165632,234283008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,167.9,1
$GPS,131010,050158,2409.549,12610.236,8,2.4,27,-3.6