version: 66.08
glider: 181
mission: 4
dive: 50
start: 9 28 110 7 17 30
data:
$ID,181
$MISSION,4
$DIVE,50
$N_DIVES,60
$D_SURF,3
$D_FLARE,3
$D_TGT,270
$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,65
$T_MISSION,80
$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,690
$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,-37900.57
$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,2300
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,47
$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,98.0
$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
$GPS1,280910,071219,2419.148,12608.248,9,1.8,14,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-65.9
$GPS2,280910,071702,2419.182,12608.188,15,1.7,15,-3.7
$SPEED_LIMITS,0.240,0.296
$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,90.8,2042,-22.4,-13.846
$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,19,-0.89,-155.7,0.0,0.0,0,105,0.00,0.00,-82.88,0.000,2,0.000,0.000,195,2311,2743,0,0,0,0,0,0
$GC,107,-0.89,-155.7,3.1,-4.7,11,149,7.65,2.12,-27.20,0.000,4,0.230,0.046,2133,882,3935,0,0,0,0,0,0
$GC,167,-0.73,-155.7,18.8,-34.7,19,177,0.20,2.15,0.00,0.000,6,0.177,0.035,2180,2285,3936,0,0,0,0,0,0
$GC,501,-0.67,-155.7,127.9,-22.6,80,509,0.00,2.17,0.00,0.000,4,0.000,0.042,2171,3702,3936,0,0,0,0,0,0
$GC,646,-0.67,-155.7,158.5,-19.6,106,655,0.10,2.12,0.00,0.000,6,0.134,0.028,2203,2281,3937,0,0,0,0,0,0
$GC,983,-0.67,-155.7,223.7,-16.6,167,991,0.00,2.03,0.00,0.000,4,0.000,0.034,2203,894,3938,0,0,0,0,0,0
$GC,1125,-0.72,-155.7,242.5,-13.8,193,1132,0.00,2.10,0.00,0.000,6,0.000,0.034,2196,2308,3937,0,0,0,0,0,0
$STATE,1318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1319,begin apogee
$GC,1323,-0.16,0.0,270.2,14.6,229,1444,0.52,0.00,113.95,0.670,6,0.121,0.000,2373,1967,3297,0,0,0,0,0,0
$STATE,1446,end apogee,CONTROL_FINISHED_OK
$STATE,1446,begin climb
$GC,1447,0.89,155.7,275.3,0.0,247,1571,0.90,2.35,115.57,0.662,4,0.046,0.039,2726,3409,2663,0,0,0,0,0,0
$GC,1815,0.80,202.6,250.6,11.1,309,1858,0.20,2.08,35.85,0.636,6,0.187,0.028,2686,2016,2472,0,0,0,0,0,0
$GC,2181,0.75,213.1,203.2,13.2,375,2197,0.00,2.12,8.80,0.542,4,0.000,0.036,2695,596,2429,0,0,0,0,0,0
$GC,2323,0.69,213.1,185.5,14.1,399,2332,0.17,2.10,0.00,0.000,6,0.163,0.031,2648,2009,2427,0,0,0,0,0,0
$GC,2659,0.76,289.5,152.5,9.3,460,2726,0.00,2.20,56.80,0.605,4,0.000,0.042,2647,3395,2118,0,0,0,0,0,0
$GC,2740,0.80,317.8,143.7,12.2,471,2773,0.00,2.15,22.50,0.571,6,0.000,0.031,2657,1998,2000,0,0,0,0,0,0
$GC,3097,0.90,381.6,99.7,10.0,535,3153,0.15,2.20,47.50,0.566,4,0.075,0.041,2734,3396,1740,0,0,0,0,0,0
$GC,3268,0.86,381.6,72.3,16.8,563,3278,0.12,2.15,0.00,0.000,6,0.151,0.031,2705,1993,1735,0,0,0,0,0,0
$GC,3603,0.92,411.6,26.5,12.1,624,3635,0.00,2.15,22.05,0.507,4,0.000,0.039,2715,598,1619,0,0,0,0,0,0
$GC,3653,1.00,447.3,20.3,11.7,631,3685,0.00,2.12,27.20,0.500,6,0.000,0.032,2714,1992,1476,0,0,0,0,0,0
$STATE,3785,end climb,SURFACE_DEPTH_REACHED
$STATE,3785,begin surface coast
$FINISH,0.6,1.021824
$STATE,3803,end surface coast,CONTROL_FINISHED_OK
$STATE,3803,begin surface
$SM_CCo,3823,108.15,0.056,0,0,485,690.03
$SM_GC,1.44,0.00,0.00,108.15,0.000,0.000,0.056,194,2325,485,-6.97,0.71,690.03
$IRIDIUM_FIX,2413.38,12611.03,280910,060605
$TT8_MAMPS,0.027713
$HUMID,42.75
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,25.40
$XPDR_PINGS,6
$24V_AH,24.9,9.734
$10V_AH,10.4,10.113
$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,16.550,35.225,450.225,108.150,0.000,22.141,13.107,132.283,1.500,0.000,18.250,1493.366,213.482,544.322,1879.740,99.377,0.000,1176.915,0.000,947.265,0.000,0.544,0.000
$DEVICE_MAMPS,230.265,45.900,670.140,55.845,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,436.137,998.521,1319.423,0.000,0.000,0.000,2491.999,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331476
$DATA_FILE_SIZE,47064,656
$CAP_FILE_SIZE,64605,0
$CFSIZE,260165632,246620160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.252,298.5,1
$GPS,280910,082424,2419.450,12608.063,28,1.3,45,-3.7