version: 66.08
glider: 181
mission: 4
dive: 87
start: 10 1 110 7 31 46
data:
$ID,181
$MISSION,4
$DIVE,87
$N_DIVES,100
$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,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,-37947.414
$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,32
$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,172.0
$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
$GPS1,011010,072508,2400.798,12608.478,9,1.3,9,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-62.3
$GPS2,011010,073119,2400.811,12608.394,10,1.2,15,-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,16.3,35554,-22.5,-13.889
$D_GRID,1594
$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,-155.7,0.0,0.0,0,110,0.00,0.00,-88.18,0.000,2,0.000,0.000,204,2397,2911,0,0,0,0,0,0
$GC,113,-0.89,-155.7,3.6,-6.5,11,152,7.57,2.17,-21.05,0.000,4,0.228,0.056,2124,3779,3936,0,0,0,0,0,0
$GC,253,-0.77,-155.7,56.2,-39.7,34,262,0.15,2.10,0.00,0.000,6,0.158,0.029,2168,2393,3937,0,0,0,0,0,0
$GC,586,-0.72,-155.7,148.7,-24.3,95,594,0.00,2.10,0.00,0.000,4,0.000,0.034,2168,992,3939,0,0,0,0,0,0
$GC,614,-0.67,-155.7,155.6,-25.7,99,621,0.17,2.12,0.00,0.000,6,0.158,0.036,2206,2405,3939,0,0,0,0,0,0
$GC,961,-0.67,-155.7,219.3,-14.9,160,970,0.00,2.12,0.00,0.000,4,0.000,0.044,2197,3781,3939,0,0,0,0,0,0
$GC,999,-0.69,-155.7,225.1,-15.7,166,1007,0.00,2.08,0.00,0.000,6,0.000,0.028,2198,2391,3940,0,0,0,0,0,0
$GC,1344,-0.70,-155.7,284.6,-18.5,227,1351,0.00,2.05,0.00,0.000,4,0.000,0.034,2197,996,3939,0,0,0,0,0,0
$GC,1407,-0.74,-155.7,295.6,-15.9,238,1415,0.00,2.15,0.00,0.000,6,0.000,0.037,2191,2402,3937,0,0,0,0,0,0
$GC,1737,-0.77,-155.7,346.8,-14.5,271,1741,0.00,2.10,0.00,0.000,4,0.000,0.045,2181,3780,3938,0,0,0,0,0,0
$GC,1843,-0.83,-155.7,361.4,-12.1,280,1847,0.00,2.03,0.00,0.000,6,0.000,0.028,2181,2388,3937,0,0,0,0,0,0
$GC,2170,-0.86,-155.7,409.9,-15.0,310,2173,0.00,2.05,0.00,0.000,4,0.000,0.035,2181,998,3936,0,0,0,0,0,0
$GC,2260,-0.91,-155.7,422.7,-13.7,318,2264,0.12,2.10,0.00,0.000,6,0.083,0.037,2116,2403,3935,0,0,0,0,0,0
$GC,2586,-0.89,-155.7,485.7,-19.9,348,2590,0.00,2.08,0.00,0.000,4,0.000,0.046,2102,3778,3932,0,0,0,0,0,0
$GC,2649,-0.89,-155.7,497.7,-17.4,353,2653,0.12,2.03,0.00,0.000,6,0.158,0.029,2138,2392,3932,0,0,0,0,0,0
$STATE,2664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2664,begin apogee
$GC,2668,-0.16,0.0,500.8,17.2,354,2790,0.70,0.00,116.93,0.857,6,0.125,0.000,2368,1982,3298,0,0,0,0,0,0
$STATE,2791,end apogee,CONTROL_FINISHED_OK
$STATE,2791,begin climb
$GC,2792,0.89,155.7,506.3,0.0,364,2928,0.90,2.38,120.10,0.840,4,0.047,0.040,2719,3415,2661,0,0,0,0,0,0
$GC,3142,0.75,155.7,468.9,16.5,394,3147,0.25,2.10,0.00,0.000,6,0.185,0.030,2666,2010,2655,0,0,0,0,0,0
$GC,3467,0.71,191.3,425.8,11.8,424,3500,0.00,0.00,27.23,0.788,6,0.000,0.000,2663,2007,2518,0,0,0,0,0,0
$GC,3817,0.66,211.6,379.0,12.7,457,3843,0.00,2.20,16.35,0.746,4,0.000,0.039,2675,598,2435,0,0,0,0,0,0
$GC,3900,0.60,211.6,367.4,14.9,464,3905,0.20,2.12,0.00,0.000,6,0.167,0.034,2622,2007,2434,0,0,0,0,0,0
$GC,4225,0.66,271.6,331.6,10.3,494,4277,0.00,2.20,46.90,0.759,4,0.000,0.042,2622,3409,2190,0,0,0,0,0,0
$GC,4300,0.71,305.8,323.1,11.8,500,4338,0.00,2.15,28.00,0.728,6,0.000,0.031,2630,2007,2050,0,0,0,0,0,0
$GC,4661,0.71,305.8,274.6,14.5,549,4668,0.00,2.15,0.00,0.000,4,0.000,0.041,2641,595,2042,0,0,0,0,0,0
$GC,4699,0.72,305.8,269.4,14.0,555,4705,0.00,2.12,0.00,0.000,6,0.000,0.034,2641,2003,2044,0,0,0,0,0,0
$GC,5039,0.72,305.8,215.9,15.8,616,5047,0.00,2.17,0.00,0.000,4,0.000,0.043,2641,3405,2039,0,0,0,0,0,0
$GC,5127,0.72,305.8,202.3,15.8,631,5134,0.00,2.10,0.00,0.000,6,0.000,0.032,2651,2000,2037,0,0,0,0,0,0
$GC,5476,0.72,305.8,151.4,14.4,692,5484,0.00,2.17,0.00,0.000,4,0.000,0.042,2651,3403,2037,0,0,0,0,0,0
$GC,5531,0.72,305.8,143.4,15.6,701,5539,0.00,2.12,0.00,0.000,6,0.000,0.032,2662,2002,2035,0,0,0,0,0,0
$GC,5862,0.72,305.8,95.1,14.6,762,5871,0.00,2.15,0.00,0.000,4,0.000,0.041,2673,591,2037,0,0,0,0,0,0
$GC,5922,0.76,327.1,87.1,12.6,772,5946,0.00,2.12,15.20,0.568,6,0.000,0.034,2673,1995,1964,0,0,0,0,0,0
$GC,6272,0.97,452.9,47.6,6.4,835,6374,0.17,2.25,93.43,0.562,4,0.070,0.041,2754,3418,1451,0,0,0,0,0,0
$GC,6463,0.97,452.9,22.2,17.0,864,6471,0.00,2.20,0.00,0.000,6,0.000,0.031,2765,1998,1445,0,0,0,0,0,0
$STATE,6576,end climb,SURFACE_DEPTH_REACHED
$STATE,6576,begin surface coast
$FINISH,0.4,1.021910
$STATE,6595,end surface coast,CONTROL_FINISHED_OK
$STATE,6595,begin surface
$SM_CCo,6616,105.45,0.057,0,0,485,690.03
$SM_GC,1.17,0.00,0.00,105.45,0.000,0.000,0.057,205,2409,485,-6.94,0.25,690.03
$IRIDIUM_FIX,2354.48,12605.46,011010,050540
$TT8_MAMPS,0.027713
$HUMID,46.14
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,24.6,13.877
$10V_AH,10.3,15.818
$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,17.050,65.175,464.125,105.450,0.000,29.021,37.215,169.904,0.500,0.000,18.564,2137.051,1637.812,600.565,2573.996,150.288,0.000,1455.590,0.000,1394.514,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,55.845,856.800,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,597.766,1349.439,1640.281,0.000,0.000,0.000,2347.286,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331444
$DATA_FILE_SIZE,63908,887
$CAP_FILE_SIZE,94252,0
$CFSIZE,260165632,244039680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,248.0,1
$GPS,011010,092507,2401.627,12608.252,41,1.3,41,-3.6