version: 66.08
glider: 181
mission: 4
dive: 98
start: 10 2 110 5 30 17
data:
$ID,181
$MISSION,4
$DIVE,98
$N_DIVES,110
$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,-37961.23
$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,39
$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,194.0
$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
$GPS1,021010,052337,2412.097,12608.758,38,0.9,38,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-67.6
$GPS2,021010,052950,2412.090,12608.725,12,1.4,12,-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,357.3,14657,-22.5,-13.889
$D_GRID,1525
$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,-155.7,0.0,0.0,0,107,0.00,0.00,-85.28,0.000,2,0.000,0.000,207,2407,2826,0,0,0,0,0,0
$GC,110,-0.89,-155.7,3.3,-5.5,11,149,7.57,2.10,-24.20,0.000,4,0.228,0.054,2127,3783,3933,0,0,0,0,0,0
$GC,286,-0.81,-155.7,62.3,-27.8,41,294,0.08,2.10,0.00,0.000,6,0.162,0.030,2147,2400,3934,0,0,0,0,0,0
$GC,618,-0.74,-155.7,162.2,-26.3,102,628,0.12,2.15,0.00,0.000,4,0.176,0.042,2173,3774,3936,0,0,0,0,0,0
$GC,643,-0.69,-155.7,168.2,-27.4,105,651,0.12,2.05,0.00,0.000,6,0.158,0.028,2205,2382,3936,0,0,0,0,0,0
$GC,992,-0.70,-155.7,229.7,-17.0,166,1000,0.00,2.15,0.00,0.000,4,0.000,0.043,2196,3768,3936,0,0,0,0,0,0
$GC,1027,-0.72,-155.7,234.9,-16.6,171,1034,0.00,2.03,0.00,0.000,6,0.000,0.027,2197,2388,3936,0,0,0,0,0,0
$GC,1367,-0.74,-155.7,291.8,-17.5,232,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2385,3936,0,0,0,0,0,0
$GC,1698,-0.77,-155.7,341.9,-14.7,267,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2385,3934,0,0,0,0,0,0
$GC,2017,-0.80,-155.7,389.1,-14.9,297,2020,0.00,2.05,0.00,0.000,4,0.000,0.034,2196,1001,3932,0,0,0,0,0,0
$GC,2100,-0.87,-155.7,401.1,-12.7,304,2109,0.10,2.12,0.00,0.000,6,0.047,0.036,2128,2398,3936,0,0,0,0,0,0
$GC,2428,-0.86,-155.7,461.6,-18.5,335,2432,0.00,2.10,0.00,0.000,4,0.000,0.044,2117,3780,3930,0,0,0,0,0,0
$GC,2480,-0.86,-155.7,471.2,-16.7,339,2485,0.12,2.05,0.00,0.000,6,0.158,0.029,2149,2410,3929,0,0,0,0,0,0
$STATE,2681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2681,begin apogee
$GC,2686,-0.16,0.0,501.5,14.8,358,2808,0.65,0.00,115.38,0.859,6,0.123,0.000,2368,1981,3300,0,0,0,0,0,0
$STATE,2809,end apogee,CONTROL_FINISHED_OK
$STATE,2809,begin climb
$GC,2811,0.89,155.7,506.5,0.0,368,2942,0.90,2.20,120.45,0.843,4,0.040,0.038,2734,615,2663,0,0,0,0,0,0
$GC,2965,0.76,167.7,506.2,13.2,382,2981,0.25,2.17,10.70,0.728,6,0.184,0.033,2672,2011,2614,0,0,0,0,0,0
$GC,3299,0.68,173.7,456.3,13.5,413,3311,0.00,2.15,5.40,0.599,4,0.000,0.041,2672,3404,2590,0,0,0,0,0,0
$GC,3468,0.58,173.7,431.3,14.6,428,3473,0.25,2.10,0.00,0.000,6,0.186,0.031,2615,2007,2587,0,0,0,0,0,0
$GC,3800,0.62,231.6,395.8,10.4,459,3852,0.00,2.25,44.80,0.799,4,0.000,0.041,2624,598,2354,0,0,0,0,0,0
$GC,3983,0.64,244.0,372.3,13.1,475,3999,0.00,2.12,10.73,0.703,6,0.000,0.033,2624,1998,2303,0,0,0,0,0,0
$GC,4320,0.64,244.0,326.3,14.2,506,4324,0.00,2.12,0.00,0.000,4,0.000,0.041,2634,596,2298,0,0,0,0,0,0
$GC,4360,0.64,244.0,320.6,14.0,509,4365,0.00,2.10,0.00,0.000,6,0.000,0.033,2634,2005,2298,0,0,0,0,0,0
$GC,4695,0.64,253.3,273.2,13.3,556,4710,0.00,2.15,7.88,0.627,4,0.000,0.041,2634,3402,2265,0,0,0,0,0,0
$GC,4740,0.62,253.3,266.8,14.6,563,4747,0.00,2.10,0.00,0.000,6,0.000,0.031,2644,2001,2263,0,0,0,0,0,0
$GC,5082,0.66,297.7,223.4,11.2,624,5123,0.00,2.20,34.83,0.692,4,0.000,0.040,2645,3406,2084,0,0,0,0,0,0
$GC,5187,0.66,297.7,209.9,14.0,641,5194,0.00,2.12,0.00,0.000,6,0.000,0.031,2655,2003,2080,0,0,0,0,0,0
$GC,5533,0.66,297.7,157.5,14.1,702,5542,0.00,2.15,0.00,0.000,4,0.000,0.041,2666,599,2077,0,0,0,0,0,0
$GC,5610,0.67,305.3,147.3,13.4,715,5626,0.00,2.12,6.22,0.516,6,0.000,0.033,2666,2000,2054,0,0,0,0,0,0
$GC,5952,0.69,321.5,101.6,12.9,777,5977,0.00,2.22,13.52,0.571,4,0.000,0.041,2666,3414,1988,0,0,0,0,0,0
$GC,6017,0.69,321.5,92.5,14.5,787,6025,0.08,2.15,0.00,0.000,6,0.143,0.031,2652,2003,1989,0,0,0,0,0,0
$GC,6350,0.84,406.7,54.7,8.8,848,6421,0.12,2.20,64.05,0.567,4,0.087,0.041,2727,594,1639,0,0,0,0,0,0
$GC,6484,0.94,449.1,38.7,11.3,868,6523,0.00,2.17,32.53,0.537,6,0.000,0.032,2727,2002,1466,0,0,0,0,0,0
$STATE,6732,end climb,SURFACE_DEPTH_REACHED
$STATE,6732,begin surface coast
$FINISH,0.5,1.002128
$STATE,6755,end surface coast,CONTROL_FINISHED_OK
$STATE,6756,begin surface
$SM_CCo,6778,108.07,0.058,0,0,485,690.27
$SM_GC,1.30,0.00,0.00,108.07,0.000,0.000,0.058,206,2412,485,-6.93,0.31,690.27
$IRIDIUM_FIX,2408.65,12616.25,021010,030305
$TT8_MAMPS,0.027713
$HUMID,45.47
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.7,15.152
$10V_AH,10.3,17.527
$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,16.975,60.900,466.475,108.075,0.000,25.043,42.620,171.802,0.000,0.000,14.549,2191.657,1700.453,594.215,2614.308,165.430,0.000,1452.400,0.000,1415.243,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,53.550,859.095,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,617.216,1393.833,1693.202,0.000,0.000,0.000,2374.822,0.000,0.000,0.000
$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,63773,916
$CAP_FILE_SIZE,95316,0
$CFSIZE,260165632,243281920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,147.6,1
$GPS,021010,072550,2412.990,12608.658,10,1.5,10,-3.6