version: 66.08
glider: 181
mission: 4
dive: 218
start: 10 12 110 6 57 30
data:
$ID,181
$MISSION,4
$DIVE,218
$N_DIVES,223
$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,-38120.367
$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,43
$R_STBD_OVSHOOT,37
$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,434.0
$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
$GPS1,121010,065032,2400.835,12608.578,9,1.4,9,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-69.6
$GPS2,121010,065702,2400.902,12608.535,16,1.6,16,-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,15.4,35378,-22.5,-13.889
$D_GRID,1638
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.89,-155.7,0.0,0.0,0,73,0.00,0.00,-52.17,0.000,2,0.000,0.000,198,2413,2678,0,0,0,0,0,0
$GC,76,-0.89,-155.7,3.1,-4.9,7,125,7.55,2.15,-29.17,0.000,4,0.220,0.056,2124,3775,3936,0,0,0,0,0,0
$GC,323,-0.80,-155.7,83.7,-33.1,49,331,0.12,2.10,0.00,0.000,6,0.145,0.028,2162,2391,3937,0,0,0,0,0,0
$GC,659,-0.74,-155.7,173.4,-26.4,110,667,0.00,2.15,0.00,0.000,4,0.000,0.041,2153,3774,3939,0,0,0,0,0,0
$GC,741,-0.74,-155.7,192.8,-20.4,124,750,0.08,2.05,0.00,0.000,6,0.135,0.027,2180,2401,3939,0,0,0,0,0,0
$GC,1098,-0.74,-155.7,262.1,-17.0,185,1106,0.00,2.08,0.00,0.000,4,0.000,0.034,2179,995,3939,0,0,0,0,0,0
$GC,1170,-0.77,-155.7,274.8,-16.0,197,1177,0.00,2.12,0.00,0.000,6,0.000,0.035,2171,2407,3940,0,0,0,0,0,0
$GC,1502,-0.77,-155.7,334.0,-16.4,240,1506,0.00,2.08,0.00,0.000,4,0.000,0.043,2161,3784,3939,0,0,0,0,0,0
$GC,1546,-0.79,-155.7,341.1,-15.6,243,1553,0.00,2.03,0.00,0.000,6,0.000,0.027,2161,2398,3939,0,0,0,0,0,0
$GC,1871,-0.79,-155.7,396.5,-17.7,274,1875,0.00,2.05,0.00,0.000,4,0.000,0.034,2161,1001,3938,0,0,0,0,0,0
$GC,1914,-0.81,-155.7,404.1,-16.9,277,1922,0.00,2.12,0.00,0.000,6,0.000,0.036,2151,2397,3937,0,0,0,0,0,0
$GC,2241,-0.81,-155.7,463.5,-19.1,308,2245,0.00,2.12,0.00,0.000,4,0.000,0.044,2141,3783,3935,0,0,0,0,0,0
$GC,2315,-0.84,-155.7,476.8,-16.4,314,2319,0.00,2.03,0.00,0.000,6,0.000,0.028,2141,2403,3936,0,0,0,0,0,0
$STATE,2447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2447,begin apogee
$GC,2452,-0.16,0.0,500.3,17.7,326,2575,0.70,0.00,117.00,0.870,6,0.123,0.000,2371,1975,3298,0,0,0,0,0,0
$STATE,2576,end apogee,CONTROL_FINISHED_OK
$STATE,2576,begin climb
$GC,2577,0.89,155.7,507.0,0.0,336,2705,0.90,2.17,119.18,0.857,4,0.044,0.037,2732,610,2662,0,0,0,0,0,0
$GC,2810,0.75,155.7,493.3,18.0,356,2815,0.25,2.12,0.00,0.000,6,0.172,0.032,2666,2009,2658,0,0,0,0,0,0
$GC,3136,0.71,189.2,451.2,11.9,386,3173,0.00,2.20,25.85,0.809,4,0.000,0.038,2675,617,2525,0,0,0,0,0,0
$GC,3233,0.65,204.2,439.0,13.0,394,3251,0.15,2.10,12.88,0.752,6,0.168,0.032,2638,2006,2465,0,0,0,0,0,0
$GC,3572,0.61,204.2,394.1,14.1,425,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2006,2459,0,0,0,0,0,0
$GC,3892,0.61,226.2,352.1,12.6,455,3916,0.00,2.17,16.98,0.757,4,0.000,0.041,2637,3404,2375,0,0,0,0,0,0
$GC,3951,0.58,232.4,344.0,13.5,460,3966,0.12,2.10,6.32,0.619,6,0.172,0.031,2615,2002,2350,0,0,0,0,0,0
$GC,4283,0.61,259.6,302.8,12.3,491,4313,0.00,0.00,21.90,0.740,6,0.000,0.000,2615,2000,2239,0,0,0,0,0,0
$GC,4637,0.64,270.9,255.1,13.2,554,4651,0.00,0.00,9.45,0.646,6,0.000,0.000,2615,2000,2193,0,0,0,0,0,0
$GC,4975,0.70,310.8,213.4,11.5,616,5013,0.12,2.22,31.25,0.689,4,0.086,0.040,2686,596,2032,0,0,0,0,0,0
$GC,5187,0.68,310.8,180.1,15.3,652,5196,0.12,2.15,0.00,0.000,6,0.133,0.032,2646,1994,2027,0,0,0,0,0,0
$GC,5521,0.76,361.2,141.4,10.9,713,5569,0.00,2.22,38.35,0.636,4,0.000,0.042,2646,3396,1824,0,0,0,0,0,0
$GC,5628,0.79,363.5,127.3,13.8,729,5637,0.00,2.15,0.00,0.000,6,0.000,0.031,2655,2006,1821,0,0,0,0,0,0
$GC,5963,0.89,417.6,82.6,10.6,790,6017,0.17,2.22,42.65,0.589,4,0.067,0.039,2750,594,1593,0,0,0,0,0,0
$GC,6091,0.87,417.6,61.2,16.9,810,6100,0.12,2.17,0.00,0.000,6,0.139,0.033,2710,1996,1590,0,0,0,0,0,0
$GC,6429,0.95,456.9,18.8,11.5,871,6468,0.00,2.22,29.23,0.533,4,0.000,0.041,2711,3404,1434,0,0,0,0,0,0
$GC,6526,1.03,480.0,6.3,12.5,886,6551,0.08,2.17,18.40,0.504,6,0.058,0.030,2767,1983,1341,0,0,0,0,0,0
$STATE,6558,end climb,SURFACE_DEPTH_REACHED
$STATE,6558,begin surface coast
$FINISH,0.7,0.997673
$STATE,6580,end surface coast,CONTROL_FINISHED_OK
$STATE,6580,begin surface
$SM_CCo,6672,0.00,0.000,0,0,1336,481.28
$SM_GC,1.61,6.62,0.00,0.00,0.033,0.000,0.000,196,2421,1336,-6.85,0.59,481.28
$IRIDIUM_FIX,2354.48,12607.37,121010,040456
$TT8_MAMPS,0.027713
$HUMID,48.03
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,24.6,28.868
$10V_AH,10.2,36.285
$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,17.125,56.725,489.425,0.000,0.000,22.822,24.144,177.726,0.250,0.000,19.165,2143.725,1670.614,479.025,2542.422,229.970,0.000,1322.656,0.000,1376.744,0.000,0.544,0.000
$DEVICE_MAMPS,220.320,55.845,869.805,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,602.422,1360.624,1648.539,0.000,0.000,0.000,2366.775,0.000,0.000,0.000
$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,63820,894
$CAP_FILE_SIZE,92282,0
$CFSIZE,260165632,234991616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,308.3,1
$GPS,121010,085001,2401.947,12608.566,40,1.4,40,-3.6