version: 66.08
glider: 181
mission: 4
dive: 31
start: 9 26 110 18 35 3
data:
$ID,181
$MISSION,4
$DIVE,31
$N_DIVES,40
$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,-37842.477
$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,36
$R_STBD_OVSHOOT,45
$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,60.0
$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
$GPS1,260910,182910,2402.820,12608.674,10,5.7,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-66.3
$GPS2,260910,183436,2402.843,12608.666,13,1.8,17,-3.6
$SPEED_LIMITS,0.241,0.296
$TGT_NAME,WAKE_N
$TGT_LATLONG,2411.000,12609.000
$TGT_RADIUS,2000.000
$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,20.7,15118,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.89,-155.7,0.0,0.0,0,112,0.00,0.00,-90.43,0.000,2,0.000,0.000,197,2310,2953,0,0,0,0,0,0
$GC,115,-0.89,-155.7,3.4,-6.8,12,148,7.72,2.12,-20.27,0.000,4,0.234,0.055,2121,3701,3936,0,0,0,0,0,0
$GC,177,-0.73,-155.7,25.5,-44.1,21,187,0.22,2.15,0.00,0.000,6,0.179,0.034,2183,2296,3937,0,0,0,0,0,0
$GC,511,-0.69,-155.7,127.8,-24.0,82,519,0.00,2.17,0.00,0.000,4,0.000,0.043,2175,3695,3938,0,0,0,0,0,0
$GC,574,-0.69,-155.7,142.6,-21.8,93,583,0.00,2.12,0.00,0.000,6,0.000,0.030,2175,2289,3938,0,0,0,0,0,0
$GC,912,-0.69,-155.7,217.4,-19.1,154,921,0.10,2.20,0.00,0.000,4,0.176,0.043,2190,3695,3939,0,0,0,0,0,0
$GC,969,-0.74,-155.7,226.7,-14.0,164,978,0.00,2.10,0.00,0.000,6,0.000,0.029,2190,2294,3939,0,0,0,0,0,0
$GC,1296,-0.75,-155.7,282.3,-16.3,225,1304,0.00,2.05,0.00,0.000,4,0.000,0.037,2190,899,3939,0,0,0,0,0,0
$GC,1337,-0.79,-155.7,289.1,-16.0,232,1345,0.00,2.12,0.00,0.000,6,0.000,0.037,2183,2293,3938,0,0,0,0,0,0
$GC,1673,-0.81,-155.7,346.0,-16.1,269,1676,0.00,2.15,0.00,0.000,4,0.000,0.045,2172,3708,3938,0,0,0,0,0,0
$GC,1711,-0.85,-155.7,352.1,-15.3,272,1715,0.00,2.08,0.00,0.000,6,0.000,0.029,2172,2300,3938,0,0,0,0,0,0
$GC,2042,-0.88,-155.7,404.0,-15.8,303,2046,0.00,2.17,0.00,0.000,4,0.000,0.045,2163,3716,3937,0,0,0,0,0,0
$GC,2081,-0.91,-155.7,410.7,-16.3,306,2085,0.00,2.08,0.00,0.000,6,0.000,0.030,2162,2297,3937,0,0,0,0,0,0
$GC,2406,-0.93,-155.7,461.5,-14.7,336,2411,0.12,2.20,0.00,0.000,4,0.089,0.046,2091,3715,3934,0,0,0,0,0,0
$GC,2446,-0.90,-155.7,468.2,-19.2,339,2450,0.15,2.08,0.00,0.000,6,0.163,0.031,2130,2301,3934,0,0,0,0,0,0
$STATE,2643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2643,begin apogee
$GC,2647,-0.16,0.0,501.3,16.1,357,2769,0.73,0.00,117.50,0.858,6,0.132,0.000,2370,1975,3297,0,0,0,0,0,0
$STATE,2770,end apogee,CONTROL_FINISHED_OK
$STATE,2770,begin climb
$GC,2771,0.89,155.7,506.6,0.0,367,2906,0.90,2.22,120.85,0.844,4,0.043,0.037,2734,608,2662,0,0,0,0,0,0
$GC,3152,0.75,155.7,470.5,14.8,400,3162,0.20,2.15,0.00,0.000,6,0.179,0.034,2677,2007,2656,0,0,0,0,0,0
$GC,3478,0.68,168.2,429.3,13.1,431,3494,0.12,2.20,9.70,0.717,4,0.196,0.044,2642,3401,2612,0,0,0,0,0,0
$GC,3591,0.61,174.0,414.1,13.5,441,3604,0.00,2.08,5.93,0.623,6,0.000,0.032,2651,2009,2589,0,0,0,0,0,0
$GC,3922,0.64,250.0,378.4,9.3,472,3987,0.00,2.22,59.58,0.789,4,0.000,0.043,2651,3410,2278,0,0,0,0,0,0
$GC,4134,0.59,250.0,347.4,14.6,490,4144,0.15,2.17,0.00,0.000,6,0.162,0.033,2617,2005,2272,0,0,0,0,0,0
$GC,4461,0.62,276.6,307.7,12.3,521,4487,0.00,2.25,20.62,0.724,4,0.000,0.043,2626,590,2170,0,0,0,0,0,0
$GC,4528,0.63,287.3,299.1,13.2,527,4543,0.00,2.15,9.85,0.656,6,0.000,0.034,2626,1998,2127,0,0,0,0,0,0
$GC,4867,0.67,315.4,252.7,12.2,589,4895,0.00,0.00,22.58,0.693,6,0.000,0.000,2626,1998,2011,0,0,0,0,0,0
$GC,5219,0.68,316.3,205.2,13.8,653,5227,0.00,2.15,0.00,0.000,4,0.000,0.043,2636,590,2006,0,0,0,0,0,0
$GC,5273,0.71,317.5,197.2,13.8,661,5280,0.00,2.12,0.00,0.000,6,0.000,0.035,2636,1999,2007,0,0,0,0,0,0
$GC,5607,0.73,317.5,149.2,15.1,722,5615,0.00,2.20,0.00,0.000,4,0.000,0.044,2636,3405,2006,0,0,0,0,0,0
$GC,5679,0.74,317.5,138.6,15.1,734,5687,0.00,2.15,0.00,0.000,6,0.000,0.033,2647,1990,2005,0,0,0,0,0,0
$GC,6009,0.81,359.1,95.3,11.4,795,6049,0.12,2.22,33.05,0.594,4,0.086,0.043,2711,3409,1833,0,0,0,0,0,0
$GC,6096,0.79,359.1,83.0,14.0,808,6105,0.12,2.15,0.00,0.000,6,0.153,0.032,2683,2006,1830,0,0,0,0,0,0
$GC,6430,0.89,419.3,46.7,10.3,869,6485,0.00,2.22,45.42,0.556,4,0.000,0.043,2680,3398,1587,0,0,0,0,0,0
$GC,6522,0.94,419.3,35.5,14.2,882,6530,0.00,2.15,0.00,0.000,6,0.000,0.033,2691,2006,1586,0,0,0,0,0,0
$STATE,6805,end climb,SURFACE_DEPTH_REACHED
$STATE,6805,begin surface coast
$FINISH,0.6,1.022091
$STATE,6829,end surface coast,CONTROL_FINISHED_OK
$STATE,6830,begin surface
$SM_CCo,6848,120.07,0.058,0,0,486,690.03
$SM_GC,1.31,0.00,0.00,120.07,0.000,0.000,0.058,198,2317,486,-6.96,0.45,690.03
$IRIDIUM_FIX,2352.12,12602.16,260910,161658
$TT8_MAMPS,0.027713
$HUMID,43.58
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,24.6,7.638
$10V_AH,10.3,7.232
$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,17.000,65.500,445.075,120.075,0.000,23.098,14.160,165.738,0.250,0.000,19.644,2267.131,1633.722,599.754,2677.819,124.122,0.000,1487.534,0.000,1481.677,0.000,0.542,0.000
$DEVICE_MAMPS,234.090,55.080,858.330,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,633.045,1427.777,1748.976,0.000,0.000,0.000,2445.408,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331464
$DATA_FILE_SIZE,67068,938
$CAP_FILE_SIZE,98377,0
$CFSIZE,260165632,247853056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119,311.8,1
$GPS,260910,203230,2404.120,12608.613,37,1.5,42,-3.6