version: 66.08
glider: 182
mission: 4
dive: 32
start: 9 24 110 21 14 50
data:
$ID,182
$MISSION,4
$DIVE,32
$N_DIVES,36
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,50
$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,110
$T_MISSION,150
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51767
$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,8
$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,-6551.3584
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3959
$C_PITCH,2784
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2160
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2965
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,-44.887753
$PRESSURE_SLOPE,0.0001160742
$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,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.2
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043355622
$SEABIRD_T_H,0.00062702101
$SEABIRD_T_I,2.4802104e-05
$SEABIRD_T_J,2.7976582e-06
$SEABIRD_C_G,-10.048581
$SEABIRD_C_H,1.1192983
$SEABIRD_C_I,-0.00090017414
$SEABIRD_C_J,0.0001699446
$TM_RECORDABOVE,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_UPLOADMAX,40000.0
$TM_STARTS,62.0
$TM_NFFT,512.0
$TM_NAVG,4.0
$TM_PSD,10.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,3.0
$LA_XMITPROFILE,0.0
$LA_UPLOADMAX,0.0
$LA_STARTS,0.0
$GPS1,240910,210844,2350.446,12634.678,15,1.1,15,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.4
$GPS2,240910,211408,2350.464,12634.575,14,1.7,14,-3.6
$SPEED_LIMITS,0.262,0.375
$TGT_NAME,WAKE1
$TGT_LATLONG,2350.000,12635.000
$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,141.5,1120,-22.1,-15.152
$D_GRID,5000
$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,-0.92,-184.2,0.0,0.0,0,71,0.00,0.00,-49.65,0.000,2,0.000,0.000,120,2235,2812,0,0,0,0,0,0
$GC,74,-0.99,-243.3,3.8,-7.8,6,109,9.65,2.15,-20.27,0.000,4,0.246,0.050,2452,807,3959,0,0,0,0,0,0
$GC,233,-0.65,-243.3,65.1,-39.3,30,242,0.43,2.15,0.00,0.000,6,0.175,0.037,2564,2209,3961,0,0,0,0,0,0
$GC,608,-0.65,-243.3,151.6,-22.0,91,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2211,3962,0,0,0,0,0,0
$GC,971,-0.69,-243.3,225.3,-18.6,152,981,0.00,2.12,0.00,0.000,4,0.000,0.044,2555,3617,3963,0,0,0,0,0,0
$GC,1046,-0.88,-243.3,237.2,-12.6,164,1057,0.12,2.08,0.00,0.000,6,0.048,0.029,2481,2195,3963,0,0,0,0,0,0
$GC,1397,-0.70,-243.3,324.7,-26.0,216,1401,0.25,2.00,0.00,0.000,4,0.165,0.034,2555,818,3963,0,0,0,0,0,0
$GC,1453,-0.83,-243.3,336.0,-16.9,220,1463,0.00,2.12,0.00,0.000,6,0.000,0.038,2547,2214,3963,0,0,0,0,0,0
$GC,1780,-0.93,-243.3,386.2,-15.7,251,1785,0.17,2.10,0.00,0.000,4,0.076,0.046,2456,3621,3962,0,0,0,0,0,0
$GC,1844,-0.89,-243.3,399.2,-20.4,256,1848,0.15,2.05,0.00,0.000,6,0.166,0.030,2497,2205,3962,0,0,0,0,0,0
$GC,2168,-0.89,-243.3,464.1,-19.1,286,2172,0.00,2.12,0.00,0.000,4,0.000,0.047,2487,3620,3960,0,0,0,0,0,0
$GC,2191,-0.89,-243.3,468.3,-19.2,288,2194,0.00,2.03,0.00,0.000,6,0.000,0.030,2488,2220,3961,0,0,0,0,0,0
$STATE,2351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2351,begin apogee
$GC,2355,-0.16,0.0,500.1,19.9,303,2541,0.75,0.00,181.15,0.872,4,0.139,0.000,2728,2215,2965,0,0,0,0,0,0
$STATE,2542,end apogee,CONTROL_FINISHED_OK
$STATE,2542,begin climb
$GC,2543,0.99,243.3,513.0,0.0,318,2742,1.05,2.28,188.75,0.856,4,0.050,0.036,3120,769,1973,0,0,0,0,0,0
$GC,2848,0.68,243.3,473.7,24.0,343,2853,0.40,2.17,0.00,0.000,6,0.168,0.036,3007,2168,1967,0,0,0,0,0,0
$GC,3176,0.64,254.2,423.6,14.6,373,3189,0.00,2.20,8.48,0.677,4,0.000,0.047,3008,3567,1927,0,0,0,0,0,0
$GC,3433,0.57,254.2,380.6,16.3,395,3441,0.15,2.10,0.00,0.000,6,0.148,0.031,2969,2161,1922,0,0,0,0,0,0
$GC,3759,0.68,298.8,338.9,12.7,426,3801,0.10,2.17,35.38,0.761,4,0.103,0.038,3025,771,1746,0,0,0,0,0,0
$GC,3936,0.69,307.5,312.5,14.7,441,3949,0.00,2.10,7.65,0.620,6,0.000,0.038,3025,2141,1713,0,0,0,0,0,0
$GC,4291,0.66,307.5,255.3,16.3,495,4298,0.00,2.08,0.00,0.000,4,0.000,0.040,3036,770,1708,0,0,0,0,0,0
$GC,4398,0.66,307.5,238.2,16.1,513,4405,0.15,2.08,0.00,0.000,6,0.157,0.037,2994,2138,1708,0,0,0,0,0,0
$GC,4760,0.80,366.5,192.4,11.9,574,4814,0.15,2.20,45.62,0.669,4,0.080,0.044,3063,3570,1471,0,0,0,0,0,0
$GC,4829,0.70,366.5,181.3,18.7,583,4836,0.22,2.15,0.00,0.000,6,0.158,0.031,3010,2134,1469,0,0,0,0,0,0
$GC,5195,0.82,395.0,126.0,13.6,644,5230,0.12,2.12,22.60,0.601,4,0.087,0.038,3081,762,1354,0,0,0,0,0,0
$GC,5384,0.82,395.0,93.2,17.9,673,5394,0.08,2.08,0.00,0.000,6,0.147,0.037,3055,2108,1352,0,0,0,0,0,0
$GC,5758,1.00,445.9,40.8,12.3,734,5802,0.15,0.00,38.38,0.552,6,0.078,0.000,3135,2109,1146,0,0,0,0,0,0
$STATE,5965,end climb,SURFACE_DEPTH_REACHED
$STATE,5965,begin surface coast
$FINISH,0.2,1.010680
$STATE,5986,end surface coast,CONTROL_FINISHED_OK
$STATE,5986,begin surface
$SM_CCo,6067,0.00,0.000,0,0,1137,448.16
$SM_GC,1.30,7.97,0.00,0.00,0.049,0.000,0.000,137,2258,1137,-8.21,1.36,448.16
$IRIDIUM_FIX,2337.99,12640.42,240910,191905
$TT8_MAMPS,0.027713
$HUMID,41.65
$INTERNAL_PRESSURE,9.5426
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.4,8.123
$10V_AH,10.3,8.977
$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,22.075,46.800,528.000,0.000,0.000,30.407,35.336,142.124,0.000,0.000,15.716,1860.612,1376.441,471.139,2578.828,128.684,0.000,1254.368,0.000,1243.021,0.000,0.543,0.000
$DEVICE_MAMPS,246.330,65.790,872.100,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,517.089,1171.325,1699.015,0.000,0.000,0.000,2189.185,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,330460
$DATA_FILE_SIZE,50363,769
$CAP_FILE_SIZE,82886,0
$CFSIZE,260165632,244989952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.165,329.2,1
$GPS,240910,225707,2350.207,12634.715,37,1.0,37,-3.6