version: 66.08
glider: 182
mission: 4
dive: 33
start: 9 24 110 23 3 5
data:
$ID,182
$MISSION,4
$DIVE,33
$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,-6552.6133
$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,46
$R_STBD_OVSHOOT,69
$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,64.0
$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
$GPS1,240910,225707,2350.207,12634.715,37,1.0,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.4
$GPS2,240910,230220,2350.246,12634.641,12,1.6,12,-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,143.5,760,-26.6,-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,-0.99,-127.9,0.0,0.0,0,79,0.00,0.00,-57.53,0.000,2,0.000,0.000,119,2255,2681,0,0,0,0,0,0
$GC,82,-1.13,-243.3,3.1,-5.9,7,124,9.50,2.17,-24.85,0.000,4,0.248,0.048,2406,796,3959,0,0,0,0,0,0
$GC,212,-0.84,-243.3,53.4,-40.6,26,222,0.38,2.12,0.00,0.000,6,0.182,0.040,2504,2168,3960,0,0,0,0,0,0
$GC,583,-0.78,-243.3,168.1,-27.1,87,590,0.00,2.17,0.00,0.000,4,0.000,0.043,2495,3630,3961,0,0,0,0,0,0
$GC,603,-0.71,-243.3,174.1,-27.6,90,613,0.17,2.12,0.00,0.000,6,0.161,0.030,2547,2190,3960,0,0,0,0,0,0
$GC,959,-0.84,-243.3,249.7,-18.9,151,966,0.00,2.03,0.00,0.000,4,0.000,0.036,2547,808,3962,0,0,0,0,0,0
$GC,1001,-1.05,-243.3,257.2,-16.6,158,1011,0.22,2.15,0.00,0.000,6,0.044,0.037,2428,2223,3962,0,0,0,0,0,0
$GC,1343,-0.90,-243.3,359.8,-29.6,202,1345,0.25,0.00,0.00,0.000,6,0.183,0.000,2495,2224,3962,0,0,0,0,0,0
$GC,1661,-0.98,-243.3,430.2,-20.0,232,1665,0.00,2.08,0.00,0.000,4,0.000,0.044,2483,3617,3961,0,0,0,0,0,0
$GC,1685,-1.08,-243.3,435.0,-21.0,234,1689,0.15,2.03,0.00,0.000,6,0.079,0.030,2412,2214,3961,0,0,0,0,0,0
$STATE,1924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1924,begin apogee
$GC,1927,-0.16,0.0,500.6,26.8,256,2118,1.02,0.00,180.70,0.877,4,0.158,0.000,2731,2209,2966,0,0,0,0,0,0
$STATE,2119,end apogee,CONTROL_FINISHED_OK
$STATE,2119,begin climb
$GC,2120,1.13,243.3,512.3,0.0,271,2318,1.12,0.00,187.95,0.860,6,0.054,0.000,3156,2209,1975,0,0,0,0,0,0
$GC,2635,0.83,243.3,411.5,26.3,317,2640,0.35,2.08,0.00,0.000,4,0.183,0.044,3055,3568,1968,0,0,0,0,0,0
$GC,2822,0.74,243.3,374.1,19.3,333,2827,0.15,2.08,0.00,0.000,6,0.177,0.030,3025,2162,1965,0,0,0,0,0,0
$GC,3149,0.79,243.3,321.5,15.7,363,3153,0.00,2.08,0.00,0.000,4,0.000,0.038,3034,757,1964,0,0,0,0,0,0
$GC,3204,0.86,243.3,312.4,15.7,367,3211,0.00,2.15,0.00,0.000,6,0.000,0.037,3034,2160,1964,0,0,0,0,0,0
$GC,3547,0.89,243.3,253.6,18.7,421,3555,0.10,2.08,0.00,0.000,4,0.105,0.038,3094,766,1962,0,0,0,0,0,0
$GC,3697,0.83,243.3,225.4,19.0,447,3705,0.15,2.10,0.00,0.000,6,0.181,0.037,3056,2159,1960,0,0,0,0,0,0
$GC,4052,0.85,260.3,173.9,13.8,508,4068,0.00,0.00,11.90,0.602,6,0.000,0.000,3059,2160,1905,0,0,0,0,0,0
$GC,4424,0.92,270.7,118.3,14.3,570,4441,0.00,2.15,9.10,0.544,4,0.000,0.044,3055,3564,1861,0,0,0,0,0,0
$GC,4546,0.97,277.8,100.6,14.6,589,4558,0.00,2.10,6.75,0.497,6,0.000,0.031,3065,2152,1834,0,0,0,0,0,0
$GC,4923,1.23,363.1,59.4,8.4,650,4997,0.28,0.00,64.75,0.558,6,0.061,0.000,3191,2150,1484,0,0,0,0,0,0
$STATE,5197,end climb,SURFACE_DEPTH_REACHED
$STATE,5197,begin surface coast
$FINISH,0.3,1.021114
$STATE,5218,end surface coast,CONTROL_FINISHED_OK
$STATE,5218,begin surface
$SM_CCo,5239,6.90,0.070,0,0,1435,375.06
$SM_GC,2.73,0.00,0.00,6.90,0.000,0.000,0.070,131,2232,1435,-8.29,0.62,375.06
$IRIDIUM_FIX,2337.99,12655.49,240910,212122
$TT8_MAMPS,0.027713
$HUMID,42.63
$INTERNAL_PRESSURE,9.5719
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.4,8.239
$10V_AH,10.3,9.114
$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,21.975,33.750,461.150,6.900,0.000,27.273,38.393,138.545,0.000,0.000,12.894,1674.250,1045.953,426.461,2319.373,121.305,0.000,1122.623,0.000,1084.066,0.000,0.543,0.000
$DEVICE_MAMPS,247.860,100.980,876.690,70.380,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,467.160,1057.903,1561.340,0.000,0.000,0.000,2133.751,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,330444
$DATA_FILE_SIZE,43588,695
$CAP_FILE_SIZE,72390,0
$CFSIZE,260165632,244944896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.173,337.9,1
$GPS,250910,003120,2350.047,12634.980,15,1.2,15,-3.6