version: 66.08
glider: 182
mission: 4
dive: 76
start: 9 27 110 23 43 45
data:
$ID,182
$MISSION,4
$DIVE,76
$N_DIVES,85
$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,-8
$MAX_BUOY,190
$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,-6638.145
$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,49
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,3204
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,150.0
$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
$GPS1,270910,233944,2350.079,12634.281,12,1.0,12,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-76.8
$GPS2,270910,234314,2350.125,12634.270,12,1.6,12,-3.6
$SPEED_LIMITS,0.262,0.330
$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,103.0,1259,-27.8,-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,-1.01,-117.1,0.0,0.0,0,62,0.00,0.00,-40.53,0.000,2,0.000,0.000,138,2226,2717,0,0,0,0,0,0
$GC,64,-1.10,-184.9,3.6,-6.9,5,107,9.18,2.17,-23.35,0.000,4,0.237,0.051,2421,796,3961,0,0,0,0,0,0
$GC,153,-0.66,-184.9,42.0,-54.0,17,163,0.55,2.15,0.00,0.000,6,0.187,0.035,2566,2206,3963,0,0,0,0,0,0
$GC,528,-0.79,-184.9,138.2,-22.0,78,537,0.12,2.15,0.00,0.000,4,0.088,0.044,2495,3617,3964,0,0,0,0,0,0
$GC,603,-0.91,-184.9,156.0,-22.4,90,612,0.00,2.08,0.00,0.000,6,0.000,0.030,2490,2210,3962,0,0,0,0,0,0
$GC,962,-0.91,-184.9,250.7,-24.5,151,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2206,3965,0,0,0,0,0,0
$GC,1307,-0.96,-184.9,335.7,-24.4,199,1311,0.00,2.12,0.00,0.000,4,0.000,0.043,2485,3627,3964,0,0,0,0,0,0
$GC,1416,-1.17,-184.9,358.3,-19.1,208,1420,0.22,2.05,0.00,0.000,6,0.060,0.030,2382,2218,3964,0,0,0,0,0,0
$GC,1740,-0.97,-184.9,459.8,-31.2,238,1743,0.32,0.00,0.00,0.000,6,0.180,0.000,2470,2214,3963,0,0,0,0,0,0
$STATE,1931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1931,begin apogee
$GC,1935,-0.25,0.0,501.4,19.5,256,2080,0.70,0.00,136.75,0.873,4,0.140,0.000,2696,2214,3205,0,0,0,0,0,0
$STATE,2081,end apogee,CONTROL_FINISHED_OK
$STATE,2081,begin climb
$GC,2083,1.10,184.9,509.2,0.0,268,2232,1.17,0.00,140.95,0.863,6,0.050,0.000,3145,2211,2449,0,0,0,0,0,0
$GC,2550,0.78,184.9,454.9,17.8,310,2554,0.38,2.08,0.00,0.000,4,0.184,0.043,3036,3576,2444,0,0,0,0,0,0
$GC,2810,0.66,211.9,417.0,12.8,332,2836,0.15,2.10,20.50,0.767,6,0.162,0.030,2999,2163,2341,0,0,0,0,0,0
$GC,3155,0.78,261.0,379.2,10.9,364,3205,0.10,2.28,38.78,0.773,4,0.103,0.044,3047,3577,2136,0,0,0,0,0,0
$GC,3301,0.71,261.0,356.1,17.7,376,3312,0.12,2.15,0.00,0.000,6,0.158,0.030,3020,2166,2133,0,0,0,0,0,0
$GC,3629,0.80,280.4,310.8,13.5,407,3650,0.00,0.00,15.10,0.698,6,0.000,0.000,3019,2164,2061,0,0,0,0,0,0
$GC,3992,0.92,307.9,261.8,12.8,463,4022,0.17,2.17,22.02,0.691,4,0.073,0.044,3100,3577,1949,0,0,0,0,0,0
$GC,4029,0.85,307.9,255.2,17.7,468,4040,0.15,2.15,0.00,0.000,6,0.165,0.031,3065,2165,1945,0,0,0,0,0,0
$GC,4398,0.85,307.9,190.2,15.2,529,4405,0.00,2.10,0.00,0.000,4,0.000,0.037,3074,747,1939,0,0,0,0,0,0
$GC,4577,0.89,307.9,161.7,15.3,559,4584,0.00,2.15,0.00,0.000,6,0.000,0.035,3074,2172,1937,0,0,0,0,0,0
$GC,4948,0.93,308.5,105.1,15.1,620,4958,0.00,2.17,0.00,0.000,4,0.000,0.038,3085,743,1939,0,0,0,0,0,0
$GC,4980,0.98,308.5,100.2,15.3,624,4989,0.00,2.17,0.00,0.000,6,0.000,0.036,3085,2165,1940,0,0,0,0,0,0
$GC,5354,1.26,415.0,56.6,5.9,685,5445,0.25,2.20,79.32,0.569,4,0.060,0.043,3204,3568,1507,0,0,0,0,0,0
$GC,5575,1.11,415.0,18.9,22.0,717,5585,0.22,2.12,0.00,0.000,6,0.162,0.030,3144,2157,1505,0,0,0,0,0,0
$STATE,5664,end climb,SURFACE_DEPTH_REACHED
$STATE,5664,begin surface coast
$FINISH,0.4,1.006995
$STATE,5685,end surface coast,CONTROL_FINISHED_OK
$STATE,5685,begin surface
$SM_CCo,5770,0.00,0.000,0,0,1499,417.50
$SM_GC,1.45,7.97,0.00,0.00,0.045,0.000,0.000,130,2244,1499,-8.22,0.96,417.50
$IRIDIUM_FIX,2335.63,12628.65,270910,232323
$TT8_MAMPS,0.028462
$HUMID,41.77
$INTERNAL_PRESSURE,9.6012
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,24.5,12.970
$10V_AH,10.3,15.185
$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,21.800,38.650,453.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,12.935,1758.201,1324.143,422.687,2246.348,93.954,0.000,1159.249,0.000,1161.815,0.000,0.543,0.000
$DEVICE_MAMPS,237.150,96.390,872.865,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,493.138,1117.327,1652.010,0.000,0.000,0.000,2160.245,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,330492
$DATA_FILE_SIZE,46790,734
$CAP_FILE_SIZE,84967,0
$CFSIZE,260165632,242323456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.017,316.3,1
$GPS,280910,012038,2349.930,12634.837,11,1.8,11,-3.6