version: 66.08
glider: 182
mission: 4
dive: 127
start: 10 1 110 16 40 37
data:
$ID,182
$MISSION,4
$DIVE,127
$N_DIVES,135
$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,-6702.2036
$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,2275
$C_ROLL_CLIMB,2160
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,36
$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,252.0
$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
$GPS1,011010,163414,2352.987,12638.095,12,1.9,12,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.0
$GPS2,011010,164008,2353.020,12638.021,15,1.9,15,-3.6
$SPEED_LIMITS,0.262,0.330
$TGT_NAME,NORTH_EDGE
$TGT_LATLONG,2430.000,12705.000
$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,46.7,82206,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.92,-184.9,0.0,0.0,0,81,0.00,0.00,-57.72,0.000,2,0.000,0.000,119,2271,2626,0,0,0,0,0,0
$GC,83,-0.92,-184.9,3.3,-4.9,7,126,9.38,2.17,-26.58,0.000,4,0.231,0.055,2466,3686,3960,0,0,0,0,0,0
$GC,178,-0.61,-184.9,34.7,-37.6,20,187,0.38,2.12,0.00,0.000,6,0.155,0.031,2578,2268,3962,0,0,0,0,0,0
$GC,552,-0.61,-184.9,132.4,-19.3,81,562,0.00,2.17,0.00,0.000,4,0.000,0.043,2565,3690,3963,0,0,0,0,0,0
$GC,589,-0.66,-184.9,139.2,-19.2,86,598,0.00,2.08,0.00,0.000,6,0.000,0.028,2570,2279,3961,0,0,0,0,0,0
$GC,951,-0.70,-184.9,206.9,-18.9,147,958,0.00,2.05,0.00,0.000,4,0.000,0.034,2569,875,3964,0,0,0,0,0,0
$GC,1005,-0.85,-184.9,216.5,-15.4,156,1014,0.12,2.15,0.00,0.000,6,0.047,0.035,2486,2293,3964,0,0,0,0,0,0
$GC,1358,-0.70,-184.9,306.0,-25.3,216,1362,0.25,2.05,0.00,0.000,4,0.158,0.040,2553,3688,3964,0,0,0,0,0,0
$GC,1424,-0.93,-184.9,318.2,-13.5,221,1432,0.17,2.03,0.00,0.000,6,0.068,0.028,2463,2281,3964,0,0,0,0,0,0
$GC,1749,-0.77,-184.9,394.4,-22.9,252,1751,0.25,0.00,0.00,0.000,6,0.154,0.000,2536,2276,3963,0,0,0,0,0,0
$GC,2068,-0.87,-184.9,444.5,-15.3,282,2071,0.00,2.03,0.00,0.000,4,0.000,0.034,2536,884,3962,0,0,0,0,0,0
$GC,2091,-0.99,-184.9,448.1,-14.9,284,2096,0.17,2.10,0.00,0.000,6,0.070,0.035,2443,2295,3962,0,0,0,0,0,0
$STATE,2322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2322,begin apogee
$GC,2326,-0.25,0.0,500.3,23.8,305,2474,0.80,0.00,136.35,0.882,4,0.148,0.000,2694,2137,3205,0,0,0,0,0,0
$STATE,2475,end apogee,CONTROL_FINISHED_OK
$STATE,2475,begin climb
$GC,2476,0.92,184.9,509.1,0.0,317,2627,1.08,2.12,141.77,0.875,4,0.058,0.035,3085,779,2449,0,0,0,0,0,0
$GC,2879,0.58,184.9,469.9,16.6,351,2888,0.38,2.15,0.00,0.000,6,0.165,0.035,2974,2164,2442,0,0,0,0,0,0
$GC,3206,0.66,306.3,439.2,8.5,382,3305,0.00,2.25,92.10,0.837,4,0.000,0.038,2983,783,1954,0,0,0,0,0,0
$GC,3554,0.77,347.8,397.0,12.9,412,3593,0.15,2.12,32.65,0.791,6,0.078,0.037,3054,2164,1785,0,0,0,0,0,0
$GC,3911,0.63,347.8,328.1,19.7,445,3915,0.22,2.12,0.00,0.000,4,0.155,0.036,2999,773,1777,0,0,0,0,0,0
$GC,3950,0.63,348.0,320.9,15.1,448,3954,0.00,2.10,0.00,0.000,6,0.000,0.037,2999,2145,1779,0,0,0,0,0,0
$GC,4287,0.67,373.5,273.2,13.8,494,4316,0.00,2.12,19.75,0.705,4,0.000,0.037,3009,783,1680,0,0,0,0,0,0
$GC,4359,0.76,402.4,263.6,13.6,505,4389,0.00,2.08,23.58,0.705,6,0.000,0.035,3009,2149,1563,0,0,0,0,0,0
$GC,4731,0.84,417.7,206.3,14.3,569,4754,0.12,2.12,12.52,0.632,4,0.086,0.037,3083,784,1500,0,0,0,0,0,0
$GC,4778,0.76,417.7,197.9,18.8,575,4785,0.20,2.08,0.00,0.000,6,0.155,0.035,3026,2145,1500,0,0,0,0,0,0
$GC,5132,0.84,433.5,144.1,14.3,636,5150,0.00,2.08,12.77,0.596,4,0.000,0.037,3034,784,1437,0,0,0,0,0,0
$GC,5178,0.96,458.4,137.7,13.8,642,5204,0.12,2.10,20.50,0.617,6,0.048,0.035,3110,2145,1337,0,0,0,0,0,0
$GC,5570,0.96,458.4,64.0,16.1,705,5579,0.00,2.17,0.00,0.000,4,0.000,0.044,3115,3569,1331,0,0,0,0,0,0
$GC,5636,0.96,458.4,51.7,18.0,715,5645,0.00,2.10,0.00,0.000,6,0.000,0.030,3120,2162,1331,0,0,0,0,0,0
$STATE,5925,end climb,SURFACE_DEPTH_REACHED
$STATE,5925,begin surface coast
$FINISH,0.5,1.011790
$STATE,5945,end surface coast,CONTROL_FINISHED_OK
$STATE,5945,begin surface
$SM_CCo,6032,0.00,0.000,0,0,1328,460.18
$SM_GC,1.61,7.75,0.00,0.00,0.040,0.000,0.000,126,2312,1328,-8.22,1.05,460.18
$IRIDIUM_FIX,2337.99,12635.24,011010,141433
$TT8_MAMPS,0.028462
$HUMID,43.10
$INTERNAL_PRESSURE,9.6012
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.5,18.748
$10V_AH,10.3,22.541
$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,21.550,51.025,492.000,0.000,0.000,30.493,41.185,150.430,0.000,0.000,16.173,1836.921,1359.088,463.950,2572.008,161.654,0.000,1245.715,0.000,1237.017,0.000,0.545,0.000
$DEVICE_MAMPS,231.030,63.495,882.045,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,513.644,1166.131,1672.174,0.000,0.000,0.000,2148.272,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,330412
$DATA_FILE_SIZE,50231,765
$CAP_FILE_SIZE,83915,0
$CFSIZE,260165632,239161344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,287.6,1
$GPS,011010,182224,2353.659,12638.429,42,1.2,42,-3.6