version: 66.08
glider: 182
mission: 4
dive: 142
start: 10 2 110 20 30 1
data:
$ID,182
$MISSION,4
$DIVE,142
$N_DIVES,155
$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,-6721.0503
$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,49
$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,282.0
$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
$GPS1,021010,202406,2403.030,12647.546,40,1.0,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-73.9
$GPS2,021010,202932,2403.048,12647.597,11,1.9,11,-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,17.5,57894,-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,-184.9,0.0,0.0,0,86,0.00,0.00,-63.83,0.000,2,0.000,0.000,119,2295,2655,0,0,0,0,0,0
$GC,89,-0.92,-184.9,3.3,-5.5,8,130,9.30,0.00,-26.25,0.000,6,0.228,0.000,2478,2294,3958,0,0,0,0,0,0
$GC,496,-0.61,-184.9,152.7,-31.2,73,504,0.32,2.10,0.00,0.000,4,0.166,0.041,2566,3694,3962,0,0,0,0,0,0
$GC,584,-0.77,-184.9,171.0,-15.5,87,591,0.00,2.08,0.00,0.000,6,0.000,0.029,2566,2261,3963,0,0,0,0,0,0
$GC,950,-0.85,-184.9,234.0,-16.8,148,959,0.17,2.08,0.00,0.000,4,0.070,0.035,2480,878,3967,0,0,0,0,0,0
$GC,1002,-0.76,-184.9,244.9,-22.4,156,1011,0.20,2.15,0.00,0.000,6,0.138,0.037,2534,2289,3964,0,0,0,0,0,0
$GC,1360,-0.76,-184.9,317.4,-19.3,210,1364,0.00,2.10,0.00,0.000,4,0.000,0.035,2534,879,3963,0,0,0,0,0,0
$GC,1393,-0.83,-184.9,324.0,-19.0,212,1403,0.00,2.12,0.00,0.000,6,0.000,0.036,2526,2277,3963,0,0,0,0,0,0
$GC,1720,-0.83,-184.9,383.4,-17.8,243,1724,0.00,2.08,0.00,0.000,4,0.000,0.044,2515,3685,3963,0,0,0,0,0,0
$GC,1774,-0.91,-184.9,392.3,-15.9,247,1778,0.00,2.03,0.00,0.000,6,0.000,0.028,2515,2271,3963,0,0,0,0,0,0
$GC,2104,-0.95,-184.9,450.0,-17.0,278,2109,0.12,2.15,0.00,0.000,4,0.086,0.046,2440,3692,3961,0,0,0,0,0,0
$GC,2133,-0.88,-184.9,455.5,-19.8,280,2138,0.20,2.05,0.00,0.000,6,0.152,0.031,2496,2283,3960,0,0,0,0,0,0
$STATE,2388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2388,begin apogee
$GC,2393,-0.25,0.0,501.7,18.1,304,2540,0.60,0.00,136.43,0.885,4,0.128,0.000,2695,2137,3203,0,0,0,0,0,0
$STATE,2541,end apogee,CONTROL_FINISHED_OK
$STATE,2541,begin climb
$GC,2542,0.92,184.9,511.1,0.0,316,2693,1.08,2.28,141.45,0.881,4,0.062,0.045,3082,3564,2450,0,0,0,0,0,0
$GC,2718,0.53,242.7,514.3,12.0,330,2771,0.50,2.12,45.92,0.852,6,0.176,0.028,2958,2163,2213,0,0,0,0,0,0
$GC,3098,0.61,312.7,472.3,11.3,365,3159,0.00,2.22,53.45,0.842,4,0.000,0.043,2958,3564,1928,0,0,0,0,0,0
$GC,3325,0.72,362.2,444.3,12.4,384,3371,0.10,2.12,39.12,0.821,6,0.053,0.030,3026,2157,1727,0,0,0,0,0,0
$GC,3687,0.66,362.2,381.5,17.6,418,3691,0.00,2.08,0.00,0.000,4,0.000,0.037,3037,760,1721,0,0,0,0,0,0
$GC,3742,0.66,362.2,371.9,16.3,422,3754,0.12,2.15,0.00,0.000,6,0.140,0.037,2997,2147,1721,0,0,0,0,0,0
$GC,4071,0.69,362.2,322.4,15.4,453,4075,0.00,2.10,0.00,0.000,4,0.000,0.039,3006,760,1717,0,0,0,0,0,0
$GC,4138,0.78,376.1,311.9,14.4,458,4159,0.00,2.12,10.85,0.682,6,0.000,0.038,3006,2139,1670,0,0,0,0,0,0
$GC,4501,0.78,376.1,256.1,15.2,514,4510,0.00,2.12,0.00,0.000,4,0.000,0.040,3015,756,1666,0,0,0,0,0,0
$GC,4610,0.89,401.2,239.9,13.8,532,4641,0.12,2.12,20.27,0.689,6,0.049,0.037,3089,2135,1567,0,0,0,0,0,0
$GC,4996,0.76,401.2,164.6,18.6,596,5005,0.20,2.10,0.00,0.000,4,0.155,0.034,3040,762,1563,0,0,0,0,0,0
$GC,5032,0.77,408.2,159.4,14.8,601,5048,0.00,2.08,6.10,0.518,6,0.000,0.037,3040,2136,1540,0,0,0,0,0,0
$GC,5413,0.87,435.1,107.0,13.7,663,5448,0.00,2.22,21.92,0.603,4,0.000,0.046,3040,3565,1428,0,0,0,0,0,0
$GC,5608,1.09,522.5,83.1,10.3,693,5683,0.20,2.12,65.93,0.597,6,0.044,0.030,3153,2146,1074,0,0,0,0,0,0
$STATE,6006,end climb,SURFACE_DEPTH_REACHED
$STATE,6006,begin surface coast
$FINISH,0.5,1.008753
$STATE,6019,end surface coast,CONTROL_FINISHED_OK
$STATE,6020,begin surface
$SM_CCo,6105,0.00,0.000,0,0,1068,522.98
$SM_GC,1.41,7.97,0.00,0.00,0.046,0.000,0.000,134,2314,1068,-8.20,1.10,522.98
$IRIDIUM_FIX,2349.77,12651.25,021010,181832
$TT8_MAMPS,0.027713
$HUMID,42.51
$INTERNAL_PRESSURE,9.5719
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.5,20.763
$10V_AH,10.3,24.798
$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,21.225,51.250,541.450,0.000,0.000,31.052,16.068,149.045,0.000,0.000,12.605,1796.460,1492.962,495.268,2487.919,166.707,0.000,1292.405,0.000,1206.277,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,63.495,885.105,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,507.529,1152.982,1635.231,0.000,0.000,0.000,2023.011,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,330364
$DATA_FILE_SIZE,46966,757
$CAP_FILE_SIZE,82863,0
$CFSIZE,260165632,238194688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134,116.9,1
$GPS,021010,221251,2403.685,12648.317,8,2.7,27,-3.6