version: 66.08
glider: 182
mission: 4
dive: 177
start: 10 5 110 13 32 24
data:
$ID,182
$MISSION,4
$DIVE,177
$N_DIVES,195
$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,-6764.9937
$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,48
$R_STBD_OVSHOOT,77
$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,352.0
$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
$GPS1,051010,132604,2413.762,12702.744,13,2.3,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-71.4
$GPS2,051010,133155,2413.673,12702.758,10,1.1,16,-3.7
$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,337.1,30473,-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,21,-0.92,-184.9,0.0,0.0,0,80,0.00,0.00,-57.22,0.000,2,0.000,0.000,118,2309,2559,0,0,0,0,0,0
$GC,83,-0.92,-184.9,3.0,-4.1,7,135,9.43,2.05,-30.02,0.000,4,0.232,0.058,2471,3643,3961,0,0,0,0,0,0
$GC,211,-0.61,-184.9,46.0,-39.7,25,220,0.35,2.05,0.00,0.000,6,0.142,0.031,2579,2276,3962,0,0,0,0,0,0
$GC,587,-0.58,-184.9,138.1,-21.8,86,595,0.00,2.10,0.00,0.000,4,0.000,0.044,2570,3644,3965,0,0,0,0,0,0
$GC,628,-0.64,-184.9,146.3,-19.0,92,639,0.00,2.03,0.00,0.000,6,0.000,0.029,2570,2271,3964,0,0,0,0,0,0
$GC,1001,-0.70,-184.9,213.8,-18.6,153,1008,0.00,2.05,0.00,0.000,4,0.000,0.034,2571,864,3965,0,0,0,0,0,0
$GC,1043,-0.81,-184.9,221.7,-17.4,160,1054,0.08,2.10,0.00,0.000,6,0.055,0.035,2504,2253,3967,0,0,0,0,0,0
$GC,1406,-0.72,-184.9,302.5,-20.7,220,1411,0.17,2.12,0.00,0.000,4,0.152,0.043,2544,3685,3965,0,0,0,0,0,0
$GC,1498,-0.92,-184.9,316.2,-11.8,227,1506,0.15,2.00,0.00,0.000,6,0.073,0.028,2465,2289,3964,0,0,0,0,0,0
$GC,1824,-0.76,-184.9,390.5,-23.5,258,1828,0.25,2.08,0.00,0.000,4,0.149,0.032,2543,875,3963,0,0,0,0,0,0
$GC,1893,-0.97,-184.9,401.8,-14.0,264,1898,0.17,2.12,0.00,0.000,6,0.069,0.036,2448,2292,3964,0,0,0,0,0,0
$GC,2219,-0.83,-184.9,477.2,-22.9,294,2221,0.22,0.00,0.00,0.000,6,0.153,0.000,2512,2292,3962,0,0,0,0,0,0
$STATE,2356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2356,begin apogee
$GC,2361,-0.25,0.0,500.6,16.1,307,2509,0.55,0.00,136.25,0.890,4,0.123,0.000,2697,2135,3203,0,0,0,0,0,0
$STATE,2510,end apogee,CONTROL_FINISHED_OK
$STATE,2510,begin climb
$GC,2512,0.92,184.9,507.7,0.0,319,2664,1.08,2.12,140.27,0.881,4,0.062,0.036,3083,780,2451,0,0,0,0,0,0
$GC,2919,0.59,184.9,463.7,16.4,353,2928,0.32,2.12,0.00,0.000,6,0.161,0.034,2976,2158,2443,0,0,0,0,0,0
$GC,3246,0.65,298.7,429.9,8.9,384,3337,0.00,2.20,85.55,0.838,4,0.000,0.044,2972,3561,1987,0,0,0,0,0,0
$GC,3568,0.65,301.2,388.9,15.0,411,3572,0.00,2.08,0.00,0.000,6,0.000,0.029,2984,2171,1978,0,0,0,0,0,0
$GC,3898,0.67,318.0,341.1,14.2,442,3922,0.00,2.20,14.48,0.729,4,0.000,0.037,2994,757,1907,0,0,0,0,0,0
$GC,4008,0.76,352.6,326.2,13.2,451,4044,0.10,2.12,28.35,0.758,6,0.097,0.037,3046,2144,1764,0,0,0,0,0,0
$GC,4385,0.67,352.6,263.0,16.2,503,4392,0.17,0.00,0.00,0.000,6,0.155,0.000,2998,2147,1759,0,0,0,0,0,0
$GC,4743,0.76,369.7,214.5,14.2,564,4766,0.00,2.20,13.18,0.651,4,0.000,0.045,2998,3562,1695,0,0,0,0,0,0
$GC,4782,0.84,369.7,208.9,15.3,569,4789,0.15,2.10,0.00,0.000,6,0.079,0.030,3079,2147,1696,0,0,0,0,0,0
$GC,5151,0.74,369.7,135.2,16.9,630,5160,0.20,2.10,0.00,0.000,4,0.164,0.035,3032,760,1693,0,0,0,0,0,0
$GC,5212,0.89,424.2,127.0,12.2,639,5263,0.08,2.12,42.22,0.639,6,0.056,0.035,3087,2146,1473,0,0,0,0,0,0
$GC,5630,0.99,476.4,63.6,12.3,705,5680,0.00,2.22,39.22,0.586,4,0.000,0.044,3087,3561,1259,0,0,0,0,0,0
$GC,5709,1.06,478.8,52.6,15.0,715,5718,0.00,2.15,3.22,0.313,6,0.000,0.029,3097,2147,1252,0,0,0,0,0,0
$STATE,6039,end climb,SURFACE_DEPTH_REACHED
$STATE,6040,begin surface coast
$FINISH,0.6,1.021772
$STATE,6067,end surface coast,CONTROL_FINISHED_OK
$STATE,6067,begin surface
$SM_CCo,6155,0.00,0.000,0,0,1248,479.81
$SM_GC,1.55,7.70,0.00,0.00,0.039,0.000,0.000,132,2314,1248,-8.20,1.10,479.81
$IRIDIUM_FIX,2408.65,12653.61,051010,111113
$TT8_MAMPS,0.028462
$HUMID,42.71
$INTERNAL_PRESSURE,9.59143
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.6,25.439
$10V_AH,10.3,30.129
$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,21.175,46.825,502.750,0.000,0.000,30.047,18.207,158.499,0.000,0.000,16.928,1859.812,1379.530,472.000,2607.730,193.528,0.000,1278.391,0.000,1261.736,0.000,0.543,0.000
$DEVICE_MAMPS,231.795,58.140,889.695,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,518.598,1178.064,1719.168,0.000,0.000,0.000,2228.284,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,330384
$DATA_FILE_SIZE,50336,773
$CAP_FILE_SIZE,84545,0
$CFSIZE,260165632,235929600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.268,160.6,1
$GPS,051010,151604,2413.592,12702.725,9,2.1,28,-3.7