version: 66.08
glider: 182
mission: 4
dive: 188
start: 10 6 110 10 2 58
data:
$ID,182
$MISSION,4
$DIVE,188
$N_DIVES,205
$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,-6778.8022
$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,58
$R_STBD_OVSHOOT,70
$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,374.0
$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
$GPS1,061010,095625,2415.651,12705.969,15,1.7,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-72.0
$GPS2,061010,100228,2415.570,12706.056,13,2.3,32,-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,321.1,26784,-22.1,-15.152
$D_GRID,1000
$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,-184.9,0.0,0.0,0,81,0.00,0.00,-57.75,0.000,2,0.000,0.000,118,2311,2807,0,0,0,0,0,0
$GC,84,-0.92,-184.9,3.6,-5.9,7,126,9.38,2.05,-21.70,0.000,4,0.230,0.056,2469,3650,3961,0,0,0,0,0,0
$GC,246,-0.64,-184.9,61.9,-34.6,31,255,0.32,2.05,0.00,0.000,6,0.145,0.031,2570,2274,3961,0,0,0,0,0,0
$GC,622,-0.59,-184.9,149.9,-23.4,92,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2270,3960,0,0,0,0,0,0
$GC,985,-0.68,-184.9,215.0,-14.4,153,993,0.00,2.05,0.00,0.000,4,0.000,0.034,2569,870,3965,0,0,0,0,0,0
$GC,1051,-0.87,-184.9,224.3,-13.1,164,1060,0.12,2.10,0.00,0.000,6,0.045,0.036,2485,2253,3965,0,0,0,0,0,0
$GC,1401,-0.72,-184.9,306.8,-25.7,223,1405,0.22,2.15,0.00,0.000,4,0.152,0.041,2540,3694,3965,0,0,0,0,0,0
$GC,1478,-0.89,-184.9,321.2,-14.8,229,1483,0.12,2.03,0.00,0.000,6,0.083,0.028,2470,2275,3965,0,0,0,0,0,0
$GC,1806,-0.77,-184.9,394.8,-20.9,259,1810,0.22,2.05,0.00,0.000,4,0.151,0.034,2536,879,3964,0,0,0,0,0,0
$GC,1836,-0.77,-184.9,400.9,-19.0,261,1840,0.00,2.10,0.00,0.000,6,0.000,0.035,2527,2291,3964,0,0,0,0,0,0
$GC,2167,-0.85,-184.9,450.5,-15.0,292,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2291,3963,0,0,0,0,0,0
$GC,2487,-0.95,-184.9,495.2,-13.1,322,2489,0.15,0.00,0.00,0.000,6,0.076,0.000,2451,2292,3960,0,0,0,0,0,0
$STATE,2517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2517,begin apogee
$GC,2522,-0.25,0.0,500.5,15.4,325,2669,0.77,0.00,136.23,0.902,4,0.138,0.000,2697,2139,3205,0,0,0,0,0,0
$STATE,2670,end apogee,CONTROL_FINISHED_OK
$STATE,2670,begin climb
$GC,2672,0.92,184.9,508.5,0.0,337,2823,1.05,2.12,141.15,0.896,4,0.052,0.035,3088,779,2449,0,0,0,0,0,0
$GC,2903,0.57,188.4,499.9,15.0,356,2918,0.43,2.12,3.60,0.473,6,0.168,0.034,2970,2162,2435,0,0,0,0,0,0
$GC,3236,0.63,291.4,466.0,9.5,387,3327,0.00,2.25,79.28,0.867,4,0.000,0.045,2971,3555,2014,0,0,0,0,0,0
$GC,3344,0.69,335.1,453.7,12.7,396,3388,0.00,2.12,34.65,0.835,6,0.000,0.030,2979,2183,1838,0,0,0,0,0,0
$GC,3707,0.71,354.6,404.0,14.1,430,3732,0.00,2.20,15.52,0.772,4,0.000,0.037,2990,764,1757,0,0,0,0,0,0
$GC,3816,0.81,386.8,388.6,13.4,439,3850,0.15,2.12,26.33,0.798,6,0.077,0.036,3062,2152,1627,0,0,0,0,0,0
$GC,4165,0.68,386.8,313.0,21.2,472,4170,0.20,2.17,0.00,0.000,4,0.159,0.043,3006,3576,1621,0,0,0,0,0,0
$GC,4175,0.55,386.8,310.3,21.4,472,4185,0.15,2.15,0.00,0.000,6,0.141,0.031,2967,2150,1619,0,0,0,0,0,0
$GC,4517,0.76,440.8,264.6,12.2,527,4568,0.17,2.12,41.60,0.742,4,0.069,0.035,3062,761,1406,0,0,0,0,0,0
$GC,4644,0.76,440.8,240.7,18.8,547,4651,0.12,2.12,0.00,0.000,6,0.159,0.035,3028,2145,1404,0,0,0,0,0,0
$GC,4998,0.76,440.8,177.2,16.8,608,5007,0.00,2.12,0.00,0.000,4,0.000,0.038,3037,760,1401,0,0,0,0,0,0
$GC,5095,0.88,462.8,162.8,13.9,624,5119,0.00,2.10,17.38,0.643,6,0.000,0.036,3039,2127,1316,0,0,0,0,0,0
$GC,5481,0.96,462.8,105.1,15.4,687,5491,0.15,2.22,0.00,0.000,4,0.076,0.045,3117,3568,1312,0,0,0,0,0,0
$GC,5615,0.87,462.8,78.1,17.5,708,5624,0.17,2.12,0.00,0.000,6,0.139,0.029,3069,2144,1312,0,0,0,0,0,0
$GC,5992,1.05,515.9,32.6,12.2,769,6043,0.15,2.12,40.33,0.571,4,0.074,0.036,3158,763,1100,0,0,0,0,0,0
$GC,6143,0.97,515.9,3.1,19.8,791,6153,0.17,2.12,0.00,0.000,6,0.139,0.035,3102,2148,1097,0,0,0,0,0,0
$STATE,6159,end climb,SURFACE_DEPTH_REACHED
$STATE,6159,begin surface coast
$FINISH,0.6,1.009272
$STATE,6180,end surface coast,CONTROL_FINISHED_OK
$STATE,6180,begin surface
$SM_CCo,6267,0.00,0.000,0,0,1096,517.09
$SM_GC,1.47,7.80,0.00,0.00,0.043,0.000,0.000,132,2303,1096,-8.21,0.79,517.09
$IRIDIUM_FIX,2406.29,12816.34,061010,080833
$TT8_MAMPS,0.027713
$HUMID,42.79
$INTERNAL_PRESSURE,9.58166
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.5,26.907
$10V_AH,10.3,31.806
$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,22.050,51.275,536.050,0.000,0.000,31.129,14.783,153.799,0.000,0.000,34.710,1901.789,1402.701,505.155,2626.338,201.495,0.000,1313.962,0.000,1241.048,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,69.615,901.935,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,534.132,1211.374,1756.081,0.000,0.000,0.000,2260.040,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,330420
$DATA_FILE_SIZE,50196,796
$CAP_FILE_SIZE,87643,0
$CFSIZE,260165632,235204608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.336,137.3,1
$GPS,061010,114837,2415.534,12706.291,38,1.6,38,-3.7