version: 66.08
glider: 182
mission: 4
dive: 189
start: 10 6 110 11 55 25
data:
$ID,182
$MISSION,4
$DIVE,189
$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,-6780.0586
$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,52
$R_STBD_OVSHOOT,60
$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,376.0
$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
$GPS1,061010,114837,2415.534,12706.291,38,1.6,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-70.7
$GPS2,061010,115455,2415.428,12706.380,15,1.2,20,-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,320.1,27087,-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,-184.9,0.0,0.0,0,82,0.00,0.00,-58.40,0.000,2,0.000,0.000,118,2308,2648,0,0,0,0,0,0
$GC,84,-0.92,-184.9,3.3,-4.7,7,128,9.32,2.08,-27.77,0.000,4,0.227,0.057,2468,3674,3961,0,0,0,0,0,0
$GC,247,-0.69,-184.9,56.2,-32.8,31,257,0.28,2.08,0.00,0.000,6,0.148,0.031,2552,2280,3962,0,0,0,0,0,0
$GC,620,-0.58,-184.9,151.6,-24.4,92,630,0.15,2.15,0.00,0.000,4,0.160,0.043,2588,3669,3964,0,0,0,0,0,0
$GC,667,-0.68,-184.9,160.2,-16.6,99,674,0.00,2.03,0.00,0.000,6,0.000,0.028,2586,2267,3965,0,0,0,0,0,0
$GC,1028,-0.84,-184.9,212.1,-13.7,160,1037,0.20,2.08,0.00,0.000,4,0.064,0.032,2488,875,3965,0,0,0,0,0,0
$GC,1091,-0.76,-184.9,223.5,-20.0,170,1101,0.15,2.10,0.00,0.000,6,0.130,0.036,2528,2258,3965,0,0,0,0,0,0
$GC,1443,-0.76,-184.9,289.7,-19.0,231,1449,0.00,2.12,0.00,0.000,4,0.000,0.044,2518,3694,3963,0,0,0,0,0,0
$GC,1496,-0.88,-184.9,299.6,-15.5,240,1505,0.00,2.08,0.00,0.000,6,0.000,0.029,2515,2282,3965,0,0,0,0,0,0
$GC,1823,-0.88,-184.9,360.7,-19.6,271,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2278,3964,0,0,0,0,0,0
$GC,2142,-0.91,-184.9,417.0,-17.3,301,2146,0.00,2.05,0.00,0.000,4,0.000,0.035,2518,877,3963,0,0,0,0,0,0
$GC,2231,-1.03,-184.9,432.2,-16.2,308,2241,0.12,2.15,0.00,0.000,6,0.048,0.037,2435,2287,3962,0,0,0,0,0,0
$STATE,2514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2514,begin apogee
$GC,2519,-0.25,0.0,502.2,25.0,335,2667,0.82,0.00,135.38,0.873,4,0.146,0.000,2696,2131,3205,0,0,0,0,0,0
$STATE,2668,end apogee,CONTROL_FINISHED_OK
$STATE,2668,begin climb
$GC,2670,0.92,184.9,514.4,0.0,347,2821,1.08,2.10,140.62,0.868,4,0.061,0.036,3082,776,2450,0,0,0,0,0,0
$GC,3014,0.58,184.9,486.5,16.3,376,3024,0.35,2.15,0.00,0.000,6,0.162,0.034,2978,2164,2442,0,0,0,0,0,0
$GC,3342,0.62,293.2,449.9,9.2,407,3429,0.00,2.28,81.53,0.833,4,0.000,0.046,2978,3565,2008,0,0,0,0,0,0
$GC,3546,0.71,365.2,427.8,11.2,424,3607,0.00,2.12,55.38,0.810,6,0.000,0.029,2991,2179,1716,0,0,0,0,0,0
$GC,3934,0.73,379.0,378.5,14.4,460,3951,0.00,2.20,11.45,0.714,4,0.000,0.038,2997,758,1658,0,0,0,0,0,0
$GC,4083,0.83,400.7,356.6,14.0,473,4109,0.15,2.12,18.23,0.750,6,0.077,0.037,3069,2142,1569,0,0,0,0,0,0
$GC,4432,0.68,400.7,280.3,20.9,513,4439,0.22,2.12,0.00,0.000,4,0.157,0.034,3014,745,1565,0,0,0,0,0,0
$GC,4448,0.55,400.7,276.8,21.1,515,4456,0.20,2.12,0.00,0.000,6,0.146,0.036,2957,2142,1564,0,0,0,0,0,0
$GC,4796,0.89,492.2,236.3,10.1,576,4875,0.28,0.00,70.45,0.726,6,0.056,0.000,3087,2142,1195,0,0,0,0,0,0
$GC,5226,0.80,492.2,131.6,22.9,647,5236,0.17,2.15,0.00,0.000,4,0.158,0.038,3047,757,1189,0,0,0,0,0,0
$GC,5275,0.90,492.2,122.2,16.4,654,5284,0.00,2.12,0.00,0.000,6,0.000,0.036,3047,2128,1190,0,0,0,0,0,0
$GC,5653,1.14,541.8,73.4,12.4,715,5696,0.25,0.00,36.65,0.597,6,0.057,0.000,3170,2130,995,0,0,0,0,0,0
$STATE,5951,end climb,SURFACE_DEPTH_REACHED
$STATE,5951,begin surface coast
$FINISH,0.6,1.022018
$STATE,5965,end surface coast,CONTROL_FINISHED_OK
$STATE,5965,begin surface
$SM_CCo,6055,0.00,0.000,0,0,988,543.58
$SM_GC,1.39,8.00,0.00,0.00,0.044,0.000,0.000,128,2326,988,-8.21,1.44,543.58
$IRIDIUM_FIX,2408.65,12650.30,061010,090936
$TT8_MAMPS,0.027713
$HUMID,44.48
$INTERNAL_PRESSURE,9.56213
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.6,27.045
$10V_AH,10.3,31.952
$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,21.750,42.775,549.675,0.000,0.000,24.928,45.199,157.963,0.000,0.000,21.371,1814.923,1374.303,500.747,2562.717,188.300,0.000,1296.933,0.000,1225.950,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,58.140,872.865,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,512.517,1163.288,1651.981,0.000,0.000,0.000,2024.387,0.000,0.000,0.000
$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,46960,764
$CAP_FILE_SIZE,81491,0
$CFSIZE,260165632,235155456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.346,145.7,1
$GPS,061010,133728,2415.171,12706.495,14,2.5,33,-3.7