version: 66.08
glider: 182
mission: 4
dive: 205
start: 10 7 110 17 49 14
data:
$ID,182
$MISSION,4
$DIVE,205
$N_DIVES,220
$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,-6800.1489
$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,51
$R_STBD_OVSHOOT,57
$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,408.0
$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
$GPS1,071010,174234,2415.993,12710.035,15,5.4,34,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-72.2
$GPS2,071010,174844,2415.970,12710.084,12,1.8,12,-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,328.4,27359,-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,-184.9,0.0,0.0,0,72,0.00,0.00,-49.10,0.000,2,0.000,0.000,118,2311,2620,0,0,0,0,0,0
$GC,75,-0.92,-184.9,3.1,-4.2,6,119,9.27,2.08,-28.80,0.000,4,0.226,0.057,2463,3683,3960,0,0,0,0,0,0
$GC,262,-0.61,-184.9,66.5,-38.0,34,271,0.40,2.10,0.00,0.000,6,0.144,0.029,2586,2272,3962,0,0,0,0,0,0
$GC,637,-0.69,-184.9,141.0,-16.7,95,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2269,3963,0,0,0,0,0,0
$GC,992,-0.83,-184.9,193.3,-14.4,156,1001,0.20,2.08,0.00,0.000,4,0.063,0.032,2491,876,3968,0,0,0,0,0,0
$GC,1073,-0.78,-184.9,209.3,-20.5,167,1081,0.17,2.08,0.00,0.000,6,0.145,0.035,2531,2266,3964,0,0,0,0,0,0
$GC,1424,-0.78,-184.9,275.4,-16.7,228,1433,0.00,2.12,0.00,0.000,4,0.000,0.043,2522,3678,3964,0,0,0,0,0,0
$GC,1485,-0.86,-184.9,285.5,-15.7,238,1493,0.00,2.05,0.00,0.000,6,0.000,0.028,2522,2280,3964,0,0,0,0,0,0
$GC,1818,-0.86,-184.9,344.4,-16.9,276,1822,0.00,2.08,0.00,0.000,4,0.000,0.034,2522,867,3964,0,0,0,0,0,0
$GC,1882,-0.95,-184.9,354.3,-15.4,281,1887,0.10,2.12,0.00,0.000,6,0.096,0.036,2457,2294,3963,0,0,0,0,0,0
$GC,2214,-0.81,-184.9,431.8,-23.0,312,2216,0.22,0.00,0.00,0.000,6,0.152,0.000,2522,2295,3963,0,0,0,0,0,0
$GC,2531,-0.90,-184.9,483.3,-14.1,342,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2295,3961,0,0,0,0,0,0
$STATE,2656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2656,begin apogee
$GC,2662,-0.25,0.0,500.7,13.8,354,2808,0.52,0.00,136.75,0.900,4,0.122,0.000,2697,2139,3204,0,0,0,0,0,0
$STATE,2809,end apogee,CONTROL_FINISHED_OK
$STATE,2809,begin climb
$GC,2811,0.92,184.9,506.1,0.0,366,2963,1.05,2.12,141.12,0.890,4,0.050,0.037,3090,780,2449,0,0,0,0,0,0
$GC,3158,0.58,184.9,473.2,15.4,395,3163,0.43,2.12,0.00,0.000,6,0.165,0.037,2970,2160,2441,0,0,0,0,0,0
$GC,3486,0.67,316.1,441.3,7.9,425,3596,0.00,2.30,99.32,0.852,4,0.000,0.046,2970,3570,1914,0,0,0,0,0,0
$GC,3659,0.74,346.5,421.7,13.5,439,3692,0.12,2.12,24.27,0.799,6,0.086,0.030,3036,2161,1793,0,0,0,0,0,0
$GC,4010,0.62,346.5,357.3,18.6,472,4015,0.20,2.10,0.00,0.000,4,0.163,0.036,2990,760,1787,0,0,0,0,0,0
$GC,4088,0.74,379.1,345.2,13.4,478,4122,0.00,2.15,25.95,0.774,6,0.000,0.036,2991,2147,1658,0,0,0,0,0,0
$GC,4441,0.83,406.4,294.8,13.7,514,4473,0.17,2.17,21.73,0.738,4,0.070,0.039,3084,769,1546,0,0,0,0,0,0
$GC,4520,0.69,406.4,279.3,21.3,526,4529,0.22,2.15,0.00,0.000,6,0.144,0.035,3013,2146,1545,0,0,0,0,0,0
$GC,4871,0.76,426.2,224.9,14.1,587,4894,0.00,2.17,16.35,0.682,4,0.000,0.038,3021,763,1465,0,0,0,0,0,0
$GC,4925,0.82,426.2,216.3,16.2,595,4933,0.00,2.10,0.00,0.000,6,0.000,0.036,3021,2135,1465,0,0,0,0,0,0
$GC,5279,0.88,426.2,155.4,16.1,656,5289,0.15,2.12,0.00,0.000,4,0.076,0.038,3108,769,1463,0,0,0,0,0,0
$GC,5339,0.75,426.2,143.6,21.2,665,5348,0.25,2.08,0.00,0.000,6,0.141,0.035,3027,2120,1460,0,0,0,0,0,0
$GC,5716,0.93,491.9,95.2,11.5,726,5776,0.17,2.12,50.22,0.624,4,0.070,0.037,3124,762,1198,0,0,0,0,0,0
$GC,5785,0.80,491.9,82.8,19.5,734,5795,0.25,2.12,0.00,0.000,6,0.135,0.035,3044,2123,1198,0,0,0,0,0,0
$GC,6163,1.16,581.4,42.6,10.2,795,6239,0.28,2.10,66.82,0.575,4,0.054,0.035,3188,761,836,0,0,0,0,0,0
$GC,6274,1.00,581.4,17.5,26.6,809,6284,0.25,2.12,0.00,0.000,6,0.139,0.034,3110,2123,833,0,0,0,0,0,0
$STATE,6345,end climb,SURFACE_DEPTH_REACHED
$STATE,6345,begin surface coast
$FINISH,0.6,1.020393
$STATE,6365,end surface coast,CONTROL_FINISHED_OK
$STATE,6366,begin surface
$SM_CCo,6453,0.00,0.000,0,0,827,582.83
$SM_GC,1.23,7.78,0.00,0.00,0.035,0.000,0.000,128,2296,827,-8.22,0.59,582.83
$IRIDIUM_FIX,2403.92,12709.20,071010,151534
$TT8_MAMPS,0.028462
$HUMID,43.03
$INTERNAL_PRESSURE,9.5426
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.5,29.186
$10V_AH,10.3,34.390
$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,22.225,51.300,582.550,0.000,0.000,40.892,23.514,156.475,0.000,0.000,13.428,1956.771,1416.417,523.637,2727.792,205.728,0.000,1376.554,0.000,1291.702,0.000,0.543,0.000
$DEVICE_MAMPS,226.440,58.905,900.405,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,552.178,1253.218,1829.880,0.000,0.000,0.000,2439.084,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,330240
$DATA_FILE_SIZE,50268,823
$CAP_FILE_SIZE,89388,0
$CFSIZE,260165632,234098688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.147,134.2,1
$GPS,071010,193732,2416.354,12709.847,11,2.0,11,-3.7