version: 66.08
glider: 182
mission: 4
dive: 66
start: 9 27 110 6 30 50
data:
$ID,182
$MISSION,4
$DIVE,66
$N_DIVES,70
$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,-6594.7075
$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,2210
$C_ROLL_CLIMB,2160
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,40
$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,130.0
$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
$GPS1,270910,062507,2350.483,12634.799,11,1.2,22,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-75.2
$GPS2,270910,063019,2350.456,12634.788,15,1.2,20,-3.6
$SPEED_LIMITS,0.262,0.330
$TGT_NAME,WAKE1
$TGT_LATLONG,2350.000,12635.000
$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,149.3,917,-27.8,-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,-1.01,-117.1,0.0,0.0,0,55,0.00,0.00,-34.00,0.000,2,0.000,0.000,135,2188,2521,0,0,0,0,0,0
$GC,58,-1.10,-184.9,3.0,-6.2,4,108,9.68,2.10,-29.38,0.000,4,0.253,0.051,2420,812,3961,0,0,0,0,0,0
$GC,167,-0.68,-184.9,46.4,-53.8,19,176,0.52,2.15,0.00,0.000,6,0.195,0.036,2555,2213,3965,0,0,0,0,0,0
$GC,542,-0.75,-184.9,150.5,-24.4,80,551,0.00,2.12,0.00,0.000,4,0.000,0.043,2544,3612,3964,0,0,0,0,0,0
$GC,636,-0.99,-184.9,169.0,-17.7,95,644,0.22,2.05,0.00,0.000,6,0.060,0.029,2442,2199,3965,0,0,0,0,0,0
$GC,1003,-0.87,-184.9,285.9,-29.9,156,1012,0.22,2.08,0.00,0.000,4,0.174,0.035,2498,811,3965,0,0,0,0,0,0
$GC,1030,-0.82,-184.9,293.9,-28.7,160,1039,0.00,2.12,0.00,0.000,6,0.000,0.036,2494,2212,3965,0,0,0,0,0,0
$GC,1367,-0.90,-184.9,371.9,-21.4,193,1371,0.00,2.10,0.00,0.000,4,0.000,0.037,2494,805,3965,0,0,0,0,0,0
$GC,1408,-1.03,-184.9,381.1,-20.7,196,1412,0.00,2.08,0.00,0.000,6,0.000,0.037,2483,2206,3965,0,0,0,0,0,0
$GC,1733,-1.12,-184.9,451.6,-21.9,226,1737,0.17,2.10,0.00,0.000,4,0.076,0.045,2396,3620,3964,0,0,0,0,0,0
$GC,1801,-1.12,-184.9,468.8,-24.8,232,1805,0.00,2.08,0.00,0.000,6,0.000,0.031,2397,2187,3964,0,0,0,0,0,0
$STATE,1919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1919,begin apogee
$GC,1923,-0.25,0.0,502.7,29.4,243,2069,1.00,0.00,137.90,0.875,4,0.162,0.000,2699,2182,3203,0,0,0,0,0,0
$STATE,2070,end apogee,CONTROL_FINISHED_OK
$STATE,2070,begin climb
$GC,2072,1.10,184.9,513.6,0.0,255,2223,1.20,2.22,142.02,0.871,4,0.053,0.036,3144,757,2449,0,0,0,0,0,0
$GC,2395,0.79,184.9,491.4,17.9,282,2400,0.38,2.15,0.00,0.000,6,0.179,0.034,3042,2161,2443,0,0,0,0,0,0
$GC,2720,0.75,223.4,450.2,11.8,312,2759,0.00,2.20,29.27,0.806,4,0.000,0.044,3042,3566,2293,0,0,0,0,0,0
$GC,3013,0.65,223.4,404.0,15.7,337,3021,0.17,2.12,0.00,0.000,6,0.157,0.030,2997,2151,2288,0,0,0,0,0,0
$GC,3339,0.77,265.0,364.2,11.6,368,3379,0.10,2.28,32.30,0.780,4,0.103,0.046,3043,3572,2123,0,0,0,0,0,0
$GC,3451,0.70,265.0,345.7,19.0,377,3455,0.15,2.12,0.00,0.000,6,0.175,0.031,3016,2150,2120,0,0,0,0,0,0
$GC,3777,0.80,282.9,298.5,13.6,408,3800,0.00,2.15,14.38,0.699,4,0.000,0.037,3025,750,2052,0,0,0,0,0,0
$GC,3885,0.93,304.1,283.7,13.3,425,3915,0.17,2.12,18.15,0.704,6,0.076,0.037,3105,2147,1963,0,0,0,0,0,0
$GC,4268,0.83,304.1,205.8,19.7,489,4276,0.20,2.15,0.00,0.000,4,0.175,0.044,3051,3570,1958,0,0,0,0,0,0
$GC,4285,0.75,304.1,202.7,18.9,491,4293,0.12,2.10,0.00,0.000,6,0.178,0.031,3028,2152,1954,0,0,0,0,0,0
$GC,4650,0.93,339.4,155.6,12.1,552,4683,0.15,2.10,26.55,0.639,4,0.082,0.035,3110,756,1821,0,0,0,0,0,0
$GC,4843,0.93,339.4,123.4,18.0,582,4852,0.00,2.15,0.00,0.000,6,0.000,0.035,3110,2149,1819,0,0,0,0,0,0
$GC,5217,0.94,348.3,62.8,14.4,643,5234,0.00,2.20,7.25,0.486,4,0.000,0.046,3110,3573,1785,0,0,0,0,0,0
$GC,5460,1.03,384.3,32.5,12.0,682,5495,0.00,2.08,28.67,0.551,6,0.000,0.029,3120,2173,1637,0,0,0,0,0,0
$STATE,5689,end climb,SURFACE_DEPTH_REACHED
$STATE,5690,begin surface coast
$FINISH,0.5,1.021011
$STATE,5716,end surface coast,CONTROL_FINISHED_OK
$STATE,5716,begin surface
$SM_CCo,5798,0.00,0.000,0,0,1627,386.84
$SM_GC,1.47,7.88,0.00,0.00,0.047,0.000,0.000,138,2238,1627,-8.20,0.79,386.84
$IRIDIUM_FIX,2347.41,12453.34,270910,040453
$TT8_MAMPS,0.027713
$HUMID,41.37
$INTERNAL_PRESSURE,9.61096
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.5,11.860
$10V_AH,10.3,13.774
$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,22.350,51.150,436.500,0.000,0.000,29.971,13.895,140.547,0.000,0.000,21.257,1753.285,1379.529,413.057,2439.177,137.664,0.000,1149.528,0.000,1165.871,0.000,0.544,0.000
$DEVICE_MAMPS,253.215,203.490,875.160,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,485.077,1099.672,1625.127,0.000,0.000,0.000,2206.365,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,330484
$DATA_FILE_SIZE,47038,722
$CAP_FILE_SIZE,80176,0
$CFSIZE,260165632,242937856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,353.6,1
$GPS,270910,080837,2350.076,12635.018,36,1.1,36,-3.6