version: 66.08
glider: 182
mission: 4
dive: 69
start: 9 27 110 11 35 7
data:
$ID,182
$MISSION,4
$DIVE,69
$N_DIVES,75
$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,-6598.4771
$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,45
$R_STBD_OVSHOOT,42
$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,136.0
$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
$GPS1,270910,112928,2350.442,12635.154,15,3.4,34,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-74.7
$GPS2,270910,113436,2350.426,12635.123,10,1.8,20,-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,201.9,816,-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,-117.1,0.0,0.0,0,62,0.00,0.00,-40.45,0.000,2,0.000,0.000,123,2180,2633,0,0,0,0,0,0
$GC,64,-1.10,-184.9,3.3,-5.5,5,107,9.52,2.08,-25.45,0.000,4,0.246,0.048,2424,790,3960,0,0,0,0,0,0
$GC,244,-0.99,-184.9,77.3,-31.1,32,254,0.15,2.17,0.00,0.000,6,0.158,0.037,2460,2206,3961,0,0,0,0,0,0
$GC,615,-0.82,-184.9,205.9,-34.6,93,623,0.20,2.10,0.00,0.000,4,0.187,0.041,2504,3621,3964,0,0,0,0,0,0
$GC,767,-1.00,-184.9,239.0,-19.4,119,775,0.12,2.08,0.00,0.000,6,0.085,0.030,2439,2200,3967,0,0,0,0,0,0
$GC,1112,-0.91,-184.9,341.7,-28.6,168,1117,0.17,2.05,0.00,0.000,4,0.181,0.037,2484,802,3964,0,0,0,0,0,0
$GC,1154,-0.97,-184.9,352.0,-24.2,171,1158,0.00,2.12,0.00,0.000,6,0.000,0.037,2475,2219,3965,0,0,0,0,0,0
$GC,1481,-1.04,-184.9,426.3,-23.1,201,1485,0.00,2.08,0.00,0.000,4,0.000,0.043,2464,3617,3964,0,0,0,0,0,0
$GC,1521,-1.17,-184.9,435.4,-20.6,204,1526,0.17,2.03,0.00,0.000,6,0.070,0.030,2384,2209,3964,0,0,0,0,0,0
$STATE,1751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1751,begin apogee
$GC,1754,-0.25,0.0,502.6,29.1,225,1902,1.02,0.00,138.07,0.882,4,0.161,0.000,2694,2203,3204,0,0,0,0,0,0
$STATE,1903,end apogee,CONTROL_FINISHED_OK
$STATE,1903,begin climb
$GC,1905,1.10,184.9,513.1,0.0,237,2056,1.23,2.25,141.27,0.859,4,0.057,0.036,3141,762,2449,0,0,0,0,0,0
$GC,2157,0.80,184.9,503.8,17.1,258,2162,0.38,2.17,0.00,0.000,6,0.180,0.034,3041,2170,2445,0,0,0,0,0,0
$GC,2483,0.74,207.7,462.4,13.2,288,2508,0.00,2.15,17.58,0.777,4,0.000,0.045,3041,3562,2357,0,0,0,0,0,0
$GC,2760,0.62,212.6,422.4,14.7,312,2770,0.20,2.10,4.70,0.560,6,0.161,0.029,2988,2161,2337,0,0,0,0,0,0
$GC,3087,0.77,274.6,388.3,9.8,343,3146,0.12,2.22,48.75,0.802,4,0.091,0.045,3045,3573,2085,0,0,0,0,0,0
$GC,3163,0.72,274.6,377.2,16.3,349,3170,0.15,2.15,0.00,0.000,6,0.175,0.031,3017,2154,2083,0,0,0,0,0,0
$GC,3489,0.80,281.5,328.1,14.6,380,3503,0.00,2.15,6.00,0.591,4,0.000,0.037,3027,761,2057,0,0,0,0,0,0
$GC,3673,0.92,298.1,301.7,13.7,396,3698,0.15,2.10,14.48,0.692,6,0.080,0.036,3097,2146,1988,0,0,0,0,0,0
$GC,4039,0.84,298.1,228.9,19.9,458,4049,0.17,2.15,0.00,0.000,4,0.175,0.037,3060,750,1985,0,0,0,0,0,0
$GC,4111,0.90,298.1,216.5,16.4,470,4119,0.00,2.15,0.00,0.000,6,0.000,0.036,3060,2149,1984,0,0,0,0,0,0
$GC,4467,0.93,298.1,161.6,16.7,531,4474,0.00,2.08,0.00,0.000,4,0.000,0.037,3076,756,1982,0,0,0,0,0,0
$GC,4577,1.02,314.9,144.6,13.7,549,4596,0.08,2.10,12.90,0.591,6,0.057,0.035,3120,2133,1920,0,0,0,0,0,0
$GC,4963,0.97,314.9,80.8,15.5,611,4973,0.00,2.08,0.00,0.000,4,0.000,0.036,3137,759,1916,0,0,0,0,0,0
$GC,4987,0.96,329.7,77.4,13.9,614,5007,0.12,2.10,11.70,0.541,6,0.156,0.034,3092,2141,1862,0,0,0,0,0,0
$GC,5373,1.21,410.9,42.3,8.1,676,5441,0.22,2.20,61.95,0.562,4,0.063,0.035,3201,745,1528,0,0,0,0,0,0
$GC,5558,1.14,410.9,11.4,18.4,703,5568,0.15,2.17,0.00,0.000,6,0.157,0.034,3156,2158,1525,0,0,0,0,0,0
$STATE,5605,end climb,SURFACE_DEPTH_REACHED
$STATE,5605,begin surface coast
$FINISH,0.4,1.008999
$STATE,5626,end surface coast,CONTROL_FINISHED_OK
$STATE,5626,begin surface
$SM_CCo,5707,0.00,0.000,0,0,1519,413.33
$SM_GC,1.31,8.00,0.00,0.00,0.045,0.000,0.000,137,2170,1519,-8.21,-1.13,413.33
$IRIDIUM_FIX,2347.41,12631.45,270910,090941
$TT8_MAMPS,0.027713
$HUMID,41.06
$INTERNAL_PRESSURE,9.59143
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.5,12.195
$10V_AH,10.3,14.188
$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,22.350,51.025,457.400,0.000,0.000,29.018,16.952,139.445,0.000,0.000,21.697,1737.547,1322.773,425.591,2409.557,132.174,0.000,1166.442,0.000,1160.794,0.000,0.543,0.000
$DEVICE_MAMPS,245.565,48.195,882.045,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,479.131,1085.489,1591.512,0.000,0.000,0.000,2050.100,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,330476
$DATA_FILE_SIZE,46964,713
$CAP_FILE_SIZE,81434,0
$CFSIZE,260165632,242757632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.038,112.2,1
$GPS,270910,131130,2349.962,12634.855,38,0.9,43,-3.6