version: 66.08
glider: 182
mission: 4
dive: 129
start: 10 1 110 20 28 5
data:
$ID,182
$MISSION,4
$DIVE,129
$N_DIVES,145
$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,679.23566
$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,-6704.7144
$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,49
$R_STBD_OVSHOOT,36
$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,256.0
$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
$GPS1,011010,201522,2354.322,12639.097,14,2.9,33,-3.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.7
$GPS2,011010,202736,2354.434,12639.049,18,1.0,34,-3.6
$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,40.9,79066,-22.1,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.92,-184.9,0.0,0.0,0,79,0.00,0.00,-55.70,0.000,2,0.000,0.000,120,2297,2702,0,0,0,0,0,0
$GC,81,-0.92,-184.9,3.4,-6.0,7,124,9.32,2.12,-24.45,0.000,4,0.232,0.053,2466,3697,3959,0,0,0,0,0,0
$GC,175,-0.57,-184.9,37.5,-39.1,20,185,0.43,2.12,0.00,0.000,6,0.154,0.031,2595,2269,3960,0,0,0,0,0,0
$GC,551,-0.60,-184.9,129.8,-18.0,81,560,0.00,2.17,0.00,0.000,4,0.000,0.043,2586,3692,3961,0,0,0,0,0,0
$GC,618,-0.81,-184.9,140.2,-13.6,91,628,0.15,2.08,0.00,0.000,6,0.039,0.029,2495,2278,3961,0,0,0,0,0,0
$GC,979,-0.63,-184.9,237.7,-26.4,152,988,0.25,2.10,0.00,0.000,4,0.158,0.034,2572,875,3961,0,0,0,0,0,0
$GC,1071,-0.81,-184.9,253.5,-14.2,167,1078,0.12,2.12,0.00,0.000,6,0.081,0.035,2497,2301,3962,0,0,0,0,0,0
$GC,1410,-0.72,-184.9,328.6,-21.1,216,1415,0.17,2.12,0.00,0.000,4,0.160,0.037,2545,878,3961,0,0,0,0,0,0
$GC,1462,-0.84,-184.9,337.9,-16.1,220,1466,0.00,2.12,0.00,0.000,6,0.000,0.036,2537,2289,3961,0,0,0,0,0,0
$GC,1787,-0.92,-184.9,389.0,-15.2,250,1792,0.15,2.08,0.00,0.000,4,0.076,0.044,2451,3688,3960,0,0,0,0,0,0
$GC,1847,-0.88,-184.9,401.3,-20.8,255,1855,0.17,2.05,0.00,0.000,6,0.149,0.030,2501,2290,3960,0,0,0,0,0,0
$GC,2173,-0.88,-184.9,463.5,-18.4,286,2177,0.00,2.10,0.00,0.000,4,0.000,0.044,2489,3681,3958,0,0,0,0,0,0
$GC,2202,-0.91,-184.9,469.0,-18.2,288,2206,0.00,2.00,0.00,0.000,6,0.000,0.030,2492,2289,3958,0,0,0,0,0,0
$STATE,2371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2371,begin apogee
$GC,2376,-0.25,0.0,501.6,18.6,304,2522,0.62,0.00,135.73,0.881,4,0.134,0.000,2695,2132,3204,0,0,0,0,0,0
$STATE,2523,end apogee,CONTROL_FINISHED_OK
$STATE,2523,begin climb
$GC,2525,0.92,184.9,510.5,0.0,316,2676,1.10,2.28,140.30,0.852,4,0.066,0.045,3088,3567,2451,0,0,0,0,0,0
$GC,2927,0.47,184.9,466.8,18.4,350,2937,0.52,2.10,0.00,0.000,6,0.171,0.029,2945,2169,2444,0,0,0,0,0,0
$GC,3255,0.64,322.7,437.3,7.6,381,3368,0.15,2.30,104.40,0.814,4,0.080,0.044,3014,3570,1889,0,0,0,0,0,0
$GC,3437,0.54,322.7,411.7,17.3,396,3442,0.22,2.15,0.00,0.000,6,0.158,0.031,2963,2157,1882,0,0,0,0,0,0
$GC,3763,0.70,379.0,370.6,12.1,426,3814,0.15,2.22,43.80,0.768,4,0.077,0.038,3045,757,1658,0,0,0,0,0,0
$GC,3918,0.64,379.0,342.2,18.6,439,3923,0.20,2.15,0.00,0.000,6,0.151,0.036,2989,2149,1655,0,0,0,0,0,0
$GC,4248,0.71,386.1,291.2,14.8,474,4258,0.00,2.20,5.70,0.558,4,0.000,0.039,2999,747,1630,0,0,0,0,0,0
$GC,4385,0.86,428.2,272.5,12.8,497,4430,0.17,2.12,34.08,0.720,6,0.071,0.036,3081,2149,1456,0,0,0,0,0,0
$GC,4778,0.72,428.2,188.8,19.9,563,4785,0.22,2.12,0.00,0.000,4,0.153,0.036,3026,748,1451,0,0,0,0,0,0
$GC,4832,0.82,443.4,179.2,14.3,572,4850,0.00,2.15,11.68,0.601,6,0.000,0.036,3025,2145,1398,0,0,0,0,0,0
$GC,5204,0.92,467.7,126.8,13.8,634,5230,0.15,2.12,19.73,0.605,4,0.078,0.037,3112,754,1297,0,0,0,0,0,0
$GC,5264,0.80,467.7,114.6,22.5,642,5273,0.20,2.12,0.00,0.000,6,0.142,0.035,3048,2133,1297,0,0,0,0,0,0
$GC,5639,1.07,547.1,60.9,10.8,703,5707,0.22,2.28,59.83,0.584,4,0.060,0.041,3155,3578,974,0,0,0,0,0,0
$GC,5728,0.94,547.1,43.0,24.5,714,5739,0.25,2.22,0.00,0.000,6,0.137,0.031,3087,2130,971,0,0,0,0,0,0
$STATE,5986,end climb,SURFACE_DEPTH_REACHED
$STATE,5987,begin surface coast
$FINISH,0.5,1.010132
$STATE,6013,end surface coast,CONTROL_FINISHED_OK
$STATE,6013,begin surface
$SM_CCo,6038,63.78,0.062,0,0,435,679.73
$SM_GC,1.31,0.00,0.00,63.78,0.000,0.000,0.062,124,2326,435,-8.31,1.30,679.73
$IRIDIUM_FIX,2345.05,12656.91,011010,202021
$TT8_MAMPS,0.028462
$HUMID,42.55
$INTERNAL_PRESSURE,9.53284
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.6,19.016
$10V_AH,10.3,22.848
$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,22.725,56.125,555.225,63.775,0.000,158.352,45.360,128.143,0.000,0.000,34.867,1821.626,1576.448,560.356,2709.590,178.680,0.000,1366.206,0.000,1226.143,0.000,0.543,0.000
$DEVICE_MAMPS,231.795,65.025,881.280,61.965,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,509.546,1158.868,1695.715,0.000,0.000,0.000,2183.004,0.000,0.000,0.000
$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,47042,760
$CAP_FILE_SIZE,89344,0
$CFSIZE,260165632,239005696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.086, 87.1,1
$GPS,011010,221038,2355.176,12640.038,15,1.4,15,-3.6