version: 66.08
glider: 182
mission: 4
dive: 160
start: 10 4 110 5 59 15
data:
$ID,182
$MISSION,4
$DIVE,160
$N_DIVES,170
$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,-6743.6538
$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,43
$R_STBD_OVSHOOT,55
$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,318.0
$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
$GPS1,041010,055222,2411.083,12657.353,12,5.0,31,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-70.0
$GPS2,041010,055846,2411.039,12657.383,20,2.3,39,-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,348.6,37388,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.92,-184.9,0.0,0.0,0,79,0.00,0.00,-57.40,0.000,2,0.000,0.000,118,2297,2637,0,0,0,0,0,0
$GC,82,-0.92,-184.9,3.2,-4.8,7,125,9.55,2.12,-26.65,0.000,4,0.236,0.057,2473,3673,3962,0,0,0,0,0,0
$GC,183,-0.58,-184.9,36.8,-39.9,21,193,0.40,2.10,0.00,0.000,6,0.155,0.031,2592,2263,3961,0,0,0,0,0,0
$GC,558,-0.58,-184.9,127.4,-20.5,82,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2258,3965,0,0,0,0,0,0
$GC,918,-0.71,-184.9,189.6,-14.7,143,926,0.12,2.05,0.00,0.000,4,0.083,0.034,2527,869,3966,0,0,0,0,0,0
$GC,987,-0.71,-184.9,202.7,-19.0,153,995,0.12,2.10,0.00,0.000,6,0.155,0.034,2551,2279,3966,0,0,0,0,0,0
$GC,1339,-0.76,-184.9,267.9,-17.6,214,1348,0.00,2.10,0.00,0.000,4,0.000,0.042,2542,3677,3966,0,0,0,0,0,0
$GC,1377,-0.88,-184.9,274.3,-15.5,220,1387,0.10,2.05,0.00,0.000,6,0.048,0.028,2472,2271,3965,0,0,0,0,0,0
$GC,1712,-0.66,-184.9,358.3,-27.2,260,1717,0.30,2.10,0.00,0.000,4,0.151,0.040,2556,3679,3965,0,0,0,0,0,0
$GC,1764,-0.90,-184.9,367.2,-12.7,264,1768,0.17,1.98,0.00,0.000,6,0.067,0.028,2467,2289,3965,0,0,0,0,0,0
$GC,2089,-0.75,-184.9,440.9,-23.8,294,2094,0.25,2.08,0.00,0.000,4,0.151,0.033,2545,876,3963,0,0,0,0,0,0
$GC,2163,-0.95,-184.9,453.5,-14.2,300,2172,0.12,2.15,0.00,0.000,6,0.047,0.037,2461,2290,3963,0,0,0,0,0,0
$STATE,2381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2382,begin apogee
$GC,2387,-0.25,0.0,500.5,20.5,321,2534,0.75,0.00,136.75,0.887,4,0.139,0.000,2699,2151,3203,0,0,0,0,0,0
$STATE,2535,end apogee,CONTROL_FINISHED_OK
$STATE,2535,begin climb
$GC,2537,0.92,184.9,509.3,0.0,333,2688,1.08,2.17,140.75,0.883,4,0.057,0.036,3092,768,2451,0,0,0,0,0,0
$GC,2917,0.56,184.9,474.2,15.2,365,2926,0.38,2.15,0.00,0.000,6,0.163,0.034,2970,2161,2443,0,0,0,0,0,0
$GC,3243,0.65,299.8,441.7,8.8,396,3341,0.00,2.28,86.95,0.844,4,0.000,0.045,2969,3561,1980,0,0,0,0,0,0
$GC,3492,0.65,299.8,407.1,15.7,417,3500,0.00,2.10,0.00,0.000,6,0.000,0.029,2978,2182,1972,0,0,0,0,0,0
$GC,3818,0.68,325.8,360.7,13.7,448,3844,0.00,2.22,19.25,0.760,4,0.000,0.037,2989,756,1876,0,0,0,0,0,0
$GC,3950,0.81,381.1,343.9,12.1,459,4001,0.15,2.10,44.05,0.780,6,0.076,0.037,3062,2135,1650,0,0,0,0,0,0
$GC,4327,0.66,381.1,264.1,21.2,507,4334,0.22,2.10,0.00,0.000,4,0.157,0.035,3007,754,1643,0,0,0,0,0,0
$GC,4343,0.54,381.1,260.5,21.1,509,4352,0.17,2.10,0.00,0.000,6,0.148,0.035,2958,2135,1643,0,0,0,0,0,0
$GC,4694,0.86,482.3,223.1,9.6,570,4780,0.25,2.17,76.72,0.707,4,0.059,0.037,3090,757,1237,0,0,0,0,0,0
$GC,4842,0.76,482.3,190.6,23.2,592,4852,0.17,2.15,0.00,0.000,6,0.140,0.035,3034,2129,1238,0,0,0,0,0,0
$GC,5203,0.88,499.8,130.2,14.2,653,5222,0.10,2.12,13.77,0.593,4,0.098,0.037,3098,742,1166,0,0,0,0,0,0
$GC,5286,0.83,499.8,114.8,19.9,665,5296,0.12,2.12,0.00,0.000,6,0.138,0.036,3057,2116,1165,0,0,0,0,0,0
$GC,5664,1.09,563.3,63.0,11.7,726,5721,0.20,0.00,47.78,0.586,6,0.066,0.000,3154,2116,906,0,0,0,0,0,0
$STATE,5953,end climb,SURFACE_DEPTH_REACHED
$STATE,5953,begin surface coast
$FINISH,0.8,1.021611
$STATE,5966,end surface coast,CONTROL_FINISHED_OK
$STATE,5966,begin surface
$SM_CCo,6052,0.00,0.000,0,0,899,565.42
$SM_GC,1.23,7.90,0.00,0.00,0.041,0.000,0.000,137,2296,899,-8.20,0.59,565.42
$IRIDIUM_FIX,2403.92,12541.32,041010,040423
$TT8_MAMPS,0.027713
$HUMID,42.95
$INTERNAL_PRESSURE,9.56213
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.6,23.196
$10V_AH,10.3,27.541
$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,22.650,47.000,566.025,0.000,0.000,27.828,39.098,153.774,0.000,0.000,41.509,1832.587,1284.365,520.754,2624.604,180.944,0.000,1331.915,0.000,1246.663,0.000,0.543,0.000
$DEVICE_MAMPS,235.620,61.200,886.635,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,517.647,1176.907,1705.854,0.000,0.000,0.000,2189.617,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,330444
$DATA_FILE_SIZE,50320,773
$CAP_FILE_SIZE,84488,0
$CFSIZE,260165632,237023232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.216,132.0,1
$GPS,041010,074124,2411.441,12657.691,26,1.1,43,-3.7