version: 66.08
glider: 182
mission: 4
dive: 169
start: 10 4 110 22 42 3
data:
$ID,182
$MISSION,4
$DIVE,169
$N_DIVES,180
$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,-6754.959
$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,54
$R_STBD_OVSHOOT,34
$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,336.0
$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
$GPS1,041010,223552,2413.215,12700.364,12,2.7,31,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-65.0
$GPS2,041010,224134,2413.154,12700.403,10,2.1,29,-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,341.7,32147,-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,21,-0.92,-184.9,0.0,0.0,0,81,0.00,0.00,-57.62,0.000,2,0.000,0.000,119,2293,2626,0,0,0,0,0,0
$GC,83,-0.92,-184.9,3.3,-4.8,7,128,9.52,2.12,-26.88,0.000,4,0.235,0.056,2468,3699,3963,0,0,0,0,0,0
$GC,228,-0.56,-184.9,53.1,-38.9,28,237,0.45,2.12,0.00,0.000,6,0.153,0.032,2603,2283,3965,0,0,0,0,0,0
$GC,604,-0.64,-184.9,136.8,-15.8,89,612,0.00,2.10,0.00,0.000,4,0.000,0.034,2603,871,3965,0,0,0,0,0,0
$GC,670,-0.89,-184.9,145.2,-11.9,99,681,0.25,2.15,0.00,0.000,6,0.037,0.035,2474,2287,3965,0,0,0,0,0,0
$GC,1038,-0.65,-184.9,249.3,-28.3,160,1047,0.32,2.10,0.00,0.000,4,0.159,0.041,2559,3679,3967,0,0,0,0,0,0
$GC,1190,-0.87,-184.9,276.0,-13.6,186,1199,0.12,2.05,0.00,0.000,6,0.044,0.028,2479,2270,3967,0,0,0,0,0,0
$GC,1524,-0.72,-184.9,353.8,-23.2,226,1529,0.25,2.05,0.00,0.000,4,0.151,0.032,2557,875,3967,0,0,0,0,0,0
$GC,1594,-0.91,-184.9,364.6,-12.7,232,1599,0.17,2.12,0.00,0.000,6,0.068,0.036,2467,2292,3966,0,0,0,0,0,0
$GC,1920,-0.77,-184.9,439.8,-23.6,262,1924,0.25,2.05,0.00,0.000,4,0.151,0.041,2530,3684,3965,0,0,0,0,0,0
$GC,2006,-0.97,-184.9,452.6,-12.6,269,2011,0.17,2.00,0.00,0.000,6,0.070,0.028,2443,2283,3965,0,0,0,0,0,0
$STATE,2226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2227,begin apogee
$GC,2231,-0.25,0.0,502.3,24.1,289,2380,0.80,0.00,136.65,0.887,4,0.144,0.000,2696,2155,3204,0,0,0,0,0,0
$STATE,2381,end apogee,CONTROL_FINISHED_OK
$STATE,2381,begin climb
$GC,2382,0.92,184.9,512.8,0.0,301,2533,1.02,0.00,141.00,0.884,6,0.056,0.000,3084,2155,2448,0,0,0,0,0,0
$GC,2852,0.58,196.0,468.0,14.5,343,2866,0.35,2.25,8.93,0.714,4,0.172,0.047,2980,3569,2403,0,0,0,0,0,0
$GC,3120,0.49,242.6,432.9,12.6,366,3165,0.12,2.10,36.25,0.824,6,0.152,0.030,2950,2169,2214,0,0,0,0,0,0
$GC,3484,0.64,310.9,393.0,11.4,400,3543,0.12,0.00,52.12,0.812,6,0.087,0.000,3011,2166,1936,0,0,0,0,0,0
$GC,3862,0.60,310.9,330.5,15.5,436,3864,0.12,0.00,0.00,0.000,6,0.170,0.000,2980,2165,1930,0,0,0,0,0,0
$GC,4187,0.74,380.0,290.1,11.4,473,4246,0.12,2.22,52.88,0.754,4,0.085,0.037,3052,763,1653,0,0,0,0,0,0
$GC,4372,0.70,380.0,260.0,17.0,503,4381,0.15,2.15,0.00,0.000,6,0.155,0.037,3011,2160,1650,0,0,0,0,0,0
$GC,4725,0.80,424.4,211.5,12.7,564,4769,0.00,2.20,34.28,0.691,4,0.000,0.039,3019,770,1472,0,0,0,0,0,0
$GC,4822,0.97,457.9,198.2,13.3,578,4860,0.17,2.17,26.52,0.666,6,0.043,0.035,3115,2168,1337,0,0,0,0,0,0
$GC,5216,0.84,457.9,111.7,20.6,643,5227,0.22,2.15,0.00,0.000,4,0.156,0.041,3050,3566,1334,0,0,0,0,0,0
$GC,5253,0.87,457.9,104.7,17.5,648,5262,0.00,2.10,0.00,0.000,6,0.000,0.031,3059,2162,1330,0,0,0,0,0,0
$GC,5628,1.09,521.7,57.5,11.6,709,5688,0.20,2.22,47.42,0.583,4,0.063,0.044,3157,3570,1075,0,0,0,0,0,0
$GC,5831,1.05,521.7,17.0,17.8,739,5842,0.12,2.15,0.00,0.000,6,0.143,0.029,3128,2147,1071,0,0,0,0,0,0
$STATE,5902,end climb,SURFACE_DEPTH_REACHED
$STATE,5902,begin surface coast
$FINISH,0.5,1.021726
$STATE,5917,end surface coast,CONTROL_FINISHED_OK
$STATE,5918,begin surface
$SM_CCo,6003,0.00,0.000,0,0,1069,523.96
$SM_GC,1.41,7.85,0.00,0.00,0.042,0.000,0.000,136,2290,1069,-8.21,0.45,523.96
$IRIDIUM_FIX,2356.84,12655.97,041010,202035
$TT8_MAMPS,0.027713
$HUMID,42.91
$INTERNAL_PRESSURE,9.58166
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.6,24.385
$10V_AH,10.3,28.913
$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,22.925,42.925,536.050,0.000,0.000,22.274,15.953,149.143,0.000,0.000,31.192,1783.033,1408.638,497.234,2481.163,182.887,0.000,1272.370,0.000,1178.298,0.000,0.543,0.000
$DEVICE_MAMPS,234.855,70.380,886.635,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,503.722,1146.156,1665.580,0.000,0.000,0.000,2037.042,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,330400
$DATA_FILE_SIZE,46983,752
$CAP_FILE_SIZE,81711,0
$CFSIZE,260165632,236445696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.292,143.7,1
$GPS,051010,002250,2413.114,12700.753,10,2.0,10,-3.7