version: 66.08
glider: 182
mission: 4
dive: 173
start: 10 5 110 6 2 29
data:
$ID,182
$MISSION,4
$DIVE,173
$N_DIVES,185
$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,-6759.9756
$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,56
$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,344.0
$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
$GPS1,051010,055522,2413.892,12701.832,14,3.5,33,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-68.0
$GPS2,051010,060200,2413.836,12701.890,35,0.9,45,-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,332.1,30391,-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,-184.9,0.0,0.0,0,73,0.00,0.00,-49.83,0.000,2,0.000,0.000,117,2293,2612,0,0,0,0,0,0
$GC,75,-0.92,-184.9,3.2,-4.4,6,119,9.40,2.10,-27.73,0.000,4,0.231,0.056,2473,3685,3958,0,0,0,0,0,0
$GC,225,-0.62,-184.9,55.6,-36.5,28,236,0.35,2.10,0.00,0.000,6,0.149,0.030,2579,2277,3962,0,0,0,0,0,0
$GC,602,-0.62,-184.9,142.6,-20.9,89,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2273,3964,0,0,0,0,0,0
$GC,974,-0.72,-184.9,206.9,-16.1,150,983,0.00,2.10,0.00,0.000,4,0.000,0.034,2579,866,3965,0,0,0,0,0,0
$GC,1092,-0.97,-184.9,222.8,-11.2,169,1100,0.28,2.12,0.00,0.000,6,0.054,0.034,2445,2292,3966,0,0,0,0,0,0
$GC,1454,-0.71,-184.9,317.8,-26.0,225,1458,0.32,2.05,0.00,0.000,4,0.158,0.041,2536,3684,3965,0,0,0,0,0,0
$GC,1486,-0.71,-184.9,326.4,-20.2,227,1493,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2288,3965,0,0,0,0,0,0
$GC,1811,-0.76,-184.9,380.7,-17.6,258,1815,0.00,2.05,0.00,0.000,4,0.000,0.034,2536,881,3965,0,0,0,0,0,0
$GC,1849,-0.86,-184.9,386.6,-17.6,261,1853,0.00,2.10,0.00,0.000,6,0.000,0.036,2527,2287,3964,0,0,0,0,0,0
$GC,2180,-0.93,-184.9,441.6,-15.5,292,2182,0.12,0.00,0.00,0.000,6,0.086,0.000,2461,2288,3963,0,0,0,0,0,0
$STATE,2468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2468,begin apogee
$GC,2473,-0.25,0.0,500.2,20.8,319,2620,0.75,0.00,136.75,0.890,4,0.139,0.000,2699,2134,3203,0,0,0,0,0,0
$STATE,2621,end apogee,CONTROL_FINISHED_OK
$STATE,2621,begin climb
$GC,2623,0.92,184.9,507.9,0.0,331,2774,1.05,2.12,140.88,0.884,4,0.054,0.035,3087,776,2449,0,0,0,0,0,0
$GC,2894,0.58,184.9,489.7,17.2,353,2901,0.40,2.12,0.00,0.000,6,0.167,0.033,2975,2166,2444,0,0,0,0,0,0
$GC,3219,0.62,281.6,454.5,9.8,384,3303,0.00,2.28,73.60,0.849,4,0.000,0.045,2975,3567,2055,0,0,0,0,0,0
$GC,3342,0.65,305.6,440.7,13.8,395,3368,0.00,2.10,19.05,0.788,6,0.000,0.029,2984,2168,1960,0,0,0,0,0,0
$GC,3685,0.68,327.1,394.9,14.0,427,3711,0.00,2.12,17.52,0.768,4,0.000,0.035,2995,761,1869,0,0,0,0,0,0
$GC,3807,0.75,348.3,378.7,14.0,437,3832,0.00,2.12,17.77,0.760,6,0.000,0.036,2995,2150,1784,0,0,0,0,0,0
$GC,4149,0.75,348.3,324.0,16.9,469,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2151,1778,0,0,0,0,0,0
$GC,4482,0.79,383.1,274.8,13.2,514,4512,0.12,0.00,27.27,0.730,6,0.086,0.000,3059,2151,1642,0,0,0,0,0,0
$GC,4866,0.69,383.1,203.0,18.4,578,4875,0.17,2.15,0.00,0.000,4,0.158,0.036,3019,756,1637,0,0,0,0,0,0
$GC,4940,0.83,424.6,191.9,12.9,589,4984,0.00,2.12,32.00,0.680,6,0.000,0.036,3019,2161,1473,0,0,0,0,0,0
$GC,5342,0.95,463.2,134.6,13.0,655,5378,0.20,2.17,29.85,0.635,4,0.065,0.037,3127,753,1316,0,0,0,0,0,0
$GC,5436,0.84,463.2,115.2,21.0,668,5447,0.22,2.17,0.00,0.000,6,0.139,0.037,3056,2149,1315,0,0,0,0,0,0
$GC,5814,1.10,545.7,62.7,10.6,729,5882,0.22,2.22,62.17,0.588,4,0.060,0.037,3172,755,977,0,0,0,0,0,0
$GC,5952,1.00,545.7,34.9,22.5,748,5962,0.20,2.17,0.00,0.000,6,0.138,0.034,3109,2153,976,0,0,0,0,0,0
$STATE,6145,end climb,SURFACE_DEPTH_REACHED
$STATE,6145,begin surface coast
$FINISH,0.6,1.021807
$STATE,6166,end surface coast,CONTROL_FINISHED_OK
$STATE,6166,begin surface
$SM_CCo,6253,0.00,0.000,0,0,972,547.51
$SM_GC,1.31,7.80,0.00,0.00,0.042,0.000,0.000,127,2299,972,-8.21,0.68,547.51
$IRIDIUM_FIX,2408.65,12656.92,051010,040401
$TT8_MAMPS,0.026964
$HUMID,42.91
$INTERNAL_PRESSURE,9.56213
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.5,24.910
$10V_AH,10.3,29.517
$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,21.625,42.925,556.875,0.000,0.000,27.567,39.375,156.269,0.000,0.000,46.377,1850.523,1505.708,499.472,2608.986,194.449,0.000,1286.926,0.000,1213.044,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,69.615,890.460,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,524.535,1192.815,1715.866,0.000,0.000,0.000,2277.656,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,330456
$DATA_FILE_SIZE,50293,782
$CAP_FILE_SIZE,81452,0
$CFSIZE,260165632,236187648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.229,119.2,1
$GPS,051010,074726,2414.386,12702.122,10,2.0,10,-3.7