version: 66.08
glider: 182
mission: 4
dive: 179
start: 10 5 110 17 20 1
data:
$ID,182
$MISSION,4
$DIVE,179
$N_DIVES,195
$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,-6767.5024
$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,70
$R_STBD_OVSHOOT,66
$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,356.0
$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
$GPS1,051010,171056,2413.922,12702.790,11,1.7,11,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-73.3
$GPS2,051010,171931,2413.859,12702.812,10,1.8,15,-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,353.0,30119,-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,-184.9,0.0,0.0,0,80,0.00,0.00,-57.58,0.000,2,0.000,0.000,113,2321,2603,0,0,0,0,0,0
$GC,82,-0.92,-184.9,3.1,-4.7,7,126,9.45,2.08,-28.80,0.000,4,0.233,0.054,2466,3663,3959,0,0,0,0,0,0
$GC,196,-0.56,-184.9,40.0,-37.9,23,206,0.43,2.05,0.00,0.000,6,0.148,0.030,2596,2293,3964,0,0,0,0,0,0
$GC,572,-0.63,-184.9,124.2,-17.6,84,581,0.00,2.12,0.00,0.000,4,0.000,0.034,2596,871,3962,0,0,0,0,0,0
$GC,663,-0.81,-184.9,138.8,-15.3,98,672,0.15,2.10,0.00,0.000,6,0.044,0.035,2503,2248,3962,0,0,0,0,0,0
$GC,1031,-0.67,-184.9,226.7,-23.5,159,1038,0.22,2.12,0.00,0.000,4,0.153,0.041,2557,3684,3963,0,0,0,0,0,0
$GC,1064,-0.67,-184.9,233.7,-18.8,164,1072,0.00,2.08,0.00,0.000,6,0.000,0.028,2557,2269,3963,0,0,0,0,0,0
$GC,1413,-0.76,-184.9,291.8,-15.5,225,1421,0.00,2.03,0.00,0.000,4,0.000,0.034,2557,881,3963,0,0,0,0,0,0
$GC,1469,-0.93,-184.9,300.2,-13.8,234,1478,0.15,2.10,0.00,0.000,6,0.046,0.035,2462,2272,3963,0,0,0,0,0,0
$GC,1795,-0.77,-184.9,377.8,-23.9,265,1800,0.25,2.08,0.00,0.000,4,0.151,0.041,2532,3684,3962,0,0,0,0,0,0
$GC,1836,-0.84,-184.9,385.7,-16.0,268,1839,0.00,2.03,0.00,0.000,6,0.000,0.029,2532,2266,3962,0,0,0,0,0,0
$GC,2168,-0.93,-184.9,434.5,-15.2,299,2173,0.15,2.03,0.00,0.000,4,0.076,0.035,2457,881,3961,0,0,0,0,0,0
$GC,2253,-0.88,-184.9,451.2,-20.3,306,2258,0.17,2.08,0.00,0.000,6,0.148,0.037,2497,2272,3960,0,0,0,0,0,0
$STATE,2525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2526,begin apogee
$GC,2530,-0.25,0.0,500.9,16.8,331,2676,0.60,0.00,135.48,0.893,4,0.126,0.000,2696,2147,3203,0,0,0,0,0,0
$STATE,2677,end apogee,CONTROL_FINISHED_OK
$STATE,2677,begin climb
$GC,2679,0.92,184.9,509.0,0.0,343,2830,1.08,2.15,141.43,0.886,4,0.057,0.035,3089,775,2449,0,0,0,0,0,0
$GC,3083,0.57,184.9,466.8,16.9,377,3092,0.35,2.15,0.00,0.000,6,0.162,0.034,2974,2167,2442,0,0,0,0,0,0
$GC,3409,0.62,286.7,432.8,9.6,408,3494,0.00,0.00,76.85,0.842,6,0.000,0.000,2974,2167,2034,0,0,0,0,0,0
$GC,3813,0.69,339.4,386.6,12.3,446,3862,0.00,2.17,40.55,0.807,4,0.000,0.039,2983,779,1819,0,0,0,0,0,0
$GC,3937,0.82,368.9,370.3,13.5,456,3973,0.15,2.15,24.08,0.774,6,0.047,0.035,3063,2152,1698,0,0,0,0,0,0
$GC,4291,0.68,368.9,293.3,22.7,491,4299,0.20,2.10,0.00,0.000,4,0.159,0.035,3016,767,1692,0,0,0,0,0,0
$GC,4329,0.68,368.9,286.0,18.0,497,4337,0.00,2.12,0.00,0.000,6,0.000,0.034,3016,2170,1692,0,0,0,0,0,0
$GC,4678,0.68,369.1,229.4,15.1,558,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2170,1690,0,0,0,0,0,0
$GC,5035,0.72,369.1,175.2,16.1,619,5042,0.00,2.10,0.00,0.000,4,0.000,0.038,3026,770,1689,0,0,0,0,0,0
$GC,5158,0.82,386.5,157.8,14.2,640,5183,0.00,2.12,12.93,0.619,6,0.000,0.035,3026,2163,1627,0,0,0,0,0,0
$GC,5549,0.94,433.5,104.7,12.6,703,5592,0.17,2.15,36.58,0.627,4,0.070,0.037,3125,769,1435,0,0,0,0,0,0
$GC,5663,0.86,433.5,83.9,19.2,719,5673,0.17,2.15,0.00,0.000,6,0.136,0.035,3069,2157,1434,0,0,0,0,0,0
$GC,6040,1.06,508.9,36.9,11.0,780,6107,0.15,2.15,56.62,0.575,4,0.075,0.036,3157,785,1128,0,0,0,0,0,0
$GC,6159,0.97,508.9,15.5,20.3,796,6169,0.17,2.12,0.00,0.000,6,0.132,0.034,3100,2155,1127,0,0,0,0,0,0
$STATE,6236,end climb,SURFACE_DEPTH_REACHED
$STATE,6236,begin surface coast
$FINISH,0.9,1.021758
$STATE,6257,end surface coast,CONTROL_FINISHED_OK
$STATE,6258,begin surface
$SM_CCo,6347,0.00,0.000,0,0,1122,510.71
$SM_GC,1.49,7.72,0.00,0.00,0.037,0.000,0.000,129,2300,1122,-8.20,0.71,510.71
$IRIDIUM_FIX,2401.56,12657.39,051010,151519
$TT8_MAMPS,0.027713
$HUMID,43.85
$INTERNAL_PRESSURE,9.56213
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.5,25.709
$10V_AH,10.3,30.440
$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,21.750,50.825,524.500,0.000,0.000,59.019,42.654,199.278,0.000,0.000,16.755,1928.971,1454.756,499.856,2787.094,199.594,0.000,1321.411,0.000,1273.942,0.000,0.543,0.000
$DEVICE_MAMPS,232.560,69.615,892.755,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,544.625,1235.734,1813.142,0.000,0.000,0.000,2365.214,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,330428
$DATA_FILE_SIZE,50277,811
$CAP_FILE_SIZE,86559,0
$CFSIZE,260165632,235790336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.168,159.1,1
$GPS,051010,190701,2414.342,12702.996,39,2.0,39,-3.7