version: 66.08
glider: 182
mission: 4
dive: 197
start: 10 7 110 2 51 4
data:
$ID,182
$MISSION,4
$DIVE,197
$N_DIVES,215
$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,-6790.104
$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,47
$R_STBD_OVSHOOT,52
$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,392.0
$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
$GPS1,071010,024358,2415.713,12707.861,13,2.5,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-71.5
$GPS2,071010,025034,2415.602,12707.921,16,2.6,35,-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,325.5,27116,-22.1,-15.152
$D_GRID,1000
$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,-184.9,0.0,0.0,0,72,0.00,0.00,-49.25,0.000,2,0.000,0.000,118,2300,2670,0,0,0,0,0,0
$GC,75,-0.92,-184.9,3.4,-5.1,6,118,9.32,2.08,-26.65,0.000,4,0.228,0.054,2467,3677,3958,0,0,0,0,0,0
$GC,248,-0.59,-184.9,62.3,-34.8,32,259,0.40,2.10,0.00,0.000,6,0.154,0.029,2589,2262,3960,0,0,0,0,0,0
$GC,625,-0.67,-184.9,147.1,-18.2,93,634,0.00,2.05,0.00,0.000,4,0.000,0.034,2589,881,3958,0,0,0,0,0,0
$GC,679,-0.86,-184.9,156.3,-16.0,101,686,0.20,2.08,0.00,0.000,6,0.064,0.034,2484,2272,3961,0,0,0,0,0,0
$GC,1050,-0.69,-184.9,249.7,-22.5,162,1060,0.25,2.12,0.00,0.000,4,0.155,0.039,2551,3685,3963,0,0,0,0,0,0
$GC,1122,-0.88,-184.9,260.8,-11.7,173,1130,0.15,2.05,0.00,0.000,6,0.073,0.028,2471,2259,3963,0,0,0,0,0,0
$GC,1466,-0.70,-184.9,343.1,-25.7,218,1468,0.28,0.00,0.00,0.000,6,0.148,0.000,2552,2254,3963,0,0,0,0,0,0
$GC,1784,-0.83,-184.9,390.7,-14.0,248,1788,0.12,2.05,0.00,0.000,4,0.084,0.034,2487,875,3961,0,0,0,0,0,0
$GC,1840,-0.83,-184.9,400.7,-18.1,252,1851,0.10,2.12,0.00,0.000,6,0.130,0.037,2510,2268,3962,0,0,0,0,0,0
$GC,2168,-0.86,-184.9,459.1,-16.9,283,2172,0.00,2.10,0.00,0.000,4,0.000,0.044,2501,3690,3960,0,0,0,0,0,0
$GC,2200,-0.92,-184.9,464.3,-16.9,285,2203,0.00,2.05,0.00,0.000,6,0.000,0.029,2505,2280,3961,0,0,0,0,0,0
$STATE,2414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2414,begin apogee
$GC,2419,-0.25,0.0,501.3,17.4,305,2566,0.60,0.00,136.35,0.896,4,0.124,0.000,2699,2149,3205,0,0,0,0,0,0
$STATE,2567,end apogee,CONTROL_FINISHED_OK
$STATE,2567,begin climb
$GC,2569,0.92,184.9,510.2,0.0,317,2720,1.08,2.28,140.48,0.893,4,0.067,0.044,3081,3568,2449,0,0,0,0,0,0
$GC,2937,0.50,184.9,477.7,17.1,348,2943,0.52,2.08,0.00,0.000,6,0.173,0.028,2945,2171,2444,0,0,0,0,0,0
$GC,3262,0.63,294.5,448.6,9.1,378,3353,0.12,2.25,83.15,0.853,4,0.087,0.036,3019,757,2002,0,0,0,0,0,0
$GC,3525,0.57,299.2,410.7,14.9,400,3536,0.15,2.17,3.85,0.486,6,0.141,0.037,2971,2144,1985,0,0,0,0,0,0
$GC,3854,0.64,323.1,366.2,13.8,431,3881,0.00,2.20,20.08,0.772,4,0.000,0.038,2980,759,1885,0,0,0,0,0,0
$GC,3907,0.75,356.4,359.0,13.3,435,3945,0.12,2.15,27.08,0.778,6,0.085,0.037,3040,2158,1750,0,0,0,0,0,0
$GC,4264,0.64,356.4,294.2,17.0,470,4272,0.17,0.00,0.00,0.000,6,0.158,0.000,2993,2160,1749,0,0,0,0,0,0
$GC,4624,0.73,388.0,247.8,13.4,531,4654,0.00,2.20,23.70,0.713,4,0.000,0.037,3001,761,1625,0,0,0,0,0,0
$GC,4768,0.90,429.8,229.3,12.9,554,4812,0.15,2.15,34.10,0.705,6,0.046,0.037,3084,2144,1451,0,0,0,0,0,0
$GC,5176,0.76,429.8,141.6,22.4,620,5186,0.20,2.20,0.00,0.000,4,0.156,0.044,3027,3567,1446,0,0,0,0,0,0
$GC,5263,0.89,444.8,126.4,14.3,633,5281,0.08,2.10,11.93,0.589,6,0.060,0.030,3089,2170,1390,0,0,0,0,0,0
$GC,5649,0.91,464.0,59.4,14.1,695,5675,0.00,2.15,15.80,0.565,4,0.000,0.037,3100,764,1316,0,0,0,0,0,0
$GC,5751,1.01,499.7,45.1,13.2,710,5786,0.00,2.15,28.12,0.571,6,0.000,0.034,3107,2161,1166,0,0,0,0,0,0
$STATE,6033,end climb,SURFACE_DEPTH_REACHED
$STATE,6034,begin surface coast
$FINISH,0.6,1.000303
$STATE,6054,end surface coast,CONTROL_FINISHED_OK
$STATE,6054,begin surface
$SM_CCo,6141,0.00,0.000,0,0,1160,501.15
$SM_GC,1.57,7.78,0.00,0.00,0.043,0.000,0.000,135,2283,1160,-8.21,0.23,501.15
$IRIDIUM_FIX,2420.48,12735.27,071010,000054
$TT8_MAMPS,0.027713
$HUMID,43.50
$INTERNAL_PRESSURE,9.58166
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.5,28.105
$10V_AH,10.3,33.167
$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,21.800,47.150,524.625,0.000,0.000,30.256,37.733,158.927,0.000,0.000,37.398,1820.490,1485.356,475.556,2564.588,198.812,0.000,1260.854,0.000,1211.365,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,78.795,895.815,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,508.810,1155.215,1672.121,0.000,0.000,0.000,2046.941,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,330256
$DATA_FILE_SIZE,46874,758
$CAP_FILE_SIZE,83824,0
$CFSIZE,260165632,234631168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.271,129.0,1
$GPS,071010,043434,2415.832,12708.056,15,3.3,34,-3.7