version: 66.08
glider: 182
mission: 4
dive: 166
start: 10 4 110 17 15 43
data:
$ID,182
$MISSION,4
$DIVE,166
$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,-6751.1904
$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,55
$R_STBD_OVSHOOT,59
$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,330.0
$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
$GPS1,041010,170902,2412.118,12658.913,12,1.5,12,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-69.4
$GPS2,041010,171514,2412.087,12658.897,15,1.6,15,-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,2.6,34732,-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,-184.9,0.0,0.0,0,80,0.00,0.00,-57.15,0.000,2,0.000,0.000,118,2309,2733,0,0,0,0,0,0
$GC,83,-0.92,-184.9,3.3,-5.6,7,125,9.57,2.08,-23.95,0.000,4,0.236,0.054,2473,3666,3958,0,0,0,0,0,0
$GC,182,-0.50,-184.9,38.7,-42.4,21,193,0.47,2.08,0.00,0.000,6,0.157,0.030,2615,2277,3959,0,0,0,0,0,0
$GC,560,-0.63,-184.9,122.0,-13.5,82,569,0.00,2.10,0.00,0.000,4,0.000,0.034,2614,868,3961,0,0,0,0,0,0
$GC,633,-0.94,-184.9,131.3,-10.9,93,644,0.30,2.10,0.00,0.000,6,0.037,0.034,2462,2254,3962,0,0,0,0,0,0
$GC,1003,-0.67,-184.9,240.2,-30.0,154,1012,0.32,2.15,0.00,0.000,4,0.161,0.041,2551,3678,3962,0,0,0,0,0,0
$GC,1122,-0.87,-184.9,261.7,-14.3,174,1131,0.10,2.05,0.00,0.000,6,0.047,0.028,2483,2273,3963,0,0,0,0,0,0
$GC,1469,-0.74,-184.9,344.8,-22.7,219,1474,0.20,2.05,0.00,0.000,4,0.154,0.033,2538,877,3963,0,0,0,0,0,0
$GC,1524,-0.90,-184.9,355.6,-15.6,223,1532,0.08,2.12,0.00,0.000,6,0.056,0.036,2473,2282,3963,0,0,0,0,0,0
$GC,1850,-0.79,-184.9,427.8,-24.8,254,1854,0.20,2.08,0.00,0.000,4,0.154,0.041,2521,3688,3961,0,0,0,0,0,0
$GC,1902,-0.93,-184.9,437.9,-16.6,258,1907,0.10,2.05,0.00,0.000,6,0.096,0.028,2463,2270,3961,0,0,0,0,0,0
$STATE,2177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2177,begin apogee
$GC,2182,-0.25,0.0,501.6,22.6,284,2329,0.73,0.00,136.38,0.890,4,0.140,0.000,2694,2140,3204,0,0,0,0,0,0
$STATE,2329,end apogee,CONTROL_FINISHED_OK
$STATE,2329,begin climb
$GC,2332,0.92,184.9,511.4,0.0,296,2482,1.02,0.00,140.60,0.887,6,0.057,0.000,3081,2140,2448,0,0,0,0,0,0
$GC,2800,0.59,196.1,461.5,14.5,338,2816,0.35,2.15,8.88,0.716,4,0.171,0.035,2987,759,2405,0,0,0,0,0,0
$GC,3011,0.62,285.5,438.4,10.2,356,3086,0.00,2.12,69.05,0.842,6,0.000,0.037,2987,2165,2040,0,0,0,0,0,0
$GC,3404,0.67,322.3,387.5,13.1,392,3442,0.00,2.20,28.02,0.796,4,0.000,0.039,2997,777,1892,0,0,0,0,0,0
$GC,3468,0.71,351.2,379.1,13.6,397,3497,0.00,2.15,24.02,0.779,6,0.000,0.037,2997,2158,1775,0,0,0,0,0,0
$GC,3823,0.75,387.7,330.3,13.1,430,3863,0.00,2.20,28.50,0.763,4,0.000,0.038,3007,771,1622,0,0,0,0,0,0
$GC,3916,0.81,405.7,318.2,14.2,437,3938,0.12,2.12,15.27,0.718,6,0.085,0.037,3066,2148,1550,0,0,0,0,0,0
$GC,4278,0.68,405.7,236.9,22.3,492,4287,0.22,2.12,0.00,0.000,4,0.154,0.036,3010,775,1544,0,0,0,0,0,0
$GC,4325,0.73,405.7,228.5,15.8,499,4332,0.00,2.10,0.00,0.000,6,0.000,0.037,3010,2152,1544,0,0,0,0,0,0
$GC,4688,0.80,413.4,171.2,14.7,560,4704,0.00,2.20,6.03,0.529,4,0.000,0.046,3007,3574,1519,0,0,0,0,0,0
$GC,4741,0.88,426.5,163.6,14.4,568,4766,0.10,2.12,12.00,0.615,6,0.054,0.031,3082,2164,1465,0,0,0,0,0,0
$GC,5133,0.82,426.5,92.7,18.1,631,5142,0.12,2.15,0.00,0.000,4,0.171,0.038,3059,748,1461,0,0,0,0,0,0
$GC,5235,1.00,470.7,78.0,12.7,647,5278,0.10,2.15,34.25,0.602,6,0.050,0.036,3128,2154,1284,0,0,0,0,0,0
$STATE,5636,end climb,SURFACE_DEPTH_REACHED
$STATE,5636,begin surface coast
$FINISH,0.5,1.021724
$STATE,5657,end surface coast,CONTROL_FINISHED_OK
$STATE,5657,begin surface
$SM_CCo,5745,0.00,0.000,0,0,1277,472.69
$SM_GC,1.31,7.95,0.00,0.00,0.050,0.000,0.000,131,2322,1277,-8.21,1.33,472.69
$IRIDIUM_FIX,2356.84,12722.89,041010,151509
$TT8_MAMPS,0.028462
$HUMID,43.66
$INTERNAL_PRESSURE,9.58166
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.5,23.989
$10V_AH,10.3,28.456
$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,22.075,46.950,503.000,0.000,0.000,30.687,38.659,159.387,0.000,0.000,16.673,1711.086,1322.174,471.207,2437.117,183.140,0.000,1219.221,0.000,1137.473,0.000,0.543,0.000
$DEVICE_MAMPS,235.620,71.145,889.695,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,479.129,1086.975,1598.267,0.000,0.000,0.000,2087.961,0.000,0.000,0.000
$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,47025,714
$CAP_FILE_SIZE,79801,0
$CFSIZE,260165632,236638208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.146,148.8,1
$GPS,041010,185237,2412.641,12659.348,35,1.0,35,-3.7