version: 66.08
glider: 182
mission: 4
dive: 181
start: 10 5 110 21 3 13
data:
$ID,182
$MISSION,4
$DIVE,181
$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,-6770.0122
$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,56
$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,360.0
$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
$GPS1,051010,205707,2414.719,12703.269,8,1.6,13,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-71.2
$GPS2,051010,210244,2414.679,12703.308,13,1.6,13,-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,354.0,28517,-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,-57.00,0.000,2,0.000,0.000,118,2299,2643,0,0,0,0,0,0
$GC,83,-0.92,-184.9,3.2,-5.0,7,126,9.45,2.10,-26.75,0.000,4,0.232,0.057,2471,3680,3961,0,0,0,0,0,0
$GC,177,-0.55,-184.9,34.5,-39.8,20,186,0.43,2.10,0.00,0.000,6,0.156,0.030,2602,2276,3961,0,0,0,0,0,0
$GC,553,-0.64,-184.9,127.0,-16.4,81,563,0.00,2.10,0.00,0.000,4,0.000,0.034,2598,865,3964,0,0,0,0,0,0
$GC,675,-0.85,-184.9,143.4,-13.6,100,684,0.20,2.12,0.00,0.000,6,0.041,0.034,2483,2262,3964,0,0,0,0,0,0
$GC,1042,-0.67,-184.9,237.4,-26.8,161,1051,0.25,2.12,0.00,0.000,4,0.155,0.040,2550,3695,3965,0,0,0,0,0,0
$GC,1109,-0.86,-184.9,250.3,-15.0,172,1118,0.10,2.10,0.00,0.000,6,0.047,0.028,2482,2259,3965,0,0,0,0,0,0
$GC,1455,-0.74,-184.9,330.8,-21.4,221,1459,0.22,2.05,0.00,0.000,4,0.151,0.034,2546,872,3965,0,0,0,0,0,0
$GC,1530,-0.90,-184.9,343.6,-14.8,227,1535,0.12,2.10,0.00,0.000,6,0.083,0.037,2470,2272,3965,0,0,0,0,0,0
$GC,1861,-0.81,-184.9,419.1,-21.5,258,1866,0.17,2.10,0.00,0.000,4,0.155,0.044,2510,3685,3965,0,0,0,0,0,0
$GC,1894,-0.85,-184.9,426.0,-18.8,260,1903,0.00,2.08,0.00,0.000,6,0.000,0.030,2510,2276,3964,0,0,0,0,0,0
$GC,2222,-0.89,-184.9,480.3,-16.5,291,2226,0.00,2.08,0.00,0.000,4,0.000,0.036,2510,871,3963,0,0,0,0,0,0
$GC,2308,-1.00,-184.9,493.2,-13.8,298,2312,0.12,2.08,0.00,0.000,6,0.085,0.037,2437,2266,3962,0,0,0,0,0,0
$STATE,2346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2346,begin apogee
$GC,2351,-0.25,0.0,500.1,17.2,301,2498,0.82,0.00,136.88,0.890,4,0.145,0.000,2697,2147,3206,0,0,0,0,0,0
$STATE,2499,end apogee,CONTROL_FINISHED_OK
$STATE,2499,begin climb
$GC,2501,0.92,184.9,506.9,0.0,313,2652,1.08,2.17,140.73,0.884,4,0.064,0.035,3082,762,2451,0,0,0,0,0,0
$GC,2796,0.60,184.9,483.4,16.1,338,2801,0.38,2.12,0.00,0.000,6,0.166,0.035,2977,2157,2445,0,0,0,0,0,0
$GC,3121,0.63,273.0,449.2,10.3,368,3196,0.00,2.25,67.30,0.848,4,0.000,0.036,2986,763,2089,0,0,0,0,0,0
$GC,3399,0.68,314.4,414.1,12.9,392,3439,0.00,2.15,31.80,0.812,6,0.000,0.037,2986,2158,1921,0,0,0,0,0,0
$GC,3756,0.75,367.0,367.6,12.3,425,3806,0.12,2.20,41.05,0.796,4,0.085,0.035,3060,769,1705,0,0,0,0,0,0
$GC,3836,0.65,367.0,354.1,18.3,431,3844,0.22,2.15,0.00,0.000,6,0.148,0.034,2996,2156,1704,0,0,0,0,0,0
$GC,4162,0.72,383.6,306.8,14.2,462,4180,0.00,2.10,13.38,0.705,4,0.000,0.036,3004,775,1639,0,0,0,0,0,0
$GC,4281,0.85,424.1,291.2,12.9,477,4325,0.15,2.10,32.33,0.744,6,0.076,0.035,3077,2151,1475,0,0,0,0,0,0
$GC,4664,0.78,424.1,214.2,19.8,543,4671,0.15,2.10,0.00,0.000,4,0.158,0.036,3044,772,1470,0,0,0,0,0,0
$GC,4694,0.78,424.1,208.5,16.6,548,4703,0.00,2.10,0.00,0.000,6,0.000,0.035,3044,2135,1470,0,0,0,0,0,0
$GC,5050,0.83,424.1,147.3,16.3,609,5060,0.00,2.20,0.00,0.000,4,0.000,0.046,3044,3573,1468,0,0,0,0,0,0
$GC,5098,0.89,424.1,139.3,16.0,616,5107,0.00,2.12,0.00,0.000,6,0.000,0.029,3054,2153,1467,0,0,0,0,0,0
$GC,5473,1.12,520.7,90.0,9.8,677,5556,0.25,2.17,72.12,0.617,4,0.058,0.035,3186,757,1081,0,0,0,0,0,0
$GC,5603,0.99,520.7,64.0,22.4,694,5612,0.25,2.12,0.00,0.000,6,0.142,0.034,3108,2121,1081,0,0,0,0,0,0
$STATE,5977,end climb,SURFACE_DEPTH_REACHED
$STATE,5977,begin surface coast
$FINISH,0.5,1.008925
$STATE,5998,end surface coast,CONTROL_FINISHED_OK
$STATE,5998,begin surface
$SM_CCo,6088,0.00,0.000,0,0,1074,522.49
$SM_GC,1.41,7.78,0.00,0.00,0.043,0.000,0.000,132,2290,1074,-8.21,0.42,522.49
$IRIDIUM_FIX,2359.20,12654.08,051010,191909
$TT8_MAMPS,0.027713
$HUMID,42.63
$INTERNAL_PRESSURE,9.58166
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.5,25.978
$10V_AH,10.3,30.739
$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,22.275,55.550,535.575,0.000,0.000,29.114,15.985,150.788,0.000,0.000,14.657,1817.814,1372.148,495.255,2560.922,186.125,0.000,1302.601,0.000,1230.010,0.000,0.542,0.000
$DEVICE_MAMPS,231.795,67.320,890.460,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,508.049,1154.792,1705.728,0.000,0.000,0.000,2205.529,0.000,0.000,0.000
$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,46866,758
$CAP_FILE_SIZE,85887,0
$CFSIZE,260165632,235667456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.207,141.8,1
$GPS,051010,224555,2415.019,12703.592,40,1.1,40,-3.7