version: 66.08
glider: 182
mission: 4
dive: 199
start: 10 7 110 6 32 38
data:
$ID,182
$MISSION,4
$DIVE,199
$N_DIVES,220
$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,-6792.6147
$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,58
$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,396.0
$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
$GPS1,071010,062631,2415.854,12708.230,9,1.8,14,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-67.8
$GPS2,071010,063208,2415.845,12708.259,12,1.8,12,-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,324.2,26785,-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,-184.9,0.0,0.0,0,87,0.00,0.00,-63.50,0.000,2,0.000,0.000,118,2292,2721,0,0,0,0,0,0
$GC,89,-0.92,-184.9,3.3,-4.7,7,132,9.38,2.08,-24.45,0.000,4,0.230,0.054,2470,3673,3958,0,0,0,0,0,0
$GC,311,-0.55,-184.9,81.7,-39.6,41,321,0.40,2.08,0.00,0.000,6,0.138,0.031,2595,2284,3959,0,0,0,0,0,0
$GC,688,-0.66,-184.9,149.1,-13.6,102,697,0.00,2.10,0.00,0.000,4,0.000,0.034,2595,871,3962,0,0,0,0,0,0
$GC,739,-0.89,-184.9,156.0,-12.1,110,750,0.22,2.10,0.00,0.000,6,0.039,0.034,2471,2254,3962,0,0,0,0,0,0
$GC,1115,-0.67,-184.9,255.7,-27.9,171,1122,0.30,2.12,0.00,0.000,4,0.158,0.040,2553,3690,3963,0,0,0,0,0,0
$GC,1213,-0.87,-184.9,274.1,-14.4,187,1221,0.15,2.08,0.00,0.000,6,0.073,0.028,2475,2251,3962,0,0,0,0,0,0
$GC,1556,-0.73,-184.9,353.3,-21.9,228,1558,0.25,0.00,0.00,0.000,6,0.146,0.000,2543,2247,3963,0,0,0,0,0,0
$GC,1874,-0.87,-184.9,401.9,-15.3,258,1879,0.12,2.20,0.00,0.000,4,0.084,0.044,2472,3694,3962,0,0,0,0,0,0
$GC,1897,-0.91,-184.9,406.3,-17.5,259,1904,0.00,2.10,0.00,0.000,6,0.000,0.030,2472,2266,3962,0,0,0,0,0,0
$GC,2223,-0.82,-184.9,481.1,-21.1,290,2225,0.15,0.00,0.00,0.000,6,0.158,0.000,2513,2261,3961,0,0,0,0,0,0
$STATE,2340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2340,begin apogee
$GC,2345,-0.25,0.0,501.3,16.5,301,2493,0.55,0.00,136.27,0.894,4,0.123,0.000,2697,2147,3205,0,0,0,0,0,0
$STATE,2494,end apogee,CONTROL_FINISHED_OK
$STATE,2494,begin climb
$GC,2496,0.92,184.9,510.9,0.0,313,2647,1.08,2.25,140.93,0.892,4,0.067,0.044,3079,3567,2449,0,0,0,0,0,0
$GC,2812,0.50,184.9,485.3,16.8,339,2817,0.50,2.10,0.00,0.000,6,0.171,0.028,2950,2175,2445,0,0,0,0,0,0
$GC,3139,0.63,291.2,452.8,9.3,369,3225,0.12,2.28,80.60,0.855,4,0.085,0.043,3014,3564,2019,0,0,0,0,0,0
$GC,3312,0.50,291.2,425.4,17.2,383,3320,0.22,2.17,0.00,0.000,6,0.148,0.029,2945,2148,2013,0,0,0,0,0,0
$GC,3638,0.71,371.7,388.6,10.7,414,3706,0.20,2.17,62.10,0.817,4,0.066,0.036,3046,744,1688,0,0,0,0,0,0
$GC,3869,0.65,371.7,348.3,18.1,433,3874,0.20,2.12,0.00,0.000,6,0.151,0.036,2990,2123,1685,0,0,0,0,0,0
$GC,4200,0.71,392.2,300.8,14.0,464,4217,0.00,0.00,15.98,0.724,6,0.000,0.000,2990,2124,1605,0,0,0,0,0,0
$GC,4569,0.82,417.1,249.3,13.8,526,4599,0.17,2.15,20.25,0.705,4,0.070,0.039,3084,752,1503,0,0,0,0,0,0
$GC,4668,0.72,417.1,229.3,21.7,541,4676,0.22,2.12,0.00,0.000,6,0.155,0.036,3020,2140,1501,0,0,0,0,0,0
$GC,5035,0.77,427.2,170.8,14.6,602,5051,0.00,2.12,8.77,0.590,4,0.000,0.038,3028,750,1461,0,0,0,0,0,0
$GC,5088,0.88,441.9,162.8,14.3,610,5107,0.08,2.12,12.77,0.620,6,0.056,0.036,3082,2123,1402,0,0,0,0,0,0
$GC,5474,0.83,441.9,84.7,19.7,672,5483,0.12,2.22,0.00,0.000,4,0.158,0.045,3048,3568,1399,0,0,0,0,0,0
$GC,5633,1.11,543.7,63.5,9.6,697,5718,0.17,2.15,76.38,0.600,6,0.044,0.029,3152,2130,989,0,0,0,0,0,0
$STATE,5930,end climb,SURFACE_DEPTH_REACHED
$STATE,5930,begin surface coast
$FINISH,0.6,1.021919
$STATE,5946,end surface coast,CONTROL_FINISHED_OK
$STATE,5946,begin surface
$SM_CCo,6035,0.00,0.000,0,0,981,545.06
$SM_GC,1.40,8.00,0.00,0.00,0.046,0.000,0.000,128,2288,981,-8.21,0.40,545.06
$IRIDIUM_FIX,2415.74,12710.17,071010,040442
$TT8_MAMPS,0.027713
$HUMID,44.17
$INTERNAL_PRESSURE,9.5426
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.5,28.380
$10V_AH,10.3,33.460
$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,22.625,43.175,554.050,0.000,0.000,23.625,16.161,153.808,0.000,0.000,13.178,1776.366,1449.745,496.806,2453.594,203.170,0.000,1267.804,0.000,1183.378,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,81.090,894.285,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,499.324,1132.681,1628.480,0.000,0.000,0.000,2086.108,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,330240
$DATA_FILE_SIZE,46892,744
$CAP_FILE_SIZE,81890,0
$CFSIZE,260165632,234504192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.224,113.5,1
$GPS,071010,081431,2416.172,12708.577,42,1.1,42,-3.7