version: 66.08
glider: 182
mission: 4
dive: 17
start: 9 23 110 21 12 33
data:
$ID,182
$MISSION,4
$DIVE,17
$N_DIVES,30
$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,-5
$MAX_BUOY,250
$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,-6532.5146
$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,2170
$C_ROLL_CLIMB,2160
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2965
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,100
$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,32.0
$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
$GPS1,230910,210637,2349.883,12634.802,36,1.0,36,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-71.3
$GPS2,230910,211202,2349.891,12634.639,19,1.0,19,-3.6
$SPEED_LIMITS,0.262,0.375
$TGT_NAME,WAKE1
$TGT_LATLONG,2350.000,12635.000
$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,93.2,645,-27.8,-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,19,-1.01,-117.1,0.0,0.0,0,79,0.00,0.00,-57.50,0.000,2,0.000,0.000,132,2204,2784,0,0,0,0,0,0
$GC,81,-1.12,-207.3,3.5,-7.3,7,117,9.60,2.17,-18.77,0.000,4,0.250,0.052,2410,765,3814,0,0,0,0,0,0
$GC,198,-0.73,-207.3,53.3,-46.0,24,208,0.50,2.15,0.00,0.000,6,0.184,0.042,2542,2142,3815,0,0,0,0,0,0
$GC,573,-0.80,-207.3,144.2,-23.2,85,583,0.00,2.20,0.00,0.000,4,0.000,0.044,2532,3594,3817,0,0,0,0,0,0
$GC,618,-0.93,-207.3,154.9,-21.3,92,625,0.15,2.08,0.00,0.000,6,0.079,0.031,2462,2170,3817,0,0,0,0,0,0
$GC,962,-0.84,-207.3,255.8,-28.6,153,970,0.20,2.15,0.00,0.000,4,0.177,0.041,2504,3599,3818,0,0,0,0,0,0
$GC,976,-0.77,-207.3,260.1,-27.8,155,984,0.12,2.05,0.00,0.000,6,0.184,0.031,2534,2186,3818,0,0,0,0,0,0
$GC,1319,-0.94,-207.3,327.3,-19.1,216,1327,0.15,2.10,0.00,0.000,4,0.083,0.038,2468,771,3818,0,0,0,0,0,0
$GC,1344,-1.01,-207.3,333.0,-22.0,220,1351,0.00,2.15,0.00,0.000,6,0.000,0.038,2457,2204,3818,0,0,0,0,0,0
$GC,1687,-1.01,-207.3,420.1,-25.2,281,1695,0.00,2.05,0.00,0.000,4,0.000,0.045,2443,3585,3816,0,0,0,0,0,0
$GC,1806,-1.08,-207.3,446.1,-20.9,302,1813,0.00,2.03,0.00,0.000,6,0.000,0.031,2446,2191,3816,0,0,0,0,0,0
$STATE,2041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2041,begin apogee
$GC,2044,-0.16,0.0,501.0,23.8,344,2206,0.90,0.00,156.05,0.868,4,0.154,0.000,2727,2188,2964,0,0,0,0,0,0
$STATE,2207,end apogee,CONTROL_FINISHED_OK
$STATE,2207,begin climb
$GC,2208,1.12,207.3,510.6,0.0,358,2377,1.20,2.22,160.30,0.835,4,0.067,0.048,3150,3563,2120,0,0,0,0,0,0
$GC,2566,0.79,207.3,453.4,24.8,407,2574,0.45,2.10,0.00,0.000,6,0.193,0.032,3046,2163,2112,0,0,0,0,0,0
$GC,2906,0.79,207.3,398.2,16.3,468,2913,0.00,2.17,0.00,0.000,4,0.000,0.050,3040,3577,2110,0,0,0,0,0,0
$GC,3163,0.74,207.3,354.1,16.6,514,3170,0.00,2.10,0.00,0.000,6,0.000,0.034,3049,2157,2108,0,0,0,0,0,0
$GC,3506,0.75,216.7,302.2,14.3,575,3519,0.00,2.17,6.53,0.597,4,0.000,0.050,3049,3565,2082,0,0,0,0,0,0
$GC,3631,0.70,216.7,281.4,17.8,597,3638,0.17,2.08,0.00,0.000,6,0.175,0.033,3013,2152,2081,0,0,0,0,0,0
$GC,3974,0.85,241.7,236.5,13.0,658,4000,0.12,2.15,20.75,0.668,4,0.092,0.038,3081,763,1978,0,0,0,0,0,0
$GC,4051,0.85,241.7,223.7,16.9,671,4058,0.00,2.15,0.00,0.000,6,0.000,0.043,3081,2160,1976,0,0,0,0,0,0
$GC,4395,0.85,241.7,166.5,15.9,732,4402,0.00,2.10,0.00,0.000,4,0.000,0.038,3091,758,1970,0,0,0,0,0,0
$GC,4452,0.85,241.7,157.6,16.0,742,4461,0.12,2.15,0.00,0.000,6,0.181,0.044,3059,2163,1972,0,0,0,0,0,0
$GC,4822,0.95,253.4,105.7,14.1,803,4839,0.00,2.17,9.12,0.535,4,0.000,0.050,3059,3568,1932,0,0,0,0,0,0
$GC,4976,1.02,264.6,83.6,14.2,827,4993,0.10,2.08,9.85,0.526,6,0.061,0.031,3124,2174,1889,0,0,0,0,0,0
$GC,5359,1.07,310.8,33.8,11.1,889,5401,0.00,2.20,35.72,0.534,4,0.000,0.050,3121,3580,1696,0,0,0,0,0,0
$GC,5476,1.08,320.3,18.6,14.3,906,5494,0.00,2.10,8.00,0.454,6,0.000,0.031,3134,2181,1664,0,0,0,0,0,0
$STATE,5585,end climb,SURFACE_DEPTH_REACHED
$STATE,5585,begin surface coast
$FINISH,0.2,1.008996
$STATE,5612,end surface coast,CONTROL_FINISHED_OK
$STATE,5612,begin surface
$SM_CCo,5632,30.73,0.289,1,0,1435,375.06
$SM_GC,1.28,0.00,0.00,30.73,0.000,0.000,0.289,137,2177,1435,-8.27,0.20,375.06
$IRIDIUM_FIX,2337.99,12645.60,230910,191905
$TT8_MAMPS,0.027713
$HUMID,41.02
$INTERNAL_PRESSURE,9.5719
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,24.4,6.504
$10V_AH,10.3,7.058
$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,21.775,51.075,406.325,30.725,0.000,27.607,18.689,156.049,0.000,0.000,20.398,2190.023,962.697,467.423,2259.320,125.748,0.000,1257.389,0.000,1373.448,0.000,0.543,0.000
$DEVICE_MAMPS,250.155,52.020,868.275,289.170,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,624.702,1411.341,886.428,0.000,0.000,0.000,2242.858,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,330468
$DATA_FILE_SIZE,56983,927
$CAP_FILE_SIZE,86178,0
$CFSIZE,260165632,245903360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$CURRENT,0.122,325.6,1
$GPS,230910,224749,2350.254,12635.073,8,1.3,13,-3.6