version: 66.08
glider: 182
mission: 4
dive: 77
start: 9 28 110 1 26 43
data:
$ID,182
$MISSION,4
$DIVE,77
$N_DIVES,90
$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,-6639.4043
$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,2210
$C_ROLL_CLIMB,2160
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,68
$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,152.0
$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
$GPS1,280910,012038,2349.930,12634.837,11,1.8,11,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-75.3
$GPS2,280910,012613,2349.991,12634.816,14,1.9,31,-3.6
$SPEED_LIMITS,0.262,0.330
$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,93.3,311,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.01,-117.1,0.0,0.0,0,63,0.00,0.00,-40.38,0.000,2,0.000,0.000,125,2240,2589,0,0,0,0,0,0
$GC,65,-1.10,-184.9,3.3,-6.1,5,109,9.18,2.17,-27.48,0.000,4,0.234,0.049,2419,795,3961,0,0,0,0,0,0
$GC,160,-0.72,-184.9,39.2,-50.0,18,169,0.47,2.12,0.00,0.000,6,0.189,0.036,2542,2179,3962,0,0,0,0,0,0
$GC,535,-0.78,-184.9,147.8,-25.1,79,544,0.00,2.17,0.00,0.000,4,0.000,0.042,2532,3624,3964,0,0,0,0,0,0
$GC,632,-1.01,-184.9,167.3,-16.8,95,641,0.20,2.05,0.00,0.000,6,0.063,0.030,2436,2213,3965,0,0,0,0,0,0
$GC,988,-0.84,-184.9,281.6,-33.1,156,997,0.25,2.15,0.00,0.000,4,0.177,0.041,2499,3624,3963,0,0,0,0,0,0
$GC,1015,-0.75,-184.9,290.1,-30.6,160,1024,0.12,2.05,0.00,0.000,6,0.144,0.029,2538,2227,3966,0,0,0,0,0,0
$GC,1353,-0.96,-184.9,351.0,-17.2,195,1358,0.17,2.10,0.00,0.000,4,0.070,0.044,2445,3627,3965,0,0,0,0,0,0
$GC,1371,-1.12,-184.9,354.6,-18.5,196,1375,0.00,2.03,0.00,0.000,6,0.000,0.029,2446,2226,3965,0,0,0,0,0,0
$GC,1703,-1.12,-184.9,440.0,-25.1,227,1707,0.00,2.05,0.00,0.000,4,0.000,0.035,2446,812,3965,0,0,0,0,0,0
$GC,1733,-1.12,-184.9,447.7,-27.1,229,1737,0.00,2.12,0.00,0.000,6,0.000,0.036,2435,2245,3964,0,0,0,0,0,0
$STATE,1946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1946,begin apogee
$GC,1950,-0.25,0.0,501.5,23.3,249,2098,0.85,0.00,136.62,0.874,4,0.153,0.000,2699,2142,3207,0,0,0,0,0,0
$STATE,2098,end apogee,CONTROL_FINISHED_OK
$STATE,2099,begin climb
$GC,2100,1.10,184.9,511.1,0.0,261,2251,1.20,2.15,141.82,0.872,4,0.050,0.037,3148,766,2450,0,0,0,0,0,0
$GC,2503,0.78,184.9,472.8,16.4,295,2512,0.38,2.15,0.00,0.000,6,0.177,0.034,3037,2163,2443,0,0,0,0,0,0
$GC,2829,0.74,220.9,433.2,12.0,326,2867,0.00,2.20,27.27,0.790,4,0.000,0.044,3039,3562,2301,0,0,0,0,0,0
$GC,3119,0.64,220.9,387.9,16.3,351,3129,0.17,2.08,0.00,0.000,6,0.159,0.029,2993,2179,2297,0,0,0,0,0,0
$GC,3445,0.80,273.9,352.6,10.6,382,3490,0.15,0.00,40.78,0.778,6,0.081,0.000,3060,2175,2089,0,0,0,0,0,0
$GC,3808,0.77,273.9,294.8,17.5,418,3817,0.00,2.15,0.00,0.000,4,0.000,0.037,3071,760,2082,0,0,0,0,0,0
$GC,3832,0.73,273.9,291.1,18.0,421,3839,0.20,2.12,0.00,0.000,6,0.165,0.035,3016,2164,2082,0,0,0,0,0,0
$GC,4179,0.87,303.7,245.5,12.6,482,4210,0.15,2.15,23.15,0.682,4,0.080,0.036,3095,757,1969,0,0,0,0,0,0
$GC,4241,0.81,303.7,234.9,19.2,491,4249,0.17,2.12,0.00,0.000,6,0.171,0.037,3049,2154,1965,0,0,0,0,0,0
$GC,4594,0.89,304.5,177.1,15.1,552,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2154,1962,0,0,0,0,0,0
$GC,4958,1.02,334.9,120.8,12.5,613,4993,0.17,2.15,23.80,0.601,4,0.073,0.037,3141,762,1839,0,0,0,0,0,0
$GC,5007,0.92,334.9,112.4,18.8,619,5018,0.17,2.15,0.00,0.000,6,0.158,0.037,3086,2154,1838,0,0,0,0,0,0
$GC,5383,1.18,409.8,61.7,8.7,680,5451,0.20,2.20,56.40,0.565,4,0.067,0.041,3178,3565,1533,0,0,0,0,0,0
$GC,5496,1.09,409.8,44.2,20.1,695,5506,0.17,2.12,0.00,0.000,6,0.155,0.030,3136,2165,1528,0,0,0,0,0,0
$STATE,5754,end climb,SURFACE_DEPTH_REACHED
$STATE,5755,begin surface coast
$FINISH,0.3,1.001502
$STATE,5775,end surface coast,CONTROL_FINISHED_OK
$STATE,5775,begin surface
$SM_CCo,5859,0.00,0.000,0,0,1525,412.10
$SM_GC,1.22,7.90,0.00,0.00,0.044,0.000,0.000,137,2249,1525,-8.21,1.16,412.10
$IRIDIUM_FIX,2335.63,12639.02,270910,232320
$TT8_MAMPS,0.027713
$HUMID,42.24
$INTERNAL_PRESSURE,9.62073
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.5,13.082
$10V_AH,10.3,15.328
$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,22.300,46.900,449.850,0.000,0.000,27.315,37.115,137.276,0.000,0.000,31.952,1781.274,1361.013,434.611,2488.480,139.958,0.000,1188.037,0.000,1182.565,0.000,0.543,0.000
$DEVICE_MAMPS,234.090,201.960,874.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,496.985,1127.156,1645.245,0.000,0.000,0.000,2111.288,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,330476
$DATA_FILE_SIZE,46928,740
$CAP_FILE_SIZE,80616,0
$CFSIZE,260165632,242266112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080,233.8,1
$GPS,280910,030537,2349.877,12635.396,42,0.9,42,-3.6