version: 66.08
glider: 181
mission: 4
dive: 400
start: 11 12 110 10 19 1
data:
$ID,181
$MISSION,4
$DIVE,400
$N_DIVES,416
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,1090
$D_NO_BLEED,200
$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,120
$T_MISSION,180
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51774
$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,4
$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,-38360.52
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2425
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3298
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,-60.178757
$PRESSURE_SLOPE,0.000116609
$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,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,119
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043203235
$SEABIRD_T_H,0.00062277901
$SEABIRD_T_I,2.2452641e-05
$SEABIRD_T_J,2.2905836e-06
$SEABIRD_C_G,-10.17854
$SEABIRD_C_H,1.1531147
$SEABIRD_C_I,-0.0013870052
$SEABIRD_C_J,0.0002016264
$TM_RECORDABOVE,200.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,40000.0
$TM_STARTS,555.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,10.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,0.0
$LA_XMITPROFILE,0.0
$LA_UPLOADMAX,25000.0
$LA_STARTS,4.0
$GPS1,121110,101108,2120.512,12600.398,13,1.8,13,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-69.6
$GPS2,121110,101837,2120.466,12600.406,30,1.3,30,-2.9
$SPEED_LIMITS,0.241,0.278
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$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,49.0,2507,-24.0,-13.889
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.92,-136.3,0.0,0.0,0,54,0.00,0.00,-36.03,0.000,2,0.000,0.000,196,2403,2503,0,0,0,0,0,0
$GC,57,-0.92,-136.3,3.0,-3.7,6,113,8.15,2.17,-38.97,0.000,4,0.237,0.055,2113,3770,3855,0,0,0,0,0,0
$GC,177,-0.85,-136.3,27.2,-28.0,26,184,0.15,2.05,0.00,0.000,6,0.168,0.027,2150,2388,3856,0,0,0,0,0,0
$GC,523,-0.81,-136.3,120.0,-19.0,87,529,0.00,2.17,0.00,0.000,4,0.000,0.042,2140,3781,3857,0,0,0,0,0,0
$GC,559,-0.80,-136.3,127.3,-18.6,93,567,0.00,2.08,0.00,0.000,6,0.000,0.028,2141,2394,3857,0,0,0,0,0,0
$GC,893,-0.77,-136.3,193.3,-19.2,134,898,0.12,2.10,0.00,0.000,4,0.168,0.031,2173,984,3858,0,0,0,0,0,0
$GC,942,-0.82,-136.3,201.9,-14.5,138,949,0.00,2.12,0.00,0.000,6,0.000,0.034,2165,2394,3859,0,0,0,0,0,0
$GC,1270,-0.84,-136.3,252.2,-15.9,169,1273,0.00,2.12,0.00,0.000,4,0.000,0.044,2154,3774,3859,0,0,0,0,0,0
$GC,1403,-0.88,-136.3,269.7,-11.6,180,1407,0.00,2.03,0.00,0.000,6,0.000,0.026,2154,2390,3860,0,0,0,0,0,0
$GC,1730,-0.91,-136.3,316.5,-13.6,210,1734,0.00,2.03,0.00,0.000,4,0.000,0.031,2154,1002,3859,0,0,0,0,0,0
$GC,1768,-0.95,-136.3,322.1,-13.0,213,1776,0.00,2.12,0.00,0.000,6,0.000,0.034,2148,2403,3859,0,0,0,0,0,0
$GC,2094,-0.98,-136.3,366.8,-13.2,244,2099,0.12,2.12,0.00,0.000,4,0.084,0.044,2075,3783,3858,0,0,0,0,0,0
$GC,2189,-0.97,-136.3,383.6,-17.3,252,2196,0.15,2.05,0.00,0.000,6,0.165,0.027,2114,2398,3858,0,0,0,0,0,0
$GC,2514,-0.97,-136.3,433.4,-15.6,283,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2395,3857,0,0,0,0,0,0
$GC,2835,-0.97,-136.3,483.7,-15.9,313,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2395,3855,0,0,0,0,0,0
$STATE,2938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2938,begin apogee
$GC,2944,-0.16,0.0,501.2,16.6,323,3054,0.80,0.00,103.15,0.786,6,0.129,0.000,2371,1984,3298,0,0,0,0,0,0
$STATE,3054,end apogee,CONTROL_FINISHED_OK
$STATE,3054,begin climb
$GC,3058,0.92,136.3,507.8,0.0,328,3171,0.93,2.28,104.25,0.747,4,0.048,0.037,2726,3409,2741,0,0,0,0,0,0
$GC,3221,0.86,199.5,509.5,9.6,335,3279,0.15,2.12,49.62,0.747,6,0.190,0.028,2702,2015,2484,0,0,0,0,0,0
$GC,3599,0.78,199.5,455.0,15.6,367,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2015,2477,0,0,0,0,0,0
$GC,3922,0.71,199.5,407.3,14.7,397,3927,0.17,2.12,0.00,0.000,4,0.177,0.037,2664,598,2474,0,0,0,0,0,0
$GC,4075,0.72,238.3,387.6,11.2,410,4111,0.00,2.12,29.98,0.728,6,0.000,0.031,2664,2017,2325,0,0,0,0,0,0
$GC,4437,0.72,254.3,340.7,12.8,444,4461,0.00,2.22,13.10,0.712,4,0.000,0.041,2664,3406,2261,0,0,0,0,0,0
$GC,4486,0.70,257.6,334.2,13.7,448,4498,0.00,2.15,4.38,0.464,6,0.000,0.031,2675,1997,2247,0,0,0,0,0,0
$GC,4817,0.69,272.1,289.2,12.9,479,4839,0.00,2.20,12.50,0.682,4,0.000,0.038,2685,598,2187,0,0,0,0,0,0
$GC,4925,0.68,272.1,274.8,13.9,488,4932,0.15,2.15,0.00,0.000,6,0.155,0.031,2645,2010,2187,0,0,0,0,0,0
$GC,5251,0.75,311.7,238.1,11.2,519,5288,0.00,2.20,31.35,0.653,4,0.000,0.042,2645,3393,2027,0,0,0,0,0,0
$GC,5308,0.81,343.5,231.4,11.7,524,5342,0.00,2.15,25.90,0.576,6,0.000,0.031,2654,1990,1896,0,0,0,0,0,0
$GC,5661,0.88,374.4,189.5,11.8,557,5695,0.15,2.20,24.20,0.619,4,0.077,0.038,2740,598,1770,0,0,0,0,0,0
$GC,5723,0.86,374.4,178.6,18.9,562,5731,0.15,2.12,0.00,0.000,6,0.159,0.031,2701,2002,1768,0,0,0,0,0,0
$GC,6054,0.90,395.1,135.8,12.5,603,6079,0.00,2.20,16.52,0.588,4,0.000,0.038,2710,599,1687,0,0,0,0,0,0
$GC,6199,0.95,407.4,116.6,13.1,628,6219,0.00,2.12,10.82,0.548,6,0.000,0.031,2709,2000,1637,0,0,0,0,0,0
$GC,6558,1.06,458.6,76.1,10.4,691,6607,0.15,2.20,40.20,0.573,4,0.079,0.037,2788,601,1428,0,0,0,0,0,0
$GC,6638,1.04,458.6,63.0,18.5,704,6645,0.00,2.15,0.00,0.000,6,0.000,0.031,2788,2008,1426,0,0,0,0,0,0
$STATE,6941,end climb,SURFACE_DEPTH_REACHED
$STATE,6941,begin surface coast
$FINISH,1.3,1.009465
$STATE,6958,end surface coast,CONTROL_FINISHED_OK
$STATE,6958,begin surface
$SM_CCo,7035,0.00,0.000,0,0,1422,460.18
$SM_GC,2.25,6.70,0.00,0.00,0.037,0.000,0.000,196,2406,1422,-6.84,0.17,460.18
$IRIDIUM_FIX,2108.69,12523.39,121110,101001
$TT8_MAMPS,0.025466
$HUMID,51.69
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,24.5,53.955
$10V_AH,10.0,58.572
$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,18.050,61.025,465.975,0.000,0.000,57.996,60.495,121.797,0.250,0.000,33.424,1845.495,3377.007,511.662,1533.762,219.351,0.000,1232.061,0.000,1266.965,0.000,0.541,0.000
$DEVICE_MAMPS,237.150,55.080,786.420,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,509.359,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331404
$DATA_FILE_SIZE,43574,761
$CAP_FILE_SIZE,90219,0
$CFSIZE,260165632,220180480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,306.8,1
$GPS,121110,121707,2121.018,12601.164,8,1.7,13,-2.9