version: 66.08
glider: 181
mission: 4
dive: 401
start: 11 12 110 12 22 49
data:
$ID,181
$MISSION,4
$DIVE,401
$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,-38361.777
$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,46
$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
$GPS1,121110,121707,2121.018,12601.164,8,1.7,13,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-68.1
$GPS2,121110,122222,2120.984,12601.167,12,6.3,31,-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,11.1,1142,-27.7,-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,-0.99,-102.8,0.0,0.0,0,60,0.00,0.00,-42.58,0.000,2,0.000,0.000,196,2407,2508,0,0,0,0,0,0
$GC,64,-1.03,-136.3,3.0,-2.5,7,115,7.78,2.20,-37.67,0.000,4,0.230,0.056,2075,3770,3854,0,0,0,0,0,0
$GC,245,-0.97,-136.3,52.5,-31.4,38,252,0.15,2.05,0.00,0.000,6,0.181,0.027,2111,2395,3856,0,0,0,0,0,0
$GC,589,-0.93,-136.3,156.1,-25.4,97,593,0.00,2.12,0.00,0.000,4,0.000,0.044,2102,3768,3857,0,0,0,0,0,0
$GC,624,-0.91,-136.3,164.5,-23.6,100,628,0.12,2.03,0.00,0.000,6,0.162,0.027,2134,2392,3857,0,0,0,0,0,0
$GC,949,-0.92,-136.3,229.4,-18.6,130,953,0.00,2.05,0.00,0.000,4,0.000,0.032,2134,994,3859,0,0,0,0,0,0
$GC,990,-0.95,-136.3,237.1,-19.6,133,994,0.00,2.10,0.00,0.000,6,0.000,0.034,2125,2391,3859,0,0,0,0,0,0
$GC,1316,-0.97,-136.3,302.1,-19.6,163,1320,0.00,2.12,0.00,0.000,4,0.000,0.044,2114,3785,3859,0,0,0,0,0,0
$GC,1416,-1.02,-136.3,320.4,-17.1,171,1423,0.00,2.05,0.00,0.000,6,0.000,0.027,2114,2398,3859,0,0,0,0,0,0
$GC,1741,-1.05,-136.3,376.3,-16.2,202,1745,0.00,2.15,0.00,0.000,4,0.000,0.044,2103,3775,3859,0,0,0,0,0,0
$GC,1796,-1.09,-136.3,385.4,-14.7,206,1803,0.00,2.05,0.00,0.000,6,0.000,0.028,2104,2395,3859,0,0,0,0,0,0
$GC,2122,-1.11,-136.3,437.5,-16.4,237,2127,0.10,2.15,0.00,0.000,4,0.097,0.045,2040,3773,3858,0,0,0,0,0,0
$GC,2188,-1.09,-136.3,450.8,-20.9,242,2196,0.12,2.03,0.00,0.000,6,0.172,0.028,2070,2397,3858,0,0,0,0,0,0
$STATE,2441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2441,begin apogee
$GC,2447,-0.16,0.0,500.5,19.6,266,2556,0.95,0.00,103.57,0.786,6,0.143,0.000,2366,1982,3297,0,0,0,0,0,0
$STATE,2557,end apogee,CONTROL_FINISHED_OK
$STATE,2557,begin climb
$GC,2560,1.03,136.3,508.5,0.0,271,2673,1.05,2.20,103.55,0.743,4,0.046,0.035,2779,610,2741,0,0,0,0,0,0
$GC,2836,0.93,148.1,496.4,12.8,284,2852,0.22,2.12,10.20,0.724,6,0.184,0.030,2723,2019,2693,0,0,0,0,0,0
$GC,3179,0.89,172.4,456.4,11.7,316,3203,0.00,2.22,19.52,0.782,4,0.000,0.036,2733,612,2595,0,0,0,0,0,0
$GC,3232,0.82,172.4,449.4,14.0,320,3240,0.15,2.10,0.00,0.000,6,0.181,0.031,2696,2002,2594,0,0,0,0,0,0
$GC,3557,0.81,191.0,408.5,12.2,351,3581,0.00,2.17,15.55,0.744,4,0.000,0.041,2696,3406,2519,0,0,0,0,0,0
$GC,3621,0.77,193.5,400.2,13.7,356,3630,0.12,2.12,0.00,0.000,6,0.194,0.030,2677,2010,2517,0,0,0,0,0,0
$GC,3947,0.80,218.6,362.2,11.6,387,3974,0.00,2.15,22.27,0.711,4,0.000,0.037,2685,599,2405,0,0,0,0,0,0
$GC,4010,0.81,227.6,354.9,13.1,392,4023,0.00,2.12,8.32,0.595,6,0.000,0.031,2685,2003,2370,0,0,0,0,0,0
$GC,4341,0.83,244.2,313.9,12.4,423,4362,0.00,0.00,14.10,0.705,6,0.000,0.000,2685,2003,2302,0,0,0,0,0,0
$GC,4680,0.85,263.1,269.7,12.2,455,4701,0.00,0.00,15.93,0.691,6,0.000,0.000,2685,2003,2224,0,0,0,0,0,0
$GC,5020,0.88,271.8,226.1,13.1,487,5032,0.00,2.22,8.02,0.591,4,0.000,0.038,2696,594,2189,0,0,0,0,0,0
$GC,5060,0.92,286.9,220.7,12.5,490,5078,0.00,2.12,13.48,0.644,6,0.000,0.031,2695,2006,2128,0,0,0,0,0,0
$GC,5396,0.95,288.7,176.0,13.7,522,5401,0.10,2.15,0.00,0.000,4,0.099,0.038,2755,598,2125,0,0,0,0,0,0
$GC,5474,0.93,288.7,164.1,15.4,528,5481,0.00,2.10,0.00,0.000,6,0.000,0.031,2756,2002,2125,0,0,0,0,0,0
$GC,5811,0.97,318.3,118.4,11.2,580,5843,0.00,2.15,25.00,0.601,4,0.000,0.038,2756,3402,2000,0,0,0,0,0,0
$GC,5879,0.98,318.3,108.5,14.4,591,5886,0.00,2.10,0.00,0.000,6,0.000,0.030,2765,2002,1998,0,0,0,0,0,0
$GC,6224,0.98,319.8,66.4,13.8,652,6231,0.00,2.10,0.00,0.000,4,0.000,0.037,2776,597,1995,0,0,0,0,0,0
$GC,6283,1.00,329.9,58.3,13.0,662,6303,0.12,2.10,10.00,0.497,6,0.165,0.031,2746,2011,1951,0,0,0,0,0,0
$GC,6644,1.04,337.8,12.4,13.2,725,6657,0.00,2.20,7.65,0.439,4,0.000,0.036,2754,597,1920,0,0,0,0,0,0
$GC,6681,1.07,337.9,7.1,13.9,731,6687,0.00,2.12,0.00,0.000,6,0.000,0.031,2754,2009,1920,0,0,0,0,0,0
$STATE,6715,end climb,SURFACE_DEPTH_REACHED
$STATE,6715,begin surface coast
$FINISH,1.4,1.002308
$STATE,6739,end surface coast,CONTROL_FINISHED_OK
$STATE,6739,begin surface
$SM_CCo,6756,17.70,0.061,0,0,1768,375.06
$SM_GC,3.03,0.00,0.00,17.70,0.000,0.000,0.061,210,2408,1768,-6.92,0.23,375.06
$IRIDIUM_FIX,2108.69,12549.74,121110,101014
$TT8_MAMPS,0.025466
$HUMID,50.82
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,24.5,54.041
$10V_AH,10.0,58.619
$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,17.600,64.825,377.175,17.700,0.000,25.967,25.885,116.353,0.250,0.000,34.773,1818.619,3183.017,462.464,1427.477,204.930,0.000,1152.387,0.000,1232.927,0.000,0.543,0.000
$DEVICE_MAMPS,230.265,55.845,786.420,61.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,496.468,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331460
$DATA_FILE_SIZE,43598,741
$CAP_FILE_SIZE,88945,0
$CFSIZE,260165632,220135424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,282.3,1
$GPS,121110,141706,2121.815,12601.259,37,1.2,43,-2.9