version: 66.08
glider: 181
mission: 4
dive: 398
start: 11 12 110 6 10 2
data:
$ID,181
$MISSION,4
$DIVE,398
$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,-38358.004
$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,46
$R_STBD_OVSHOOT,45
$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
$GPS1,121110,060331,2119.858,12559.726,39,1.5,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-71.1
$GPS2,121110,060938,2119.778,12559.705,13,1.4,13,-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,46.3,4247,-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,-136.3,0.0,0.0,0,43,0.00,0.00,-25.10,0.000,2,0.000,0.000,195,2409,2405,0,0,0,0,0,0
$GC,46,-0.92,-136.3,3.1,-4.4,4,101,8.15,0.00,-43.83,0.000,6,0.233,0.000,2126,2409,3854,0,0,0,0,0,0
$GC,441,-0.81,-136.3,121.1,-33.8,73,449,0.15,2.12,0.00,0.000,4,0.190,0.044,2155,3770,3856,0,0,0,0,0,0
$GC,511,-0.82,-136.3,138.2,-17.6,85,518,0.00,2.08,0.00,0.000,6,0.000,0.026,2155,2382,3856,0,0,0,0,0,0
$GC,845,-0.81,-136.3,202.7,-19.5,122,849,0.00,2.03,0.00,0.000,4,0.000,0.031,2155,1003,3859,0,0,0,0,0,0
$GC,907,-0.84,-136.3,213.6,-15.3,127,914,0.00,2.10,0.00,0.000,6,0.000,0.034,2147,2400,3859,0,0,0,0,0,0
$GC,1232,-0.84,-136.3,269.5,-17.6,158,1236,0.00,2.12,0.00,0.000,4,0.000,0.044,2137,3777,3860,0,0,0,0,0,0
$GC,1317,-0.87,-136.3,283.0,-15.5,165,1321,0.00,2.05,0.00,0.000,6,0.000,0.027,2137,2400,3861,0,0,0,0,0,0
$GC,1643,-0.87,-136.3,339.3,-16.4,195,1647,0.00,2.08,0.00,0.000,4,0.000,0.033,2137,991,3860,0,0,0,0,0,0
$GC,1677,-0.90,-136.3,344.8,-14.8,197,1683,0.00,2.15,0.00,0.000,6,0.000,0.034,2126,2401,3860,0,0,0,0,0,0
$GC,2002,-0.90,-136.3,396.1,-17.0,228,2006,0.00,2.12,0.00,0.000,4,0.000,0.044,2116,3778,3859,0,0,0,0,0,0
$GC,2080,-0.93,-136.3,408.1,-14.8,234,2088,0.00,2.05,0.00,0.000,6,0.000,0.028,2115,2402,3859,0,0,0,0,0,0
$GC,2405,-0.93,-136.3,460.9,-16.4,265,2409,0.00,2.17,0.00,0.000,4,0.000,0.046,2105,3784,3858,0,0,0,0,0,0
$GC,2446,-0.94,-136.3,467.6,-16.4,268,2450,0.00,2.05,0.00,0.000,6,0.000,0.028,2105,2399,3857,0,0,0,0,0,0
$STATE,2641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2641,begin apogee
$GC,2648,-0.16,0.0,500.6,17.0,286,2760,0.82,0.00,103.65,0.790,6,0.132,0.000,2366,1971,3298,0,0,0,0,0,0
$STATE,2760,end apogee,CONTROL_FINISHED_OK
$STATE,2761,begin climb
$GC,2763,0.92,136.3,506.5,0.0,291,2876,0.95,2.17,104.70,0.744,4,0.050,0.034,2736,605,2741,0,0,0,0,0,0
$GC,3130,0.83,165.1,480.9,11.9,314,3161,0.17,2.12,22.92,0.763,6,0.180,0.031,2693,2009,2624,0,0,0,0,0,0
$GC,3479,0.80,200.7,440.8,11.5,347,3513,0.00,2.25,28.23,0.742,4,0.000,0.041,2693,3397,2479,0,0,0,0,0,0
$GC,3560,0.72,200.7,430.6,14.2,354,3565,0.17,2.12,0.00,0.000,6,0.183,0.031,2659,2015,2476,0,0,0,0,0,0
$GC,3892,0.74,241.4,393.2,11.1,385,3929,0.00,2.25,32.00,0.718,4,0.000,0.039,2668,598,2312,0,0,0,0,0,0
$GC,4031,0.73,241.9,374.8,13.9,397,4038,0.00,2.17,0.00,0.000,6,0.000,0.032,2669,2007,2309,0,0,0,0,0,0
$GC,4357,0.71,241.9,329.6,14.1,428,4360,0.00,2.15,0.00,0.000,4,0.000,0.043,2669,3402,2305,0,0,0,0,0,0
$GC,4390,0.68,241.9,324.6,15.0,430,4399,0.12,2.15,0.00,0.000,6,0.174,0.031,2648,1994,2304,0,0,0,0,0,0
$GC,4716,0.73,279.7,285.5,11.3,461,4751,0.00,2.22,29.58,0.673,4,0.000,0.039,2657,597,2157,0,0,0,0,0,0
$GC,4865,0.78,306.3,266.6,12.1,474,4892,0.00,2.15,21.67,0.623,6,0.000,0.032,2657,2010,2049,0,0,0,0,0,0
$GC,5220,0.81,317.1,220.5,13.2,507,5235,0.00,2.22,9.30,0.607,4,0.000,0.039,2668,599,2005,0,0,0,0,0,0
$GC,5266,0.85,331.3,214.2,12.9,511,5288,0.00,2.15,12.85,0.634,6,0.000,0.031,2668,2003,1946,0,0,0,0,0,0
$GC,5608,0.93,371.5,170.8,11.1,543,5646,0.15,2.20,31.80,0.598,4,0.076,0.039,2741,3412,1782,0,0,0,0,0,0
$GC,5659,0.89,371.5,162.7,17.8,547,5664,0.15,2.17,0.00,0.000,6,0.172,0.030,2714,2001,1781,0,0,0,0,0,0
$GC,6001,0.91,371.5,116.9,14.4,599,6008,0.00,2.20,0.00,0.000,4,0.000,0.041,2714,3408,1776,0,0,0,0,0,0
$GC,6164,0.99,413.7,95.1,11.0,627,6206,0.00,2.15,32.80,0.583,6,0.000,0.030,2723,1992,1610,0,0,0,0,0,0
$GC,6542,1.06,441.2,51.6,12.0,694,6575,0.12,2.17,21.65,0.536,4,0.085,0.038,2792,602,1499,0,0,0,0,0,0
$GC,6668,1.05,441.2,30.5,17.7,715,6674,0.00,2.12,0.00,0.000,6,0.000,0.031,2792,2001,1497,0,0,0,0,0,0
$STATE,6808,end climb,SURFACE_DEPTH_REACHED
$STATE,6808,begin surface coast
$FINISH,1.4,1.010015
$STATE,6820,end surface coast,CONTROL_FINISHED_OK
$STATE,6821,begin surface
$SM_CCo,6897,0.00,0.000,0,0,1494,442.28
$SM_GC,2.26,6.72,0.00,0.00,0.036,0.000,0.000,205,2406,1494,-6.85,0.17,442.28
$IRIDIUM_FIX,2117.95,12602.66,121110,020245
$TT8_MAMPS,0.025466
$HUMID,49.37
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.3,53.755
$10V_AH,10.0,58.475
$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,17.700,65.475,451.150,0.000,0.000,27.912,40.461,149.822,0.250,0.000,16.168,1810.649,3248.939,478.244,1496.766,223.972,0.000,1196.772,0.000,1272.465,0.000,0.541,0.000
$DEVICE_MAMPS,233.325,45.900,790.245,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,497.024,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331448
$DATA_FILE_SIZE,43639,742
$CAP_FILE_SIZE,89390,0
$CFSIZE,260165632,220282880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.168,269.0,1
$GPS,121110,080607,2120.210,12559.788,31,1.4,31,-2.9