version: 66.08
glider: 181
mission: 4
dive: 402
start: 11 12 110 14 22 30
data:
$ID,181
$MISSION,4
$DIVE,402
$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,-38363.035
$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,48
$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
$GPS1,121110,141706,2121.815,12601.259,37,1.2,43,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-70.6
$GPS2,121110,142202,2121.771,12601.279,11,2.0,11,-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,198.8,345,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.99,-102.8,0.0,0.0,0,49,0.00,0.00,-30.45,0.000,2,0.000,0.000,202,2410,2538,0,0,0,0,0,0
$GC,52,-1.03,-136.3,3.2,-3.5,5,103,7.65,2.15,-35.80,0.000,4,0.226,0.043,2086,989,3856,0,0,0,0,0,0
$GC,172,-0.98,-136.3,31.5,-31.6,25,179,0.00,2.15,0.00,0.000,6,0.000,0.037,2078,2387,3856,0,0,0,0,0,0
$GC,516,-0.91,-136.3,149.8,-29.8,86,524,0.20,2.15,0.00,0.000,4,0.182,0.041,2120,3780,3857,0,0,0,0,0,0
$GC,725,-0.94,-136.3,192.6,-17.0,105,732,0.00,2.05,0.00,0.000,6,0.000,0.026,2120,2392,3859,0,0,0,0,0,0
$GC,1051,-0.94,-136.3,256.9,-20.6,136,1055,0.00,2.15,0.00,0.000,4,0.000,0.044,2110,3778,3860,0,0,0,0,0,0
$GC,1117,-0.96,-136.3,270.6,-19.0,141,1124,0.00,2.03,0.00,0.000,6,0.000,0.027,2109,2394,3860,0,0,0,0,0,0
$GC,1443,-0.96,-136.3,333.0,-20.3,172,1447,0.00,2.15,0.00,0.000,4,0.000,0.044,2099,3778,3861,0,0,0,0,0,0
$GC,1520,-0.99,-136.3,348.0,-17.9,178,1527,0.00,2.05,0.00,0.000,6,0.000,0.027,2099,2395,3861,0,0,0,0,0,0
$GC,1846,-1.01,-136.3,410.2,-18.6,209,1850,0.00,2.17,0.00,0.000,4,0.000,0.044,2088,3783,3860,0,0,0,0,0,0
$GC,1908,-1.03,-136.3,420.8,-17.8,214,1912,0.00,2.05,0.00,0.000,6,0.000,0.028,2088,2391,3860,0,0,0,0,0,0
$GC,2234,-1.05,-136.3,479.5,-18.0,244,2238,0.00,2.05,0.00,0.000,4,0.000,0.031,2088,991,3859,0,0,0,0,0,0
$GC,2251,-1.06,-136.3,482.8,-18.1,245,2255,0.00,2.15,0.00,0.000,6,0.000,0.035,2078,2401,3859,0,0,0,0,0,0
$STATE,2351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2351,begin apogee
$GC,2358,-0.16,0.0,500.8,17.6,254,2468,0.93,0.00,103.75,0.792,6,0.141,0.000,2366,1976,3299,0,0,0,0,0,0
$STATE,2469,end apogee,CONTROL_FINISHED_OK
$STATE,2469,begin climb
$GC,2471,1.03,136.3,506.0,0.0,259,2587,1.02,2.20,103.80,0.741,4,0.045,0.034,2770,611,2741,0,0,0,0,0,0
$GC,2791,0.92,136.3,483.4,14.3,278,2795,0.20,2.12,0.00,0.000,6,0.181,0.031,2721,2012,2737,0,0,0,0,0,0
$GC,3121,0.91,187.2,447.4,9.3,309,3164,0.00,0.00,39.12,0.750,6,0.000,0.000,2721,2013,2534,0,0,0,0,0,0
$GC,3482,0.89,202.9,402.9,12.5,343,3500,0.00,2.15,12.80,0.733,4,0.000,0.034,2729,614,2471,0,0,0,0,0,0
$GC,3569,0.84,202.9,390.5,15.0,350,3574,0.12,2.12,0.00,0.000,6,0.181,0.031,2700,2010,2470,0,0,0,0,0,0
$GC,3897,0.84,220.1,347.3,12.3,380,3915,0.00,0.00,14.55,0.725,6,0.000,0.000,2700,2010,2400,0,0,0,0,0,0
$GC,4235,0.83,230.0,302.6,13.0,412,4250,0.00,2.20,8.68,0.644,4,0.000,0.041,2700,3404,2360,0,0,0,0,0,0
$GC,4280,0.81,230.0,296.2,14.4,416,4284,0.00,2.10,0.00,0.000,6,0.000,0.030,2709,2018,2359,0,0,0,0,0,0
$GC,4606,0.81,244.7,252.6,12.6,446,4629,0.00,2.22,12.85,0.662,4,0.000,0.037,2720,595,2300,0,0,0,0,0,0
$GC,4737,0.81,255.2,235.8,12.9,457,4756,0.12,2.10,10.02,0.625,6,0.172,0.031,2689,2001,2256,0,0,0,0,0,0
$GC,5074,0.83,265.4,194.0,13.0,489,5085,0.00,0.00,8.82,0.584,6,0.000,0.000,2689,2001,2216,0,0,0,0,0,0
$GC,5403,0.93,314.8,157.0,9.4,520,5448,0.10,0.00,39.05,0.610,6,0.098,0.000,2736,2001,2013,0,0,0,0,0,0
$GC,5782,1.00,347.7,103.6,10.9,583,5814,0.00,2.22,25.65,0.581,4,0.000,0.037,2747,595,1880,0,0,0,0,0,0
$GC,5850,1.08,376.9,96.4,11.3,594,5882,0.00,2.15,23.55,0.568,6,0.000,0.030,2747,2009,1760,0,0,0,0,0,0
$GC,6221,1.11,376.9,47.2,14.3,659,6228,0.10,0.00,0.00,0.000,6,0.102,0.000,2796,2009,1756,0,0,0,0,0,0
$STATE,6474,end climb,SURFACE_DEPTH_REACHED
$STATE,6474,begin surface coast
$FINISH,1.4,1.022421
$STATE,6491,end surface coast,CONTROL_FINISHED_OK
$STATE,6491,begin surface
$SM_CCo,6568,0.00,0.000,0,0,1753,378.99
$SM_GC,2.46,6.75,0.00,0.00,0.042,0.000,0.000,204,2414,1753,-6.84,0.40,378.99
$IRIDIUM_FIX,2111.01,12554.84,121110,121205
$TT8_MAMPS,0.026215
$HUMID,52.00
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.5,54.131
$10V_AH,10.1,58.664
$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,17.200,48.050,402.650,0.000,0.000,25.475,23.876,118.695,0.000,0.000,13.989,1738.531,3122.980,430.026,1379.163,201.056,0.000,1099.555,0.000,1202.296,0.000,0.542,0.000
$DEVICE_MAMPS,225.675,44.370,791.775,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,473.770,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331372
$DATA_FILE_SIZE,40315,707
$CAP_FILE_SIZE,81939,0
$CFSIZE,260165632,220094464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060,126.8,1
$GPS,121110,161244,2121.001,12601.067,8,1.4,8,-2.9