version: 66.08
glider: 181
mission: 4
dive: 405
start: 11 12 110 20 11 55
data:
$ID,181
$MISSION,4
$DIVE,405
$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,-38368.848
$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,47
$R_STBD_OVSHOOT,47
$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
$GPS1,121110,200552,2121.865,12601.564,12,5.6,31,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-69.6
$GPS2,121110,201128,2121.837,12601.650,14,4.5,33,-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,266.0,892,-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,-136.3,0.0,0.0,0,48,0.00,0.00,-30.50,0.000,2,0.000,0.000,201,2411,2541,0,0,0,0,0,0
$GC,51,-0.92,-136.3,3.3,-4.3,5,102,7.93,2.20,-36.10,0.000,4,0.230,0.045,2122,995,3855,0,0,0,0,0,0
$GC,188,-0.86,-136.3,32.0,-26.5,28,195,0.12,2.15,0.00,0.000,6,0.168,0.036,2144,2394,3856,0,0,0,0,0,0
$GC,533,-0.83,-136.3,127.4,-20.8,89,540,0.00,2.12,0.00,0.000,4,0.000,0.041,2135,3780,3857,0,0,0,0,0,0
$GC,570,-0.81,-136.3,134.5,-19.0,95,577,0.00,2.05,0.00,0.000,6,0.000,0.026,2135,2394,3857,0,0,0,0,0,0
$GC,906,-0.78,-136.3,204.2,-17.6,132,911,0.12,2.17,0.00,0.000,4,0.166,0.042,2159,3783,3859,0,0,0,0,0,0
$GC,949,-0.81,-136.3,211.5,-14.8,135,956,0.00,2.05,0.00,0.000,6,0.000,0.026,2159,2390,3859,0,0,0,0,0,0
$GC,1275,-0.83,-136.3,263.2,-15.9,166,1279,0.00,2.15,0.00,0.000,4,0.000,0.043,2149,3778,3860,0,0,0,0,0,0
$GC,1318,-0.86,-136.3,270.3,-15.1,169,1325,0.00,2.05,0.00,0.000,6,0.000,0.026,2149,2390,3860,0,0,0,0,0,0
$GC,1644,-0.87,-136.3,322.5,-15.7,200,1648,0.00,2.03,0.00,0.000,4,0.000,0.032,2149,1005,3860,0,0,0,0,0,0
$GC,1668,-0.89,-136.3,326.4,-15.9,202,1672,0.00,2.12,0.00,0.000,6,0.000,0.036,2139,2406,3860,0,0,0,0,0,0
$GC,1998,-0.91,-136.3,375.3,-14.3,233,2002,0.00,2.10,0.00,0.000,4,0.000,0.045,2128,3777,3860,0,0,0,0,0,0
$GC,2102,-0.94,-136.3,390.0,-13.0,242,2106,0.00,2.05,0.00,0.000,6,0.000,0.027,2128,2394,3859,0,0,0,0,0,0
$GC,2434,-0.95,-136.3,440.5,-15.5,273,2437,0.00,2.08,0.00,0.000,4,0.000,0.034,2128,1004,3858,0,0,0,0,0,0
$GC,2472,-0.99,-136.3,447.0,-15.2,276,2479,0.00,2.15,0.00,0.000,6,0.000,0.037,2123,2407,3858,0,0,0,0,0,0
$GC,2799,-1.01,-136.3,497.3,-15.1,307,2803,0.00,2.12,0.00,0.000,4,0.000,0.046,2113,3777,3856,0,0,0,0,0,0
$STATE,2815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2815,begin apogee
$GC,2823,-0.16,0.0,500.3,15.5,308,2933,0.77,0.00,103.12,0.793,6,0.125,0.000,2365,2007,3299,0,0,0,0,0,0
$STATE,2934,end apogee,CONTROL_FINISHED_OK
$STATE,2934,begin climb
$GC,2937,0.92,136.3,506.9,0.0,313,3050,0.95,2.25,103.85,0.746,4,0.047,0.036,2742,589,2742,0,0,0,0,0,0
$GC,3303,0.81,152.3,479.9,12.8,336,3322,0.20,2.17,13.02,0.757,6,0.177,0.032,2691,2015,2677,0,0,0,0,0,0
$GC,3640,0.81,211.5,442.2,9.8,368,3696,0.00,2.28,46.28,0.744,4,0.000,0.037,2700,595,2434,0,0,0,0,0,0
$GC,3890,0.77,225.5,409.9,12.9,390,3909,0.00,2.15,11.65,0.726,6,0.000,0.032,2700,2000,2378,0,0,0,0,0,0
$GC,4228,0.71,225.5,358.8,15.6,422,4230,0.17,0.00,0.00,0.000,6,0.174,0.000,2654,2002,2373,0,0,0,0,0,0
$GC,4547,0.75,266.1,319.6,11.1,452,4584,0.00,2.22,31.58,0.693,4,0.000,0.040,2662,600,2213,0,0,0,0,0,0
$GC,4637,0.78,285.4,308.4,12.6,460,4660,0.00,2.15,16.42,0.631,6,0.000,0.033,2662,1997,2134,0,0,0,0,0,0
$GC,4979,0.79,292.8,265.1,13.4,492,4991,0.00,2.22,6.53,0.577,4,0.000,0.040,2673,593,2103,0,0,0,0,0,0
$GC,5043,0.80,292.8,256.2,14.0,497,5050,0.00,2.15,0.00,0.000,6,0.000,0.034,2673,2001,2103,0,0,0,0,0,0
$GC,5369,0.82,311.2,214.1,12.6,528,5392,0.00,2.20,15.45,0.649,4,0.000,0.042,2673,3407,2029,0,0,0,0,0,0
$GC,5438,0.82,311.2,204.9,14.4,534,5442,0.00,2.15,0.00,0.000,6,0.000,0.031,2684,1993,2027,0,0,0,0,0,0
$GC,5768,0.83,320.9,160.0,13.2,565,5783,0.00,2.22,8.82,0.558,4,0.000,0.041,2684,3398,1989,0,0,0,0,0,0
$GC,5839,0.83,320.9,150.0,14.2,571,5846,0.00,2.12,0.00,0.000,6,0.000,0.031,2694,1995,1988,0,0,0,0,0,0
$GC,6184,0.92,377.5,108.6,10.0,632,6233,0.00,2.28,43.95,0.586,4,0.000,0.041,2694,3405,1759,0,0,0,0,0,0
$GC,6364,1.00,396.6,87.7,12.6,663,6390,0.12,2.15,15.93,0.543,6,0.082,0.030,2760,1986,1680,0,0,0,0,0,0
$GC,6726,1.00,396.6,33.3,15.0,727,6732,0.00,2.12,0.00,0.000,4,0.000,0.039,2771,590,1675,0,0,0,0,0,0
$GC,6823,1.00,396.6,17.7,16.6,744,6830,0.00,2.12,0.00,0.000,6,0.000,0.031,2772,2002,1675,0,0,0,0,0,0
$STATE,6914,end climb,SURFACE_DEPTH_REACHED
$STATE,6914,begin surface coast
$FINISH,1.3,0.999684
$STATE,6933,end surface coast,CONTROL_FINISHED_OK
$STATE,6933,begin surface
$SM_CCo,7010,0.00,0.000,0,0,1672,398.61
$SM_GC,2.41,6.68,0.00,0.00,0.041,0.000,0.000,206,2424,1672,-6.84,0.68,398.61
$IRIDIUM_FIX,2113.32,12556.20,121110,181828
$TT8_MAMPS,0.025466
$HUMID,53.03
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.5,54.402
$10V_AH,10.0,58.804
$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,17.075,69.850,416.600,0.000,0.000,24.140,41.332,120.380,0.000,0.000,39.266,1872.152,3294.215,457.290,1519.629,209.243,0.000,1182.981,0.000,1299.029,0.000,0.541,0.000
$DEVICE_MAMPS,230.265,45.900,792.540,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,511.237,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331420
$DATA_FILE_SIZE,43576,763
$CAP_FILE_SIZE,89991,0
$CFSIZE,260165632,219951104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.209,105.2,1
$GPS,121110,220950,2121.753,12601.598,10,1.6,28,-2.9