version: 66.08
glider: 181
mission: 4
dive: 406
start: 11 12 110 22 15 29
data:
$ID,181
$MISSION,4
$DIVE,406
$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,-38370.105
$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,48
$R_STBD_OVSHOOT,56
$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
$GPS1,121110,220950,2121.753,12601.598,10,1.6,28,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-70.4
$GPS2,121110,221502,2121.709,12601.708,14,1.8,20,-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,280.7,899,-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,-30.25,0.000,2,0.000,0.000,200,2424,2454,0,0,0,0,0,0
$GC,51,-0.92,-136.3,3.1,-3.7,5,110,7.85,2.22,-43.40,0.000,4,0.226,0.045,2120,991,3856,0,0,0,0,0,0
$GC,217,-0.85,-136.3,37.5,-28.6,33,226,0.15,2.12,0.00,0.000,6,0.174,0.036,2147,2386,3857,0,0,0,0,0,0
$GC,564,-0.80,-136.3,129.4,-22.8,94,571,0.00,2.15,0.00,0.000,4,0.000,0.042,2139,3787,3857,0,0,0,0,0,0
$GC,595,-0.78,-136.3,136.3,-20.9,99,602,0.12,2.08,0.00,0.000,6,0.158,0.026,2171,2388,3858,0,0,0,0,0,0
$GC,926,-0.79,-136.3,194.3,-16.3,136,929,0.00,2.15,0.00,0.000,4,0.000,0.043,2163,3780,3860,0,0,0,0,0,0
$GC,1003,-0.83,-136.3,206.6,-15.1,142,1010,0.00,2.05,0.00,0.000,6,0.000,0.026,2163,2391,3860,0,0,0,0,0,0
$GC,1329,-0.84,-136.3,258.4,-16.1,173,1333,0.00,2.15,0.00,0.000,4,0.000,0.043,2153,3781,3860,0,0,0,0,0,0
$GC,1409,-0.88,-136.3,270.4,-15.4,180,1412,0.00,2.05,0.00,0.000,6,0.000,0.026,2153,2392,3861,0,0,0,0,0,0
$GC,1740,-0.89,-136.3,323.4,-16.0,211,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2389,3861,0,0,0,0,0,0
$GC,2060,-0.92,-136.3,371.3,-14.6,241,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2389,3860,0,0,0,0,0,0
$GC,2379,-0.96,-136.3,415.4,-13.3,271,2384,0.12,2.20,0.00,0.000,4,0.081,0.045,2074,3790,3859,0,0,0,0,0,0
$GC,2436,-0.94,-136.3,425.3,-17.5,275,2443,0.17,2.08,0.00,0.000,6,0.159,0.028,2122,2394,3859,0,0,0,0,0,0
$GC,2764,-0.95,-136.3,470.7,-14.1,306,2767,0.00,2.08,0.00,0.000,4,0.000,0.034,2122,1004,3858,0,0,0,0,0,0
$GC,2793,-0.98,-136.3,475.4,-15.3,308,2797,0.00,2.12,0.00,0.000,6,0.000,0.037,2113,2406,3857,0,0,0,0,0,0
$STATE,2961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2962,begin apogee
$GC,2968,-0.16,0.0,501.4,15.6,324,3078,0.77,0.00,103.57,0.787,6,0.128,0.000,2363,1985,3297,0,0,0,0,0,0
$STATE,3079,end apogee,CONTROL_FINISHED_OK
$STATE,3079,begin climb
$GC,3081,0.92,136.3,507.4,0.0,329,3197,0.93,2.35,103.72,0.744,4,0.041,0.040,2730,3410,2741,0,0,0,0,0,0
$GC,3445,0.78,136.3,477.8,14.2,352,3450,0.25,2.10,0.00,0.000,6,0.186,0.028,2677,2007,2734,0,0,0,0,0,0
$GC,3771,0.79,207.9,443.6,9.0,382,3835,0.00,2.22,54.50,0.741,4,0.000,0.039,2686,604,2449,0,0,0,0,0,0
$GC,3896,0.76,222.1,428.7,12.9,393,3916,0.00,2.17,12.38,0.682,6,0.000,0.032,2686,2014,2391,0,0,0,0,0,0
$GC,4234,0.73,235.9,382.2,12.9,425,4250,0.00,2.17,11.45,0.717,4,0.000,0.039,2697,601,2336,0,0,0,0,0,0
$GC,4295,0.69,235.9,373.2,14.1,430,4302,0.17,2.12,0.00,0.000,6,0.160,0.033,2650,2003,2335,0,0,0,0,0,0
$GC,4620,0.74,278.7,336.2,11.0,461,4660,0.00,0.00,33.97,0.696,6,0.000,0.000,2650,2004,2162,0,0,0,0,0,0
$GC,4981,0.79,305.0,293.5,12.1,495,5012,0.00,2.22,21.12,0.677,4,0.000,0.040,2659,599,2054,0,0,0,0,0,0
$GC,5048,0.82,315.7,285.0,13.2,501,5063,0.00,2.12,9.82,0.582,6,0.000,0.032,2659,1999,2010,0,0,0,0,0,0
$GC,5391,0.86,328.6,239.3,13.0,533,5408,0.12,2.20,11.00,0.629,4,0.088,0.042,2725,3395,1957,0,0,0,0,0,0
$GC,5496,0.82,328.6,220.5,19.4,542,5501,0.17,2.10,0.00,0.000,6,0.168,0.031,2690,2005,1956,0,0,0,0,0,0
$GC,5828,0.83,332.2,172.0,13.6,573,5841,0.00,2.22,3.97,0.414,4,0.000,0.041,2690,3407,1943,0,0,0,0,0,0
$GC,5854,0.83,332.2,168.0,14.5,575,5858,0.00,2.12,0.00,0.000,6,0.000,0.031,2698,2001,1943,0,0,0,0,0,0
$GC,6191,0.84,343.6,123.3,13.1,623,6210,0.00,2.12,10.73,0.551,4,0.000,0.039,2709,598,1897,0,0,0,0,0,0
$GC,6429,0.93,385.0,94.2,11.1,665,6467,0.00,2.10,32.65,0.579,6,0.000,0.031,2709,2007,1727,0,0,0,0,0,0
$GC,6803,1.01,419.7,53.2,11.5,731,6841,0.12,2.22,27.48,0.538,4,0.087,0.038,2780,596,1586,0,0,0,0,0,0
$GC,6853,1.01,419.7,45.9,15.7,739,6860,0.00,2.12,0.00,0.000,6,0.000,0.031,2780,2004,1585,0,0,0,0,0,0
$STATE,7099,end climb,SURFACE_DEPTH_REACHED
$STATE,7099,begin surface coast
$FINISH,1.4,1.011870
$STATE,7118,end surface coast,CONTROL_FINISHED_OK
$STATE,7118,begin surface
$SM_CCo,7194,0.00,0.000,0,0,1580,421.18
$SM_GC,2.41,6.70,0.00,0.00,0.040,0.000,0.000,205,2410,1580,-6.83,0.28,421.18
$IRIDIUM_FIX,2111.01,12601.30,121110,202038
$TT8_MAMPS,0.025466
$HUMID,52.63
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,24.5,54.498
$10V_AH,10.0,58.853
$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,17.675,61.325,436.375,0.000,0.000,29.572,20.661,121.559,0.250,0.000,22.759,1918.195,3404.396,481.711,1493.329,214.224,0.000,1208.136,0.000,1303.079,0.000,0.541,0.000
$DEVICE_MAMPS,225.675,45.135,787.185,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,526.571,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331408
$DATA_FILE_SIZE,46949,786
$CAP_FILE_SIZE,90375,0
$CFSIZE,260165632,219893760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.248,121.6,1
$GPS,131110,001636,2121.439,12601.639,35,0.9,35,-2.9