version: 66.08
glider: 181
mission: 4
dive: 407
start: 11 13 110 0 22 5
data:
$ID,181
$MISSION,4
$DIVE,407
$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,-38371.363
$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,49
$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
$GPS1,131110,001636,2121.439,12601.639,35,0.9,35,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-70.3
$GPS2,131110,002138,2121.364,12601.667,12,1.3,12,-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,304.2,916,-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,-136.3,0.0,0.0,0,57,0.00,0.00,-39.40,0.000,2,0.000,0.000,200,2410,2583,0,0,0,0,0,0
$GC,60,-0.92,-136.3,3.2,-3.0,6,110,8.02,2.15,-33.53,0.000,4,0.234,0.047,2121,992,3855,0,0,0,0,0,0
$GC,208,-0.86,-136.3,38.2,-28.9,31,216,0.15,2.15,0.00,0.000,6,0.167,0.036,2150,2388,3856,0,0,0,0,0,0
$GC,553,-0.83,-136.3,129.2,-19.2,92,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2388,3857,0,0,0,0,0,0
$GC,885,-0.81,-136.3,197.6,-18.9,131,889,0.00,2.15,0.00,0.000,4,0.000,0.044,2141,3780,3858,0,0,0,0,0,0
$GC,997,-0.81,-136.3,217.8,-17.5,140,1005,0.00,2.05,0.00,0.000,6,0.000,0.026,2141,2390,3859,0,0,0,0,0,0
$GC,1322,-0.81,-136.3,276.1,-17.0,171,1326,0.00,2.15,0.00,0.000,4,0.000,0.043,2131,3784,3859,0,0,0,0,0,0
$GC,1381,-0.83,-136.3,285.8,-16.0,176,1384,0.00,2.05,0.00,0.000,6,0.000,0.026,2131,2398,3860,0,0,0,0,0,0
$GC,1711,-0.83,-136.3,343.8,-16.9,207,1715,0.00,2.05,0.00,0.000,4,0.000,0.033,2131,1003,3860,0,0,0,0,0,0
$GC,1736,-0.83,-136.3,347.8,-17.7,209,1740,0.12,2.12,0.00,0.000,6,0.162,0.035,2152,2411,3860,0,0,0,0,0,0
$GC,2062,-0.87,-136.3,393.9,-13.1,239,2065,0.00,2.10,0.00,0.000,4,0.000,0.045,2144,3783,3859,0,0,0,0,0,0
$GC,2209,-0.93,-136.3,413.2,-13.1,251,2216,0.00,2.05,0.00,0.000,6,0.000,0.027,2143,2394,3859,0,0,0,0,0,0
$GC,2535,-0.97,-136.3,455.4,-11.7,282,2538,0.00,2.05,0.00,0.000,4,0.000,0.034,2144,1010,3858,0,0,0,0,0,0
$GC,2560,-1.01,-136.3,458.4,-12.4,284,2564,0.12,2.12,0.00,0.000,6,0.080,0.037,2074,2399,3857,0,0,0,0,0,0
$STATE,2810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2810,begin apogee
$GC,2816,-0.16,0.0,500.9,16.5,307,2926,0.93,0.00,103.55,0.789,6,0.139,0.000,2366,1979,3297,0,0,0,0,0,0
$STATE,2927,end apogee,CONTROL_FINISHED_OK
$STATE,2927,begin climb
$GC,2930,0.92,136.3,505.7,0.0,312,3045,0.93,2.22,103.70,0.743,4,0.044,0.035,2737,604,2742,0,0,0,0,0,0
$GC,3297,0.82,157.9,476.5,12.4,336,3320,0.17,2.15,17.17,0.767,6,0.178,0.031,2694,2012,2654,0,0,0,0,0,0
$GC,3646,0.82,219.9,437.7,9.7,369,3702,0.00,2.20,48.22,0.734,4,0.000,0.038,2702,615,2401,0,0,0,0,0,0
$GC,3906,0.76,219.9,403.4,14.1,392,3911,0.12,2.12,0.00,0.000,6,0.177,0.032,2672,2006,2395,0,0,0,0,0,0
$GC,4233,0.75,238.5,361.1,12.6,422,4252,0.00,0.00,14.75,0.734,6,0.000,0.000,2672,2006,2325,0,0,0,0,0,0
$GC,4571,0.76,261.5,317.1,12.3,454,4593,0.00,0.00,18.75,0.689,6,0.000,0.000,2672,2006,2231,0,0,0,0,0,0
$GC,4912,0.79,280.5,274.7,12.6,486,4935,0.00,2.15,15.73,0.679,4,0.000,0.037,2681,605,2154,0,0,0,0,0,0
$GC,5043,0.79,280.5,256.9,13.9,497,5049,0.00,2.12,0.00,0.000,6,0.000,0.032,2681,1998,2152,0,0,0,0,0,0
$GC,5368,0.82,307.6,213.5,12.0,528,5395,0.00,2.20,22.17,0.649,4,0.000,0.043,2681,3404,2043,0,0,0,0,0,0
$GC,5488,0.82,307.6,197.3,14.6,538,5495,0.00,2.12,0.00,0.000,6,0.000,0.030,2692,2008,2040,0,0,0,0,0,0
$GC,5814,0.85,331.1,155.6,12.3,569,5835,0.00,0.00,18.95,0.610,6,0.000,0.000,2692,2007,1947,0,0,0,0,0,0
$GC,6169,0.92,373.2,111.8,11.0,629,6212,0.00,2.22,33.05,0.594,4,0.000,0.039,2703,595,1775,0,0,0,0,0,0
$GC,6420,1.03,423.9,83.8,10.4,673,6470,0.15,2.15,39.30,0.565,6,0.077,0.031,2770,2011,1569,0,0,0,0,0,0
$GC,6807,1.03,423.9,22.9,16.4,741,6814,0.00,2.15,0.00,0.000,4,0.000,0.040,2770,3408,1564,0,0,0,0,0,0
$GC,6834,1.02,423.9,18.5,17.6,745,6840,0.00,2.12,0.00,0.000,6,0.000,0.029,2780,1999,1564,0,0,0,0,0,0
$STATE,6917,end climb,SURFACE_DEPTH_REACHED
$STATE,6918,begin surface coast
$FINISH,1.3,1.022565
$STATE,6936,end surface coast,CONTROL_FINISHED_OK
$STATE,6937,begin surface
$SM_CCo,7014,0.00,0.000,0,0,1562,425.84
$SM_GC,2.41,6.60,0.00,0.00,0.032,0.000,0.000,206,2397,1562,-6.83,-0.08,425.84
$IRIDIUM_FIX,2113.32,12547.86,121110,222243
$TT8_MAMPS,0.025466
$HUMID,52.87
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.5,54.594
$10V_AH,10.1,58.902
$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,17.325,52.325,435.350,0.000,0.000,30.827,19.737,122.982,0.000,0.000,15.171,1852.811,3303.633,465.871,1487.320,212.165,0.000,1185.969,0.000,1303.186,0.000,0.542,0.000
$DEVICE_MAMPS,234.090,46.665,788.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,511.398,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331400
$DATA_FILE_SIZE,43676,763
$CAP_FILE_SIZE,85508,0
$CFSIZE,260165632,219856896
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.203,183.6,1
$GPS,131110,022006,2121.206,12601.127,13,1.0,29,-2.9