version: 66.08
glider: 181
mission: 4
dive: 385
start: 11 9 110 23 41 46
data:
$ID,181
$MISSION,4
$DIVE,385
$N_DIVES,390
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,300
$T_MISSION,375
$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,-38334.184
$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,54
$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
$GPS1,091110,233507,2124.492,12600.547,30,1.1,30,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-59.1
$GPS2,091110,234119,2124.343,12600.558,11,1.1,16,-2.9
$SPEED_LIMITS,0.192,0.260
$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,186.4,5198,-27.4,-11.111
$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,14,begin dive
$GC,16,-0.95,-73.7,0.0,0.0,0,73,0.00,0.00,-54.15,0.000,2,0.000,0.000,199,2422,2676,0,0,0,0,0,0
$GC,76,-1.02,-133.9,3.8,-5.0,9,120,7.88,2.17,-28.48,0.000,4,0.229,0.044,2091,988,3845,0,0,0,0,0,0
$GC,212,-0.96,-133.9,43.5,-34.7,32,220,0.12,2.15,0.00,0.000,6,0.187,0.034,2111,2382,3846,0,0,0,0,0,0
$GC,557,-0.92,-133.9,151.0,-25.8,93,560,0.00,2.15,0.00,0.000,4,0.000,0.042,2102,3780,3847,0,0,0,0,0,0
$GC,758,-0.92,-133.9,195.8,-20.4,110,766,0.00,2.10,0.00,0.000,6,0.000,0.026,2102,2391,3848,0,0,0,0,0,0
$GC,1084,-0.90,-133.9,268.1,-21.8,141,1089,0.12,2.20,0.00,0.000,4,0.175,0.041,2125,3788,3849,0,0,0,0,0,0
$GC,1170,-0.94,-133.9,284.3,-17.1,148,1174,0.00,2.05,0.00,0.000,6,0.000,0.026,2125,2394,3849,0,0,0,0,0,0
$GC,1496,-0.97,-133.9,344.0,-18.1,178,1499,0.00,2.08,0.00,0.000,4,0.000,0.034,2125,1005,3849,0,0,0,0,0,0
$GC,1571,-1.02,-133.9,356.9,-16.4,184,1577,0.00,2.15,0.00,0.000,6,0.000,0.034,2114,2414,3849,0,0,0,0,0,0
$GC,1896,-1.05,-133.9,411.2,-16.6,215,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2414,3849,0,0,0,0,0,0
$GC,2217,-1.09,-133.9,461.0,-16.0,245,2221,0.12,2.12,0.00,0.000,4,0.084,0.044,2044,3787,3848,0,0,0,0,0,0
$GC,2249,-1.07,-133.9,468.2,-21.4,247,2258,0.12,2.05,0.00,0.000,6,0.173,0.027,2075,2395,3847,0,0,0,0,0,0
$GC,2573,-1.08,-133.9,527.9,-18.4,271,2577,0.00,2.17,0.00,0.000,4,0.000,0.044,2066,3783,3845,0,0,0,0,0,0
$GC,2613,-1.10,-133.9,535.7,-18.1,273,2617,0.00,2.05,0.00,0.000,6,0.000,0.028,2066,2398,3844,0,0,0,0,0,0
$GC,2940,-1.10,-133.9,596.9,-19.2,289,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2395,3842,0,0,0,0,0,0
$GC,3269,-1.11,-133.9,656.6,-18.1,300,3273,0.00,2.20,0.00,0.000,4,0.000,0.046,2055,3781,3839,0,0,0,0,0,0
$GC,3307,-1.12,-133.9,664.3,-19.1,301,3311,0.00,2.05,0.00,0.000,6,0.000,0.029,2055,2403,3838,0,0,0,0,0,0
$GC,3638,-1.12,-133.9,724.5,-18.1,312,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2400,3835,0,0,0,0,0,0
$GC,3943,-1.12,-133.9,777.1,-16.8,322,3947,0.00,2.20,0.00,0.000,4,0.000,0.047,2045,3783,3832,0,0,0,0,0,0
$GC,3982,-1.13,-133.9,784.0,-16.7,323,3986,0.00,2.10,0.00,0.000,6,0.000,0.030,2044,2401,3831,0,0,0,0,0,0
$GC,4307,-1.13,-133.9,838.8,-16.8,334,4311,0.00,2.17,0.00,0.000,4,0.000,0.048,2034,3771,3827,0,0,0,0,0,0
$GC,4356,-1.13,-133.9,847.5,-16.9,335,4360,0.00,2.10,0.00,0.000,6,0.000,0.030,2034,2405,3827,0,0,0,0,0,0
$GC,4675,-1.13,-133.9,903.5,-17.8,346,4678,0.00,2.12,0.00,0.000,4,0.000,0.038,2034,996,3825,0,0,0,0,0,0
$GC,4690,-1.13,-133.9,906.9,-18.0,346,4695,0.15,2.20,0.00,0.000,6,0.187,0.039,2060,2411,3825,0,0,0,0,0,0
$GC,5010,-1.15,-133.9,957.1,-15.4,357,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2413,3821,0,0,0,0,0,0
$STATE,5313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5313,begin apogee
$GC,5318,-0.16,0.0,1004.2,15.4,367,5429,1.00,0.00,104.38,1.137,6,0.145,0.000,2366,1977,3298,0,0,0,0,0,0
$STATE,5430,end apogee,CONTROL_FINISHED_OK
$STATE,5430,begin climb
$GC,5433,1.02,133.9,1008.8,0.0,370,5555,1.05,2.33,111.57,1.099,4,0.050,0.042,2766,605,2752,0,0,0,0,0,0
$GC,5809,0.90,133.9,968.6,16.0,382,5814,0.20,2.20,0.00,0.000,6,0.205,0.037,2721,2013,2744,0,0,0,0,0,0
$GC,6145,0.81,133.9,919.7,13.9,393,6149,0.12,2.22,0.00,0.000,4,0.214,0.046,2692,3412,2740,0,0,0,0,0,0
$GC,6174,0.73,133.9,915.6,14.9,394,6178,0.17,2.15,0.00,0.000,6,0.217,0.033,2662,2004,2739,0,0,0,0,0,0
$GC,6509,0.69,133.9,876.7,11.7,405,6513,0.00,2.17,0.00,0.000,4,0.000,0.043,2671,595,2737,0,0,0,0,0,0
$GC,6587,0.64,133.9,866.7,12.2,407,6592,0.15,2.17,0.00,0.000,6,0.190,0.037,2635,2003,2737,0,0,0,0,0,0
$GC,6912,0.63,137.4,831.5,10.8,418,6916,0.00,2.20,0.00,0.000,4,0.000,0.047,2635,3413,2735,0,0,0,0,0,0
$GC,6957,0.60,137.4,826.2,11.5,419,6961,0.00,2.15,0.00,0.000,6,0.000,0.033,2644,2002,2734,0,0,0,0,0,0
$GC,7276,0.58,142.5,791.6,10.6,430,7284,0.12,0.00,5.47,0.851,6,0.205,0.000,2616,2001,2716,0,0,0,0,0,0
$GC,7582,0.60,158.3,762.1,9.5,440,7601,0.00,2.25,14.52,0.964,4,0.000,0.047,2616,3412,2652,0,0,0,0,0,0
$GC,7635,0.61,161.5,756.3,10.8,441,7647,0.00,2.20,4.55,0.661,6,0.000,0.033,2624,1986,2638,0,0,0,0,0,0
$GC,7953,0.61,161.5,720.4,11.3,452,7954,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1986,2636,0,0,0,0,0,0
$GC,8260,0.62,173.3,688.6,9.9,462,8276,0.00,2.25,10.95,0.910,4,0.000,0.045,2624,3406,2590,0,0,0,0,0,0
$GC,8309,0.62,173.3,683.0,12.1,463,8313,0.00,2.17,0.00,0.000,6,0.000,0.033,2635,2001,2590,0,0,0,0,0,0
$GC,8629,0.63,183.1,649.8,10.1,474,8641,0.00,0.00,9.30,0.864,6,0.000,0.000,2635,2001,2551,0,0,0,0,0,0
$GC,8935,0.64,188.0,617.1,10.6,484,8945,0.00,2.17,5.43,0.763,4,0.000,0.042,2646,596,2532,0,0,0,0,0,0
$GC,8967,0.64,188.0,613.0,11.2,485,8971,0.00,2.20,0.00,0.000,6,0.000,0.035,2646,2012,2532,0,0,0,0,0,0
$GC,9295,0.64,188.0,574.2,11.7,499,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2012,2530,0,0,0,0,0,0
$GC,9604,0.64,188.0,538.2,11.6,514,9605,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2012,2530,0,0,0,0,0,0
$GC,9913,0.64,188.0,501.7,11.6,529,9917,0.00,2.17,0.00,0.000,4,0.000,0.046,2646,3408,2529,0,0,0,0,0,0
$GC,9957,0.63,188.0,496.1,13.3,532,9964,0.00,2.17,0.00,0.000,6,0.000,0.032,2657,1990,2529,0,0,0,0,0,0
$GC,10283,0.63,192.0,459.2,10.7,563,10296,0.00,2.25,4.75,0.659,4,0.000,0.046,2657,3405,2515,0,0,0,0,0,0
$GC,10321,0.62,192.0,454.8,12.1,566,10325,0.17,2.15,0.00,0.000,6,0.177,0.032,2623,2001,2515,0,0,0,0,0,0
$GC,10647,0.67,204.9,423.4,9.8,596,10669,0.00,2.30,12.43,0.800,4,0.000,0.045,2623,3414,2462,0,0,0,0,0,0
$GC,10697,0.69,204.9,418.0,11.6,600,10704,0.00,2.15,0.00,0.000,6,0.000,0.032,2631,2001,2461,0,0,0,0,0,0
$GC,11023,0.73,210.6,384.0,10.5,631,11033,0.00,0.00,5.97,0.679,6,0.000,0.000,2631,1998,2439,0,0,0,0,0,0
$GC,11352,0.79,226.8,350.7,9.5,662,11376,0.15,2.20,14.80,0.757,4,0.085,0.041,2707,595,2373,0,0,0,0,0,0
$GC,11493,0.77,226.8,332.4,12.5,674,11501,0.12,2.17,0.00,0.000,6,0.181,0.034,2678,2008,2371,0,0,0,0,0,0
$GC,11819,0.78,228.0,295.4,11.0,705,11823,0.00,2.20,0.00,0.000,4,0.000,0.040,2686,589,2370,0,0,0,0,0,0
$GC,11904,0.78,232.9,285.7,10.6,712,11917,0.00,2.15,6.40,0.623,6,0.000,0.034,2686,2003,2347,0,0,0,0,0,0
$GC,12234,0.78,232.9,247.5,11.4,743,12238,0.00,2.17,0.00,0.000,4,0.000,0.044,2686,3408,2347,0,0,0,0,0,0
$GC,12275,0.78,232.9,242.6,12.3,746,12279,0.00,2.12,0.00,0.000,6,0.000,0.031,2697,2001,2347,0,0,0,0,0,0
$GC,12601,0.79,236.1,204.3,10.8,776,12613,0.00,2.17,4.62,0.493,4,0.000,0.040,2708,595,2335,0,0,0,0,0,0
$GC,12653,0.79,236.1,198.3,11.1,780,12659,0.00,2.12,0.00,0.000,6,0.000,0.032,2708,2004,2335,0,0,0,0,0,0
$GC,12978,0.80,251.1,161.1,9.6,811,13002,0.00,2.22,13.73,0.623,4,0.000,0.038,2718,597,2274,0,0,0,0,0,0
$GC,13071,0.84,277.3,152.1,8.5,819,13098,0.00,2.12,22.20,0.640,6,0.000,0.031,2718,2003,2167,0,0,0,0,0,0
$GC,13437,0.89,300.3,117.2,8.8,881,13462,0.00,0.00,19.15,0.601,6,0.000,0.000,2718,2003,2072,0,0,0,0,0,0
$GC,13802,0.98,336.6,83.9,7.4,945,13838,0.00,2.17,29.02,0.580,4,0.000,0.037,2729,597,1924,0,0,0,0,0,0
$GC,13869,1.06,353.9,78.1,9.4,956,13895,0.10,2.15,15.05,0.542,6,0.100,0.030,2774,2011,1853,0,0,0,0,0,0
$GC,14233,1.06,354.5,32.0,11.0,1020,14240,0.00,2.17,0.00,0.000,4,0.000,0.037,2785,595,1850,0,0,0,0,0,0
$GC,14275,1.06,354.5,26.9,12.0,1027,14282,0.00,2.15,0.00,0.000,6,0.000,0.031,2785,2007,1850,0,0,0,0,0,0
$STATE,14429,end climb,SURFACE_DEPTH_REACHED
$STATE,14429,begin surface coast
$FINISH,1.5,1.009244
$STATE,14451,end surface coast,CONTROL_FINISHED_OK
$STATE,14451,begin surface
$SM_CCo,14467,10.48,0.063,0,0,1769,375.06
$SM_GC,4.21,0.00,0.00,10.48,0.000,0.000,0.063,203,2404,1769,-6.95,0.11,375.06
$IRIDIUM_FIX,2117.95,12557.56,091110,181842
$TT8_MAMPS,0.026215
$HUMID,50.23
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.6,52.207
$10V_AH,9.9,57.564
$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,18.625,118.175,414.300,10.475,0.000,29.512,39.172,150.529,0.000,0.000,19.246,2715.474,9163.250,531.332,2133.826,303.886,0.000,1580.102,0.000,1894.203,0.000,0.542,0.000
$DEVICE_MAMPS,228.735,48.195,1136.790,63.495,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,716.051,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331432
$DATA_FILE_SIZE,63680,1058
$CAP_FILE_SIZE,145682,0
$CFSIZE,260165632,221155328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.140,239.0,1
$GPS,101110,034425,2122.092,12559.278,40,1.1,40,-2.9