version: 66.08
glider: 181
mission: 4
dive: 387
start: 11 10 110 8 37 41
data:
$ID,181
$MISSION,4
$DIVE,387
$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,-38336.699
$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,40
$R_STBD_OVSHOOT,53
$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
$GPS1,101110,083101,2122.140,12600.810,38,1.2,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-62.8
$GPS2,101110,083714,2122.071,12600.742,10,1.2,10,-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,122.1,1177,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.95,-73.7,0.0,0.0,0,56,0.00,0.00,-36.67,0.000,2,0.000,0.000,192,2435,2492,0,0,0,0,0,0
$GC,59,-1.02,-136.3,3.2,-3.2,6,109,7.95,2.20,-35.80,0.000,4,0.231,0.040,2091,984,3854,0,0,0,0,0,0
$GC,140,-0.95,-136.3,20.8,-34.4,19,148,0.15,2.17,0.00,0.000,6,0.181,0.035,2119,2386,3855,0,0,0,0,0,0
$GC,485,-0.90,-136.3,133.8,-29.5,80,493,0.00,2.12,0.00,0.000,4,0.000,0.041,2110,3780,3855,0,0,0,0,0,0
$GC,539,-0.90,-136.3,147.2,-24.4,89,546,0.00,2.08,0.00,0.000,6,0.000,0.027,2110,2388,3856,0,0,0,0,0,0
$GC,872,-0.90,-136.3,218.5,-20.5,121,876,0.00,2.08,0.00,0.000,4,0.000,0.031,2110,992,3858,0,0,0,0,0,0
$GC,901,-0.90,-136.3,224.7,-21.4,123,906,0.12,2.15,0.00,0.000,6,0.167,0.035,2131,2411,3858,0,0,0,0,0,0
$GC,1229,-0.93,-136.3,284.2,-16.9,153,1233,0.00,2.10,0.00,0.000,4,0.000,0.044,2121,3787,3859,0,0,0,0,0,0
$GC,1318,-0.98,-136.3,299.7,-15.7,160,1326,0.00,2.08,0.00,0.000,6,0.000,0.026,2122,2391,3858,0,0,0,0,0,0
$GC,1644,-1.01,-136.3,357.4,-17.8,191,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2388,3858,0,0,0,0,0,0
$GC,1965,-1.05,-136.3,409.1,-16.2,221,1969,0.00,2.15,0.00,0.000,4,0.000,0.044,2111,3780,3857,0,0,0,0,0,0
$GC,2076,-1.10,-136.3,425.9,-13.6,230,2083,0.12,2.05,0.00,0.000,6,0.083,0.027,2049,2398,3856,0,0,0,0,0,0
$GC,2404,-1.09,-136.3,490.5,-19.4,261,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2395,3855,0,0,0,0,0,0
$GC,2722,-1.08,-136.3,554.5,-19.5,279,2726,0.00,2.15,0.00,0.000,4,0.000,0.045,2039,3775,3854,0,0,0,0,0,0
$GC,2851,-1.08,-136.3,580.2,-18.6,285,2856,0.15,2.08,0.00,0.000,6,0.171,0.028,2076,2391,3853,0,0,0,0,0,0
$GC,3187,-1.10,-136.3,636.2,-16.3,298,3191,0.00,2.17,0.00,0.000,4,0.000,0.046,2068,3785,3850,0,0,0,0,0,0
$GC,3237,-1.13,-136.3,644.6,-16.3,299,3241,0.00,2.08,0.00,0.000,6,0.000,0.028,2067,2402,3849,0,0,0,0,0,0
$GC,3556,-1.15,-136.3,701.4,-18.1,310,3560,0.00,2.22,0.00,0.000,4,0.000,0.048,2057,3784,3846,0,0,0,0,0,0
$GC,3608,-1.18,-136.3,710.5,-17.0,311,3612,0.00,2.10,0.00,0.000,6,0.000,0.029,2057,2394,3845,0,0,0,0,0,0
$GC,3926,-1.19,-136.3,767.3,-17.8,322,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2391,3842,0,0,0,0,0,0
$GC,4234,-1.20,-136.3,821.4,-17.5,332,4238,0.00,2.20,0.00,0.000,4,0.000,0.048,2046,3777,3839,0,0,0,0,0,0
$GC,4283,-1.22,-136.3,830.5,-17.3,333,4287,0.00,2.10,0.00,0.000,6,0.000,0.031,2046,2391,3839,0,0,0,0,0,0
$GC,4601,-1.22,-136.3,884.8,-16.8,344,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2388,3835,0,0,0,0,0,0
$GC,4909,-1.24,-136.3,935.0,-16.7,354,4910,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2388,3832,0,0,0,0,0,0
$GC,5214,-1.25,-136.3,988.8,-18.0,364,5218,0.00,2.20,0.00,0.000,4,0.000,0.050,2035,3783,3830,0,0,0,0,0,0
$GC,5249,-1.25,-136.3,995.2,-18.1,365,5253,0.00,2.10,0.00,0.000,6,0.000,0.031,2035,2402,3829,0,0,0,0,0,0
$STATE,5300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5300,begin apogee
$GC,5307,-0.16,0.0,1004.9,18.7,367,5421,1.08,0.00,106.50,1.138,6,0.150,0.000,2359,1992,3297,0,0,0,0,0,0
$STATE,5421,end apogee,CONTROL_FINISHED_OK
$STATE,5422,begin climb
$GC,5424,1.02,136.3,1010.3,0.0,370,5547,1.08,2.40,113.43,1.099,4,0.048,0.046,2758,3411,2742,0,0,0,0,0,0
$GC,5628,0.89,136.3,996.6,20.3,377,5633,0.25,2.20,0.00,0.000,6,0.215,0.033,2713,2015,2735,0,0,0,0,0,0
$GC,5964,0.81,136.3,941.2,16.5,388,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2015,2731,0,0,0,0,0,0
$GC,6270,0.72,136.3,891.5,16.0,398,6275,0.20,2.20,0.00,0.000,4,0.206,0.041,2672,595,2729,0,0,0,0,0,0
$GC,6336,0.68,136.3,881.8,13.5,400,6340,0.00,2.17,0.00,0.000,6,0.000,0.037,2672,2002,2729,0,0,0,0,0,0
$GC,6667,0.63,136.3,838.1,13.0,411,6672,0.17,2.20,0.00,0.000,4,0.190,0.042,2638,595,2726,0,0,0,0,0,0
$GC,6711,0.62,138.6,832.8,10.9,412,6715,0.00,2.17,0.00,0.000,6,0.000,0.037,2638,2002,2726,0,0,0,0,0,0
$GC,7030,0.60,140.6,797.6,10.9,423,7034,0.00,2.20,0.00,0.000,4,0.000,0.046,2638,3406,2724,0,0,0,0,0,0
$GC,7086,0.57,140.6,790.7,12.0,424,7091,0.17,2.15,0.00,0.000,6,0.194,0.032,2607,1995,2723,0,0,0,0,0,0
$GC,7399,0.60,161.0,761.5,9.1,434,7424,0.00,2.28,18.35,0.975,4,0.000,0.045,2607,3397,2641,0,0,0,0,0,0
$GC,7448,0.61,167.5,756.7,10.4,435,7464,0.00,2.17,7.18,0.793,6,0.000,0.032,2615,1994,2614,0,0,0,0,0,0
$GC,7770,0.63,171.9,722.1,10.7,446,7777,0.00,0.00,4.62,0.752,6,0.000,0.000,2615,1994,2597,0,0,0,0,0,0
$GC,8077,0.65,171.9,688.2,11.1,456,8081,0.00,2.15,0.00,0.000,4,0.000,0.041,2626,593,2596,0,0,0,0,0,0
$GC,8128,0.67,173.0,682.4,11.0,457,8132,0.00,2.17,0.00,0.000,6,0.000,0.034,2626,2002,2596,0,0,0,0,0,0
$GC,8447,0.68,177.0,647.0,10.7,468,8458,0.00,2.20,5.90,0.819,4,0.000,0.044,2626,3406,2575,0,0,0,0,0,0
$GC,8572,0.68,177.0,632.2,11.8,471,8579,0.00,2.17,0.00,0.000,6,0.000,0.031,2637,1994,2574,0,0,0,0,0,0
$GC,8885,0.69,180.5,598.7,10.8,482,8891,0.00,0.00,4.28,0.674,6,0.000,0.000,2637,1992,2562,0,0,0,0,0,0
$GC,9195,0.69,180.5,562.8,11.6,497,9199,0.00,2.20,0.00,0.000,4,0.000,0.044,2637,3404,2561,0,0,0,0,0,0
$GC,9250,0.68,180.5,555.6,13.4,499,9257,0.00,2.15,0.00,0.000,6,0.000,0.031,2647,1988,2561,0,0,0,0,0,0
$GC,9567,0.68,181.4,520.0,11.0,515,9571,0.00,2.22,0.00,0.000,4,0.000,0.044,2647,3408,2561,0,0,0,0,0,0
$GC,9582,0.68,181.4,517.9,11.6,515,9590,0.00,2.17,0.00,0.000,6,0.000,0.031,2658,2001,2560,0,0,0,0,0,0
$GC,9905,0.68,185.0,484.8,10.8,538,9917,0.00,2.15,5.57,0.721,4,0.000,0.039,2669,595,2543,0,0,0,0,0,0
$GC,9997,0.68,185.0,473.7,12.2,546,10001,0.00,2.17,0.00,0.000,6,0.000,0.033,2669,2013,2543,0,0,0,0,0,0
$GC,10322,0.67,185.0,434.2,12.6,576,10326,0.00,2.20,0.00,0.000,4,0.000,0.040,2679,590,2542,0,0,0,0,0,0
$GC,10387,0.66,185.0,426.0,13.3,581,10391,0.15,2.17,0.00,0.000,6,0.173,0.034,2642,2012,2542,0,0,0,0,0,0
$GC,10718,0.72,218.2,395.4,7.8,612,10752,0.00,2.17,27.52,0.774,4,0.000,0.043,2641,3399,2409,0,0,0,0,0,0
$GC,10816,0.73,220.8,386.1,10.9,620,10824,0.00,2.17,0.00,0.000,6,0.000,0.031,2651,1992,2406,0,0,0,0,0,0
$GC,11142,0.76,222.8,352.4,10.9,651,11155,0.00,2.22,5.00,0.603,4,0.000,0.044,2651,3400,2389,0,0,0,0,0,0
$GC,11182,0.76,222.8,347.7,11.7,654,11189,0.00,2.15,0.00,0.000,6,0.000,0.031,2661,1999,2388,0,0,0,0,0,0
$GC,11509,0.78,222.8,310.2,11.2,685,11513,0.00,2.17,0.00,0.000,4,0.000,0.040,2672,588,2388,0,0,0,0,0,0
$GC,11730,0.79,223.2,284.3,11.1,704,11734,0.00,2.17,0.00,0.000,6,0.000,0.032,2672,2009,2388,0,0,0,0,0,0
$GC,12055,0.83,238.1,250.7,9.6,734,12078,0.00,2.22,14.05,0.701,4,0.000,0.043,2672,3403,2327,0,0,0,0,0,0
$GC,12114,0.83,242.9,244.7,10.6,739,12126,0.00,2.15,5.68,0.566,6,0.000,0.029,2683,1992,2307,0,0,0,0,0,0
$GC,12444,0.86,251.2,210.0,10.3,770,12457,0.00,2.20,8.05,0.606,4,0.000,0.039,2693,598,2274,0,0,0,0,0,0
$GC,12711,0.90,253.5,179.4,10.9,793,12720,0.00,2.15,3.85,0.423,6,0.000,0.032,2693,2006,2264,0,0,0,0,0,0
$GC,13044,0.95,273.6,147.3,9.1,827,13070,0.10,2.17,17.50,0.625,4,0.099,0.039,2752,593,2181,0,0,0,0,0,0
$GC,13162,0.98,295.7,135.6,8.9,847,13187,0.00,2.15,18.92,0.616,6,0.000,0.031,2752,2003,2092,0,0,0,0,0,0
$GC,13526,1.01,308.5,101.0,9.8,911,13546,0.00,2.20,11.02,0.549,4,0.000,0.038,2762,604,2040,0,0,0,0,0,0
$GC,13801,1.07,347.2,74.4,7.2,959,13838,0.00,2.12,31.20,0.571,6,0.000,0.029,2762,2010,1881,0,0,0,0,0,0
$GC,14175,1.08,347.2,23.9,16.9,1025,14182,0.00,2.17,0.00,0.000,4,0.000,0.038,2772,596,1878,0,0,0,0,0,0
$GC,14189,1.09,347.2,21.4,17.6,1027,14196,0.00,2.12,0.00,0.000,6,0.000,0.031,2772,1997,1878,0,0,0,0,0,0
$STATE,14300,end climb,SURFACE_DEPTH_REACHED
$STATE,14300,begin surface coast
$FINISH,1.5,1.008472
$STATE,14318,end surface coast,CONTROL_FINISHED_OK
$STATE,14318,begin surface
$SM_CCo,14335,12.45,0.061,0,0,1769,375.06
$SM_GC,3.72,0.00,0.00,12.45,0.000,0.000,0.061,210,2431,1769,-6.92,0.88,375.06
$IRIDIUM_FIX,2117.95,12600.79,101110,030334
$TT8_MAMPS,0.026215
$HUMID,48.85
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.6,52.464
$10V_AH,9.9,57.712
$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,18.475,126.800,408.625,12.450,0.000,32.832,39.863,150.302,0.000,0.000,13.411,2713.567,9011.617,525.828,2151.997,315.839,0.000,1586.066,0.000,1916.310,0.000,0.541,0.000
$DEVICE_MAMPS,231.030,49.725,1138.320,61.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,710.221,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331412
$DATA_FILE_SIZE,63546,1050
$CAP_FILE_SIZE,149008,0
$CFSIZE,260165632,220999680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,252.9,1
$GPS,101110,123837,2120.823,12601.689,67,0.9,67,-2.9