version: 66.08
glider: 181
mission: 4
dive: 388
start: 11 10 110 12 45 11
data:
$ID,181
$MISSION,4
$DIVE,388
$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,-38337.957
$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,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
$GPS1,101110,123837,2120.823,12601.689,67,0.9,67,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-65.6
$GPS2,101110,124444,2120.761,12601.626,13,1.5,13,-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,353.3,1719,-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,13,begin dive
$GC,16,-0.95,-73.7,0.0,0.0,0,49,0.00,0.00,-30.55,0.000,2,0.000,0.000,202,2431,2562,0,0,0,0,0,0
$GC,52,-1.02,-136.3,3.5,-4.6,5,102,7.80,2.15,-36.20,0.000,4,0.227,0.054,2078,3762,3855,0,0,0,0,0,0
$GC,198,-0.95,-136.3,38.7,-29.1,30,206,0.15,2.05,0.00,0.000,6,0.183,0.027,2114,2390,3857,0,0,0,0,0,0
$GC,544,-0.91,-136.3,149.5,-22.9,91,552,0.00,2.12,0.00,0.000,4,0.000,0.041,2105,3768,3857,0,0,0,0,0,0
$GC,638,-0.91,-136.3,168.9,-19.2,100,641,0.00,2.03,0.00,0.000,6,0.000,0.026,2105,2395,3858,0,0,0,0,0,0
$GC,969,-0.90,-136.3,243.1,-20.7,131,971,0.12,0.00,0.00,0.000,6,0.174,0.000,2137,2392,3859,0,0,0,0,0,0
$GC,1287,-0.93,-136.3,300.3,-17.3,161,1291,0.00,2.05,0.00,0.000,4,0.000,0.031,2137,999,3860,0,0,0,0,0,0
$GC,1334,-0.99,-136.3,307.7,-15.5,165,1338,0.00,2.10,0.00,0.000,6,0.000,0.034,2128,2394,3860,0,0,0,0,0,0
$GC,1660,-1.03,-136.3,362.5,-16.7,195,1664,0.00,2.12,0.00,0.000,4,0.000,0.043,2117,3777,3860,0,0,0,0,0,0
$GC,1752,-1.08,-136.3,378.0,-16.8,203,1756,0.12,2.08,0.00,0.000,6,0.080,0.026,2057,2381,3860,0,0,0,0,0,0
$GC,2082,-1.06,-136.3,447.2,-20.3,234,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2377,3859,0,0,0,0,0,0
$GC,2410,-1.06,-136.3,513.8,-19.4,262,2414,0.00,2.17,0.00,0.000,4,0.000,0.043,2045,3778,3857,0,0,0,0,0,0
$GC,2486,-1.06,-136.3,529.2,-19.3,265,2494,0.10,2.08,0.00,0.000,6,0.155,0.026,2076,2398,3857,0,0,0,0,0,0
$GC,2804,-1.08,-136.3,584.2,-17.9,281,2808,0.00,2.17,0.00,0.000,4,0.000,0.044,2068,3777,3855,0,0,0,0,0,0
$GC,2865,-1.10,-136.3,595.6,-17.3,283,2873,0.00,2.05,0.00,0.000,6,0.000,0.028,2067,2395,3855,0,0,0,0,0,0
$GC,3199,-1.12,-136.3,654.3,-17.7,295,3203,0.00,2.08,0.00,0.000,4,0.000,0.034,2067,997,3852,0,0,0,0,0,0
$GC,3229,-1.14,-136.3,659.8,-18.2,296,3233,0.00,2.12,0.00,0.000,6,0.000,0.036,2057,2397,3853,0,0,0,0,0,0
$GC,3565,-1.15,-136.3,719.6,-17.7,307,3569,0.00,2.12,0.00,0.000,4,0.000,0.046,2046,3778,3849,0,0,0,0,0,0
$GC,3666,-1.16,-136.3,738.2,-18.1,310,3669,0.00,2.05,0.00,0.000,6,0.000,0.028,2046,2400,3848,0,0,0,0,0,0
$GC,3995,-1.16,-136.3,800.0,-18.8,321,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2397,3844,0,0,0,0,0,0
$GC,4301,-1.16,-136.3,857.4,-18.5,331,4305,0.00,2.17,0.00,0.000,4,0.000,0.047,2035,3777,3840,0,0,0,0,0,0
$GC,4340,-1.16,-136.3,865.1,-19.1,332,4344,0.00,2.08,0.00,0.000,6,0.000,0.030,2036,2395,3840,0,0,0,0,0,0
$GC,4675,-1.16,-136.3,929.8,-19.1,343,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2392,3837,0,0,0,0,0,0
$GC,4982,-1.16,-136.3,986.1,-18.0,353,4986,0.00,2.17,0.00,0.000,4,0.000,0.048,2025,3775,3834,0,0,0,0,0,0
$GC,5037,-1.16,-136.3,996.5,-18.3,354,5044,0.00,2.10,0.00,0.000,6,0.000,0.030,2025,2398,3833,0,0,0,0,0,0
$STATE,5073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5073,begin apogee
$GC,5079,-0.16,0.0,1002.9,18.0,356,5193,1.15,0.00,106.75,1.135,6,0.153,0.000,2368,1983,3297,0,0,0,0,0,0
$STATE,5194,end apogee,CONTROL_FINISHED_OK
$STATE,5194,begin climb
$GC,5196,1.02,136.3,1008.3,0.0,359,5318,1.05,2.25,113.32,1.095,4,0.047,0.039,2776,614,2741,0,0,0,0,0,0
$GC,5472,0.90,136.3,981.1,19.5,368,5477,0.25,2.17,0.00,0.000,6,0.200,0.036,2718,2003,2734,0,0,0,0,0,0
$GC,5802,0.81,136.3,926.2,16.1,379,5806,0.12,2.20,0.00,0.000,4,0.213,0.045,2688,3407,2730,0,0,0,0,0,0
$GC,5818,0.73,136.3,923.4,15.6,379,5823,0.15,2.12,0.00,0.000,6,0.216,0.032,2664,2014,2729,0,0,0,0,0,0
$GC,6131,0.69,136.3,882.5,12.6,389,6135,0.00,2.20,0.00,0.000,4,0.000,0.041,2673,592,2728,0,0,0,0,0,0
$GC,6153,0.64,136.3,879.2,13.7,389,6158,0.15,2.15,0.00,0.000,6,0.186,0.034,2637,2003,2728,0,0,0,0,0,0
$GC,6467,0.63,136.6,843.5,11.1,399,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2003,2725,0,0,0,0,0,0
$GC,6773,0.62,141.2,809.6,10.6,409,6774,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2003,2723,0,0,0,0,0,0
$GC,7079,0.62,153.2,778.4,9.9,419,7093,0.00,0.00,12.02,0.964,6,0.000,0.000,2637,2003,2673,0,0,0,0,0,0
$GC,7385,0.62,159.6,747.2,10.5,429,7399,0.00,2.28,6.75,0.849,4,0.000,0.046,2637,3407,2646,0,0,0,0,0,0
$GC,7462,0.60,159.6,737.6,12.7,431,7466,0.00,2.15,0.00,0.000,6,0.000,0.031,2646,1998,2645,0,0,0,0,0,0
$GC,7787,0.59,159.6,696.7,13.0,442,7791,0.12,2.25,0.00,0.000,4,0.197,0.044,2616,3406,2644,0,0,0,0,0,0
$GC,7864,0.59,159.6,686.4,12.2,444,7868,0.00,2.12,0.00,0.000,6,0.000,0.031,2626,1998,2642,0,0,0,0,0,0
$GC,8189,0.59,163.6,649.9,10.7,455,8198,0.00,2.17,4.65,0.731,4,0.000,0.042,2637,589,2630,0,0,0,0,0,0
$GC,8249,0.59,167.0,643.4,10.8,456,8259,0.00,2.17,4.72,0.731,6,0.000,0.034,2636,2000,2616,0,0,0,0,0,0
$GC,8597,0.60,170.0,605.9,10.8,468,8606,0.00,2.22,4.15,0.660,4,0.000,0.041,2647,597,2604,0,0,0,0,0,0
$GC,8618,0.60,171.1,603.4,11.0,468,8622,0.00,2.15,0.00,0.000,6,0.000,0.034,2647,2006,2605,0,0,0,0,0,0
$GC,8944,0.60,171.1,566.9,11.5,483,8947,0.00,2.20,0.00,0.000,4,0.000,0.045,2647,3413,2603,0,0,0,0,0,0
$GC,8971,0.58,171.1,563.3,12.4,484,8976,0.17,2.15,0.00,0.000,6,0.182,0.031,2613,1992,2602,0,0,0,0,0,0
$GC,9295,0.64,196.5,533.9,8.5,500,9325,0.00,2.25,23.10,0.858,4,0.000,0.041,2623,589,2495,0,0,0,0,0,0
$GC,9339,0.70,219.9,529.5,8.7,502,9364,0.00,2.17,20.20,0.789,6,0.000,0.034,2623,2002,2400,0,0,0,0,0,0
$GC,9683,0.74,219.9,492.0,11.9,521,9688,0.12,2.22,0.00,0.000,4,0.099,0.045,2675,3408,2394,0,0,0,0,0,0
$GC,9724,0.72,219.9,486.3,15.4,524,9728,0.00,2.15,0.00,0.000,6,0.000,0.031,2686,2001,2393,0,0,0,0,0,0
$GC,10049,0.71,219.9,440.1,13.6,554,10054,0.12,2.15,0.00,0.000,4,0.192,0.041,2664,598,2393,0,0,0,0,0,0
$GC,10089,0.71,219.9,434.5,13.4,557,10093,0.00,2.17,0.00,0.000,6,0.000,0.034,2665,2010,2392,0,0,0,0,0,0
$GC,10414,0.71,219.9,393.6,12.5,587,10418,0.00,2.20,0.00,0.000,4,0.000,0.041,2676,595,2391,0,0,0,0,0,0
$GC,10474,0.71,219.9,386.0,13.0,592,10481,0.00,2.15,0.00,0.000,6,0.000,0.033,2676,2009,2391,0,0,0,0,0,0
$GC,10799,0.71,219.9,343.8,12.7,623,10803,0.00,2.17,0.00,0.000,4,0.000,0.044,2676,3413,2391,0,0,0,0,0,0
$GC,10817,0.71,219.9,341.6,11.7,624,10822,0.12,2.12,0.00,0.000,6,0.190,0.030,2658,1998,2390,0,0,0,0,0,0
$GC,11143,0.75,234.3,308.6,9.7,654,11160,0.00,2.15,11.73,0.728,4,0.000,0.038,2666,597,2343,0,0,0,0,0,0
$GC,11245,0.77,234.3,297.4,11.7,662,11252,0.00,2.15,0.00,0.000,6,0.000,0.032,2666,2001,2342,0,0,0,0,0,0
$GC,11571,0.80,234.3,258.9,11.3,693,11575,0.00,2.17,0.00,0.000,4,0.000,0.039,2676,592,2342,0,0,0,0,0,0
$GC,11713,0.83,234.3,241.9,11.7,705,11717,0.00,2.12,0.00,0.000,6,0.000,0.032,2677,2001,2342,0,0,0,0,0,0
$GC,12039,0.87,248.0,207.3,9.7,735,12062,0.00,2.20,13.43,0.656,4,0.000,0.041,2676,3411,2285,0,0,0,0,0,0
$GC,12102,0.89,250.9,200.2,10.8,740,12112,0.00,2.12,3.62,0.409,6,0.000,0.029,2687,1999,2275,0,0,0,0,0,0
$GC,12439,0.93,264.1,166.6,9.8,772,12462,0.10,2.20,12.25,0.611,4,0.102,0.037,2747,595,2220,0,0,0,0,0,0
$GC,12577,0.92,264.1,149.8,13.6,784,12584,0.00,2.15,0.00,0.000,6,0.000,0.031,2747,2008,2220,0,0,0,0,0,0
$GC,12921,1.00,328.1,112.2,4.6,845,12982,0.00,2.28,50.47,0.594,4,0.000,0.037,2757,593,1959,0,0,0,0,0,0
$GC,13033,1.02,328.1,102.9,11.3,864,13039,0.00,2.17,0.00,0.000,6,0.000,0.031,2757,2000,1957,0,0,0,0,0,0
$GC,13377,1.04,328.1,59.8,14.1,925,13383,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2002,1954,0,0,0,0,0,0
$GC,13718,1.11,367.2,15.7,7.2,986,13756,0.00,2.20,30.48,0.520,4,0.000,0.037,2757,3408,1799,0,0,0,0,0,0
$GC,13775,1.13,382.3,11.1,9.6,995,13795,0.00,2.12,12.98,0.480,6,0.000,0.028,2767,1997,1738,0,0,0,0,0,0
$STATE,13822,end climb,SURFACE_DEPTH_REACHED
$STATE,13822,begin surface coast
$FINISH,1.6,1.022615
$STATE,13839,end surface coast,CONTROL_FINISHED_OK
$STATE,13839,begin surface
$SM_CCo,13917,0.00,0.000,0,0,1733,383.89
$SM_GC,2.25,6.68,0.00,0.00,0.033,0.000,0.000,197,2397,1733,-6.85,-0.08,383.89
$IRIDIUM_FIX,2117.95,12604.03,101110,080818
$TT8_MAMPS,0.025466
$HUMID,48.97
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.7,52.585
$10V_AH,9.9,57.781
$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,18.625,126.075,430.625,0.000,0.000,27.268,39.372,152.867,0.000,0.000,15.723,2597.986,8794.441,503.640,2084.390,300.628,0.000,1538.952,0.000,1844.107,0.000,0.540,0.000
$DEVICE_MAMPS,227.205,54.315,1135.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,679.942,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60110,1006
$CAP_FILE_SIZE,144023,0
$CFSIZE,260165632,220934144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.015,109.6,1
$GPS,101110,163830,2122.388,12601.662,39,1.5,44,-2.9