version: 66.08
glider: 181
mission: 4
dive: 390
start: 11 10 110 20 46 30
data:
$ID,181
$MISSION,4
$DIVE,390
$N_DIVES,402
$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,-38347.855
$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,46
$R_STBD_OVSHOOT,46
$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
$GPS1,101110,203707,2120.957,12601.090,38,1.0,38,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-65.2
$GPS2,101110,204602,2120.842,12601.165,11,1.6,11,-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,341.8,1406,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.95,-73.7,0.0,0.0,0,42,0.00,0.00,-24.67,0.000,2,0.000,0.000,201,2406,2407,0,0,0,0,0,0
$GC,45,-1.02,-131.9,3.2,-5.2,4,108,7.82,2.20,-44.20,0.000,4,0.227,0.057,2084,3765,3837,0,0,0,0,0,0
$GC,160,-0.93,-131.9,25.4,-33.2,23,168,0.15,2.08,0.00,0.000,6,0.182,0.026,2119,2393,3838,0,0,0,0,0,0
$GC,507,-0.89,-131.9,142.9,-25.5,84,514,0.00,2.08,0.00,0.000,4,0.000,0.031,2120,994,3839,0,0,0,0,0,0
$GC,521,-0.86,-131.9,146.5,-25.4,86,529,0.15,2.12,0.00,0.000,6,0.159,0.034,2149,2395,3839,0,0,0,0,0,0
$GC,855,-0.89,-131.9,213.8,-18.6,118,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2395,3841,0,0,0,0,0,0
$GC,1175,-0.93,-131.9,272.3,-15.8,148,1179,0.00,2.10,0.00,0.000,4,0.000,0.042,2141,3775,3842,0,0,0,0,0,0
$GC,1216,-0.97,-131.9,279.1,-16.8,151,1220,0.00,2.05,0.00,0.000,6,0.000,0.026,2141,2384,3842,0,0,0,0,0,0
$GC,1541,-1.02,-131.9,336.1,-16.7,181,1546,0.12,2.08,0.00,0.000,4,0.080,0.032,2078,997,3843,0,0,0,0,0,0
$GC,1614,-1.02,-131.9,351.9,-22.7,187,1619,0.12,2.12,0.00,0.000,6,0.174,0.035,2099,2400,3842,0,0,0,0,0,0
$GC,1946,-1.03,-131.9,415.7,-18.1,218,1950,0.00,2.15,0.00,0.000,4,0.000,0.043,2090,3784,3842,0,0,0,0,0,0
$GC,2087,-1.06,-131.9,440.6,-16.3,230,2094,0.00,2.08,0.00,0.000,6,0.000,0.026,2089,2391,3840,0,0,0,0,0,0
$GC,2413,-1.08,-131.9,498.7,-18.2,261,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2388,3839,0,0,0,0,0,0
$GC,2734,-1.10,-131.9,553.6,-16.6,277,2738,0.00,2.17,0.00,0.000,4,0.000,0.044,2079,3780,3838,0,0,0,0,0,0
$GC,2828,-1.14,-131.9,569.6,-16.6,281,2832,0.00,2.05,0.00,0.000,6,0.000,0.027,2079,2395,3837,0,0,0,0,0,0
$GC,3145,-1.16,-131.9,621.9,-16.3,294,3149,0.00,2.08,0.00,0.000,4,0.000,0.034,2079,997,3834,0,0,0,0,0,0
$GC,3180,-1.19,-131.9,628.2,-17.2,295,3184,0.00,2.12,0.00,0.000,6,0.000,0.035,2069,2397,3834,0,0,0,0,0,0
$GC,3511,-1.20,-131.9,686.9,-17.8,306,3515,0.00,2.12,0.00,0.000,4,0.000,0.045,2058,3779,3830,0,0,0,0,0,0
$GC,3578,-1.23,-131.9,699.8,-18.3,308,3582,0.00,2.05,0.00,0.000,6,0.000,0.028,2058,2403,3830,0,0,0,0,0,0
$GC,3907,-1.24,-131.9,760.1,-17.9,319,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2400,3827,0,0,0,0,0,0
$GC,4214,-1.26,-131.9,811.5,-16.3,329,4219,0.12,2.17,0.00,0.000,4,0.093,0.047,1994,3780,3825,0,0,0,0,0,0
$GC,4279,-1.23,-131.9,824.1,-20.8,331,4283,0.12,2.10,0.00,0.000,6,0.181,0.029,2024,2392,3823,0,0,0,0,0,0
$GC,4614,-1.23,-131.9,889.7,-19.5,342,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2388,3820,0,0,0,0,0,0
$GC,4919,-1.23,-131.9,948.9,-19.2,352,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2388,3817,0,0,0,0,0,0
$STATE,5193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5193,begin apogee
$GC,5199,-0.16,0.0,1000.1,18.4,361,5309,1.15,0.00,103.07,1.134,6,0.154,0.000,2368,1974,3298,0,0,0,0,0,0
$STATE,5310,end apogee,CONTROL_FINISHED_OK
$STATE,5310,begin climb
$GC,5312,1.02,131.9,1004.4,0.0,364,5431,1.05,2.25,109.72,1.092,4,0.048,0.038,2771,602,2758,0,0,0,0,0,0
$GC,5590,0.90,131.9,977.8,18.5,373,5595,0.22,2.22,0.00,0.000,6,0.202,0.035,2719,2013,2752,0,0,0,0,0,0
$GC,5921,0.81,131.9,925.8,15.1,384,5925,0.12,2.17,0.00,0.000,4,0.214,0.040,2700,607,2747,0,0,0,0,0,0
$GC,5992,0.74,131.9,914.8,14.8,386,5997,0.15,2.15,0.00,0.000,6,0.196,0.035,2665,2010,2748,0,0,0,0,0,0
$GC,6316,0.70,131.9,874.1,12.1,397,6320,0.00,2.15,0.00,0.000,4,0.000,0.040,2674,607,2744,0,0,0,0,0,0
$GC,6349,0.65,131.9,870.0,12.6,398,6354,0.15,2.12,0.00,0.000,6,0.187,0.035,2638,2003,2745,0,0,0,0,0,0
$GC,6679,0.64,136.1,834.0,10.7,409,6683,0.00,2.17,0.00,0.000,4,0.000,0.044,2638,3404,2742,0,0,0,0,0,0
$GC,6695,0.62,141.7,832.0,10.5,409,6709,0.00,2.10,6.57,0.922,6,0.000,0.031,2647,2009,2720,0,0,0,0,0,0
$GC,7014,0.59,141.7,795.0,11.7,420,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2009,2718,0,0,0,0,0,0
$GC,7320,0.57,141.7,759.7,11.2,430,7325,0.15,2.22,0.00,0.000,4,0.196,0.044,2610,3411,2717,0,0,0,0,0,0
$GC,7404,0.56,141.7,750.0,11.4,432,7408,0.00,2.15,0.00,0.000,6,0.000,0.031,2619,2004,2716,0,0,0,0,0,0
$GC,7722,0.57,151.8,717.8,10.1,443,7736,0.00,2.25,9.15,0.914,4,0.000,0.044,2620,3400,2679,0,0,0,0,0,0
$GC,7761,0.56,157.5,713.6,10.5,444,7774,0.00,2.15,6.72,0.764,6,0.000,0.031,2630,2001,2655,0,0,0,0,0,0
$GC,8094,0.57,163.6,676.9,10.5,455,8105,0.00,2.20,6.32,0.822,4,0.000,0.042,2630,3404,2631,0,0,0,0,0,0
$GC,8138,0.55,163.6,671.9,12.1,456,8143,0.15,2.15,0.00,0.000,6,0.190,0.031,2605,1988,2630,0,0,0,0,0,0
$GC,8458,0.60,177.4,641.5,9.7,467,8477,0.00,2.20,12.90,0.883,4,0.000,0.041,2613,600,2574,0,0,0,0,0,0
$GC,8512,0.64,188.5,635.9,10.0,468,8528,0.00,2.15,10.82,0.809,6,0.000,0.034,2614,2007,2529,0,0,0,0,0,0
$GC,8860,0.68,188.5,598.0,11.6,480,8864,0.00,2.20,0.00,0.000,4,0.000,0.045,2614,3402,2525,0,0,0,0,0,0
$GC,8915,0.69,188.5,590.9,12.0,482,8922,0.00,2.15,0.00,0.000,6,0.000,0.031,2624,1989,2524,0,0,0,0,0,0
$GC,9233,0.72,191.6,556.7,10.8,498,9237,0.00,2.22,0.00,0.000,4,0.000,0.044,2623,3402,2523,0,0,0,0,0,0
$GC,9299,0.72,191.6,549.0,11.3,501,9303,0.00,2.12,0.00,0.000,6,0.000,0.031,2634,1996,2523,0,0,0,0,0,0
$GC,9627,0.74,192.4,513.4,11.0,517,9636,0.00,2.25,4.00,0.610,4,0.000,0.044,2634,3396,2513,0,0,0,0,0,0
$GC,9673,0.74,192.4,507.9,12.1,519,9677,0.00,2.12,0.00,0.000,6,0.000,0.031,2645,1991,2512,0,0,0,0,0,0
$GC,9998,0.76,198.4,470.1,10.5,546,10007,0.00,0.00,6.78,0.765,6,0.000,0.000,2645,1989,2488,0,0,0,0,0,0
$GC,10326,0.77,200.2,435.9,10.9,577,10330,0.00,2.12,0.00,0.000,4,0.000,0.041,2656,594,2487,0,0,0,0,0,0
$GC,10400,0.79,200.2,427.5,11.4,583,10404,0.00,2.12,0.00,0.000,6,0.000,0.033,2656,2001,2487,0,0,0,0,0,0
$GC,10725,0.80,200.2,390.5,11.2,613,10729,0.00,2.17,0.00,0.000,4,0.000,0.044,2656,3410,2486,0,0,0,0,0,0
$GC,10766,0.79,200.2,385.7,12.8,616,10770,0.00,2.12,0.00,0.000,6,0.000,0.030,2667,1998,2486,0,0,0,0,0,0
$GC,11092,0.79,203.5,349.9,10.8,646,11104,0.00,2.12,5.57,0.630,4,0.000,0.038,2678,600,2469,0,0,0,0,0,0
$GC,11128,0.79,203.5,345.6,11.9,649,11132,0.00,2.15,0.00,0.000,6,0.000,0.033,2677,2008,2469,0,0,0,0,0,0
$GC,11453,0.79,203.5,310.2,11.3,679,11457,0.00,2.15,0.00,0.000,4,0.000,0.038,2688,596,2469,0,0,0,0,0,0
$GC,11676,0.80,210.0,285.8,10.5,698,11689,0.00,2.15,7.43,0.655,6,0.000,0.032,2688,2009,2441,0,0,0,0,0,0
$GC,12007,0.80,210.0,248.5,11.1,729,12011,0.00,2.15,0.00,0.000,4,0.000,0.038,2698,595,2440,0,0,0,0,0,0
$GC,12037,0.80,210.0,245.2,11.6,731,12041,0.00,2.12,0.00,0.000,6,0.000,0.031,2698,2008,2440,0,0,0,0,0,0
$GC,12362,0.81,219.1,210.2,10.2,761,12378,0.00,2.22,9.23,0.626,4,0.000,0.038,2709,597,2404,0,0,0,0,0,0
$GC,12470,0.81,219.4,198.1,11.1,770,12477,0.00,2.12,0.00,0.000,6,0.000,0.031,2709,2009,2404,0,0,0,0,0,0
$GC,12795,0.82,225.4,164.2,10.5,801,12809,0.00,2.22,6.90,0.550,4,0.000,0.041,2709,3410,2378,0,0,0,0,0,0
$GC,12962,0.80,225.4,143.6,12.7,819,12969,0.15,2.12,0.00,0.000,6,0.180,0.028,2683,1988,2378,0,0,0,0,0,0
$GC,13310,0.90,273.3,117.5,6.3,880,13353,0.00,0.00,38.72,0.626,6,0.000,0.000,2683,1986,2182,0,0,0,0,0,0
$GC,13691,1.00,307.4,92.7,7.7,947,13728,0.20,2.20,27.25,0.584,4,0.066,0.037,2777,595,2044,0,0,0,0,0,0
$GC,13930,1.01,308.7,65.6,11.0,989,13937,0.00,2.15,0.00,0.000,6,0.000,0.030,2777,2006,2042,0,0,0,0,0,0
$GC,14274,1.02,322.2,25.7,9.7,1050,14292,0.00,0.00,12.52,0.493,6,0.000,0.000,2777,2007,1984,0,0,0,0,0,0
$STATE,14450,end climb,SURFACE_DEPTH_REACHED
$STATE,14450,begin surface coast
$FINISH,1.4,1.009851
$STATE,14473,end surface coast,CONTROL_FINISHED_OK
$STATE,14473,begin surface
$SM_CCo,14489,25.30,0.061,0,0,1769,375.06
$SM_GC,2.31,0.00,0.00,25.30,0.000,0.000,0.061,204,2402,1769,-6.94,0.06,375.06
$IRIDIUM_FIX,2113.32,12556.20,101110,202030
$TT8_MAMPS,0.025466
$HUMID,49.05
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.7,52.818
$10V_AH,9.9,57.924
$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,18.875,121.450,383.700,25.300,0.000,62.719,95.082,160.252,0.000,0.000,22.008,2810.755,9118.546,489.344,2317.154,314.287,0.000,1566.905,0.000,1973.764,0.000,0.540,0.000
$DEVICE_MAMPS,227.205,56.610,1134.495,61.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,734.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63573,1085
$CAP_FILE_SIZE,150934,0
$CFSIZE,260165632,220786688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.146,147.8,1
$GPS,111110,004937,2121.501,12601.273,31,1.0,31,-2.9