version: 66.08
glider: 181
mission: 4
dive: 393
start: 11 11 110 9 49 17
data:
$ID,181
$MISSION,4
$DIVE,393
$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,-38351.719
$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,44
$R_STBD_OVSHOOT,45
$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
$GPS1,111110,094231,2122.257,12601.355,37,1.5,37,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-61.5
$GPS2,111110,094850,2122.208,12601.335,16,1.3,16,-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,171.5,1150,-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,-73.7,0.0,0.0,0,55,0.00,0.00,-37.60,0.000,2,0.000,0.000,196,2423,2657,0,0,0,0,0,0
$GC,58,-1.02,-136.3,3.4,-4.0,6,102,7.82,2.17,-29.45,0.000,4,0.227,0.043,2088,984,3855,0,0,0,0,0,0
$GC,184,-0.94,-136.3,38.9,-36.1,27,192,0.15,2.15,0.00,0.000,6,0.187,0.034,2114,2391,3856,0,0,0,0,0,0
$GC,530,-0.90,-136.3,150.5,-26.3,88,534,0.00,2.12,0.00,0.000,4,0.000,0.041,2106,3780,3857,0,0,0,0,0,0
$GC,727,-0.92,-136.3,192.1,-19.4,105,731,0.00,2.05,0.00,0.000,6,0.000,0.026,2105,2394,3859,0,0,0,0,0,0
$GC,1052,-0.92,-136.3,263.3,-20.3,135,1056,0.00,2.15,0.00,0.000,4,0.000,0.041,2094,3777,3860,0,0,0,0,0,0
$GC,1150,-0.95,-136.3,281.6,-18.9,143,1154,0.00,2.05,0.00,0.000,6,0.000,0.027,2094,2391,3860,0,0,0,0,0,0
$GC,1475,-0.95,-136.3,344.6,-18.6,173,1479,0.00,2.12,0.00,0.000,4,0.000,0.041,2083,3777,3860,0,0,0,0,0,0
$GC,1530,-0.97,-136.3,355.1,-18.3,177,1538,0.12,2.05,0.00,0.000,6,0.162,0.027,2116,2388,3860,0,0,0,0,0,0
$GC,1856,-1.00,-136.3,409.1,-16.5,208,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2386,3860,0,0,0,0,0,0
$GC,2178,-1.04,-136.3,458.3,-15.6,238,2182,0.00,2.17,0.00,0.000,4,0.000,0.044,2107,3784,3858,0,0,0,0,0,0
$GC,2213,-1.09,-136.3,464.5,-15.9,240,2220,0.00,2.05,0.00,0.000,6,0.000,0.028,2107,2403,3858,0,0,0,0,0,0
$GC,2537,-1.12,-136.3,517.5,-16.2,266,2542,0.12,2.17,0.00,0.000,4,0.088,0.046,2037,3775,3855,0,0,0,0,0,0
$GC,2654,-1.12,-136.3,541.8,-20.3,271,2658,0.00,2.05,0.00,0.000,6,0.000,0.028,2037,2394,3855,0,0,0,0,0,0
$GC,2997,-1.10,-136.3,613.3,-20.9,287,3002,0.12,2.20,0.00,0.000,4,0.188,0.044,2057,3782,3852,0,0,0,0,0,0
$GC,3093,-1.12,-136.3,631.1,-17.4,290,3097,0.00,2.08,0.00,0.000,6,0.000,0.028,2057,2391,3852,0,0,0,0,0,0
$GC,3428,-1.12,-136.3,695.1,-19.2,301,3432,0.00,2.17,0.00,0.000,4,0.000,0.046,2047,3775,3849,0,0,0,0,0,0
$GC,3462,-1.12,-136.3,701.9,-20.1,302,3466,0.00,2.08,0.00,0.000,6,0.000,0.029,2047,2390,3848,0,0,0,0,0,0
$GC,3792,-1.12,-136.3,766.1,-19.3,313,3796,0.00,2.20,0.00,0.000,4,0.000,0.047,2036,3781,3845,0,0,0,0,0,0
$GC,3903,-1.12,-136.3,787.2,-18.6,316,3907,0.00,2.10,0.00,0.000,6,0.000,0.029,2036,2390,3844,0,0,0,0,0,0
$GC,4227,-1.12,-136.3,849.8,-19.5,327,4232,0.12,2.22,0.00,0.000,4,0.196,0.047,2056,3777,3841,0,0,0,0,0,0
$GC,4290,-1.15,-136.3,861.1,-16.5,329,4294,0.00,2.10,0.00,0.000,6,0.000,0.030,2056,2395,3840,0,0,0,0,0,0
$GC,4627,-1.17,-136.3,920.9,-17.6,340,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2392,3837,0,0,0,0,0,0
$GC,4932,-1.19,-136.3,974.1,-17.5,350,4936,0.00,2.10,0.00,0.000,4,0.000,0.037,2057,1000,3834,0,0,0,0,0,0
$GC,4948,-1.20,-136.3,977.4,-17.6,350,4952,0.00,2.15,0.00,0.000,6,0.000,0.038,2047,2401,3834,0,0,0,0,0,0
$STATE,5080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5080,begin apogee
$GC,5087,-0.16,0.0,1000.9,17.9,355,5200,1.05,0.00,107.32,1.131,6,0.147,0.000,2365,1974,3298,0,0,0,0,0,0
$STATE,5201,end apogee,CONTROL_FINISHED_OK
$STATE,5201,begin climb
$GC,5203,1.02,136.3,1006.7,0.0,358,5327,1.05,2.28,113.60,1.093,4,0.044,0.041,2773,605,2742,0,0,0,0,0,0
$GC,5580,0.90,136.3,963.7,17.1,370,5585,0.22,2.17,0.00,0.000,6,0.201,0.036,2720,2007,2733,0,0,0,0,0,0
$GC,5910,0.81,136.3,910.9,16.2,381,5915,0.12,2.20,0.00,0.000,4,0.215,0.041,2700,601,2730,0,0,0,0,0,0
$GC,5977,0.75,136.3,900.5,14.8,383,5982,0.15,2.15,0.00,0.000,6,0.196,0.036,2666,2000,2730,0,0,0,0,0,0
$GC,6307,0.71,136.3,857.6,12.5,394,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2001,2727,0,0,0,0,0,0
$GC,6613,0.67,136.3,821.7,11.3,404,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2001,2725,0,0,0,0,0,0
$GC,6920,0.63,140.4,788.2,10.7,414,6925,0.15,2.22,0.00,0.000,4,0.195,0.046,2628,3405,2723,0,0,0,0,0,0
$GC,6986,0.60,140.4,780.4,11.4,416,6991,0.00,2.12,0.00,0.000,6,0.000,0.032,2636,2009,2722,0,0,0,0,0,0
$GC,7323,0.61,156.4,748.3,9.5,427,7342,0.00,2.20,14.43,0.962,4,0.000,0.045,2636,3405,2660,0,0,0,0,0,0
$GC,7371,0.58,156.4,743.0,11.3,428,7376,0.15,2.15,0.00,0.000,6,0.196,0.031,2612,1996,2659,0,0,0,0,0,0
$GC,7689,0.61,171.2,712.5,9.6,439,7705,0.00,0.00,13.60,0.917,6,0.000,0.000,2612,1997,2600,0,0,0,0,0,0
$GC,7996,0.64,174.0,680.2,10.8,449,8005,0.00,2.28,3.85,0.630,4,0.000,0.045,2612,3402,2588,0,0,0,0,0,0
$GC,8056,0.64,174.0,672.4,12.9,450,8063,0.00,2.15,0.00,0.000,6,0.000,0.031,2620,1990,2588,0,0,0,0,0,0
$GC,8371,0.66,174.0,633.0,12.8,461,8375,0.00,2.15,0.00,0.000,4,0.000,0.041,2631,590,2586,0,0,0,0,0,0
$GC,8433,0.67,174.0,625.0,13.1,463,8437,0.00,2.15,0.00,0.000,6,0.000,0.034,2631,2002,2586,0,0,0,0,0,0
$GC,8748,0.67,174.0,586.3,12.1,475,8752,0.00,2.20,0.00,0.000,4,0.000,0.045,2631,3401,2585,0,0,0,0,0,0
$GC,8844,0.67,174.0,574.5,12.3,479,8848,0.00,2.15,0.00,0.000,6,0.000,0.032,2641,1986,2585,0,0,0,0,0,0
$GC,9160,0.68,181.6,541.2,10.3,494,9174,0.00,2.30,7.55,0.830,4,0.000,0.044,2641,3407,2557,0,0,0,0,0,0
$GC,9250,0.67,181.6,531.1,12.2,498,9254,0.00,2.15,0.00,0.000,6,0.000,0.031,2652,1991,2556,0,0,0,0,0,0
$GC,9567,0.68,186.0,497.1,10.7,514,9579,0.00,2.22,5.20,0.705,4,0.000,0.043,2653,3409,2540,0,0,0,0,0,0
$GC,9627,0.66,186.0,490.1,12.6,519,9631,0.00,2.15,0.00,0.000,6,0.000,0.031,2663,1993,2539,0,0,0,0,0,0
$GC,9957,0.66,186.0,452.1,11.1,550,9959,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1992,2538,0,0,0,0,0,0
$GC,10279,0.66,192.4,417.6,10.5,580,10288,0.00,0.00,6.85,0.728,6,0.000,0.000,2663,1992,2513,0,0,0,0,0,0
$GC,10605,0.68,209.0,384.9,9.4,611,10629,0.00,2.20,15.43,0.781,4,0.000,0.041,2674,598,2444,0,0,0,0,0,0
$GC,10654,0.70,220.7,380.0,9.9,615,10670,0.00,2.15,10.95,0.654,6,0.000,0.033,2674,2006,2397,0,0,0,0,0,0
$GC,10995,0.70,220.7,339.8,11.6,647,10999,0.00,2.20,0.00,0.000,4,0.000,0.044,2674,3407,2393,0,0,0,0,0,0
$GC,11085,0.69,220.7,328.5,13.1,654,11092,0.15,2.15,0.00,0.000,6,0.181,0.030,2647,1987,2392,0,0,0,0,0,0
$GC,11411,0.75,243.2,296.1,8.8,685,11437,0.00,2.22,19.00,0.724,4,0.000,0.040,2657,592,2306,0,0,0,0,0,0
$GC,11568,0.81,255.8,281.4,9.8,699,11585,0.00,2.15,11.62,0.656,6,0.000,0.032,2657,2004,2254,0,0,0,0,0,0
$GC,11906,0.86,258.2,243.9,10.9,730,11911,0.12,2.20,0.00,0.000,4,0.090,0.043,2718,3410,2252,0,0,0,0,0,0
$GC,11927,0.86,258.2,241.0,12.4,731,11935,0.00,2.12,0.00,0.000,6,0.000,0.029,2728,1999,2252,0,0,0,0,0,0
$GC,12253,0.84,258.2,195.3,14.5,762,12255,0.12,0.00,0.00,0.000,6,0.182,0.000,2698,1996,2252,0,0,0,0,0,0
$GC,12572,0.87,265.4,161.1,10.4,792,12587,0.00,2.22,8.98,0.575,4,0.000,0.041,2698,3397,2216,0,0,0,0,0,0
$GC,12618,0.88,265.4,155.8,11.4,796,12622,0.00,2.12,0.00,0.000,6,0.000,0.029,2707,2001,2216,0,0,0,0,0,0
$GC,12957,0.95,298.1,121.5,7.8,852,12994,0.00,2.20,27.48,0.615,4,0.000,0.037,2718,598,2081,0,0,0,0,0,0
$GC,13103,1.02,313.8,107.3,9.5,877,13124,0.10,2.12,13.43,0.565,6,0.099,0.030,2764,2008,2018,0,0,0,0,0,0
$GC,13462,1.02,313.8,68.0,11.8,940,13469,0.00,2.17,0.00,0.000,4,0.000,0.041,2764,3411,2015,0,0,0,0,0,0
$GC,13493,1.02,313.8,63.9,14.2,945,13500,0.00,2.15,0.00,0.000,6,0.000,0.028,2774,1989,2015,0,0,0,0,0,0
$GC,13837,1.02,313.8,19.8,13.3,1006,13844,0.00,2.10,0.00,0.000,4,0.000,0.036,2785,598,2016,0,0,0,0,0,0
$GC,13924,1.01,313.8,7.9,14.2,1021,13931,0.15,2.12,0.00,0.000,6,0.161,0.031,2747,2007,2017,0,0,0,0,0,0
$STATE,13964,end climb,SURFACE_DEPTH_REACHED
$STATE,13964,begin surface coast
$FINISH,1.5,1.022598
$STATE,13987,end surface coast,CONTROL_FINISHED_OK
$STATE,13988,begin surface
$SM_CCo,14005,30.10,0.060,0,0,1769,375.06
$SM_GC,2.03,0.00,0.00,30.10,0.000,0.000,0.060,199,2423,1769,-6.96,0.65,375.06
$IRIDIUM_FIX,2117.95,12551.09,111110,050509
$TT8_MAMPS,0.026215
$HUMID,49.05
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.6,53.192
$10V_AH,9.9,58.143
$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,18.700,121.925,379.275,30.100,0.000,29.583,39.706,152.620,0.000,0.000,19.470,2706.969,8719.771,491.913,2181.563,312.103,0.000,1551.855,0.000,1941.849,0.000,0.541,0.000
$DEVICE_MAMPS,227.205,47.430,1131.435,60.435,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,699.394,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60174,1032
$CAP_FILE_SIZE,146939,0
$CFSIZE,260165632,220573696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,230.8,1
$GPS,111110,134431,2120.314,12601.025,37,1.9,37,-2.9