version: 66.08
glider: 181
mission: 4
dive: 394
start: 11 11 110 13 51 9
data:
$ID,181
$MISSION,4
$DIVE,394
$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,-38352.977
$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,48
$R_STBD_OVSHOOT,56
$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
$GPS1,111110,134431,2120.314,12601.025,37,1.9,37,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-67.2
$GPS2,111110,135043,2120.238,12601.008,9,1.1,14,-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,21.3,2545,-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,-73.7,0.0,0.0,0,50,0.00,0.00,-31.10,0.000,2,0.000,0.000,199,2424,2569,0,0,0,0,0,0
$GC,53,-1.02,-136.3,3.3,-4.0,5,103,7.82,2.12,-33.12,0.000,4,0.228,0.054,2078,3755,3856,0,0,0,0,0,0
$GC,157,-0.95,-136.3,29.1,-34.0,22,164,0.15,2.03,0.00,0.000,6,0.178,0.027,2114,2400,3858,0,0,0,0,0,0
$GC,502,-0.90,-136.3,141.6,-27.3,83,509,0.00,2.12,0.00,0.000,4,0.000,0.041,2105,3761,3858,0,0,0,0,0,0
$GC,573,-0.87,-136.3,159.9,-24.4,92,578,0.15,2.03,0.00,0.000,6,0.161,0.026,2144,2391,3859,0,0,0,0,0,0
$GC,898,-0.87,-136.3,223.0,-19.9,122,902,0.00,2.08,0.00,0.000,4,0.000,0.032,2144,998,3860,0,0,0,0,0,0
$GC,976,-0.93,-136.3,235.7,-14.9,128,983,0.00,2.08,0.00,0.000,6,0.000,0.032,2136,2382,3860,0,0,0,0,0,0
$GC,1301,-0.95,-136.3,294.5,-17.9,159,1305,0.00,2.12,0.00,0.000,4,0.000,0.041,2125,3777,3861,0,0,0,0,0,0
$GC,1410,-1.00,-136.3,313.1,-17.3,168,1414,0.00,2.03,0.00,0.000,6,0.000,0.026,2125,2400,3861,0,0,0,0,0,0
$GC,1735,-1.03,-136.3,369.8,-18.1,198,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2396,3861,0,0,0,0,0,0
$GC,2056,-1.07,-136.3,425.7,-16.7,228,2061,0.12,2.17,0.00,0.000,4,0.084,0.043,2053,3775,3860,0,0,0,0,0,0
$GC,2089,-1.07,-136.3,432.9,-21.3,230,2096,0.00,2.03,0.00,0.000,6,0.000,0.026,2053,2401,3860,0,0,0,0,0,0
$GC,2424,-1.05,-136.3,505.2,-20.5,261,2429,0.12,2.17,0.00,0.000,4,0.185,0.043,2074,3775,3859,0,0,0,0,0,0
$GC,2496,-1.07,-136.3,518.2,-16.8,264,2500,0.00,2.03,0.00,0.000,6,0.000,0.027,2073,2401,3858,0,0,0,0,0,0
$GC,2812,-1.07,-136.3,573.8,-17.7,279,2816,0.00,2.08,0.00,0.000,4,0.000,0.034,2073,1002,3857,0,0,0,0,0,0
$GC,2840,-1.09,-136.3,578.8,-17.1,280,2844,0.00,2.10,0.00,0.000,6,0.000,0.034,2064,2398,3857,0,0,0,0,0,0
$GC,3155,-1.09,-136.3,635.1,-18.0,292,3159,0.00,2.15,0.00,0.000,4,0.000,0.044,2053,3782,3854,0,0,0,0,0,0
$GC,3351,-1.10,-136.3,671.1,-19.0,298,3355,0.00,2.08,0.00,0.000,6,0.000,0.028,2053,2401,3853,0,0,0,0,0,0
$GC,3687,-1.10,-136.3,736.2,-19.6,309,3691,0.00,2.17,0.00,0.000,4,0.000,0.045,2042,3774,3850,0,0,0,0,0,0
$GC,3749,-1.10,-136.3,748.6,-19.2,311,3753,0.00,2.05,0.00,0.000,6,0.000,0.028,2043,2402,3849,0,0,0,0,0,0
$GC,4085,-1.10,-136.3,815.3,-19.7,322,4089,0.00,2.15,0.00,0.000,4,0.000,0.046,2031,3774,3845,0,0,0,0,0,0
$GC,4196,-1.10,-136.3,837.1,-19.0,325,4201,0.15,2.10,0.00,0.000,6,0.172,0.030,2069,2408,3844,0,0,0,0,0,0
$GC,4522,-1.13,-136.3,887.5,-15.0,336,4526,0.00,2.17,0.00,0.000,4,0.000,0.048,2060,3777,3841,0,0,0,0,0,0
$GC,4600,-1.16,-136.3,899.6,-14.9,338,4604,0.00,2.10,0.00,0.000,6,0.000,0.030,2060,2395,3840,0,0,0,0,0,0
$GC,4924,-1.18,-136.3,949.1,-15.5,349,4928,0.00,2.20,0.00,0.000,4,0.000,0.048,2050,3777,3837,0,0,0,0,0,0
$GC,5071,-1.21,-136.3,971.9,-15.0,353,5075,0.00,2.08,0.00,0.000,6,0.000,0.031,2050,2402,3836,0,0,0,0,0,0
$STATE,5271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5271,begin apogee
$GC,5277,-0.16,0.0,1004.7,16.4,360,5391,1.05,0.00,107.25,1.137,6,0.148,0.000,2366,1983,3298,0,0,0,0,0,0
$STATE,5392,end apogee,CONTROL_FINISHED_OK
$STATE,5392,begin climb
$GC,5394,1.02,136.3,1009.1,0.0,363,5519,1.05,2.33,113.35,1.098,4,0.049,0.041,2770,613,2741,0,0,0,0,0,0
$GC,5672,0.90,136.3,981.9,18.6,372,5677,0.22,2.17,0.00,0.000,6,0.200,0.036,2718,2003,2735,0,0,0,0,0,0
$GC,6003,0.81,136.3,927.3,15.9,383,6004,0.12,0.00,0.00,0.000,6,0.216,0.000,2689,2005,2731,0,0,0,0,0,0
$GC,6309,0.75,136.3,885.4,13.2,393,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2005,2729,0,0,0,0,0,0
$GC,6614,0.68,136.3,844.5,13.2,403,6619,0.17,2.22,0.00,0.000,4,0.201,0.044,2645,3411,2727,0,0,0,0,0,0
$GC,6704,0.64,136.3,833.4,11.9,405,6711,0.00,2.12,0.00,0.000,6,0.000,0.032,2654,2011,2725,0,0,0,0,0,0
$GC,7017,0.61,136.3,797.5,11.8,416,7022,0.12,2.20,0.00,0.000,4,0.207,0.041,2635,592,2724,0,0,0,0,0,0
$GC,7083,0.60,136.3,789.6,12.1,418,7087,0.00,2.15,0.00,0.000,6,0.000,0.034,2635,2005,2724,0,0,0,0,0,0
$GC,7414,0.58,136.3,751.4,12.0,429,7418,0.00,2.17,0.00,0.000,4,0.000,0.041,2645,597,2722,0,0,0,0,0,0
$GC,7477,0.56,136.3,743.6,12.3,431,7481,0.15,2.15,0.00,0.000,6,0.185,0.035,2609,2007,2722,0,0,0,0,0,0
$GC,7818,0.58,141.9,707.0,10.5,442,7822,0.00,2.17,0.00,0.000,4,0.000,0.047,2609,3407,2721,0,0,0,0,0,0
$GC,7881,0.58,141.9,699.8,11.3,444,7885,0.00,2.12,0.00,0.000,6,0.000,0.031,2618,2002,2720,0,0,0,0,0,0
$GC,8221,0.60,158.1,665.9,9.5,455,8242,0.00,2.17,15.48,0.924,4,0.000,0.040,2629,589,2653,0,0,0,0,0,0
$GC,8394,0.62,177.5,648.7,9.2,460,8418,0.00,2.15,17.25,0.879,6,0.000,0.034,2628,2000,2573,0,0,0,0,0,0
$GC,8723,0.66,193.7,617.5,9.5,471,8742,0.00,2.22,14.48,0.873,4,0.000,0.045,2628,3404,2508,0,0,0,0,0,0
$GC,8759,0.66,198.9,613.6,10.6,472,8770,0.00,2.17,6.05,0.681,6,0.000,0.031,2639,1988,2487,0,0,0,0,0,0
$GC,9093,0.67,198.9,574.3,12.5,486,9097,0.00,2.15,0.00,0.000,4,0.000,0.041,2650,592,2482,0,0,0,0,0,0
$GC,9148,0.67,198.9,566.7,13.1,488,9157,0.00,2.20,0.00,0.000,6,0.000,0.034,2650,1997,2482,0,0,0,0,0,0
$GC,9465,0.67,198.9,526.6,12.4,504,9469,0.00,2.15,0.00,0.000,4,0.000,0.041,2661,598,2481,0,0,0,0,0,0
$GC,9584,0.67,198.9,511.3,12.2,509,9588,0.00,2.15,0.00,0.000,6,0.000,0.034,2661,2006,2481,0,0,0,0,0,0
$GC,9908,0.67,198.9,472.3,12.0,535,9912,0.00,2.17,0.00,0.000,4,0.000,0.045,2661,3404,2480,0,0,0,0,0,0
$GC,9941,0.65,198.9,468.0,12.1,537,9948,0.15,2.15,0.00,0.000,6,0.184,0.031,2635,1998,2480,0,0,0,0,0,0
$GC,10267,0.69,207.4,434.1,10.3,568,10280,0.00,2.22,7.62,0.764,4,0.000,0.041,2643,593,2452,0,0,0,0,0,0
$GC,10309,0.72,208.3,429.4,11.0,571,10316,0.00,2.15,0.00,0.000,6,0.000,0.033,2643,2007,2452,0,0,0,0,0,0
$GC,10635,0.75,215.5,394.9,10.4,602,10647,0.00,0.00,8.23,0.750,6,0.000,0.000,2643,2008,2419,0,0,0,0,0,0
$GC,10966,0.80,229.5,361.2,9.7,633,10990,0.12,2.28,12.90,0.770,4,0.099,0.040,2708,587,2362,0,0,0,0,0,0
$GC,11064,0.78,229.5,348.9,13.9,641,11071,0.12,2.17,0.00,0.000,6,0.179,0.034,2678,2009,2360,0,0,0,0,0,0
$GC,11389,0.78,229.5,307.0,12.0,672,11393,0.00,2.20,0.00,0.000,4,0.000,0.044,2679,3411,2360,0,0,0,0,0,0
$GC,11490,0.77,229.5,293.9,12.4,680,11497,0.00,2.17,0.00,0.000,6,0.000,0.031,2687,1987,2359,0,0,0,0,0,0
$GC,11815,0.77,229.5,255.0,12.3,711,11819,0.00,2.12,0.00,0.000,4,0.000,0.040,2698,599,2359,0,0,0,0,0,0
$GC,11866,0.77,229.5,248.8,11.2,715,11870,0.00,2.12,0.00,0.000,6,0.000,0.033,2698,2008,2360,0,0,0,0,0,0
$GC,12192,0.78,237.0,211.1,10.3,745,12205,0.00,2.22,8.02,0.603,4,0.000,0.038,2709,598,2331,0,0,0,0,0,0
$GC,12241,0.79,249.9,206.2,9.8,749,12258,0.00,2.12,11.82,0.643,6,0.000,0.032,2709,2006,2279,0,0,0,0,0,0
$GC,12577,0.79,249.9,169.4,12.3,780,12581,0.00,2.15,0.00,0.000,4,0.000,0.037,2719,593,2277,0,0,0,0,0,0
$GC,12796,0.81,256.7,143.1,10.4,803,12811,0.12,2.12,7.00,0.532,6,0.168,0.031,2689,2009,2251,0,0,0,0,0,0
$GC,13151,0.93,312.1,116.2,5.5,865,13201,0.10,0.00,44.45,0.611,6,0.100,0.000,2736,2009,2024,0,0,0,0,0,0
$GC,13540,0.97,317.8,77.4,10.5,933,13553,0.00,2.17,5.28,0.430,4,0.000,0.037,2746,593,2002,0,0,0,0,0,0
$GC,13628,1.00,325.2,67.9,10.4,948,13642,0.00,2.12,7.43,0.474,6,0.000,0.031,2746,2003,1971,0,0,0,0,0,0
$GC,13983,1.03,325.2,25.0,13.0,1010,13990,0.00,2.15,0.00,0.000,4,0.000,0.041,2747,3410,1971,0,0,0,0,0,0
$GC,14025,1.04,325.2,18.8,13.6,1017,14032,0.00,2.10,0.00,0.000,6,0.000,0.028,2757,2001,1971,0,0,0,0,0,0
$STATE,14144,end climb,SURFACE_DEPTH_REACHED
$STATE,14144,begin surface coast
$FINISH,1.5,1.022589
$STATE,14167,end surface coast,CONTROL_FINISHED_OK
$STATE,14167,begin surface
$SM_CCo,14183,23.42,0.060,0,0,1769,375.06
$SM_GC,2.53,0.00,0.00,23.42,0.000,0.000,0.060,202,2403,1769,-6.95,0.08,375.06
$IRIDIUM_FIX,2111.01,12604.53,111110,090945
$TT8_MAMPS,0.026215
$HUMID,49.37
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.7,53.308
$10V_AH,9.9,58.216
$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,18.675,129.750,386.600,23.425,0.000,23.281,22.184,166.085,0.000,0.000,16.756,2722.188,8761.843,500.982,2279.283,312.934,0.000,1606.973,0.000,2033.175,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,54.315,1136.790,60.435,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,705.247,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63573,1042
$CAP_FILE_SIZE,150163,0
$CFSIZE,260165632,220491776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.011,105.8,1
$GPS,111110,174907,2121.675,12601.989,30,1.1,30,-2.9