version: 66.08
glider: 181
mission: 4
dive: 395
start: 11 11 110 17 55 16
data:
$ID,181
$MISSION,4
$DIVE,395
$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,-38354.234
$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,42
$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
$GPS1,111110,174907,2121.675,12601.989,30,1.1,30,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-67.3
$GPS2,111110,175449,2121.628,12602.010,8,1.3,13,-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,271.8,1397,-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,-31.10,0.000,2,0.000,0.000,201,2404,2563,0,0,0,0,0,0
$GC,52,-1.02,-136.3,3.2,-2.8,5,102,7.93,2.17,-34.28,0.000,4,0.233,0.056,2079,3778,3855,0,0,0,0,0,0
$GC,294,-0.96,-136.3,74.2,-32.4,47,302,0.15,2.08,0.00,0.000,6,0.176,0.028,2115,2397,3857,0,0,0,0,0,0
$GC,634,-0.93,-136.3,170.0,-22.1,100,638,0.00,2.15,0.00,0.000,4,0.000,0.041,2107,3774,3859,0,0,0,0,0,0
$GC,745,-0.93,-136.3,193.7,-19.2,109,752,0.00,2.08,0.00,0.000,6,0.000,0.026,2107,2395,3859,0,0,0,0,0,0
$GC,1071,-0.92,-136.3,262.8,-21.2,140,1075,0.00,2.15,0.00,0.000,4,0.000,0.041,2096,3774,3860,0,0,0,0,0,0
$GC,1092,-0.92,-136.3,267.8,-21.6,141,1100,0.08,2.08,0.00,0.000,6,0.145,0.027,2128,2392,3860,0,0,0,0,0,0
$GC,1418,-0.95,-136.3,323.8,-17.1,172,1421,0.00,2.08,0.00,0.000,4,0.000,0.032,2128,1001,3861,0,0,0,0,0,0
$GC,1456,-0.99,-136.3,330.7,-16.4,175,1463,0.00,2.12,0.00,0.000,6,0.000,0.033,2120,2395,3861,0,0,0,0,0,0
$GC,1782,-1.03,-136.3,384.8,-16.1,206,1786,0.00,2.15,0.00,0.000,4,0.000,0.043,2109,3783,3860,0,0,0,0,0,0
$GC,1878,-1.08,-136.3,399.8,-15.0,214,1882,0.00,2.05,0.00,0.000,6,0.000,0.027,2109,2394,3860,0,0,0,0,0,0
$GC,2203,-1.11,-136.3,452.4,-16.1,244,2208,0.12,2.08,0.00,0.000,4,0.085,0.033,2049,999,3859,0,0,0,0,0,0
$GC,2224,-1.11,-136.3,456.5,-17.6,245,2232,0.12,2.12,0.00,0.000,6,0.180,0.034,2068,2398,3859,0,0,0,0,0,0
$GC,2557,-1.11,-136.3,519.0,-18.0,272,2561,0.00,2.12,0.00,0.000,4,0.000,0.044,2059,3786,3857,0,0,0,0,0,0
$GC,2692,-1.12,-136.3,542.5,-16.6,278,2696,0.00,2.08,0.00,0.000,6,0.000,0.027,2059,2401,3856,0,0,0,0,0,0
$GC,3015,-1.12,-136.3,601.3,-17.8,294,3018,0.00,2.17,0.00,0.000,4,0.000,0.044,2049,3784,3854,0,0,0,0,0,0
$GC,3086,-1.12,-136.3,614.6,-18.7,296,3091,0.00,2.10,0.00,0.000,6,0.000,0.028,2049,2405,3853,0,0,0,0,0,0
$GC,3417,-1.12,-136.3,678.3,-20.1,307,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2402,3851,0,0,0,0,0,0
$GC,3722,-1.12,-136.3,738.7,-19.3,317,3726,0.00,2.15,0.00,0.000,4,0.000,0.045,2038,3777,3848,0,0,0,0,0,0
$GC,3766,-1.12,-136.3,747.6,-19.3,318,3770,0.00,2.10,0.00,0.000,6,0.000,0.029,2038,2388,3848,0,0,0,0,0,0
$GC,4091,-1.12,-136.3,810.6,-19.9,329,4095,0.00,2.17,0.00,0.000,4,0.000,0.046,2027,3775,3844,0,0,0,0,0,0
$GC,4152,-1.12,-136.3,823.0,-19.6,330,4160,0.12,2.10,0.00,0.000,6,0.178,0.030,2057,2392,3843,0,0,0,0,0,0
$GC,4465,-1.14,-136.3,879.3,-17.8,341,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2389,3840,0,0,0,0,0,0
$GC,4773,-1.16,-136.3,931.5,-16.6,351,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2389,3837,0,0,0,0,0,0
$GC,5078,-1.18,-136.3,982.1,-16.6,361,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2390,3835,0,0,0,0,0,0
$STATE,5197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5198,begin apogee
$GC,5204,-0.16,0.0,1001.8,16.1,365,5319,1.02,0.00,107.03,1.136,6,0.145,0.000,2370,1979,3298,0,0,0,0,0,0
$STATE,5320,end apogee,CONTROL_FINISHED_OK
$STATE,5320,begin climb
$GC,5322,1.02,136.3,1006.4,0.0,368,5445,1.05,2.28,113.25,1.094,4,0.047,0.041,2775,612,2741,0,0,0,0,0,0
$GC,5691,0.90,136.3,962.9,17.5,379,5699,0.25,2.17,0.00,0.000,6,0.199,0.036,2717,2002,2732,0,0,0,0,0,0
$GC,6005,0.81,136.3,914.5,14.9,390,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2002,2730,0,0,0,0,0,0
$GC,6311,0.73,136.3,871.7,13.6,400,6315,0.20,2.17,0.00,0.000,4,0.200,0.039,2675,599,2728,0,0,0,0,0,0
$GC,6360,0.68,136.3,865.2,12.6,401,6364,0.00,2.17,0.00,0.000,6,0.000,0.034,2675,2006,2728,0,0,0,0,0,0
$GC,6675,0.63,136.3,827.4,12.4,411,6680,0.17,2.20,0.00,0.000,4,0.189,0.044,2631,3406,2725,0,0,0,0,0,0
$GC,6704,0.59,136.3,823.9,12.5,412,6708,0.00,2.12,0.00,0.000,6,0.000,0.032,2640,2004,2725,0,0,0,0,0,0
$GC,7040,0.59,148.5,789.5,9.9,423,7054,0.00,2.25,8.40,0.946,4,0.000,0.044,2640,3405,2692,0,0,0,0,0,0
$GC,7074,0.56,154.7,785.9,10.5,424,7088,0.17,2.15,6.75,0.795,6,0.195,0.032,2609,1992,2667,0,0,0,0,0,0
$GC,7415,0.60,168.4,752.7,9.7,435,7430,0.00,0.00,12.88,0.940,6,0.000,0.000,2608,1992,2612,0,0,0,0,0,0
$GC,7720,0.63,173.1,720.4,10.6,445,7730,0.00,2.15,5.15,0.778,4,0.000,0.041,2617,598,2593,0,0,0,0,0,0
$GC,7752,0.66,186.3,716.7,9.8,446,7772,0.00,2.15,12.80,0.871,6,0.000,0.034,2618,2003,2538,0,0,0,0,0,0
$GC,8086,0.69,186.3,678.2,11.5,457,8090,0.00,2.20,0.00,0.000,4,0.000,0.045,2618,3407,2534,0,0,0,0,0,0
$GC,8149,0.69,186.3,670.1,13.9,459,8153,0.00,2.17,0.00,0.000,6,0.000,0.032,2628,1999,2533,0,0,0,0,0,0
$GC,8484,0.70,186.7,630.8,11.1,470,8488,0.00,2.17,0.00,0.000,4,0.000,0.041,2639,591,2532,0,0,0,0,0,0
$GC,8562,0.72,193.0,621.9,10.5,472,8573,0.00,2.15,6.40,0.830,6,0.000,0.034,2639,2001,2511,0,0,0,0,0,0
$GC,8881,0.73,193.0,584.6,11.6,484,8885,0.00,2.22,0.00,0.000,4,0.000,0.045,2639,3413,2509,0,0,0,0,0,0
$GC,8945,0.73,193.0,576.7,12.6,487,8949,0.00,2.15,0.00,0.000,6,0.000,0.032,2650,1999,2508,0,0,0,0,0,0
$GC,9273,0.73,193.0,537.6,12.1,503,9277,0.00,2.20,0.00,0.000,4,0.000,0.044,2650,3410,2508,0,0,0,0,0,0
$GC,9367,0.72,193.0,525.5,13.5,507,9371,0.00,2.17,0.00,0.000,6,0.000,0.031,2661,1990,2507,0,0,0,0,0,0
$GC,9687,0.72,193.0,488.3,11.7,526,9688,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1988,2507,0,0,0,0,0,0
$GC,10006,0.72,193.0,450.6,11.5,556,10007,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1987,2507,0,0,0,0,0,0
$GC,10324,0.72,198.1,415.0,10.6,586,10337,0.00,2.12,5.53,0.674,4,0.000,0.039,2671,597,2490,0,0,0,0,0,0
$GC,10546,0.73,204.9,389.8,10.4,605,10558,0.00,2.15,7.40,0.727,6,0.000,0.033,2671,2004,2462,0,0,0,0,0,0
$GC,10878,0.73,205.7,353.0,11.0,636,10882,0.00,2.20,0.00,0.000,4,0.000,0.044,2671,3410,2461,0,0,0,0,0,0
$GC,10946,0.71,205.7,344.6,13.2,641,10953,0.00,2.15,0.00,0.000,6,0.000,0.031,2682,1999,2460,0,0,0,0,0,0
$GC,11272,0.72,213.9,309.8,10.3,672,11287,0.00,2.17,8.75,0.691,4,0.000,0.038,2692,602,2426,0,0,0,0,0,0
$GC,11486,0.73,215.8,286.8,10.9,691,11491,0.12,2.12,0.00,0.000,6,0.171,0.032,2662,2000,2425,0,0,0,0,0,0
$GC,11812,0.77,230.6,257.3,9.6,721,11836,0.00,2.20,15.07,0.710,4,0.000,0.043,2662,3399,2358,0,0,0,0,0,0
$GC,11895,0.79,233.6,248.5,10.8,728,11907,0.00,2.15,4.35,0.495,6,0.000,0.031,2671,1991,2345,0,0,0,0,0,0
$GC,12226,0.81,234.8,212.6,11.0,759,12230,0.00,2.22,0.00,0.000,4,0.000,0.041,2671,3407,2344,0,0,0,0,0,0
$GC,12347,0.82,234.8,198.1,11.8,769,12351,0.00,2.12,0.00,0.000,6,0.000,0.030,2681,2002,2344,0,0,0,0,0,0
$GC,12673,0.88,259.6,167.4,8.6,799,12700,0.00,2.20,22.33,0.653,4,0.000,0.039,2681,3411,2238,0,0,0,0,0,0
$GC,12760,0.89,259.6,158.7,11.5,806,12764,0.00,2.12,0.00,0.000,6,0.000,0.030,2692,2001,2237,0,0,0,0,0,0
$GC,13098,0.98,295.3,125.9,7.5,858,13137,0.12,2.20,28.90,0.621,4,0.087,0.037,2762,596,2094,0,0,0,0,0,0
$GC,13255,0.99,303.1,106.3,10.3,885,13269,0.00,2.15,7.68,0.515,6,0.000,0.031,2762,2007,2062,0,0,0,0,0,0
$GC,13609,1.00,310.7,68.5,10.3,947,13622,0.00,2.22,7.28,0.481,4,0.000,0.041,2762,3406,2031,0,0,0,0,0,0
$GC,13751,1.00,310.7,50.3,12.8,972,13758,0.00,2.12,0.00,0.000,6,0.000,0.028,2772,1999,2030,0,0,0,0,0,0
$GC,14097,1.02,313.6,6.5,10.8,1033,14104,0.00,0.00,4.07,0.347,6,0.000,0.000,2772,1998,2019,0,0,0,0,0,0
$STATE,14131,end climb,SURFACE_DEPTH_REACHED
$STATE,14131,begin surface coast
$FINISH,1.5,1.022608
$STATE,14159,end surface coast,CONTROL_FINISHED_OK
$STATE,14160,begin surface
$SM_CCo,14177,32.15,0.062,0,0,1769,375.06
$SM_GC,2.02,0.00,0.00,32.15,0.000,0.000,0.062,199,2412,1769,-6.96,0.34,375.06
$IRIDIUM_FIX,2111.01,12558.07,111110,131338
$TT8_MAMPS,0.026215
$HUMID,49.52
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,25.30
$XPDR_PINGS,1
$24V_AH,23.7,53.421
$10V_AH,9.9,58.287
$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,18.450,117.400,384.000,32.150,0.000,28.115,16.850,147.943,0.250,0.000,15.614,2724.122,8859.113,497.625,2158.045,312.356,0.000,1560.289,0.000,1950.615,0.000,0.541,0.000
$DEVICE_MAMPS,232.560,55.845,1136.025,61.965,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,707.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331448
$DATA_FILE_SIZE,63484,1044
$CAP_FILE_SIZE,145920,0
$CFSIZE,260165632,220426240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119,107.7,1
$GPS,111110,215325,2121.509,12601.079,38,1.5,38,-2.9