version: 66.08
glider: 181
mission: 4
dive: 396
start: 11 11 110 21 59 40
data:
$ID,181
$MISSION,4
$DIVE,396
$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,-38355.492
$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,45
$R_STBD_OVSHOOT,47
$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
$GPS1,111110,215325,2121.509,12601.079,38,1.5,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-68.7
$GPS2,111110,215914,2121.393,12601.145,12,1.4,12,-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,338.8,396,-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,-30.77,0.000,2,0.000,0.000,199,2413,2544,0,0,0,0,0,0
$GC,52,-1.02,-136.3,3.2,-3.0,5,102,7.78,2.12,-35.28,0.000,4,0.226,0.053,2083,3775,3854,0,0,0,0,0,0
$GC,184,-0.95,-136.3,36.8,-31.7,27,192,0.12,2.08,0.00,0.000,6,0.179,0.028,2111,2400,3856,0,0,0,0,0,0
$GC,529,-0.92,-136.3,145.4,-23.8,88,536,0.00,2.08,0.00,0.000,4,0.000,0.030,2111,983,3857,0,0,0,0,0,0
$GC,543,-0.88,-136.3,149.4,-26.6,90,551,0.15,2.12,0.00,0.000,6,0.165,0.034,2141,2390,3857,0,0,0,0,0,0
$GC,868,-0.90,-136.3,216.6,-19.0,121,872,0.00,2.15,0.00,0.000,4,0.000,0.042,2132,3784,3859,0,0,0,0,0,0
$GC,957,-0.94,-136.3,232.7,-15.9,128,964,0.00,2.08,0.00,0.000,6,0.000,0.026,2132,2389,3859,0,0,0,0,0,0
$GC,1284,-0.96,-136.3,290.8,-16.9,159,1288,0.00,2.12,0.00,0.000,4,0.000,0.041,2121,3777,3860,0,0,0,0,0,0
$GC,1305,-0.98,-136.3,294.7,-15.5,160,1312,0.00,2.05,0.00,0.000,6,0.000,0.027,2121,2397,3860,0,0,0,0,0,0
$GC,1631,-1.01,-136.3,349.4,-17.1,191,1635,0.00,2.05,0.00,0.000,4,0.000,0.032,2122,1002,3860,0,0,0,0,0,0
$GC,1710,-1.06,-136.3,362.4,-14.7,197,1716,0.00,2.10,0.00,0.000,6,0.000,0.034,2111,2403,3859,0,0,0,0,0,0
$GC,2035,-1.09,-136.3,413.3,-15.8,228,2040,0.10,2.12,0.00,0.000,4,0.098,0.043,2048,3784,3859,0,0,0,0,0,0
$GC,2112,-1.09,-136.3,428.1,-18.9,234,2120,0.00,2.08,0.00,0.000,6,0.000,0.028,2047,2408,3859,0,0,0,0,0,0
$GC,2438,-1.06,-136.3,498.3,-22.3,265,2443,0.12,2.15,0.00,0.000,4,0.187,0.043,2069,3780,3858,0,0,0,0,0,0
$GC,2505,-1.08,-136.3,511.3,-17.7,268,2508,0.00,2.05,0.00,0.000,6,0.000,0.028,2069,2394,3857,0,0,0,0,0,0
$GC,2832,-1.08,-136.3,570.4,-17.2,284,2836,0.00,2.15,0.00,0.000,4,0.000,0.044,2058,3777,3855,0,0,0,0,0,0
$GC,2883,-1.10,-136.3,579.4,-17.2,286,2887,0.00,2.08,0.00,0.000,6,0.000,0.028,2058,2397,3855,0,0,0,0,0,0
$GC,3213,-1.10,-136.3,637.9,-17.6,299,3217,0.00,2.15,0.00,0.000,4,0.000,0.044,2047,3781,3852,0,0,0,0,0,0
$GC,3263,-1.11,-136.3,646.6,-16.8,300,3267,0.00,2.10,0.00,0.000,6,0.000,0.029,2047,2391,3852,0,0,0,0,0,0
$GC,3576,-1.11,-136.3,702.0,-17.7,310,3580,0.00,2.17,0.00,0.000,4,0.000,0.045,2037,3775,3849,0,0,0,0,0,0
$GC,3603,-1.11,-136.3,707.2,-18.3,310,3611,0.12,2.10,0.00,0.000,6,0.177,0.029,2067,2380,3849,0,0,0,0,0,0
$GC,3917,-1.13,-136.3,760.0,-17.0,321,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2376,3846,0,0,0,0,0,0
$GC,4223,-1.15,-136.3,811.3,-16.8,331,4227,0.00,2.20,0.00,0.000,4,0.000,0.048,2057,3777,3842,0,0,0,0,0,0
$GC,4278,-1.18,-136.3,821.1,-17.2,332,4283,0.00,2.08,0.00,0.000,6,0.000,0.031,2057,2397,3841,0,0,0,0,0,0
$GC,4592,-1.20,-136.3,873.3,-16.9,342,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2394,3839,0,0,0,0,0,0
$GC,4898,-1.21,-136.3,923.5,-16.3,352,4902,0.00,2.20,0.00,0.000,4,0.000,0.048,2047,3777,3836,0,0,0,0,0,0
$GC,4930,-1.23,-136.3,929.2,-16.6,353,4934,0.00,2.10,0.00,0.000,6,0.000,0.031,2047,2399,3836,0,0,0,0,0,0
$GC,5261,-1.25,-136.3,983.4,-16.5,364,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2396,3833,0,0,0,0,0,0
$STATE,5380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5380,begin apogee
$GC,5386,-0.16,0.0,1003.9,16.9,368,5500,1.05,0.00,106.80,1.140,6,0.148,0.000,2365,1983,3299,0,0,0,0,0,0
$STATE,5501,end apogee,CONTROL_FINISHED_OK
$STATE,5501,begin climb
$GC,5503,1.02,136.3,1008.5,0.0,371,5626,1.08,2.25,113.38,1.097,4,0.053,0.039,2770,612,2741,0,0,0,0,0,0
$GC,5642,0.90,136.3,1007.1,11.6,376,5648,0.22,2.28,0.00,0.000,6,0.201,0.035,2720,2007,2739,0,0,0,0,0,0
$GC,5972,0.81,136.3,953.9,16.4,387,5977,0.12,2.17,0.00,0.000,4,0.216,0.041,2700,609,2732,0,0,0,0,0,0
$GC,5999,0.73,136.3,949.3,15.8,387,6008,0.15,2.17,0.00,0.000,6,0.198,0.036,2666,2005,2732,0,0,0,0,0,0
$GC,6313,0.69,136.3,904.8,13.8,398,6317,0.00,2.17,0.00,0.000,4,0.000,0.041,2675,604,2729,0,0,0,0,0,0
$GC,6351,0.64,136.3,899.2,14.6,399,6356,0.17,2.17,0.00,0.000,6,0.187,0.036,2632,2008,2729,0,0,0,0,0,0
$GC,6681,0.63,136.3,857.7,12.3,410,6685,0.00,2.20,0.00,0.000,4,0.000,0.047,2632,3406,2726,0,0,0,0,0,0
$GC,6715,0.59,136.3,853.0,13.2,411,6719,0.00,2.12,0.00,0.000,6,0.000,0.034,2641,2009,2725,0,0,0,0,0,0
$GC,7045,0.57,136.3,814.4,11.4,422,7046,0.12,0.00,0.00,0.000,6,0.204,0.000,2613,2008,2724,0,0,0,0,0,0
$GC,7352,0.59,154.5,784.6,9.3,432,7371,0.00,2.25,13.23,0.974,4,0.000,0.046,2613,3398,2667,0,0,0,0,0,0
$GC,7422,0.59,156.1,777.0,10.9,434,7426,0.00,2.17,0.00,0.000,6,0.000,0.034,2622,2004,2666,0,0,0,0,0,0
$GC,7757,0.61,166.9,742.5,10.0,445,7770,0.00,0.00,11.52,0.926,6,0.000,0.000,2621,2004,2617,0,0,0,0,0,0
$GC,8064,0.61,170.5,709.8,10.7,455,8073,0.00,2.17,4.57,0.740,4,0.000,0.042,2632,597,2602,0,0,0,0,0,0
$GC,8118,0.61,173.4,703.7,10.8,456,8131,0.00,2.17,4.30,0.705,6,0.000,0.034,2632,2009,2591,0,0,0,0,0,0
$GC,8437,0.62,175.4,668.5,10.9,467,8441,0.00,2.17,0.00,0.000,4,0.000,0.045,2632,3402,2589,0,0,0,0,0,0
$GC,8565,0.60,175.4,651.7,13.9,470,8572,0.00,2.17,0.00,0.000,6,0.000,0.034,2643,1989,2588,0,0,0,0,0,0
$GC,8878,0.60,175.4,614.5,11.8,481,8882,0.00,2.12,0.00,0.000,4,0.000,0.041,2654,597,2587,0,0,0,0,0,0
$GC,8900,0.60,175.4,611.8,11.6,481,8907,0.12,2.17,0.00,0.000,6,0.187,0.034,2624,2010,2588,0,0,0,0,0,0
$GC,9217,0.63,185.4,578.2,10.1,495,9235,0.00,0.00,11.07,0.877,6,0.000,0.000,2624,2010,2542,0,0,0,0,0,0
$GC,9545,0.67,198.7,545.2,9.8,511,9568,0.00,2.28,12.27,0.827,4,0.000,0.046,2624,3409,2487,0,0,0,0,0,0
$GC,9648,0.68,198.7,533.5,12.0,515,9652,0.00,2.17,0.00,0.000,6,0.000,0.033,2633,1988,2486,0,0,0,0,0,0
$GC,9965,0.72,212.6,501.0,9.7,530,9987,0.00,2.33,12.70,0.812,4,0.000,0.045,2633,3412,2430,0,0,0,0,0,0
$GC,10001,0.75,225.8,497.5,9.8,532,10023,0.00,2.17,12.43,0.741,6,0.000,0.033,2644,1992,2377,0,0,0,0,0,0
$GC,10343,0.77,225.8,458.9,11.5,564,10347,0.00,2.25,0.00,0.000,4,0.000,0.046,2644,3407,2373,0,0,0,0,0,0
$GC,10383,0.78,225.8,453.5,14.0,567,10387,0.00,2.15,0.00,0.000,6,0.000,0.033,2654,2003,2372,0,0,0,0,0,0
$GC,10709,0.80,225.8,412.8,12.5,597,10713,0.00,2.17,0.00,0.000,4,0.000,0.041,2665,595,2372,0,0,0,0,0,0
$GC,10863,0.81,225.8,393.1,13.0,610,10867,0.00,2.15,0.00,0.000,6,0.000,0.033,2665,2010,2372,0,0,0,0,0,0
$GC,11194,0.82,227.5,352.1,10.9,641,11195,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2010,2372,0,0,0,0,0,0
$GC,11515,0.85,239.3,317.9,9.9,671,11532,0.10,2.20,12.05,0.744,4,0.110,0.038,2726,582,2322,0,0,0,0,0,0
$GC,11572,0.82,239.3,310.3,13.5,675,11580,0.15,2.17,0.00,0.000,6,0.177,0.033,2689,2002,2321,0,0,0,0,0,0
$GC,11897,0.82,239.3,267.3,13.2,706,11898,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2001,2319,0,0,0,0,0,0
$GC,12217,0.82,239.3,227.0,12.9,736,12221,0.00,2.15,0.00,0.000,4,0.000,0.039,2698,589,2320,0,0,0,0,0,0
$GC,12290,0.82,239.3,217.8,12.9,742,12297,0.00,2.15,0.00,0.000,6,0.000,0.034,2697,1999,2320,0,0,0,0,0,0
$GC,12616,0.84,252.1,183.2,9.8,773,12632,0.00,2.20,12.10,0.632,4,0.000,0.041,2697,3406,2269,0,0,0,0,0,0
$GC,12741,0.84,252.1,168.2,12.1,783,12749,0.00,2.15,0.00,0.000,6,0.000,0.031,2709,1995,2269,0,0,0,0,0,0
$GC,13076,0.87,265.0,134.1,9.8,828,13095,0.00,2.12,11.85,0.587,4,0.000,0.037,2719,596,2217,0,0,0,0,0,0
$GC,13337,0.95,303.4,110.8,7.2,874,13375,0.00,2.15,31.48,0.614,6,0.000,0.031,2719,2011,2061,0,0,0,0,0,0
$GC,13714,1.00,311.1,79.5,10.3,940,13727,0.00,2.25,7.25,0.484,4,0.000,0.037,2730,590,2028,0,0,0,0,0,0
$GC,13746,1.06,325.0,76.2,9.7,945,13766,0.10,2.15,12.00,0.526,6,0.099,0.031,2777,1998,1972,0,0,0,0,0,0
$GC,14103,1.06,325.0,26.0,13.2,1008,14110,0.00,2.17,0.00,0.000,4,0.000,0.041,2777,3411,1972,0,0,0,0,0,0
$GC,14123,1.05,325.0,23.3,13.7,1011,14130,0.00,2.12,0.00,0.000,6,0.000,0.028,2787,1990,1972,0,0,0,0,0,0
$STATE,14252,end climb,SURFACE_DEPTH_REACHED
$STATE,14252,begin surface coast
$FINISH,1.5,1.022599
$STATE,14270,end surface coast,CONTROL_FINISHED_OK
$STATE,14271,begin surface
$SM_CCo,14287,24.45,0.061,0,0,1768,375.06
$SM_GC,2.20,0.00,0.00,24.45,0.000,0.000,0.061,206,2392,1768,-6.94,-0.23,375.06
$IRIDIUM_FIX,2111.01,12601.30,111110,171718
$TT8_MAMPS,0.026215
$HUMID,50.19
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.7,53.537
$10V_AH,9.9,58.356
$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,18.450,130.525,389.000,24.450,0.000,27.217,20.555,152.539,0.000,0.000,15.205,2676.578,9062.364,533.988,2058.050,328.605,0.000,1565.213,0.000,1849.317,0.000,0.541,0.000
$DEVICE_MAMPS,225.675,52.785,1139.850,61.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,701.664,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63550,1037
$CAP_FILE_SIZE,147268,0
$CFSIZE,260165632,220348416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134,143.5,1
$GPS,121110,015931,2122.145,12601.146,38,1.8,38,-2.9