version: 66.08
glider: 181
mission: 4
dive: 397
start: 11 12 110 2 5 53
data:
$ID,181
$MISSION,4
$DIVE,397
$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,-38356.75
$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,29
$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
$GPS1,121110,015931,2122.145,12601.146,38,1.8,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-70.0
$GPS2,121110,020526,2122.063,12601.131,12,1.4,12,-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,194.3,865,-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,-73.7,0.0,0.0,0,43,0.00,0.00,-25.50,0.000,2,0.000,0.000,201,2392,2425,0,0,0,0,0,0
$GC,46,-1.02,-136.3,3.1,-3.6,4,108,7.88,2.17,-44.10,0.000,4,0.230,0.047,2086,997,3855,0,0,0,0,0,0
$GC,222,-0.96,-136.3,45.2,-31.4,34,230,0.15,2.17,0.00,0.000,6,0.182,0.036,2114,2406,3856,0,0,0,0,0,0
$GC,568,-0.93,-136.3,148.6,-23.0,95,575,0.00,2.12,0.00,0.000,4,0.000,0.041,2105,3781,3858,0,0,0,0,0,0
$GC,711,-0.92,-136.3,180.8,-21.3,108,718,0.00,2.05,0.00,0.000,6,0.000,0.026,2105,2388,3859,0,0,0,0,0,0
$GC,1037,-0.91,-136.3,250.8,-21.0,139,1040,0.00,2.08,0.00,0.000,4,0.000,0.032,2105,997,3860,0,0,0,0,0,0
$GC,1087,-0.92,-136.3,261.7,-20.1,143,1094,0.12,2.15,0.00,0.000,6,0.171,0.034,2126,2400,3860,0,0,0,0,0,0
$GC,1413,-0.95,-136.3,321.5,-16.8,174,1417,0.00,2.12,0.00,0.000,4,0.000,0.043,2117,3780,3861,0,0,0,0,0,0
$GC,1531,-1.00,-136.3,339.9,-15.0,184,1535,0.00,2.05,0.00,0.000,6,0.000,0.027,2117,2389,3861,0,0,0,0,0,0
$GC,1857,-1.03,-136.3,396.2,-17.0,214,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2386,3861,0,0,0,0,0,0
$GC,2179,-1.07,-136.3,450.3,-16.3,244,2184,0.10,2.20,0.00,0.000,4,0.097,0.044,2055,3778,3859,0,0,0,0,0,0
$GC,2319,-1.07,-136.3,478.5,-19.4,256,2323,0.00,2.05,0.00,0.000,6,0.000,0.028,2055,2394,3859,0,0,0,0,0,0
$GC,2639,-1.07,-136.3,541.0,-20.0,276,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2391,3858,0,0,0,0,0,0
$GC,2948,-1.07,-136.3,599.9,-19.2,291,2952,0.00,2.17,0.00,0.000,4,0.000,0.046,2044,3777,3855,0,0,0,0,0,0
$GC,3014,-1.07,-136.3,612.9,-18.1,294,3019,0.12,2.10,0.00,0.000,6,0.174,0.029,2074,2401,3855,0,0,0,0,0,0
$GC,3350,-1.09,-136.3,670.5,-17.4,305,3354,0.00,2.17,0.00,0.000,4,0.000,0.047,2066,3775,3852,0,0,0,0,0,0
$GC,3400,-1.12,-136.3,679.5,-16.2,306,3404,0.00,2.08,0.00,0.000,6,0.000,0.029,2066,2400,3852,0,0,0,0,0,0
$GC,3720,-1.14,-136.3,731.9,-16.4,317,3724,0.00,2.20,0.00,0.000,4,0.000,0.048,2055,3783,3848,0,0,0,0,0,0
$GC,3747,-1.16,-136.3,736.7,-17.0,317,3753,0.00,2.08,0.00,0.000,6,0.000,0.031,2055,2397,3848,0,0,0,0,0,0
$GC,4060,-1.16,-136.3,790.1,-17.3,328,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2394,3845,0,0,0,0,0,0
$GC,4367,-1.17,-136.3,842.3,-16.9,338,4371,0.00,2.17,0.00,0.000,4,0.000,0.049,2044,3774,3841,0,0,0,0,0,0
$GC,4405,-1.18,-136.3,849.3,-17.2,339,4409,0.00,2.10,0.00,0.000,6,0.000,0.031,2044,2395,3841,0,0,0,0,0,0
$GC,4740,-1.18,-136.3,907.7,-17.7,350,4744,0.00,2.20,0.00,0.000,4,0.000,0.049,2034,3774,3838,0,0,0,0,0,0
$GC,4819,-1.20,-136.3,921.7,-18.1,352,4823,0.00,2.08,0.00,0.000,6,0.000,0.031,2034,2401,3837,0,0,0,0,0,0
$GC,5138,-1.20,-136.3,980.2,-18.1,363,5142,0.00,2.20,0.00,0.000,4,0.000,0.050,2023,3775,3834,0,0,0,0,0,0
$GC,5206,-1.20,-136.3,992.5,-16.9,365,5210,0.00,2.12,0.00,0.000,6,0.000,0.032,2023,2391,3834,0,0,0,0,0,0
$STATE,5258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5259,begin apogee
$GC,5265,-0.16,0.0,1002.1,18.1,367,5379,1.15,0.00,107.38,1.137,6,0.155,0.000,2365,1975,3299,0,0,0,0,0,0
$STATE,5380,end apogee,CONTROL_FINISHED_OK
$STATE,5380,begin climb
$GC,5382,1.02,136.3,1007.1,0.0,370,5503,1.08,0.00,113.97,1.093,6,0.051,0.000,2760,1975,2742,0,0,0,0,0,0
$GC,5788,0.91,136.3,957.1,17.7,384,5793,0.17,2.30,0.00,0.000,4,0.216,0.045,2721,3413,2733,0,0,0,0,0,0
$GC,5821,0.80,136.3,950.9,17.9,385,5826,0.20,2.17,0.00,0.000,6,0.213,0.034,2685,2007,2731,0,0,0,0,0,0
$GC,6151,0.73,136.3,903.0,14.0,396,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2006,2729,0,0,0,0,0,0
$GC,6457,0.67,136.3,862.5,12.7,406,6462,0.17,2.22,0.00,0.000,4,0.202,0.046,2641,3414,2728,0,0,0,0,0,0
$GC,6520,0.63,136.3,854.8,12.9,408,6524,0.00,2.20,0.00,0.000,6,0.000,0.034,2650,1992,2727,0,0,0,0,0,0
$GC,6857,0.60,138.7,817.1,10.9,419,6862,0.12,2.17,0.00,0.000,4,0.203,0.042,2630,595,2725,0,0,0,0,0,0
$GC,6901,0.61,149.3,812.4,10.0,420,6918,0.00,2.15,9.27,0.964,6,0.000,0.034,2630,2003,2689,0,0,0,0,0,0
$GC,7225,0.62,159.9,779.4,10.0,431,7237,0.00,0.00,10.35,0.929,6,0.000,0.000,2631,2003,2646,0,0,0,0,0,0
$GC,7530,0.62,159.9,744.4,11.7,441,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2003,2643,0,0,0,0,0,0
$GC,7837,0.62,159.9,706.5,12.5,451,7841,0.00,2.20,0.00,0.000,4,0.000,0.042,2641,592,2641,0,0,0,0,0,0
$GC,7906,0.62,159.9,697.3,13.5,453,7910,0.00,2.17,0.00,0.000,6,0.000,0.035,2641,2012,2642,0,0,0,0,0,0
$GC,8241,0.61,159.9,655.2,11.9,464,8245,0.00,2.20,0.00,0.000,4,0.000,0.046,2641,3411,2640,0,0,0,0,0,0
$GC,8370,0.58,159.9,638.6,11.9,467,8377,0.15,2.17,0.00,0.000,6,0.193,0.034,2616,1997,2640,0,0,0,0,0,0
$GC,8683,0.62,178.1,609.1,9.3,478,8701,0.00,0.00,15.57,0.897,6,0.000,0.000,2616,1996,2572,0,0,0,0,0,0
$GC,9003,0.65,184.4,576.2,10.5,492,9014,0.00,2.25,6.57,0.780,4,0.000,0.041,2625,589,2546,0,0,0,0,0,0
$GC,9059,0.68,188.1,569.8,10.7,494,9071,0.00,2.20,5.03,0.635,6,0.000,0.034,2625,2006,2531,0,0,0,0,0,0
$GC,9402,0.70,188.1,531.3,11.8,511,9403,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2006,2529,0,0,0,0,0,0
$GC,9710,0.73,195.5,497.5,10.4,527,9724,0.10,2.25,7.60,0.802,4,0.112,0.041,2679,597,2500,0,0,0,0,0,0
$GC,9793,0.71,195.5,486.3,14.5,534,9797,0.00,2.15,0.00,0.000,6,0.000,0.035,2679,1999,2499,0,0,0,0,0,0
$GC,10119,0.69,195.5,438.1,14.1,564,10124,0.12,2.22,0.00,0.000,4,0.182,0.046,2648,3410,2498,0,0,0,0,0,0
$GC,10143,0.67,195.5,434.8,13.4,565,10149,0.00,2.15,0.00,0.000,6,0.000,0.034,2658,1999,2498,0,0,0,0,0,0
$GC,10468,0.69,208.0,397.5,9.9,596,10484,0.00,2.22,11.60,0.774,4,0.000,0.044,2658,3413,2449,0,0,0,0,0,0
$GC,10509,0.69,211.0,393.3,10.8,599,10521,0.00,2.17,3.75,0.461,6,0.000,0.033,2668,1987,2438,0,0,0,0,0,0
$GC,10839,0.69,211.0,355.0,11.8,630,10843,0.00,2.15,0.00,0.000,4,0.000,0.041,2679,595,2437,0,0,0,0,0,0
$GC,10884,0.69,211.0,349.7,11.3,633,10891,0.12,2.17,0.00,0.000,6,0.174,0.034,2648,2007,2437,0,0,0,0,0,0
$GC,11210,0.73,222.8,316.5,9.9,664,11226,0.00,2.20,11.38,0.741,4,0.000,0.044,2648,3408,2389,0,0,0,0,0,0
$GC,11288,0.74,222.8,307.5,12.5,670,11295,0.00,2.15,0.00,0.000,6,0.000,0.033,2658,1999,2387,0,0,0,0,0,0
$GC,11614,0.77,226.0,272.1,10.8,701,11626,0.00,2.20,4.28,0.516,4,0.000,0.041,2668,597,2376,0,0,0,0,0,0
$GC,11673,0.80,230.7,266.0,10.6,706,11686,0.00,2.15,5.68,0.585,6,0.000,0.034,2669,2010,2357,0,0,0,0,0,0
$GC,12005,0.83,245.7,233.5,9.6,737,12020,0.00,0.00,13.82,0.687,6,0.000,0.000,2668,2010,2295,0,0,0,0,0,0
$GC,12341,0.87,255.6,198.6,10.1,768,12357,0.10,2.25,9.57,0.620,4,0.106,0.039,2731,589,2256,0,0,0,0,0,0
$GC,12499,0.86,255.6,178.4,13.9,782,12503,0.00,2.15,0.00,0.000,6,0.000,0.032,2731,2006,2255,0,0,0,0,0,0
$GC,12829,0.88,272.1,141.7,9.4,820,12849,0.00,2.25,14.70,0.612,4,0.000,0.042,2731,3411,2188,0,0,0,0,0,0
$GC,12943,0.88,283.1,130.5,10.0,839,12962,0.15,2.15,10.23,0.571,6,0.184,0.029,2706,1982,2143,0,0,0,0,0,0
$GC,13300,0.99,331.1,99.9,6.3,902,13345,0.12,2.20,38.28,0.603,4,0.088,0.038,2773,600,1947,0,0,0,0,0,0
$GC,13594,0.99,331.1,65.9,11.7,953,13601,0.12,2.12,0.00,0.000,6,0.167,0.031,2743,2000,1944,0,0,0,0,0,0
$GC,13940,1.02,331.8,25.8,11.0,1014,13947,0.00,2.17,0.00,0.000,4,0.000,0.041,2743,3408,1944,0,0,0,0,0,0
$GC,13994,1.04,331.8,18.4,13.0,1023,14001,0.00,2.10,0.00,0.000,6,0.000,0.028,2752,2002,1944,0,0,0,0,0,0
$STATE,14112,end climb,SURFACE_DEPTH_REACHED
$STATE,14112,begin surface coast
$FINISH,1.5,1.020427
$STATE,14137,end surface coast,CONTROL_FINISHED_OK
$STATE,14137,begin surface
$SM_CCo,14154,22.60,0.063,0,0,1769,375.06
$SM_GC,2.84,0.00,0.00,22.60,0.000,0.000,0.063,196,2409,1769,-6.97,0.25,375.06
$IRIDIUM_FIX,2115.63,12559.43,111110,212136
$TT8_MAMPS,0.026215
$HUMID,49.76
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.6,53.654
$10V_AH,9.9,58.426
$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,18.975,118.050,399.025,22.600,0.000,31.233,18.319,152.057,0.000,0.000,15.526,2711.842,8897.639,518.367,2097.263,306.527,0.000,1546.520,0.000,1877.214,0.000,0.541,0.000
$DEVICE_MAMPS,230.265,49.725,1136.790,62.730,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,709.610,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63659,1048
$CAP_FILE_SIZE,145332,0
$CFSIZE,260165632,220274688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134,229.8,1
$GPS,121110,060331,2119.858,12559.726,39,1.5,39,-2.9