version: 66.08
glider: 181
mission: 4
dive: 389
start: 11 10 110 16 44 47
data:
$ID,181
$MISSION,4
$DIVE,389
$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,-38339.215
$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,33
$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
$GPS1,101110,163830,2122.388,12601.662,39,1.5,44,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-63.3
$GPS2,101110,164420,2122.356,12601.666,10,1.9,10,-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,217.0,1614,-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,15,-0.95,-73.7,0.0,0.0,0,42,0.00,0.00,-24.60,0.000,2,0.000,0.000,197,2397,2360,0,0,0,0,0,0
$GC,45,-1.02,-136.3,3.0,-3.7,4,108,7.85,2.17,-44.33,0.000,4,0.229,0.046,2086,997,3856,0,0,0,0,0,0
$GC,204,-0.96,-136.3,43.7,-34.7,31,211,0.15,2.17,0.00,0.000,6,0.183,0.035,2114,2402,3856,0,0,0,0,0,0
$GC,547,-0.92,-136.3,159.1,-25.2,89,551,0.00,2.15,0.00,0.000,4,0.000,0.043,2104,3792,3858,0,0,0,0,0,0
$GC,670,-0.92,-136.3,188.1,-20.5,100,674,0.00,2.10,0.00,0.000,6,0.000,0.025,2104,2383,3859,0,0,0,0,0,0
$GC,996,-0.91,-136.3,260.7,-21.4,130,1000,0.00,2.20,0.00,0.000,4,0.000,0.042,2093,3791,3860,0,0,0,0,0,0
$GC,1081,-0.91,-136.3,279.1,-20.2,137,1086,0.15,2.08,0.00,0.000,6,0.160,0.025,2132,2395,3860,0,0,0,0,0,0
$GC,1409,-0.95,-136.3,337.4,-16.3,167,1413,0.00,2.05,0.00,0.000,4,0.000,0.032,2133,1008,3861,0,0,0,0,0,0
$GC,1437,-0.99,-136.3,342.7,-16.9,169,1445,0.00,2.15,0.00,0.000,6,0.000,0.034,2123,2412,3861,0,0,0,0,0,0
$GC,1762,-1.03,-136.3,398.8,-17.2,200,1766,0.00,2.12,0.00,0.000,4,0.000,0.044,2113,3787,3860,0,0,0,0,0,0
$GC,1898,-1.08,-136.3,421.3,-16.2,211,1905,0.10,2.08,0.00,0.000,6,0.094,0.026,2062,2393,3860,0,0,0,0,0,0
$GC,2224,-1.07,-136.3,487.8,-20.5,242,2228,0.00,2.17,0.00,0.000,4,0.000,0.044,2051,3784,3859,0,0,0,0,0,0
$GC,2290,-1.07,-136.3,502.2,-20.5,247,2295,0.12,2.08,0.00,0.000,6,0.171,0.027,2082,2406,3858,0,0,0,0,0,0
$GC,2619,-1.08,-136.3,558.1,-16.9,263,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2402,3856,0,0,0,0,0,0
$GC,2948,-1.11,-136.3,612.7,-16.1,278,2952,0.00,2.17,0.00,0.000,4,0.000,0.046,2074,3787,3854,0,0,0,0,0,0
$GC,2978,-1.13,-136.3,617.9,-17.7,279,2982,0.00,2.10,0.00,0.000,6,0.000,0.028,2073,2384,3853,0,0,0,0,0,0
$GC,3319,-1.15,-136.3,677.9,-18.1,290,3323,0.00,2.20,0.00,0.000,4,0.000,0.047,2063,3775,3851,0,0,0,0,0,0
$GC,3387,-1.19,-136.3,690.5,-17.3,292,3390,0.00,2.08,0.00,0.000,6,0.000,0.029,2063,2400,3851,0,0,0,0,0,0
$GC,3717,-1.20,-136.3,751.3,-18.7,303,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2397,3847,0,0,0,0,0,0
$GC,4023,-1.22,-136.3,807.3,-18.1,313,4027,0.00,2.20,0.00,0.000,4,0.000,0.048,2052,3787,3843,0,0,0,0,0,0
$GC,4078,-1.25,-136.3,817.8,-18.4,314,4085,0.00,2.10,0.00,0.000,6,0.000,0.030,2052,2399,3842,0,0,0,0,0,0
$GC,4392,-1.26,-136.3,875.2,-18.5,325,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2396,3840,0,0,0,0,0,0
$GC,4698,-1.27,-136.3,929.9,-17.6,335,4702,0.10,2.22,0.00,0.000,4,0.109,0.050,1998,3774,3836,0,0,0,0,0,0
$GC,4737,-1.25,-136.3,937.9,-20.5,336,4740,0.00,2.10,0.00,0.000,6,0.000,0.030,1998,2394,3836,0,0,0,0,0,0
$STATE,5028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5028,begin apogee
$GC,5034,-0.16,0.0,1000.2,21.5,346,5148,1.25,0.00,107.10,1.134,6,0.162,0.000,2364,1976,3298,0,0,0,0,0,0
$STATE,5149,end apogee,CONTROL_FINISHED_OK
$STATE,5149,begin climb
$GC,5151,1.02,136.3,1006.6,0.0,349,5274,1.08,2.25,113.25,1.096,4,0.048,0.042,2776,615,2741,0,0,0,0,0,0
$GC,5526,0.90,136.3,966.0,16.4,361,5531,0.25,2.17,0.00,0.000,6,0.200,0.037,2717,2002,2733,0,0,0,0,0,0
$GC,5856,0.81,136.3,917.4,14.4,372,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2003,2730,0,0,0,0,0,0
$GC,6163,0.73,136.3,874.1,14.0,382,6168,0.22,2.22,0.00,0.000,4,0.199,0.044,2660,3408,2728,0,0,0,0,0,0
$GC,6237,0.67,136.3,863.8,13.6,384,6241,0.00,2.15,0.00,0.000,6,0.000,0.031,2668,2005,2727,0,0,0,0,0,0
$GC,6561,0.62,136.3,822.9,12.5,395,6563,0.17,0.00,0.00,0.000,6,0.194,0.000,2625,2004,2724,0,0,0,0,0,0
$GC,6867,0.64,147.1,791.2,10.0,405,6880,0.00,2.28,7.12,0.926,4,0.000,0.044,2625,3409,2699,0,0,0,0,0,0
$GC,6926,0.61,147.1,784.7,11.7,406,6933,0.00,2.15,0.00,0.000,6,0.000,0.031,2634,2002,2697,0,0,0,0,0,0
$GC,7240,0.62,159.0,753.2,9.9,417,7254,0.00,0.00,11.40,0.928,6,0.000,0.000,2634,2002,2649,0,0,0,0,0,0
$GC,7546,0.63,168.1,721.4,10.2,427,7560,0.00,2.22,8.88,0.881,4,0.000,0.041,2645,596,2612,0,0,0,0,0,0
$GC,7579,0.64,174.6,717.9,10.5,428,7593,0.00,2.17,7.22,0.780,6,0.000,0.034,2645,2003,2586,0,0,0,0,0,0
$GC,7918,0.64,174.6,679.0,11.2,439,7919,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2003,2582,0,0,0,0,0,0
$GC,8224,0.64,174.6,644.7,11.3,449,8228,0.00,2.17,0.00,0.000,4,0.000,0.041,2656,599,2581,0,0,0,0,0,0
$GC,8246,0.65,182.4,642.3,10.3,449,8258,0.00,2.17,7.43,0.856,6,0.000,0.034,2655,2008,2554,0,0,0,0,0,0
$GC,8588,0.64,182.4,598.1,12.9,461,8592,0.00,2.17,0.00,0.000,4,0.000,0.045,2656,3407,2552,0,0,0,0,0,0
$GC,8753,0.61,182.4,575.2,14.5,468,8758,0.17,2.17,0.00,0.000,6,0.185,0.032,2623,1994,2551,0,0,0,0,0,0
$GC,9071,0.63,184.2,539.5,10.9,483,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1992,2551,0,0,0,0,0,0
$GC,9380,0.68,200.5,508.5,9.5,498,9403,0.00,2.15,16.10,0.842,4,0.000,0.041,2632,597,2479,0,0,0,0,0,0
$GC,9477,0.71,206.2,499.0,10.5,502,9488,0.00,2.17,6.07,0.666,6,0.000,0.034,2632,1997,2457,0,0,0,0,0,0
$GC,9809,0.75,212.6,464.8,10.5,533,9823,0.10,2.30,6.78,0.754,4,0.110,0.045,2676,3415,2431,0,0,0,0,0,0
$GC,9840,0.74,212.6,460.8,12.7,535,9847,0.00,2.20,0.00,0.000,6,0.000,0.031,2686,1988,2430,0,0,0,0,0,0
$GC,10166,0.72,212.6,416.7,13.8,566,10170,0.00,2.15,0.00,0.000,4,0.000,0.041,2697,598,2429,0,0,0,0,0,0
$GC,10243,0.70,212.6,406.5,13.1,572,10251,0.17,2.17,0.00,0.000,6,0.172,0.034,2653,2012,2429,0,0,0,0,0,0
$GC,10569,0.72,216.3,371.0,10.7,603,10579,0.00,0.00,4.10,0.555,6,0.000,0.000,2653,2012,2417,0,0,0,0,0,0
$GC,10899,0.74,216.3,333.8,11.3,634,10903,0.00,2.20,0.00,0.000,4,0.000,0.040,2662,590,2417,0,0,0,0,0,0
$GC,11006,0.77,216.3,321.0,11.3,643,11010,0.00,2.17,0.00,0.000,6,0.000,0.034,2661,2011,2417,0,0,0,0,0,0
$GC,11331,0.80,226.3,286.8,10.1,673,11348,0.00,2.22,10.30,0.702,4,0.000,0.044,2662,3406,2375,0,0,0,0,0,0
$GC,11447,0.80,226.3,273.8,12.3,683,11451,0.00,2.15,0.00,0.000,6,0.000,0.030,2672,1994,2374,0,0,0,0,0,0
$GC,11773,0.83,233.9,238.4,10.3,713,11787,0.00,2.28,7.88,0.627,4,0.000,0.042,2672,3409,2344,0,0,0,0,0,0
$GC,11848,0.83,233.9,229.1,12.3,719,11855,0.00,2.17,0.00,0.000,6,0.000,0.029,2683,1980,2344,0,0,0,0,0,0
$GC,12175,0.85,238.9,193.3,10.6,750,12187,0.00,2.10,6.05,0.548,4,0.000,0.037,2693,595,2323,0,0,0,0,0,0
$GC,12362,0.88,239.7,171.9,11.0,766,12369,0.00,2.15,0.00,0.000,6,0.000,0.031,2693,2014,2323,0,0,0,0,0,0
$GC,12694,0.94,273.7,138.6,7.7,808,12734,0.10,2.22,28.83,0.639,4,0.099,0.041,2742,3405,2181,0,0,0,0,0,0
$GC,12778,0.92,273.7,130.0,11.7,821,12786,0.12,2.15,0.00,0.000,6,0.183,0.028,2724,1997,2179,0,0,0,0,0,0
$GC,13125,1.00,315.0,99.0,6.9,882,13168,0.00,2.22,32.80,0.602,4,0.000,0.037,2732,595,2012,0,0,0,0,0,0
$GC,13319,1.08,338.8,80.9,8.7,916,13345,0.12,2.15,19.60,0.565,6,0.088,0.030,2788,2001,1916,0,0,0,0,0,0
$GC,13682,1.08,338.8,22.7,19.3,980,13689,0.00,2.15,0.00,0.000,4,0.000,0.037,2798,598,1913,0,0,0,0,0,0
$GC,13713,1.06,338.8,17.1,18.2,985,13721,0.12,2.12,0.00,0.000,6,0.179,0.029,2769,2006,1913,0,0,0,0,0,0
$STATE,13799,end climb,SURFACE_DEPTH_REACHED
$STATE,13799,begin surface coast
$FINISH,1.5,1.005675
$STATE,13825,end surface coast,CONTROL_FINISHED_OK
$STATE,13825,begin surface
$SM_CCo,13841,20.38,0.063,0,0,1769,375.06
$SM_GC,3.61,0.00,0.00,20.38,0.000,0.000,0.063,206,2406,1769,-6.94,0.17,375.06
$IRIDIUM_FIX,2111.01,12558.07,101110,121246
$TT8_MAMPS,0.025466
$HUMID,50.43
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.7,52.702
$10V_AH,9.8,57.850
$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,19.150,113.800,400.900,20.375,0.000,25.658,32.152,147.411,0.000,0.000,13.167,2602.297,8707.941,513.231,2076.600,312.208,0.000,1533.870,0.000,1859.792,0.000,0.540,0.000
$DEVICE_MAMPS,228.735,50.490,1133.730,63.495,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,679.155,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60279,1004
$CAP_FILE_SIZE,142362,0
$CFSIZE,260165632,220872704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079,105.7,1
$GPS,101110,203707,2120.957,12601.090,38,1.0,38,-2.9