version: 66.08
glider: 181
mission: 4
dive: 391
start: 11 11 110 0 55 52
data:
$ID,181
$MISSION,4
$DIVE,391
$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,-38349.113
$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,49
$R_STBD_OVSHOOT,35
$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
$GPS1,111110,004937,2121.501,12601.273,31,1.0,31,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-64.7
$GPS2,111110,005525,2121.417,12601.258,7,1.5,13,-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,334.6,353,-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,-31.33,0.000,2,0.000,0.000,202,2404,2577,0,0,0,0,0,0
$GC,52,-1.02,-136.3,3.2,-2.6,5,103,7.88,2.22,-35.40,0.000,4,0.230,0.054,2079,3778,3855,0,0,0,0,0,0
$GC,196,-0.95,-136.3,40.6,-32.9,29,203,0.15,2.10,0.00,0.000,6,0.181,0.027,2116,2391,3857,0,0,0,0,0,0
$GC,546,-0.92,-136.3,153.0,-24.8,90,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2388,3858,0,0,0,0,0,0
$GC,865,-0.90,-136.3,223.7,-22.0,120,869,0.00,2.15,0.00,0.000,4,0.000,0.043,2106,3777,3860,0,0,0,0,0,0
$GC,993,-0.90,-136.3,250.5,-19.5,131,1000,0.00,2.05,0.00,0.000,6,0.000,0.026,2107,2395,3860,0,0,0,0,0,0
$GC,1319,-0.90,-136.3,316.2,-18.5,162,1322,0.00,2.12,0.00,0.000,4,0.000,0.043,2095,3777,3860,0,0,0,0,0,0
$GC,1382,-0.93,-136.3,327.7,-17.7,167,1387,0.12,2.05,0.00,0.000,6,0.158,0.027,2128,2400,3860,0,0,0,0,0,0
$GC,1713,-0.97,-136.3,384.4,-16.2,198,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2396,3860,0,0,0,0,0,0
$GC,2034,-1.02,-136.3,434.6,-15.2,228,2038,0.00,2.17,0.00,0.000,4,0.000,0.044,2119,3780,3860,0,0,0,0,0,0
$GC,2074,-1.08,-136.3,440.7,-14.4,231,2078,0.12,2.08,0.00,0.000,6,0.082,0.028,2057,2391,3859,0,0,0,0,0,0
$GC,2410,-1.07,-136.3,506.1,-19.4,261,2414,0.00,2.17,0.00,0.000,4,0.000,0.044,2046,3782,3857,0,0,0,0,0,0
$GC,2450,-1.05,-136.3,514.2,-20.4,263,2455,0.15,2.08,0.00,0.000,6,0.164,0.027,2085,2394,3858,0,0,0,0,0,0
$GC,2778,-1.08,-136.3,569.6,-16.6,279,2782,0.00,2.20,0.00,0.000,4,0.000,0.046,2076,3784,3855,0,0,0,0,0,0
$GC,2867,-1.11,-136.3,585.0,-16.1,283,2871,0.00,2.08,0.00,0.000,6,0.000,0.028,2076,2400,3855,0,0,0,0,0,0
$GC,3183,-1.13,-136.3,637.4,-16.9,295,3187,0.00,2.15,0.00,0.000,4,0.000,0.046,2065,3775,3852,0,0,0,0,0,0
$GC,3249,-1.16,-136.3,648.9,-17.1,297,3253,0.00,2.08,0.00,0.000,6,0.000,0.028,2065,2400,3852,0,0,0,0,0,0
$GC,3580,-1.18,-136.3,706.1,-17.1,308,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2397,3849,0,0,0,0,0,0
$GC,3886,-1.20,-136.3,758.5,-16.8,318,3890,0.00,2.17,0.00,0.000,4,0.000,0.047,2055,3775,3846,0,0,0,0,0,0
$GC,3958,-1.23,-136.3,770.7,-16.0,320,3962,0.00,2.08,0.00,0.000,6,0.000,0.030,2055,2402,3845,0,0,0,0,0,0
$GC,4288,-1.25,-136.3,825.2,-16.6,331,4292,0.00,2.12,0.00,0.000,4,0.000,0.037,2055,1000,3841,0,0,0,0,0,0
$GC,4318,-1.27,-136.3,830.4,-17.8,332,4322,0.00,2.15,0.00,0.000,6,0.000,0.037,2044,2406,3841,0,0,0,0,0,0
$GC,4653,-1.28,-136.3,886.0,-16.6,343,4657,0.00,2.17,0.00,0.000,4,0.000,0.048,2034,3789,3838,0,0,0,0,0,0
$GC,4742,-1.30,-136.3,901.2,-16.4,345,4749,0.00,2.12,0.00,0.000,6,0.000,0.030,2033,2391,3836,0,0,0,0,0,0
$GC,5055,-1.30,-136.3,955.5,-17.7,356,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2388,3834,0,0,0,0,0,0
$STATE,5329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5329,begin apogee
$GC,5335,-0.16,0.0,1003.3,17.2,365,5449,1.10,0.00,106.65,1.139,6,0.150,0.000,2365,1973,3299,0,0,0,0,0,0
$STATE,5450,end apogee,CONTROL_FINISHED_OK
$STATE,5450,begin climb
$GC,5453,1.02,136.3,1008.1,0.0,368,5576,1.05,2.22,113.70,1.099,4,0.049,0.039,2767,615,2741,0,0,0,0,0,0
$GC,5648,0.91,136.3,996.8,18.2,374,5656,0.20,2.22,0.00,0.000,6,0.203,0.035,2723,2007,2736,0,0,0,0,0,0
$GC,5963,0.82,136.3,945.8,16.1,385,5967,0.12,2.22,0.00,0.000,4,0.215,0.044,2694,3408,2731,0,0,0,0,0,0
$GC,6000,0.73,136.3,939.3,16.1,386,6005,0.17,2.15,0.00,0.000,6,0.215,0.032,2664,2021,2730,0,0,0,0,0,0
$GC,6325,0.69,136.3,895.3,13.4,397,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2020,2728,0,0,0,0,0,0
$GC,6631,0.65,136.3,857.2,11.9,407,6636,0.12,2.17,0.00,0.000,4,0.203,0.045,2634,3406,2726,0,0,0,0,0,0
$GC,6669,0.61,136.3,852.2,12.2,408,6674,0.00,2.15,0.00,0.000,6,0.000,0.032,2643,1992,2725,0,0,0,0,0,0
$GC,6995,0.60,147.1,817.7,10.0,419,7004,0.00,0.00,7.43,0.943,6,0.000,0.000,2642,1991,2698,0,0,0,0,0,0
$GC,7301,0.60,160.2,787.2,9.8,429,7315,0.00,0.00,12.48,0.947,6,0.000,0.000,2642,1991,2644,0,0,0,0,0,0
$GC,7608,0.60,170.8,755.7,10.0,439,7620,0.00,0.00,10.30,0.913,6,0.000,0.000,2643,1991,2600,0,0,0,0,0,0
$GC,7914,0.60,171.7,722.5,11.0,449,7918,0.00,2.25,0.00,0.000,4,0.000,0.045,2642,3407,2597,0,0,0,0,0,0
$GC,7958,0.57,171.7,716.3,13.6,450,7963,0.17,2.17,0.00,0.000,6,0.189,0.032,2611,1992,2597,0,0,0,0,0,0
$GC,8288,0.60,175.3,680.7,10.7,461,8297,0.00,2.15,4.70,0.751,4,0.000,0.042,2620,596,2583,0,0,0,0,0,0
$GC,8323,0.62,175.3,676.7,11.1,462,8327,0.00,2.17,0.00,0.000,6,0.000,0.034,2620,2009,2583,0,0,0,0,0,0
$GC,8659,0.64,175.3,637.7,11.5,473,8660,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2009,2581,0,0,0,0,0,0
$GC,8965,0.66,175.3,603.1,11.3,483,8969,0.00,2.17,0.00,0.000,4,0.000,0.046,2620,3409,2581,0,0,0,0,0,0
$GC,9072,0.66,175.3,590.0,11.9,488,9076,0.00,2.15,0.00,0.000,6,0.000,0.031,2630,1988,2580,0,0,0,0,0,0
$GC,9399,0.68,179.5,554.5,10.7,504,9409,0.00,2.22,4.65,0.698,4,0.000,0.045,2630,3407,2567,0,0,0,0,0,0
$GC,9534,0.68,179.5,538.7,11.8,510,9538,0.00,2.15,0.00,0.000,6,0.000,0.031,2641,1989,2565,0,0,0,0,0,0
$GC,9855,0.69,188.6,504.2,10.2,526,9867,0.00,0.00,9.48,0.841,6,0.000,0.000,2641,1988,2529,0,0,0,0,0,0
$GC,10175,0.71,193.6,470.1,10.6,554,10183,0.00,0.00,5.78,0.731,6,0.000,0.000,2641,1987,2508,0,0,0,0,0,0
$GC,10502,0.74,205.6,435.1,9.9,585,10518,0.00,2.15,11.60,0.793,4,0.000,0.039,2652,594,2458,0,0,0,0,0,0
$GC,10611,0.76,208.2,422.9,10.8,594,10615,0.00,2.15,0.00,0.000,6,0.000,0.033,2652,2000,2457,0,0,0,0,0,0
$GC,10943,0.79,220.8,386.8,9.8,625,10966,0.00,2.25,13.70,0.758,4,0.000,0.044,2651,3400,2397,0,0,0,0,0,0
$GC,10994,0.79,220.8,380.6,12.8,629,11001,0.00,2.15,0.00,0.000,6,0.000,0.031,2662,1992,2395,0,0,0,0,0,0
$GC,11320,0.81,231.3,344.2,10.1,660,11331,0.00,0.00,9.62,0.727,6,0.000,0.000,2662,1991,2355,0,0,0,0,0,0
$GC,11649,0.83,231.3,304.8,12.9,691,11653,0.00,2.12,0.00,0.000,4,0.000,0.040,2673,596,2353,0,0,0,0,0,0
$GC,11860,0.85,231.3,278.1,12.1,709,11866,0.00,2.15,0.00,0.000,6,0.000,0.032,2673,2002,2353,0,0,0,0,0,0
$GC,12185,0.87,232.4,243.0,11.0,740,12189,0.00,2.17,0.00,0.000,4,0.000,0.043,2674,3401,2353,0,0,0,0,0,0
$GC,12232,0.87,232.4,237.3,12.2,744,12236,0.00,2.12,0.00,0.000,6,0.000,0.031,2684,1990,2352,0,0,0,0,0,0
$GC,12557,0.87,232.4,198.2,12.2,774,12558,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1988,2354,0,0,0,0,0,0
$GC,12878,0.92,253.6,165.5,9.0,804,12901,0.10,0.00,19.65,0.653,6,0.103,0.000,2735,1987,2263,0,0,0,0,0,0
$GC,13231,0.94,266.1,127.0,9.8,856,13251,0.00,2.17,11.30,0.581,4,0.000,0.037,2746,595,2213,0,0,0,0,0,0
$GC,13505,1.02,327.1,106.7,5.0,904,13560,0.00,2.12,48.28,0.591,6,0.000,0.031,2746,2013,1963,0,0,0,0,0,0
$GC,13899,1.08,349.8,67.1,8.8,973,13925,0.00,2.17,18.25,0.542,4,0.000,0.035,2756,598,1871,0,0,0,0,0,0
$GC,14011,1.13,368.2,56.0,9.3,992,14031,0.00,2.12,15.52,0.526,6,0.000,0.028,2756,2000,1797,0,0,0,0,0,0
$GC,14369,1.15,368.2,7.5,15.6,1055,14375,0.12,0.00,0.00,0.000,6,0.090,0.000,2813,2000,1795,0,0,0,0,0,0
$STATE,14403,end climb,SURFACE_DEPTH_REACHED
$STATE,14403,begin surface coast
$FINISH,1.6,1.022602
$STATE,14420,end surface coast,CONTROL_FINISHED_OK
$STATE,14420,begin surface
$SM_CCo,14437,2.97,0.064,0,0,1768,375.06
$SM_GC,3.15,0.00,0.00,2.97,0.000,0.000,0.064,211,2412,1768,-6.92,0.37,375.06
$IRIDIUM_FIX,2113.32,12552.97,101110,202053
$TT8_MAMPS,0.026215
$HUMID,50.90
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.6,52.938
$10V_AH,9.9,57.994
$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,18.475,100.175,423.075,2.975,0.000,24.993,24.253,148.285,0.000,0.000,16.046,2730.189,9175.057,485.953,2091.059,305.779,0.000,1508.265,0.000,1884.262,0.000,0.541,0.000
$DEVICE_MAMPS,230.265,54.315,1139.085,64.260,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,721.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63626,1064
$CAP_FILE_SIZE,141446,0
$CFSIZE,260165632,220725248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124,237.6,1
$GPS,111110,045737,2122.490,12559.698,24,2.0,24,-2.9