version: 66.08
glider: 181
mission: 4
dive: 291
start: 10 22 110 18 17 45
data:
$ID,181
$MISSION,4
$DIVE,291
$N_DIVES,300
$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,-38215.918
$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,44
$R_STBD_OVSHOOT,43
$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
$GPS1,221010,181106,2334.368,12609.245,27,1.2,27,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-67.7
$GPS2,221010,181720,2334.429,12609.229,15,1.2,15,-3.5
$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,200.6,246388,-20.0,-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,-0.79,-136.3,0.0,0.0,0,61,0.00,0.00,-42.90,0.000,2,0.000,0.000,196,2407,2525,0,0,0,0,0,0
$GC,63,-0.79,-136.3,3.3,-5.0,7,114,8.12,2.20,-32.20,0.000,4,0.231,0.044,2165,988,3856,0,0,0,0,0,0
$GC,178,-0.68,-136.3,33.7,-33.8,26,186,0.17,2.17,0.00,0.000,6,0.165,0.035,2200,2395,3857,0,0,0,0,0,0
$GC,523,-0.64,-136.3,120.9,-15.6,87,530,0.00,2.12,0.00,0.000,4,0.000,0.041,2192,3775,3858,0,0,0,0,0,0
$GC,593,-0.63,-136.3,133.0,-16.4,99,600,0.00,2.08,0.00,0.000,6,0.000,0.025,2192,2383,3859,0,0,0,0,0,0
$GC,930,-0.60,-136.3,194.9,-19.2,139,935,0.15,2.05,0.00,0.000,4,0.152,0.031,2233,998,3861,0,0,0,0,0,0
$GC,962,-0.64,-136.3,200.6,-15.7,141,969,0.00,2.12,0.00,0.000,6,0.000,0.034,2232,2402,3861,0,0,0,0,0,0
$GC,1287,-0.67,-136.3,245.9,-12.7,172,1291,0.00,2.12,0.00,0.000,4,0.000,0.043,2222,3781,3861,0,0,0,0,0,0
$GC,1351,-0.74,-136.3,252.8,-9.7,177,1356,0.12,2.03,0.00,0.000,6,0.080,0.025,2150,2394,3861,0,0,0,0,0,0
$GC,1682,-0.70,-136.3,310.0,-17.4,208,1686,0.17,2.08,0.00,0.000,4,0.153,0.032,2198,1002,3860,0,0,0,0,0,0
$GC,1716,-0.71,-136.3,315.2,-13.5,211,1720,0.00,2.12,0.00,0.000,6,0.000,0.034,2192,2401,3860,0,0,0,0,0,0
$GC,2042,-0.72,-136.3,358.2,-13.3,241,2046,0.00,2.12,0.00,0.000,4,0.000,0.043,2182,3781,3859,0,0,0,0,0,0
$GC,2127,-0.75,-136.3,369.1,-12.5,248,2131,0.00,2.03,0.00,0.000,6,0.000,0.026,2181,2397,3858,0,0,0,0,0,0
$GC,2458,-0.77,-136.3,410.3,-12.0,279,2462,0.00,2.05,0.00,0.000,4,0.000,0.032,2181,998,3857,0,0,0,0,0,0
$GC,2546,-0.81,-136.3,420.7,-10.8,286,2553,0.00,2.12,0.00,0.000,6,0.000,0.034,2178,2399,3856,0,0,0,0,0,0
$GC,2873,-0.83,-136.3,458.4,-11.1,317,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2400,3855,0,0,0,0,0,0
$GC,3192,-0.86,-136.3,495.2,-11.9,347,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2399,3853,0,0,0,0,0,0
$GC,3500,-0.88,-136.3,533.2,-12.1,364,3505,0.12,2.17,0.00,0.000,4,0.086,0.045,2105,3781,3851,0,0,0,0,0,0
$GC,3532,-0.86,-136.3,538.2,-16.6,365,3540,0.15,2.05,0.00,0.000,6,0.158,0.027,2144,2391,3850,0,0,0,0,0,0
$GC,3849,-0.86,-136.3,586.7,-15.4,381,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2389,3849,0,0,0,0,0,0
$GC,4167,-0.86,-136.3,633.1,-14.3,393,4171,0.00,2.08,0.00,0.000,4,0.000,0.034,2144,1007,3846,0,0,0,0,0,0
$GC,4188,-0.86,-136.3,636.4,-14.0,393,4195,0.00,2.15,0.00,0.000,6,0.000,0.036,2137,2395,3846,0,0,0,0,0,0
$GC,4501,-0.86,-136.3,678.5,-13.6,404,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2394,3843,0,0,0,0,0,0
$GC,4807,-0.86,-136.3,719.0,-13.4,414,4811,0.00,2.17,0.00,0.000,4,0.000,0.047,2127,3778,3840,0,0,0,0,0,0
$GC,4895,-0.86,-136.3,730.4,-12.2,416,4903,0.00,2.10,0.00,0.000,6,0.000,0.028,2127,2398,3839,0,0,0,0,0,0
$GC,5209,-0.85,-136.3,770.1,-12.7,427,5213,0.00,2.10,0.00,0.000,4,0.000,0.036,2127,993,3837,0,0,0,0,0,0
$GC,5242,-0.85,-136.3,774.4,-12.3,428,5247,0.10,2.20,0.00,0.000,6,0.145,0.038,2149,2397,3836,0,0,0,0,0,0
$GC,5579,-0.86,-136.3,809.5,-10.8,439,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2398,3833,0,0,0,0,0,0
$GC,5885,-0.89,-136.3,843.0,-10.9,449,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2398,3831,0,0,0,0,0,0
$GC,6190,-0.91,-136.3,877.4,-11.3,459,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2397,3828,0,0,0,0,0,0
$GC,6498,-0.94,-136.3,911.9,-11.4,469,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2397,3827,0,0,0,0,0,0
$GC,6803,-0.96,-136.3,944.7,-10.8,479,6805,0.12,0.00,0.00,0.000,6,0.091,0.000,2094,2397,3824,0,0,0,0,0,0
$GC,7109,-0.94,-136.3,986.8,-13.8,489,7113,0.00,2.15,0.00,0.000,4,0.000,0.036,2094,994,3822,0,0,0,0,0,0
$GC,7132,-0.91,-136.3,990.1,-13.8,489,7139,0.17,2.20,0.00,0.000,6,0.161,0.040,2130,2402,3822,0,0,0,0,0,0
$STATE,7228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7228,begin apogee
$GC,7234,-0.16,0.0,1000.7,10.9,493,7344,0.73,0.00,103.93,1.151,6,0.126,0.000,2365,1979,3298,0,0,0,0,0,0
$STATE,7345,end apogee,CONTROL_FINISHED_OK
$STATE,7345,begin climb
$GC,7347,0.79,136.3,1003.8,0.0,496,7468,0.85,2.30,112.80,1.108,4,0.050,0.041,2698,603,2742,0,0,0,0,0,0
$GC,7653,0.64,136.3,976.3,15.3,506,7658,0.25,2.20,0.00,0.000,6,0.196,0.036,2638,2007,2734,0,0,0,0,0,0
$GC,7983,0.54,136.3,936.2,11.8,517,7988,0.15,2.20,0.00,0.000,4,0.194,0.041,2610,604,2730,0,0,0,0,0,0
$GC,8067,0.50,164.8,927.5,9.5,519,8096,0.00,2.15,22.83,1.071,6,0.000,0.035,2609,2000,2626,0,0,0,0,0,0
$GC,8417,0.44,164.8,888.1,11.5,531,8422,0.15,2.22,0.00,0.000,4,0.187,0.046,2571,3404,2620,0,0,0,0,0,0
$GC,8456,0.40,164.8,883.5,11.3,532,8460,0.00,2.15,0.00,0.000,6,0.000,0.031,2580,2014,2619,0,0,0,0,0,0
$GC,8780,0.38,180.5,849.5,10.2,543,8796,0.12,0.00,13.32,1.019,6,0.190,0.000,2551,2012,2562,0,0,0,0,0,0
$GC,9087,0.44,232.6,823.0,8.3,553,9133,0.00,0.00,44.15,1.021,6,0.000,0.000,2551,2011,2349,0,0,0,0,0,0
$GC,9422,0.49,251.6,791.2,10.1,564,9441,0.00,0.00,16.33,0.978,6,0.000,0.000,2551,2011,2272,0,0,0,0,0,0
$GC,9729,0.54,271.3,759.9,10.0,574,9753,0.15,2.30,17.02,0.967,4,0.088,0.044,2612,3402,2192,0,0,0,0,0,0
$GC,9776,0.50,271.3,753.2,15.5,575,9781,0.15,2.20,0.00,0.000,6,0.182,0.032,2586,2002,2190,0,0,0,0,0,0
$GC,10094,0.50,271.3,714.5,11.8,586,10095,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2002,2186,0,0,0,0,0,0
$GC,10400,0.50,271.3,678.7,11.8,596,10404,0.00,2.17,0.00,0.000,4,0.000,0.043,2596,595,2185,0,0,0,0,0,0
$GC,10435,0.50,271.3,674.6,12.9,597,10439,0.00,2.17,0.00,0.000,6,0.000,0.034,2596,2004,2185,0,0,0,0,0,0
$GC,10770,0.50,271.3,631.1,13.1,608,10774,0.00,2.17,0.00,0.000,4,0.000,0.044,2595,3406,2184,0,0,0,0,0,0
$GC,10832,0.49,271.3,622.3,14.0,610,10836,0.00,2.17,0.00,0.000,6,0.000,0.032,2606,1990,2183,0,0,0,0,0,0
$GC,11158,0.47,271.3,576.8,13.9,623,11162,0.00,2.17,0.00,0.000,4,0.000,0.043,2617,590,2183,0,0,0,0,0,0
$GC,11198,0.47,271.3,571.1,14.1,625,11203,0.15,2.17,0.00,0.000,6,0.161,0.034,2577,2007,2182,0,0,0,0,0,0
$GC,11527,0.50,282.4,536.5,10.5,641,11542,0.00,2.22,9.40,0.877,4,0.000,0.045,2578,3401,2146,0,0,0,0,0,0
$GC,11598,0.51,282.4,528.0,11.4,644,11602,0.00,2.17,0.00,0.000,6,0.000,0.032,2586,1989,2145,0,0,0,0,0,0
$GC,11923,0.53,282.4,490.7,11.6,663,11927,0.00,2.15,0.00,0.000,4,0.000,0.043,2597,596,2144,0,0,0,0,0,0
$GC,11967,0.54,282.4,485.3,11.6,666,11974,0.00,2.12,0.00,0.000,6,0.000,0.034,2597,2002,2144,0,0,0,0,0,0
$GC,12292,0.55,285.9,447.3,10.9,697,12302,0.00,0.00,4.50,0.641,6,0.000,0.000,2597,2003,2131,0,0,0,0,0,0
$GC,12621,0.57,307.0,413.1,10.0,728,12645,0.00,2.28,18.58,0.815,4,0.000,0.044,2597,3409,2046,0,0,0,0,0,0
$GC,12698,0.61,326.0,405.1,10.1,734,12719,0.00,2.17,16.67,0.727,6,0.000,0.031,2607,1999,1968,0,0,0,0,0,0
$GC,13040,0.62,326.0,366.0,12.9,766,13044,0.00,2.17,0.00,0.000,4,0.000,0.041,2618,596,1962,0,0,0,0,0,0
$GC,13172,0.63,326.0,347.7,13.9,777,13176,0.00,2.15,0.00,0.000,6,0.000,0.033,2618,2007,1962,0,0,0,0,0,0
$GC,13497,0.63,326.0,300.4,13.6,807,13501,0.00,2.17,0.00,0.000,4,0.000,0.043,2618,3412,1961,0,0,0,0,0,0
$GC,13536,0.63,326.0,295.0,14.2,810,13540,0.00,2.17,0.00,0.000,6,0.000,0.031,2628,1993,1961,0,0,0,0,0,0
$GC,13861,0.63,326.0,254.8,11.9,840,13865,0.00,2.15,0.00,0.000,4,0.000,0.041,2639,592,1961,0,0,0,0,0,0
$GC,13973,0.63,326.0,241.5,12.3,850,13977,0.00,2.15,0.00,0.000,6,0.000,0.032,2639,2000,1961,0,0,0,0,0,0
$GC,14298,0.63,326.0,198.8,13.4,880,14301,0.00,2.17,0.00,0.000,4,0.000,0.042,2639,3406,1961,0,0,0,0,0,0
$GC,14337,0.63,326.0,193.0,14.3,883,14342,0.00,2.15,0.00,0.000,6,0.000,0.030,2650,1987,1962,0,0,0,0,0,0
$GC,14663,0.63,326.0,149.2,13.4,913,14669,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1986,1962,0,0,0,0,0,0
$GC,15008,0.64,329.1,108.2,10.9,974,15015,0.00,2.12,0.00,0.000,4,0.000,0.039,2661,592,1963,0,0,0,0,0,0
$GC,15079,0.68,354.3,100.9,9.7,986,15110,0.00,2.12,23.25,0.620,6,0.000,0.031,2661,2012,1852,0,0,0,0,0,0
$GC,15446,0.78,402.1,64.8,8.5,1051,15489,0.00,0.00,37.17,0.596,6,0.000,0.000,2661,2012,1659,0,0,0,0,0,0
$GC,15824,0.98,492.4,40.2,6.2,1118,15904,0.22,2.30,69.10,0.565,4,0.059,0.038,2775,596,1288,0,0,0,0,0,0
$GC,15920,0.96,492.4,28.0,15.3,1133,15927,0.15,2.20,0.00,0.000,6,0.142,0.029,2735,2012,1287,0,0,0,0,0,0
$STATE,16109,end climb,SURFACE_DEPTH_REACHED
$STATE,16109,begin surface coast
$FINISH,1.3,1.015134
$STATE,16138,end surface coast,CONTROL_FINISHED_OK
$STATE,16138,begin surface
$SM_CCo,16214,0.00,0.000,0,0,1280,495.02
$SM_GC,2.13,6.72,0.00,0.00,0.043,0.000,0.000,207,2426,1280,-6.85,0.74,495.02
$IRIDIUM_FIX,2326.22,12604.24,221010,131343
$TT8_MAMPS,0.026215
$HUMID,49.60
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.9,38.881
$10V_AH,9.9,50.290
$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,19.225,121.925,509.050,0.000,0.000,28.880,44.659,158.146,0.000,0.000,17.650,2988.699,10412.504,593.123,2298.015,289.443,0.000,1721.438,0.000,2042.922,0.000,0.541,0.000
$DEVICE_MAMPS,231.030,46.665,1150.560,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,793.115,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331348
$DATA_FILE_SIZE,70376,1172
$CAP_FILE_SIZE,158242,0
$CFSIZE,260165632,228327424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102,348.7,1
$GPS,221010,224907,2333.163,12608.177,30,1.2,30,-3.5