version: 66.08
glider: 181
mission: 4
dive: 307
start: 10 25 110 17 40 9
data:
$ID,181
$MISSION,4
$DIVE,307
$N_DIVES,319
$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,-38234.781
$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,48
$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
$GPS1,251010,173354,2322.270,12606.473,46,0.8,46,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-57.6
$GPS2,251010,173944,2322.348,12606.490,11,2.0,11,-3.4
$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,208.8,223811,-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,-136.3,0.0,0.0,0,63,0.00,0.00,-44.97,0.000,2,0.000,0.000,195,2415,2591,0,0,0,0,0,0
$GC,66,-0.79,-136.3,3.2,-4.2,7,116,8.02,2.22,-31.60,0.000,4,0.227,0.044,2160,982,3855,0,0,0,0,0,0
$GC,252,-0.67,-136.3,55.1,-30.9,39,259,0.20,2.17,0.00,0.000,6,0.165,0.033,2203,2399,3856,0,0,0,0,0,0
$GC,596,-0.64,-136.3,132.7,-17.9,100,602,0.00,2.12,0.00,0.000,4,0.000,0.031,2203,984,3858,0,0,0,0,0,0
$GC,637,-0.64,-136.3,140.4,-17.6,107,644,0.00,2.17,0.00,0.000,6,0.000,0.034,2196,2408,3858,0,0,0,0,0,0
$GC,966,-0.63,-136.3,197.5,-18.4,143,970,0.00,2.10,0.00,0.000,4,0.000,0.042,2185,3778,3859,0,0,0,0,0,0
$GC,1085,-0.64,-136.3,216.0,-14.7,153,1090,0.12,2.05,0.00,0.000,6,0.141,0.024,2219,2391,3860,0,0,0,0,0,0
$GC,1411,-0.68,-136.3,252.9,-10.3,183,1414,0.00,2.03,0.00,0.000,4,0.000,0.030,2220,1003,3860,0,0,0,0,0,0
$GC,1483,-0.74,-136.3,260.2,-9.4,189,1491,0.00,2.12,0.00,0.000,6,0.000,0.032,2217,2405,3860,0,0,0,0,0,0
$GC,1809,-0.78,-136.3,295.6,-10.9,220,1813,0.12,2.12,0.00,0.000,4,0.080,0.042,2138,3774,3860,0,0,0,0,0,0
$GC,1830,-0.79,-136.3,298.8,-13.7,221,1839,0.12,2.03,0.00,0.000,6,0.151,0.024,2172,2389,3859,0,0,0,0,0,0
$GC,2155,-0.79,-136.3,349.1,-14.9,252,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2388,3858,0,0,0,0,0,0
$GC,2477,-0.79,-136.3,391.7,-13.6,282,2480,0.00,2.03,0.00,0.000,4,0.000,0.031,2172,1011,3857,0,0,0,0,0,0
$GC,2526,-0.83,-136.3,398.5,-11.8,286,2533,0.00,2.12,0.00,0.000,6,0.000,0.032,2164,2409,3857,0,0,0,0,0,0
$GC,2852,-0.83,-136.3,444.4,-14.0,317,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2409,3854,0,0,0,0,0,0
$GC,3171,-0.83,-136.3,487.7,-13.3,347,3175,0.00,2.08,0.00,0.000,4,0.000,0.032,2164,1010,3853,0,0,0,0,0,0
$GC,3192,-0.83,-136.3,490.8,-13.0,348,3199,0.00,2.15,0.00,0.000,6,0.000,0.034,2156,2405,3853,0,0,0,0,0,0
$GC,3521,-0.83,-136.3,534.5,-13.1,368,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2406,3851,0,0,0,0,0,0
$GC,3830,-0.83,-136.3,574.2,-12.8,383,3834,0.00,2.15,0.00,0.000,4,0.000,0.045,2146,3785,3849,0,0,0,0,0,0
$GC,3924,-0.84,-136.3,585.9,-11.2,387,3928,0.00,2.08,0.00,0.000,6,0.000,0.028,2146,2400,3848,0,0,0,0,0,0
$GC,4238,-0.84,-136.3,626.3,-13.0,399,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2397,3845,0,0,0,0,0,0
$GC,4544,-0.84,-136.3,665.9,-12.9,409,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2396,3843,0,0,0,0,0,0
$GC,4851,-0.84,-136.3,705.3,-12.6,419,4852,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2395,3840,0,0,0,0,0,0
$GC,5157,-0.84,-136.3,744.0,-12.9,429,5161,0.00,2.10,0.00,0.000,4,0.000,0.035,2145,1005,3838,0,0,0,0,0,0
$GC,5200,-0.87,-136.3,749.9,-12.4,430,5205,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2398,3838,0,0,0,0,0,0
$GC,5531,-0.87,-136.3,793.6,-13.5,441,5534,0.00,2.10,0.00,0.000,4,0.000,0.034,2137,1001,3834,0,0,0,0,0,0
$GC,5560,-0.87,-136.3,797.4,-13.5,442,5564,0.00,2.17,0.00,0.000,6,0.000,0.037,2128,2406,3834,0,0,0,0,0,0
$GC,5895,-0.87,-136.3,839.9,-12.2,453,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2407,3831,0,0,0,0,0,0
$GC,6201,-0.87,-136.3,876.7,-12.0,463,6205,0.00,2.15,0.00,0.000,4,0.000,0.048,2118,3780,3829,0,0,0,0,0,0
$GC,6245,-0.87,-136.3,882.4,-12.4,464,6249,0.00,2.08,0.00,0.000,6,0.000,0.030,2117,2398,3828,0,0,0,0,0,0
$GC,6574,-0.86,-136.3,925.2,-13.0,475,6578,0.00,2.20,0.00,0.000,4,0.000,0.048,2107,3776,3827,0,0,0,0,0,0
$GC,6603,-0.85,-136.3,928.9,-13.7,476,6607,0.15,2.10,0.00,0.000,6,0.155,0.030,2147,2393,3826,0,0,0,0,0,0
$GC,6938,-0.88,-136.3,963.8,-10.4,487,6942,0.00,2.10,0.00,0.000,4,0.000,0.037,2147,1000,3824,0,0,0,0,0,0
$GC,6974,-0.91,-136.3,967.6,-10.9,488,6978,0.00,2.17,0.00,0.000,6,0.000,0.037,2140,2402,3824,0,0,0,0,0,0
$STATE,7276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7277,begin apogee
$GC,7283,-0.16,0.0,1000.1,10.7,498,7393,0.70,0.00,104.30,1.152,6,0.125,0.000,2366,1975,3298,0,0,0,0,0,0
$STATE,7393,end apogee,CONTROL_FINISHED_OK
$STATE,7393,begin climb
$GC,7396,0.79,136.3,1004.3,0.0,501,7519,0.85,2.30,112.97,1.099,4,0.053,0.039,2695,608,2742,0,0,0,0,0,0
$GC,7706,0.65,136.3,978.1,14.9,511,7711,0.25,2.20,0.00,0.000,6,0.192,0.034,2635,2005,2734,0,0,0,0,0,0
$GC,8042,0.55,136.3,936.5,12.2,522,8046,0.12,2.20,0.00,0.000,4,0.195,0.044,2603,3407,2730,0,0,0,0,0,0
$GC,8091,0.46,136.3,930.3,11.9,523,8096,0.15,2.15,0.00,0.000,6,0.200,0.031,2578,2014,2729,0,0,0,0,0,0
$GC,8405,0.46,171.9,901.3,9.2,533,8439,0.00,2.30,28.23,1.066,4,0.000,0.044,2578,3405,2596,0,0,0,0,0,0
$GC,8510,0.41,171.9,889.9,12.7,536,8514,0.00,2.20,0.00,0.000,6,0.000,0.031,2587,1995,2593,0,0,0,0,0,0
$GC,8845,0.37,171.9,852.4,11.2,547,8849,0.15,2.25,0.00,0.000,4,0.180,0.044,2550,3405,2591,0,0,0,0,0,0
$GC,8917,0.36,181.0,844.4,10.6,549,8931,0.00,2.17,8.15,0.975,6,0.000,0.031,2559,1994,2560,0,0,0,0,0,0
$GC,9251,0.37,189.1,810.3,10.7,560,9265,0.00,2.28,8.25,0.949,4,0.000,0.043,2558,3402,2527,0,0,0,0,0,0
$GC,9367,0.35,189.1,795.7,13.1,563,9371,0.00,2.17,0.00,0.000,6,0.000,0.031,2569,1998,2525,0,0,0,0,0,0
$GC,9686,0.34,189.1,758.2,11.6,574,9691,0.12,2.20,0.00,0.000,4,0.177,0.041,2548,590,2524,0,0,0,0,0,0
$GC,9758,0.38,206.3,750.4,10.2,576,9781,0.00,2.15,15.60,0.976,6,0.000,0.034,2547,2002,2456,0,0,0,0,0,0
$GC,10087,0.45,257.3,720.4,8.3,587,10137,0.00,2.35,42.30,0.964,4,0.000,0.044,2547,3411,2249,0,0,0,0,0,0
$GC,10173,0.51,288.4,713.0,9.4,589,10205,0.00,2.22,26.95,0.914,6,0.000,0.031,2558,1999,2122,0,0,0,0,0,0
$GC,10520,0.60,336.1,682.9,8.5,601,10567,0.17,2.33,38.97,0.933,4,0.077,0.041,2644,592,1926,0,0,0,0,0,0
$GC,10640,0.58,336.1,665.0,15.0,604,10645,0.12,2.20,0.00,0.000,6,0.169,0.031,2614,2001,1921,0,0,0,0,0,0
$GC,10954,0.57,336.1,617.4,15.6,614,10955,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2002,1917,0,0,0,0,0,0
$GC,11261,0.57,336.1,571.6,14.2,627,11265,0.00,2.20,0.00,0.000,4,0.000,0.043,2614,3404,1915,0,0,0,0,0,0
$GC,11299,0.57,336.1,565.8,15.8,628,11306,0.00,2.17,0.00,0.000,6,0.000,0.031,2622,1992,1914,0,0,0,0,0,0
$GC,11615,0.56,336.1,518.6,15.4,644,11619,0.00,2.17,0.00,0.000,4,0.000,0.043,2633,596,1913,0,0,0,0,0,0
$GC,11688,0.56,336.1,507.1,15.9,647,11692,0.00,2.17,0.00,0.000,6,0.000,0.033,2633,2010,1913,0,0,0,0,0,0
$GC,12012,0.53,336.1,452.7,16.3,675,12014,0.12,0.00,0.00,0.000,6,0.171,0.000,2601,2012,1913,0,0,0,0,0,0
$GC,12331,0.55,336.1,413.1,11.9,705,12335,0.00,2.20,0.00,0.000,4,0.000,0.041,2610,596,1913,0,0,0,0,0,0
$GC,12382,0.58,336.1,407.2,11.2,709,12386,0.00,2.15,0.00,0.000,6,0.000,0.033,2610,2000,1912,0,0,0,0,0,0
$GC,12707,0.58,336.1,370.7,11.1,739,12711,0.00,2.17,0.00,0.000,4,0.000,0.044,2610,3408,1913,0,0,0,0,0,0
$GC,12728,0.58,336.1,368.0,11.8,740,12735,0.00,2.17,0.00,0.000,6,0.000,0.030,2620,1993,1913,0,0,0,0,0,0
$GC,13053,0.58,336.1,325.3,13.4,771,13057,0.00,2.17,0.00,0.000,4,0.000,0.041,2630,586,1913,0,0,0,0,0,0
$GC,13132,0.60,336.1,315.0,13.1,777,13140,0.00,2.17,0.00,0.000,6,0.000,0.032,2630,2011,1913,0,0,0,0,0,0
$GC,13458,0.60,336.1,273.0,12.9,808,13462,0.00,2.15,0.00,0.000,4,0.000,0.043,2631,3411,1913,0,0,0,0,0,0
$GC,13487,0.60,336.1,269.0,13.2,810,13491,0.00,2.15,0.00,0.000,6,0.000,0.030,2641,1993,1913,0,0,0,0,0,0
$GC,13812,0.60,336.1,224.5,14.2,840,13816,0.00,2.12,0.00,0.000,4,0.000,0.041,2652,589,1913,0,0,0,0,0,0
$GC,13975,0.60,336.1,204.1,11.3,854,13980,0.12,2.15,0.00,0.000,6,0.156,0.031,2618,2009,1913,0,0,0,0,0,0
$GC,14302,0.67,363.7,173.7,9.6,884,14332,0.00,2.22,21.30,0.656,4,0.000,0.041,2618,3404,1814,0,0,0,0,0,0
$GC,14361,0.75,388.9,167.7,9.7,889,14391,0.12,2.15,21.23,0.645,6,0.086,0.028,2686,1988,1711,0,0,0,0,0,0
$GC,14720,0.75,388.9,115.0,13.6,943,14727,0.00,2.15,0.00,0.000,4,0.000,0.039,2696,592,1706,0,0,0,0,0,0
$GC,14907,0.79,409.8,91.9,10.0,976,14932,0.00,2.15,17.02,0.579,6,0.000,0.031,2696,2006,1628,0,0,0,0,0,0
$GC,15268,0.86,441.9,62.9,9.4,1040,15299,0.00,2.22,25.92,0.563,4,0.000,0.036,2696,3406,1496,0,0,0,0,0,0
$GC,15421,0.91,441.9,46.1,12.6,1066,15428,0.00,2.15,0.00,0.000,6,0.000,0.029,2707,1998,1493,0,0,0,0,0,0
$GC,15763,1.04,502.4,5.6,7.8,1127,15795,0.15,0.00,29.25,0.509,2,0.073,0.000,2780,1995,1339,0,0,0,0,0,0
$STATE,15796,end climb,SURFACE_DEPTH_REACHED
$STATE,15796,begin surface coast
$FINISH,1.3,0.999300
$STATE,15819,end surface coast,CONTROL_FINISHED_OK
$STATE,15819,begin surface
$SM_CCo,15895,0.00,0.000,0,0,1333,481.77
$SM_GC,2.15,6.82,0.00,0.00,0.044,0.000,0.000,210,2397,1333,-6.85,-0.08,481.77
$IRIDIUM_FIX,2309.79,12605.27,251010,131328
$TT8_MAMPS,0.025466
$HUMID,49.01
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.70
$XPDR_PINGS,1
$24V_AH,23.8,40.997
$10V_AH,10.0,51.464
$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,18.750,135.400,500.450,0.000,0.000,23.338,18.115,162.350,0.250,0.000,14.461,2939.077,10095.459,575.234,2321.494,307.473,0.000,1741.144,0.000,2094.513,0.000,0.541,0.000
$DEVICE_MAMPS,227.205,49.725,1152.090,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,769.086,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66853,1136
$CAP_FILE_SIZE,159413,0
$CFSIZE,260165632,227176448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101, 32.2,1
$GPS,251010,220624,2321.168,12605.898,41,1.6,41,-3.4