version: 66.08
glider: 181
mission: 4
dive: 321
start: 10 28 110 10 36 46
data:
$ID,181
$MISSION,4
$DIVE,321
$N_DIVES,333
$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,-38252.391
$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,48
$R_STBD_OVSHOOT,41
$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
$GPS1,281010,103006,2307.593,12602.752,63,1.5,63,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-65.1
$GPS2,281010,103621,2307.625,12602.645,10,3.0,29,-3.3
$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,172.2,196374,-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,-136.3,0.0,0.0,0,49,0.00,0.00,-31.62,0.000,2,0.000,0.000,201,2401,2452,0,0,0,0,0,0
$GC,52,-0.79,-136.3,3.0,-2.3,5,103,8.23,2.20,-36.38,0.000,4,0.235,0.046,2165,999,3856,0,0,0,0,0,0
$GC,255,-0.69,-136.3,50.9,-27.3,40,263,0.17,2.15,0.00,0.000,6,0.155,0.034,2202,2403,3856,0,0,0,0,0,0
$GC,598,-0.66,-136.3,131.0,-18.5,101,605,0.00,2.12,0.00,0.000,4,0.000,0.041,2193,3782,3857,0,0,0,0,0,0
$GC,646,-0.64,-136.3,139.2,-17.4,109,652,0.00,2.08,0.00,0.000,6,0.000,0.024,2193,2384,3857,0,0,0,0,0,0
$GC,975,-0.62,-136.3,197.4,-17.8,145,980,0.12,2.08,0.00,0.000,4,0.161,0.031,2227,995,3859,0,0,0,0,0,0
$GC,1032,-0.68,-136.3,205.5,-11.8,150,1036,0.00,2.15,0.00,0.000,6,0.000,0.031,2219,2414,3860,0,0,0,0,0,0
$GC,1358,-0.71,-136.3,245.7,-11.4,180,1362,0.00,2.08,0.00,0.000,4,0.000,0.042,2209,3776,3861,0,0,0,0,0,0
$GC,1387,-0.75,-136.3,248.9,-10.9,182,1391,0.00,2.03,0.00,0.000,6,0.000,0.024,2208,2395,3860,0,0,0,0,0,0
$GC,1718,-0.78,-136.3,286.4,-11.5,213,1723,0.12,2.05,0.00,0.000,4,0.082,0.031,2140,1005,3861,0,0,0,0,0,0
$GC,1739,-0.78,-136.3,289.7,-14.0,214,1747,0.10,2.12,0.00,0.000,6,0.140,0.031,2177,2393,3860,0,0,0,0,0,0
$GC,2065,-0.78,-136.3,337.3,-14.5,245,2069,0.00,2.15,0.00,0.000,4,0.000,0.042,2169,3783,3859,0,0,0,0,0,0
$GC,2143,-0.81,-136.3,348.3,-13.7,251,2150,0.00,2.03,0.00,0.000,6,0.000,0.024,2169,2388,3859,0,0,0,0,0,0
$GC,2468,-0.81,-136.3,393.9,-13.8,282,2471,0.00,2.05,0.00,0.000,4,0.000,0.030,2169,1006,3858,0,0,0,0,0,0
$GC,2502,-0.83,-136.3,399.0,-14.9,285,2506,0.00,2.12,0.00,0.000,6,0.000,0.033,2161,2404,3858,0,0,0,0,0,0
$GC,2827,-0.83,-136.3,444.5,-13.2,315,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2405,3856,0,0,0,0,0,0
$GC,3147,-0.83,-136.3,486.5,-13.4,345,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2405,3855,0,0,0,0,0,0
$GC,3460,-0.84,-136.3,527.2,-12.5,365,3463,0.00,2.12,0.00,0.000,4,0.000,0.043,2150,3775,3853,0,0,0,0,0,0
$GC,3532,-0.86,-136.3,536.4,-12.4,368,3536,0.00,2.03,0.00,0.000,6,0.000,0.025,2150,2401,3853,0,0,0,0,0,0
$GC,3854,-0.86,-136.3,576.7,-12.4,384,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2397,3851,0,0,0,0,0,0
$GC,4182,-0.86,-136.3,617.2,-12.6,398,4186,0.00,2.15,0.00,0.000,4,0.000,0.044,2140,3783,3848,0,0,0,0,0,0
$GC,4211,-0.88,-136.3,620.9,-13.2,399,4215,0.00,2.05,0.00,0.000,6,0.000,0.027,2140,2394,3848,0,0,0,0,0,0
$GC,4546,-0.88,-136.3,663.3,-12.6,410,4550,0.00,2.08,0.00,0.000,4,0.000,0.033,2140,996,3845,0,0,0,0,0,0
$GC,4567,-0.88,-136.3,666.3,-13.3,410,4574,0.00,2.17,0.00,0.000,6,0.000,0.035,2131,2399,3844,0,0,0,0,0,0
$GC,4880,-0.88,-136.3,706.8,-12.8,421,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2399,3842,0,0,0,0,0,0
$GC,5186,-0.88,-136.3,748.7,-13.8,431,5190,0.00,2.15,0.00,0.000,4,0.000,0.045,2121,3784,3839,0,0,0,0,0,0
$GC,5235,-0.88,-136.3,755.9,-14.4,432,5239,0.00,2.05,0.00,0.000,6,0.000,0.028,2121,2402,3840,0,0,0,0,0,0
$GC,5553,-0.88,-136.3,802.2,-14.5,443,5557,0.00,2.12,0.00,0.000,4,0.000,0.034,2121,1005,3836,0,0,0,0,0,0
$GC,5574,-0.88,-136.3,805.7,-14.6,443,5583,0.08,2.17,0.00,0.000,6,0.154,0.036,2142,2403,3836,0,0,0,0,0,0
$GC,5889,-0.89,-136.3,843.1,-11.6,454,5893,0.00,2.15,0.00,0.000,4,0.000,0.047,2134,3777,3833,0,0,0,0,0,0
$GC,5910,-0.91,-136.3,845.9,-11.9,454,5914,0.00,2.08,0.00,0.000,6,0.000,0.027,2134,2397,3833,0,0,0,0,0,0
$GC,6229,-0.93,-136.3,885.0,-12.5,465,6233,0.00,2.10,0.00,0.000,4,0.000,0.034,2134,995,3831,0,0,0,0,0,0
$GC,6279,-0.95,-136.3,891.2,-12.0,466,6283,0.00,2.17,0.00,0.000,6,0.000,0.036,2125,2401,3830,0,0,0,0,0,0
$GC,6602,-0.95,-136.3,931.5,-12.5,477,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2401,3828,0,0,0,0,0,0
$GC,6908,-0.95,-136.3,968.9,-12.0,487,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2401,3826,0,0,0,0,0,0
$STATE,7182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7183,begin apogee
$GC,7189,-0.16,0.0,1002.9,12.4,496,7301,0.77,0.00,104.97,1.147,6,0.130,0.000,2370,1970,3298,0,0,0,0,0,0
$STATE,7302,end apogee,CONTROL_FINISHED_OK
$STATE,7302,begin climb
$GC,7305,0.79,136.3,1007.8,0.0,499,7427,0.85,2.30,113.40,1.103,4,0.053,0.038,2698,607,2741,0,0,0,0,0,0
$GC,7455,0.64,136.3,1007.2,11.8,504,7460,0.28,2.25,0.00,0.000,6,0.192,0.033,2633,2005,2738,0,0,0,0,0,0
$GC,7780,0.54,136.3,969.3,11.6,515,7782,0.12,0.00,0.00,0.000,6,0.195,0.000,2604,2008,2732,0,0,0,0,0,0
$GC,8086,0.51,160.3,938.5,9.8,525,8110,0.00,2.25,19.38,1.069,4,0.000,0.044,2603,3413,2645,0,0,0,0,0,0
$GC,8152,0.43,160.3,931.6,12.0,527,8157,0.17,2.15,0.00,0.000,6,0.190,0.029,2570,2015,2642,0,0,0,0,0,0
$GC,8488,0.45,196.8,900.7,9.1,538,8521,0.00,0.00,31.25,1.059,6,0.000,0.000,2570,2014,2495,0,0,0,0,0,0
$GC,8824,0.48,215.7,867.7,10.1,549,8845,0.00,2.25,16.33,1.014,4,0.000,0.038,2579,593,2418,0,0,0,0,0,0
$GC,8873,0.48,217.4,862.3,11.0,550,8877,0.00,2.17,0.00,0.000,6,0.000,0.031,2579,2003,2417,0,0,0,0,0,0
$GC,9192,0.47,218.0,827.2,11.1,561,9196,0.00,2.20,0.00,0.000,4,0.000,0.043,2579,3410,2412,0,0,0,0,0,0
$GC,9270,0.45,218.0,817.5,12.4,563,9274,0.00,2.15,0.00,0.000,6,0.000,0.029,2589,1998,2411,0,0,0,0,0,0
$GC,9594,0.43,218.0,777.5,12.7,574,9598,0.00,2.15,0.00,0.000,4,0.000,0.040,2601,597,2410,0,0,0,0,0,0
$GC,9662,0.41,218.0,768.6,12.5,576,9667,0.15,2.15,0.00,0.000,6,0.171,0.032,2563,2001,2410,0,0,0,0,0,0
$GC,9998,0.44,231.0,733.1,10.4,587,10017,0.00,2.28,12.68,0.970,4,0.000,0.043,2563,3408,2356,0,0,0,0,0,0
$GC,10035,0.46,246.8,729.0,10.2,588,10055,0.00,2.17,14.95,0.897,6,0.000,0.030,2571,1996,2291,0,0,0,0,0,0
$GC,10369,0.48,246.8,691.0,11.4,599,10373,0.00,2.15,0.00,0.000,4,0.000,0.041,2582,596,2287,0,0,0,0,0,0
$GC,10418,0.50,251.6,685.1,10.8,600,10430,0.00,2.15,4.75,0.754,6,0.000,0.031,2582,2008,2272,0,0,0,0,0,0
$GC,10736,0.50,254.0,649.8,11.0,611,10741,0.00,0.00,3.50,0.593,6,0.000,0.000,2582,2007,2262,0,0,0,0,0,0
$GC,11042,0.52,268.6,616.7,10.3,621,11061,0.00,2.25,14.10,0.914,4,0.000,0.043,2582,3402,2201,0,0,0,0,0,0
$GC,11079,0.53,278.6,612.6,10.6,622,11093,0.00,2.15,9.68,0.783,6,0.000,0.030,2593,1992,2162,0,0,0,0,0,0
$GC,11406,0.53,278.6,576.2,11.3,636,11407,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1992,2158,0,0,0,0,0,0
$GC,11714,0.53,278.6,541.3,11.2,651,11715,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1992,2157,0,0,0,0,0,0
$GC,12025,0.56,295.0,507.4,10.2,666,12044,0.00,0.00,14.38,0.862,6,0.000,0.000,2593,1992,2095,0,0,0,0,0,0
$GC,12364,0.58,300.2,472.1,10.8,694,12376,0.00,2.15,5.40,0.702,4,0.000,0.040,2604,597,2074,0,0,0,0,0,0
$GC,12450,0.62,312.9,462.5,10.4,701,12468,0.00,2.17,12.38,0.800,6,0.000,0.031,2604,2012,2022,0,0,0,0,0,0
$GC,12786,0.64,312.9,425.5,11.4,733,12787,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2012,2017,0,0,0,0,0,0
$GC,13109,0.66,312.9,388.0,11.5,763,13113,0.10,2.20,0.00,0.000,4,0.106,0.040,2661,595,2017,0,0,0,0,0,0
$GC,13143,0.64,312.9,382.9,14.0,765,13150,0.00,2.15,0.00,0.000,6,0.000,0.030,2661,2002,2017,0,0,0,0,0,0
$GC,13468,0.61,312.9,333.8,14.8,796,13473,0.15,2.20,0.00,0.000,4,0.165,0.040,2629,592,2017,0,0,0,0,0,0
$GC,13541,0.62,312.9,324.5,11.5,802,13547,0.00,2.15,0.00,0.000,6,0.000,0.031,2630,2003,2017,0,0,0,0,0,0
$GC,13866,0.62,312.9,287.4,11.7,833,13870,0.00,2.15,0.00,0.000,4,0.000,0.041,2630,3407,2017,0,0,0,0,0,0
$GC,13909,0.62,312.9,281.5,13.6,836,13917,0.00,2.15,0.00,0.000,6,0.000,0.029,2640,2002,2016,0,0,0,0,0,0
$GC,14235,0.62,312.9,239.9,12.4,867,14239,0.00,2.15,0.00,0.000,4,0.000,0.038,2651,597,2017,0,0,0,0,0,0
$GC,14330,0.62,312.9,227.9,11.7,875,14334,0.00,2.10,0.00,0.000,6,0.000,0.030,2651,2000,2017,0,0,0,0,0,0
$GC,14655,0.65,339.8,190.7,9.6,905,14686,0.00,0.00,22.58,0.683,6,0.000,0.000,2651,2000,1912,0,0,0,0,0,0
$GC,15004,0.67,342.9,153.1,10.9,938,15016,0.00,2.20,3.78,0.410,4,0.000,0.038,2661,596,1900,0,0,0,0,0,0
$GC,15156,0.70,349.5,136.0,10.7,962,15170,0.00,2.12,7.03,0.532,6,0.000,0.030,2661,2002,1873,0,0,0,0,0,0
$GC,15508,0.74,357.4,100.5,10.7,1024,15521,0.00,2.22,7.82,0.521,4,0.000,0.040,2661,3399,1841,0,0,0,0,0,0
$GC,15573,0.76,357.4,92.8,11.3,1035,15581,0.00,2.10,0.00,0.000,6,0.000,0.028,2672,1995,1840,0,0,0,0,0,0
$GC,15920,0.90,438.3,69.2,6.7,1096,15994,0.12,2.20,62.72,0.580,4,0.084,0.036,2751,602,1510,0,0,0,0,0,0
$GC,16163,0.90,438.3,36.6,15.9,1138,16171,0.12,2.15,0.00,0.000,6,0.152,0.031,2718,2004,1505,0,0,0,0,0,0
$STATE,16398,end climb,SURFACE_DEPTH_REACHED
$STATE,16398,begin surface coast
$FINISH,1.4,1.022108
$STATE,16421,end surface coast,CONTROL_FINISHED_OK
$STATE,16421,begin surface
$SM_CCo,16498,0.00,0.000,0,0,1501,440.56
$SM_GC,2.63,6.65,0.00,0.00,0.044,0.000,0.000,205,2408,1501,-6.85,0.23,440.56
$IRIDIUM_FIX,2300.41,12557.33,281010,050538
$TT8_MAMPS,0.025466
$HUMID,49.21
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.7,43.036
$10V_AH,9.9,52.557
$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,18.325,129.950,481.050,0.000,0.000,26.087,37.913,148.660,0.000,0.000,32.844,3036.850,10685.435,569.391,2278.623,297.459,0.000,1696.896,0.000,2029.261,0.000,0.542,0.000
$DEVICE_MAMPS,234.855,46.665,1147.500,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,802.290,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331412
$DATA_FILE_SIZE,70284,1184
$CAP_FILE_SIZE,158233,0
$CFSIZE,260165632,226095104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131,331.7,1
$GPS,281010,151330,2306.386,12602.353,68,1.6,68,-3.3