version: 66.08
glider: 181
mission: 4
dive: 322
start: 10 28 110 15 19 30
data:
$ID,181
$MISSION,4
$DIVE,322
$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,-38253.645
$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,47
$R_STBD_OVSHOOT,37
$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
$GPS1,281010,151330,2306.386,12602.353,68,1.6,68,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-59.1
$GPS2,281010,151906,2306.419,12602.325,9,1.5,13,-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,169.8,194135,-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,14,begin dive
$GC,16,-0.79,-136.3,0.0,0.0,0,54,0.00,0.00,-36.03,0.000,2,0.000,0.000,201,2408,2448,0,0,0,0,0,0
$GC,57,-0.79,-136.3,3.1,-3.7,6,113,7.82,2.20,-39.50,0.000,4,0.218,0.045,2164,991,3855,0,0,0,0,0,0
$GC,226,-0.71,-136.3,43.6,-26.3,35,235,0.15,2.17,0.00,0.000,6,0.171,0.034,2192,2400,3856,0,0,0,0,0,0
$GC,572,-0.66,-136.3,127.0,-19.3,96,578,0.00,2.12,0.00,0.000,4,0.000,0.029,2192,982,3857,0,0,0,0,0,0
$GC,585,-0.61,-136.3,129.8,-19.2,98,593,0.17,2.17,0.00,0.000,6,0.156,0.032,2230,2411,3857,0,0,0,0,0,0
$GC,924,-0.63,-136.3,176.3,-12.9,141,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2411,3858,0,0,0,0,0,0
$GC,1244,-0.68,-136.3,215.6,-11.6,171,1248,0.00,2.10,0.00,0.000,4,0.000,0.031,2229,993,3859,0,0,0,0,0,0
$GC,1289,-0.74,-136.3,220.9,-10.5,174,1297,0.12,2.15,0.00,0.000,6,0.078,0.033,2160,2409,3859,0,0,0,0,0,0
$GC,1615,-0.71,-136.3,274.2,-16.8,205,1620,0.12,2.15,0.00,0.000,4,0.161,0.043,2184,3787,3859,0,0,0,0,0,0
$GC,1644,-0.71,-136.3,278.6,-15.0,207,1648,0.00,2.05,0.00,0.000,6,0.000,0.025,2183,2391,3859,0,0,0,0,0,0
$GC,1968,-0.71,-136.3,323.8,-14.6,237,1972,0.00,2.17,0.00,0.000,4,0.000,0.042,2173,3780,3859,0,0,0,0,0,0
$GC,2010,-0.73,-136.3,329.2,-13.4,240,2014,0.00,2.03,0.00,0.000,6,0.000,0.024,2173,2394,3858,0,0,0,0,0,0
$GC,2340,-0.73,-136.3,375.3,-13.3,271,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2391,3857,0,0,0,0,0,0
$GC,2661,-0.75,-136.3,416.0,-11.8,301,2665,0.00,2.05,0.00,0.000,4,0.000,0.032,2173,1000,3856,0,0,0,0,0,0
$GC,2694,-0.77,-136.3,420.3,-11.6,303,2702,0.00,2.12,0.00,0.000,6,0.000,0.033,2164,2402,3856,0,0,0,0,0,0
$GC,3019,-0.77,-136.3,459.8,-11.8,334,3023,0.00,2.12,0.00,0.000,4,0.000,0.043,2153,3774,3854,0,0,0,0,0,0
$GC,3082,-0.79,-136.3,467.3,-11.6,339,3085,0.00,2.03,0.00,0.000,6,0.000,0.026,2153,2394,3854,0,0,0,0,0,0
$GC,3422,-0.79,-136.3,511.8,-13.3,367,3426,0.00,2.08,0.00,0.000,4,0.000,0.033,2153,1002,3852,0,0,0,0,0,0
$GC,3463,-0.81,-136.3,517.5,-13.9,369,3467,0.00,2.12,0.00,0.000,6,0.000,0.035,2151,2399,3851,0,0,0,0,0,0
$GC,3790,-0.81,-136.3,560.4,-13.4,385,3794,0.00,2.15,0.00,0.000,4,0.000,0.044,2141,3784,3850,0,0,0,0,0,0
$GC,3876,-0.83,-136.3,571.7,-12.5,389,3880,0.00,2.05,0.00,0.000,6,0.000,0.026,2141,2393,3849,0,0,0,0,0,0
$GC,4191,-0.83,-136.3,615.3,-13.8,403,4195,0.00,2.17,0.00,0.000,4,0.000,0.044,2130,3785,3846,0,0,0,0,0,0
$GC,4219,-0.83,-136.3,619.4,-14.2,403,4227,0.00,2.05,0.00,0.000,6,0.000,0.026,2130,2393,3846,0,0,0,0,0,0
$GC,4531,-0.83,-136.3,665.6,-15.1,414,4535,0.00,2.08,0.00,0.000,4,0.000,0.033,2130,998,3843,0,0,0,0,0,0
$GC,4558,-0.83,-136.3,670.0,-15.3,414,4566,0.08,2.17,0.00,0.000,6,0.147,0.034,2154,2400,3843,0,0,0,0,0,0
$GC,4873,-0.85,-136.3,708.8,-12.4,425,4876,0.00,2.10,0.00,0.000,4,0.000,0.032,2154,1005,3841,0,0,0,0,0,0
$GC,4894,-0.88,-136.3,711.8,-12.6,425,4898,0.00,2.12,0.00,0.000,6,0.000,0.035,2151,2409,3840,0,0,0,0,0,0
$GC,5214,-0.90,-136.3,748.6,-11.5,436,5215,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2409,3838,0,0,0,0,0,0
$GC,5520,-0.92,-136.3,783.3,-11.5,446,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2409,3835,0,0,0,0,0,0
$GC,5826,-0.94,-136.3,818.5,-11.4,456,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2410,3833,0,0,0,0,0,0
$GC,6132,-0.97,-136.3,853.6,-11.5,466,6134,0.12,0.00,0.00,0.000,6,0.092,0.000,2093,2410,3830,0,0,0,0,0,0
$GC,6439,-0.94,-136.3,901.6,-16.1,476,6443,0.00,2.15,0.00,0.000,4,0.000,0.047,2083,3784,3827,0,0,0,0,0,0
$GC,6494,-0.92,-136.3,910.9,-16.0,477,6499,0.15,2.08,0.00,0.000,6,0.158,0.028,2123,2395,3827,0,0,0,0,0,0
$GC,6807,-0.92,-136.3,952.9,-13.3,487,6811,0.00,2.12,0.00,0.000,4,0.000,0.036,2123,998,3826,0,0,0,0,0,0
$GC,6840,-0.94,-136.3,957.3,-13.4,488,6844,0.00,2.15,0.00,0.000,6,0.000,0.037,2115,2400,3826,0,0,0,0,0,0
$STATE,7167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7167,begin apogee
$GC,7173,-0.16,0.0,1001.9,13.8,499,7284,0.80,0.00,104.45,1.145,6,0.132,0.000,2367,1984,3298,0,0,0,0,0,0
$STATE,7285,end apogee,CONTROL_FINISHED_OK
$STATE,7285,begin climb
$GC,7287,0.79,136.3,1007.9,0.0,502,7404,0.85,0.00,113.60,1.102,6,0.051,0.000,2688,1984,2742,0,0,0,0,0,0
$GC,7701,0.65,136.3,972.8,14.1,516,7706,0.20,2.30,0.00,0.000,4,0.196,0.041,2640,3415,2732,0,0,0,0,0,0
$GC,7846,0.53,136.3,952.6,14.0,520,7851,0.20,2.15,0.00,0.000,6,0.197,0.029,2601,2018,2731,0,0,0,0,0,0
$GC,8165,0.49,152.1,919.8,10.2,531,8184,0.00,2.28,12.27,1.053,4,0.000,0.039,2610,595,2677,0,0,0,0,0,0
$GC,8270,0.42,152.1,908.3,11.5,534,8275,0.17,2.17,0.00,0.000,6,0.177,0.033,2566,2009,2676,0,0,0,0,0,0
$GC,8600,0.45,193.0,878.0,8.9,545,8640,0.00,2.28,34.62,1.049,4,0.000,0.044,2566,3394,2511,0,0,0,0,0,0
$GC,8724,0.43,193.0,864.6,11.4,548,8731,0.00,2.15,0.00,0.000,6,0.000,0.029,2574,2000,2507,0,0,0,0,0,0
$GC,9038,0.42,197.8,830.4,10.8,559,9044,0.00,0.00,4.68,0.791,6,0.000,0.000,2574,2000,2491,0,0,0,0,0,0
$GC,9344,0.42,213.0,798.2,10.3,569,9360,0.00,0.00,14.25,0.998,6,0.000,0.000,2574,2000,2429,0,0,0,0,0,0
$GC,9650,0.45,232.1,766.8,10.1,579,9669,0.00,0.00,16.88,0.968,6,0.000,0.000,2574,1999,2351,0,0,0,0,0,0
$GC,9983,0.47,248.0,732.8,10.2,590,10003,0.00,2.22,14.35,0.949,4,0.000,0.041,2585,593,2286,0,0,0,0,0,0
$GC,10065,0.47,248.0,723.6,11.6,592,10069,0.00,2.17,0.00,0.000,6,0.000,0.031,2585,2010,2284,0,0,0,0,0,0
$GC,10390,0.47,248.0,685.3,12.1,603,10394,0.00,2.17,0.00,0.000,4,0.000,0.043,2585,3409,2282,0,0,0,0,0,0
$GC,10444,0.47,248.0,677.7,13.8,604,10451,0.00,2.20,0.00,0.000,6,0.000,0.029,2596,1992,2281,0,0,0,0,0,0
$GC,10757,0.47,248.0,635.9,13.2,615,10761,0.00,2.15,0.00,0.000,4,0.000,0.041,2607,594,2280,0,0,0,0,0,0
$GC,10835,0.47,248.0,625.1,13.8,617,10840,0.12,2.15,0.00,0.000,6,0.165,0.032,2574,2010,2280,0,0,0,0,0,0
$GC,11150,0.50,264.5,590.8,10.2,629,11172,0.00,2.22,14.02,0.905,4,0.000,0.044,2575,3396,2219,0,0,0,0,0,0
$GC,11222,0.51,269.0,583.1,10.9,632,11232,0.00,2.15,5.28,0.662,6,0.000,0.030,2583,2001,2201,0,0,0,0,0,0
$GC,11545,0.56,297.1,551.5,9.6,647,11576,0.00,2.25,24.25,0.858,4,0.000,0.041,2594,597,2086,0,0,0,0,0,0
$GC,11616,0.61,321.3,544.3,9.8,650,11642,0.00,2.17,20.92,0.807,6,0.000,0.031,2594,2010,1988,0,0,0,0,0,0
$GC,11960,0.65,335.6,508.4,10.3,667,11980,0.12,0.00,12.12,0.819,6,0.091,0.000,2649,2011,1931,0,0,0,0,0,0
$GC,12295,0.63,335.6,457.0,15.0,695,12299,0.00,2.22,0.00,0.000,4,0.000,0.041,2660,590,1926,0,0,0,0,0,0
$GC,12369,0.61,335.6,445.4,14.8,701,12374,0.15,2.17,0.00,0.000,6,0.158,0.032,2620,2005,1926,0,0,0,0,0,0
$GC,12701,0.61,335.6,402.8,12.5,732,12705,0.00,2.20,0.00,0.000,4,0.000,0.042,2620,3409,1925,0,0,0,0,0,0
$GC,12741,0.61,335.6,397.0,14.3,735,12745,0.00,2.17,0.00,0.000,6,0.000,0.029,2629,1987,1924,0,0,0,0,0,0
$GC,13066,0.61,335.6,354.1,13.6,765,13070,0.00,2.15,0.00,0.000,4,0.000,0.041,2639,590,1924,0,0,0,0,0,0
$GC,13174,0.63,335.6,339.5,14.8,774,13178,0.00,2.12,0.00,0.000,6,0.000,0.031,2640,2002,1924,0,0,0,0,0,0
$GC,13499,0.63,335.6,295.9,13.2,804,13503,0.00,2.15,0.00,0.000,4,0.000,0.039,2650,593,1924,0,0,0,0,0,0
$GC,13532,0.63,335.6,291.0,14.6,806,13539,0.00,2.17,0.00,0.000,6,0.000,0.031,2650,2004,1923,0,0,0,0,0,0
$GC,13857,0.63,335.6,247.2,12.8,837,13858,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2004,1924,0,0,0,0,0,0
$GC,14177,0.63,335.6,206.6,11.5,867,14181,0.00,2.15,0.00,0.000,4,0.000,0.041,2650,3402,1924,0,0,0,0,0,0
$GC,14225,0.63,335.6,200.9,12.6,871,14229,0.12,2.10,0.00,0.000,6,0.165,0.028,2628,1995,1925,0,0,0,0,0,0
$GC,14552,0.70,360.4,171.0,9.8,901,14578,0.00,2.15,20.98,0.653,4,0.000,0.040,2637,598,1827,0,0,0,0,0,0
$GC,14747,0.82,417.6,152.7,8.0,918,14801,0.15,2.15,45.38,0.621,6,0.077,0.030,2707,2010,1594,0,0,0,0,0,0
$GC,15136,0.82,417.6,99.6,14.3,985,15143,0.00,2.20,0.00,0.000,4,0.000,0.038,2718,595,1587,0,0,0,0,0,0
$GC,15202,0.87,417.6,90.6,12.2,996,15208,0.00,2.15,0.00,0.000,6,0.000,0.030,2718,2001,1587,0,0,0,0,0,0
$GC,15544,0.87,417.6,44.0,15.3,1057,15550,0.00,2.17,0.00,0.000,4,0.000,0.039,2718,3411,1587,0,0,0,0,0,0
$GC,15586,0.87,417.6,38.3,13.1,1064,15593,0.00,2.12,0.00,0.000,6,0.000,0.027,2728,1998,1587,0,0,0,0,0,0
$STATE,15852,end climb,SURFACE_DEPTH_REACHED
$STATE,15853,begin surface coast
$FINISH,1.2,1.022067
$STATE,15892,end surface coast,CONTROL_FINISHED_OK
$STATE,15892,begin surface
$SM_CCo,15968,0.00,0.000,0,0,1586,419.71
$SM_GC,2.27,6.65,0.00,0.00,0.045,0.000,0.000,210,2411,1586,-6.84,0.31,419.71
$IRIDIUM_FIX,2255.72,12604.40,281010,101008
$TT8_MAMPS,0.026215
$HUMID,50.23
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.8,43.173
$10V_AH,9.9,52.632
$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,18.300,130.225,458.050,0.000,0.000,30.934,16.250,145.816,0.000,0.000,15.962,2908.551,10319.182,550.298,2223.706,295.483,0.000,1663.563,0.000,2010.488,0.000,0.541,0.000
$DEVICE_MAMPS,218.025,47.430,1145.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,758.945,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66795,1119
$CAP_FILE_SIZE,155360,0
$CFSIZE,260165632,226029568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183, 32.6,1
$GPS,281010,194654,2305.567,12603.796,38,1.3,38,-3.3