version: 66.08
glider: 181
mission: 4
dive: 329
start: 10 29 110 23 57 15
data:
$ID,181
$MISSION,4
$DIVE,329
$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,-38262.449
$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,36
$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
$GPS1,291010,235030,2258.081,12602.178,39,0.9,39,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-63.3
$GPS2,291010,235650,2258.107,12602.174,11,1.5,11,-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,193.0,178739,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.79,-136.3,0.0,0.0,0,56,0.00,0.00,-37.78,0.000,2,0.000,0.000,202,2397,2475,0,0,0,0,0,0
$GC,59,-0.79,-136.3,3.1,-3.5,6,115,8.10,2.12,-39.60,0.000,4,0.230,0.045,2162,991,3855,0,0,0,0,0,0
$GC,255,-0.70,-136.3,47.6,-30.3,40,263,0.17,2.17,0.00,0.000,6,0.161,0.034,2198,2405,3856,0,0,0,0,0,0
$GC,598,-0.66,-136.3,122.7,-18.3,101,606,0.00,2.12,0.00,0.000,4,0.000,0.030,2198,985,3857,0,0,0,0,0,0
$GC,624,-0.63,-136.3,128.2,-20.9,105,632,0.12,2.12,0.00,0.000,6,0.164,0.033,2221,2400,3857,0,0,0,0,0,0
$GC,958,-0.64,-136.3,180.2,-14.0,147,962,0.00,2.10,0.00,0.000,4,0.000,0.041,2212,3781,3859,0,0,0,0,0,0
$GC,1083,-0.69,-136.3,195.5,-11.4,158,1086,0.00,2.03,0.00,0.000,6,0.000,0.024,2212,2389,3859,0,0,0,0,0,0
$GC,1414,-0.72,-136.3,238.5,-11.6,189,1417,0.00,2.03,0.00,0.000,4,0.000,0.031,2212,1002,3859,0,0,0,0,0,0
$GC,1463,-0.77,-136.3,244.6,-11.7,193,1472,0.00,2.12,0.00,0.000,6,0.000,0.032,2205,2411,3859,0,0,0,0,0,0
$GC,1789,-0.80,-136.3,283.8,-10.9,224,1794,0.12,2.12,0.00,0.000,4,0.080,0.042,2126,3782,3859,0,0,0,0,0,0
$GC,1833,-0.78,-136.3,290.6,-16.6,227,1840,0.17,2.03,0.00,0.000,6,0.149,0.024,2174,2392,3858,0,0,0,0,0,0
$GC,2158,-0.78,-136.3,337.3,-14.3,258,2162,0.00,2.03,0.00,0.000,4,0.000,0.031,2174,1005,3858,0,0,0,0,0,0
$GC,2208,-0.80,-136.3,344.4,-13.4,262,2215,0.00,2.08,0.00,0.000,6,0.000,0.032,2167,2401,3858,0,0,0,0,0,0
$GC,2533,-0.80,-136.3,391.1,-14.0,293,2537,0.00,2.12,0.00,0.000,4,0.000,0.042,2156,3785,3857,0,0,0,0,0,0
$GC,2588,-0.80,-136.3,398.9,-13.4,297,2596,0.00,2.05,0.00,0.000,6,0.000,0.024,2156,2404,3857,0,0,0,0,0,0
$GC,2914,-0.80,-136.3,442.0,-12.9,328,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2402,3855,0,0,0,0,0,0
$GC,3234,-0.80,-136.3,483.4,-12.4,358,3238,0.00,2.05,0.00,0.000,4,0.000,0.031,2156,1004,3854,0,0,0,0,0,0
$GC,3268,-0.81,-136.3,488.0,-12.1,360,3275,0.00,2.12,0.00,0.000,6,0.000,0.034,2152,2403,3854,0,0,0,0,0,0
$GC,3597,-0.81,-136.3,529.5,-12.8,381,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2402,3852,0,0,0,0,0,0
$GC,3906,-0.81,-136.3,569.1,-12.6,396,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2403,3850,0,0,0,0,0,0
$GC,4236,-0.83,-136.3,608.7,-12.1,411,4240,0.00,2.15,0.00,0.000,4,0.000,0.044,2141,3780,3847,0,0,0,0,0,0
$GC,4291,-0.85,-136.3,615.8,-12.6,412,4298,0.00,2.05,0.00,0.000,6,0.000,0.026,2141,2401,3846,0,0,0,0,0,0
$GC,4604,-0.85,-136.3,657.4,-13.3,423,4608,0.00,2.08,0.00,0.000,4,0.000,0.032,2141,1003,3843,0,0,0,0,0,0
$GC,4633,-0.85,-136.3,661.4,-13.9,424,4637,0.00,2.12,0.00,0.000,6,0.000,0.035,2137,2406,3843,0,0,0,0,0,0
$GC,4968,-0.85,-136.3,703.3,-12.3,435,4969,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2406,3840,0,0,0,0,0,0
$GC,5274,-0.85,-136.3,739.3,-11.4,445,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2406,3837,0,0,0,0,0,0
$GC,5580,-0.86,-136.3,775.3,-12.1,455,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2406,3834,0,0,0,0,0,0
$GC,5887,-0.87,-136.3,813.5,-12.3,465,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2406,3832,0,0,0,0,0,0
$GC,6193,-0.89,-136.3,853.0,-13.1,475,6197,0.00,2.10,0.00,0.000,4,0.000,0.034,2137,1009,3829,0,0,0,0,0,0
$GC,6223,-0.91,-136.3,856.7,-13.5,476,6227,0.00,2.12,0.00,0.000,6,0.000,0.036,2129,2399,3829,0,0,0,0,0,0
$GC,6563,-0.91,-136.3,900.5,-12.4,487,6564,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2399,3827,0,0,0,0,0,0
$GC,6871,-0.92,-136.3,937.8,-11.9,497,6875,0.00,2.15,0.00,0.000,4,0.000,0.047,2119,3777,3825,0,0,0,0,0,0
$GC,6909,-0.94,-136.3,942.6,-11.9,498,6913,0.00,2.05,0.00,0.000,6,0.000,0.028,2119,2400,3825,0,0,0,0,0,0
$GC,7238,-0.94,-136.3,983.5,-12.7,509,7242,0.00,2.12,0.00,0.000,4,0.000,0.035,2119,993,3822,0,0,0,0,0,0
$GC,7294,-0.96,-136.3,991.0,-12.7,510,7301,0.00,2.15,0.00,0.000,6,0.000,0.037,2112,2398,3822,0,0,0,0,0,0
$STATE,7391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7391,begin apogee
$GC,7397,-0.16,0.0,1004.3,13.8,514,7510,0.82,0.00,104.62,1.147,6,0.134,0.000,2370,1979,3298,0,0,0,0,0,0
$STATE,7510,end apogee,CONTROL_FINISHED_OK
$STATE,7510,begin climb
$GC,7513,0.79,136.3,1010.3,0.0,517,7634,0.82,2.22,113.30,1.106,4,0.044,0.038,2698,617,2742,0,0,0,0,0,0
$GC,7800,0.65,136.3,991.4,13.4,526,7805,0.25,2.17,0.00,0.000,6,0.192,0.033,2638,2014,2734,0,0,0,0,0,0
$GC,8124,0.55,136.3,951.9,12.3,537,8126,0.12,0.00,0.00,0.000,6,0.198,0.000,2608,2016,2730,0,0,0,0,0,0
$GC,8431,0.48,138.5,918.2,11.0,547,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2016,2729,0,0,0,0,0,0
$GC,8737,0.41,138.5,883.2,11.7,557,8741,0.17,2.20,0.00,0.000,4,0.188,0.044,2562,3406,2728,0,0,0,0,0,0
$GC,8916,0.38,149.9,863.6,10.5,562,8934,0.00,2.10,10.10,1.017,6,0.000,0.029,2571,2008,2686,0,0,0,0,0,0
$GC,9239,0.41,194.4,833.8,8.7,573,9279,0.00,0.00,38.05,1.022,6,0.000,0.000,2571,2008,2505,0,0,0,0,0,0
$GC,9576,0.44,221.6,801.2,9.6,584,9605,0.00,0.00,23.42,0.988,6,0.000,0.000,2571,2008,2392,0,0,0,0,0,0
$GC,9911,0.46,231.3,766.1,10.6,595,9922,0.00,0.00,8.82,0.916,6,0.000,0.000,2571,2008,2354,0,0,0,0,0,0
$GC,10217,0.46,231.3,731.5,11.4,605,10219,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2008,2351,0,0,0,0,0,0
$GC,10524,0.46,236.0,698.1,10.9,615,10532,0.00,0.00,4.62,0.751,6,0.000,0.000,2570,2007,2336,0,0,0,0,0,0
$GC,10865,0.48,253.2,662.7,10.2,626,10886,0.00,2.22,16.27,0.930,4,0.000,0.041,2571,3412,2265,0,0,0,0,0,0
$GC,10919,0.48,253.2,656.4,12.4,627,10926,0.00,2.17,0.00,0.000,6,0.000,0.029,2581,2008,2262,0,0,0,0,0,0
$GC,11234,0.51,269.4,623.9,10.2,638,11253,0.00,2.22,14.52,0.890,4,0.000,0.041,2592,590,2198,0,0,0,0,0,0
$GC,11287,0.53,269.4,617.8,11.3,639,11291,0.00,2.17,0.00,0.000,6,0.000,0.031,2592,2002,2197,0,0,0,0,0,0
$GC,11617,0.53,269.4,579.3,12.0,653,11621,0.00,2.20,0.00,0.000,4,0.000,0.042,2592,3407,2195,0,0,0,0,0,0
$GC,11683,0.53,269.4,570.2,13.2,656,11688,0.00,2.17,0.00,0.000,6,0.000,0.030,2602,2004,2194,0,0,0,0,0,0
$GC,12011,0.53,269.4,528.3,13.1,672,12015,0.00,2.17,0.00,0.000,4,0.000,0.041,2613,593,2193,0,0,0,0,0,0
$GC,12075,0.53,269.4,520.1,12.6,675,12079,0.00,2.12,0.00,0.000,6,0.000,0.031,2613,2000,2193,0,0,0,0,0,0
$GC,12399,0.52,269.4,476.5,12.4,699,12403,0.00,2.20,0.00,0.000,4,0.000,0.042,2614,3411,2192,0,0,0,0,0,0
$GC,12440,0.50,269.4,471.0,13.1,702,12445,0.15,2.12,0.00,0.000,6,0.165,0.029,2586,1999,2191,0,0,0,0,0,0
$GC,12767,0.57,307.2,440.2,9.0,732,12805,0.00,2.22,30.90,0.805,4,0.000,0.040,2594,596,2045,0,0,0,0,0,0
$GC,12891,0.60,308.8,427.4,11.0,743,12895,0.00,2.17,0.00,0.000,6,0.000,0.031,2594,2009,2041,0,0,0,0,0,0
$GC,13223,0.64,313.4,390.5,10.9,774,13236,0.10,2.17,5.78,0.669,4,0.102,0.040,2644,3408,2019,0,0,0,0,0,0
$GC,13321,0.61,313.4,376.0,14.7,782,13329,0.12,2.15,0.00,0.000,6,0.170,0.029,2622,1993,2019,0,0,0,0,0,0
$GC,13646,0.61,313.4,336.5,12.1,813,13650,0.00,2.15,0.00,0.000,4,0.000,0.040,2632,595,2017,0,0,0,0,0,0
$GC,13697,0.61,313.4,330.6,11.9,817,13701,0.00,2.12,0.00,0.000,6,0.000,0.031,2632,2005,2017,0,0,0,0,0,0
$GC,14022,0.61,313.4,289.0,13.4,847,14026,0.00,2.17,0.00,0.000,4,0.000,0.039,2642,595,2018,0,0,0,0,0,0
$GC,14050,0.61,313.4,284.9,13.9,849,14054,0.00,2.15,0.00,0.000,6,0.000,0.031,2642,2009,2017,0,0,0,0,0,0
$GC,14376,0.62,316.2,244.5,11.0,879,14386,0.00,0.00,4.05,0.481,6,0.000,0.000,2642,2009,2008,0,0,0,0,0,0
$GC,14705,0.62,317.4,208.8,11.0,910,14709,0.00,2.17,0.00,0.000,4,0.000,0.038,2653,596,2008,0,0,0,0,0,0
$GC,14840,0.62,321.4,194.0,10.9,921,14851,0.00,2.10,6.22,0.552,6,0.000,0.030,2653,2000,1986,0,0,0,0,0,0
$GC,15179,0.63,328.9,156.4,10.7,953,15191,0.00,0.00,7.57,0.554,6,0.000,0.000,2653,2001,1957,0,0,0,0,0,0
$GC,15524,0.67,347.2,120.3,10.1,1009,15549,0.00,2.20,16.30,0.594,4,0.000,0.038,2663,597,1882,0,0,0,0,0,0
$GC,15580,0.74,380.2,114.9,9.3,1018,15611,0.00,2.15,26.58,0.610,6,0.000,0.029,2663,2011,1748,0,0,0,0,0,0
$GC,15948,0.92,476.5,84.9,5.8,1083,16029,0.17,2.22,73.68,0.568,4,0.069,0.039,2749,3406,1354,0,0,0,0,0,0
$GC,16115,0.92,476.5,62.6,14.0,1111,16123,0.15,2.17,0.00,0.000,6,0.154,0.028,2719,1998,1349,0,0,0,0,0,0
$GC,16461,0.97,490.4,20.5,10.4,1172,16481,0.00,2.20,11.48,0.474,4,0.000,0.037,2729,595,1297,0,0,0,0,0,0
$GC,16574,1.06,524.6,7.1,9.2,1191,16612,0.10,2.12,27.25,0.502,6,0.096,0.029,2781,2010,1157,0,0,0,0,0,0
$STATE,16617,end climb,SURFACE_DEPTH_REACHED
$STATE,16617,begin surface coast
$FINISH,1.4,1.017642
$STATE,16648,end surface coast,CONTROL_FINISHED_OK
$STATE,16648,begin surface
$SM_CCo,16724,0.00,0.000,0,0,1153,526.17
$SM_GC,2.11,6.78,0.00,0.00,0.037,0.000,0.000,212,2426,1153,-6.84,0.74,526.17
$IRIDIUM_FIX,2248.70,12601.64,291010,191916
$TT8_MAMPS,0.025466
$HUMID,48.26
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.7,44.184
$10V_AH,9.9,53.179
$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,18.475,120.850,543.550,0.000,0.000,24.965,45.382,165.405,0.000,0.000,15.407,3045.089,10753.151,632.197,2351.564,315.278,0.000,1793.188,0.000,2101.305,0.000,0.542,0.000
$DEVICE_MAMPS,229.500,46.665,1147.500,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,813.103,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331448
$DATA_FILE_SIZE,70216,1203
$CAP_FILE_SIZE,159413,0
$CFSIZE,260165632,225480704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087,332.1,1
$GPS,301010,043707,2256.598,12601.208,30,1.2,30,-3.3