version: 66.08
glider: 181
mission: 4
dive: 345
start: 11 2 110 3 0 28
data:
$ID,181
$MISSION,4
$DIVE,345
$N_DIVES,351
$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,-38282.574
$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,41
$R_STBD_OVSHOOT,47
$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
$GPS1,021110,025007,2238.764,12558.558,27,1.9,27,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-66.0
$GPS2,021110,030003,2238.781,12558.432,13,2.1,32,-3.2
$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,174.4,143018,-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,17,-0.79,-136.3,0.0,0.0,0,60,0.00,0.00,-40.75,0.000,2,0.000,0.000,202,2424,2492,0,0,0,0,0,0
$GC,63,-0.79,-136.3,3.1,-3.6,7,114,8.25,2.25,-36.28,0.000,4,0.233,0.044,2161,984,3855,0,0,0,0,0,0
$GC,232,-0.71,-136.3,42.1,-27.0,36,240,0.15,2.17,0.00,0.000,6,0.171,0.034,2189,2397,3855,0,0,0,0,0,0
$GC,576,-0.67,-136.3,125.6,-18.7,97,583,0.00,2.12,0.00,0.000,4,0.000,0.042,2181,3783,3856,0,0,0,0,0,0
$GC,673,-0.66,-136.3,143.0,-17.7,114,680,0.12,2.08,0.00,0.000,6,0.151,0.024,2214,2387,3857,0,0,0,0,0,0
$GC,1011,-0.68,-136.3,190.2,-12.8,149,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2384,3857,0,0,0,0,0,0
$GC,1338,-0.71,-136.3,231.0,-12.3,180,1342,0.00,2.05,0.00,0.000,4,0.000,0.030,2214,987,3858,0,0,0,0,0,0
$GC,1365,-0.74,-136.3,234.6,-12.4,182,1372,0.00,2.15,0.00,0.000,6,0.000,0.031,2206,2408,3858,0,0,0,0,0,0
$GC,1690,-0.78,-136.3,271.2,-12.3,213,1694,0.00,2.10,0.00,0.000,4,0.000,0.042,2196,3774,3858,0,0,0,0,0,0
$GC,1753,-0.83,-136.3,278.4,-12.2,218,1757,0.12,2.03,0.00,0.000,6,0.080,0.024,2121,2392,3857,0,0,0,0,0,0
$GC,2083,-0.78,-136.3,338.6,-17.9,249,2088,0.17,2.08,0.00,0.000,4,0.155,0.030,2169,999,3857,0,0,0,0,0,0
$GC,2122,-0.80,-136.3,345.0,-14.5,252,2129,0.00,2.10,0.00,0.000,6,0.000,0.032,2162,2400,3857,0,0,0,0,0,0
$GC,2447,-0.80,-136.3,393.0,-15.5,283,2451,0.00,2.15,0.00,0.000,4,0.000,0.042,2152,3775,3855,0,0,0,0,0,0
$GC,2524,-0.82,-136.3,405.1,-14.7,289,2531,0.00,2.03,0.00,0.000,6,0.000,0.024,2152,2390,3855,0,0,0,0,0,0
$GC,2850,-0.82,-136.3,452.1,-12.7,320,2854,0.00,2.15,0.00,0.000,4,0.000,0.041,2141,3775,3854,0,0,0,0,0,0
$GC,2902,-0.83,-136.3,458.4,-11.5,324,2905,0.00,2.05,0.00,0.000,6,0.000,0.025,2141,2392,3853,0,0,0,0,0,0
$GC,3232,-0.83,-136.3,499.6,-12.9,355,3236,0.00,2.05,0.00,0.000,4,0.000,0.031,2141,1003,3851,0,0,0,0,0,0
$GC,3259,-0.83,-136.3,503.5,-13.2,357,3263,0.00,2.15,0.00,0.000,6,0.000,0.034,2137,2393,3851,0,0,0,0,0,0
$GC,3587,-0.83,-136.3,545.9,-12.9,373,3591,0.00,2.15,0.00,0.000,4,0.000,0.044,2127,3783,3849,0,0,0,0,0,0
$GC,3682,-0.83,-136.3,558.1,-12.3,377,3686,0.00,2.08,0.00,0.000,6,0.000,0.025,2127,2408,3848,0,0,0,0,0,0
$GC,4005,-0.82,-136.3,601.1,-13.2,393,4010,0.12,2.15,0.00,0.000,4,0.164,0.043,2152,3783,3845,0,0,0,0,0,0
$GC,4020,-0.82,-136.3,603.4,-12.8,393,4025,0.00,2.10,0.00,0.000,6,0.000,0.026,2152,2392,3845,0,0,0,0,0,0
$GC,4340,-0.84,-136.3,638.1,-11.1,404,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2389,3842,0,0,0,0,0,0
$GC,4646,-0.86,-136.3,670.1,-10.4,414,4650,0.00,2.08,0.00,0.000,4,0.000,0.033,2151,992,3839,0,0,0,0,0,0
$GC,4668,-0.89,-136.3,672.7,-10.8,414,4675,0.00,2.15,0.00,0.000,6,0.000,0.034,2148,2408,3839,0,0,0,0,0,0
$GC,4982,-0.91,-136.3,706.2,-10.6,425,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2408,3836,0,0,0,0,0,0
$GC,5288,-0.93,-136.3,741.3,-11.9,435,5292,0.00,2.12,0.00,0.000,4,0.000,0.046,2138,3775,3833,0,0,0,0,0,0
$GC,5327,-0.96,-136.3,746.3,-11.9,436,5331,0.00,2.05,0.00,0.000,6,0.000,0.027,2138,2392,3833,0,0,0,0,0,0
$GC,5663,-0.98,-136.3,787.2,-11.9,447,5667,0.00,2.08,0.00,0.000,4,0.000,0.034,2138,1001,3830,0,0,0,0,0,0
$GC,5708,-1.01,-136.3,792.7,-10.7,448,5712,0.12,2.15,0.00,0.000,6,0.087,0.036,2082,2406,3829,0,0,0,0,0,0
$GC,6026,-0.97,-136.3,839.6,-14.6,459,6030,0.12,2.17,0.00,0.000,4,0.181,0.047,2104,3781,3827,0,0,0,0,0,0
$GC,6076,-0.97,-136.3,846.2,-12.0,460,6080,0.00,2.08,0.00,0.000,6,0.000,0.028,2104,2394,3827,0,0,0,0,0,0
$GC,6394,-0.95,-136.3,886.0,-12.6,471,6396,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2392,3825,0,0,0,0,0,0
$GC,6701,-0.94,-136.3,926.6,-13.6,481,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2391,3822,0,0,0,0,0,0
$GC,7007,-0.93,-136.3,969.1,-13.8,491,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2392,3821,0,0,0,0,0,0
$STATE,7249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7249,begin apogee
$GC,7255,-0.16,0.0,1001.9,13.2,499,7366,0.85,0.00,103.97,1.143,6,0.136,0.000,2369,1973,3299,0,0,0,0,0,0
$STATE,7366,end apogee,CONTROL_FINISHED_OK
$STATE,7367,begin climb
$GC,7369,0.79,136.3,1006.3,0.0,502,7491,0.85,2.28,113.60,1.103,4,0.048,0.038,2700,617,2742,0,0,0,0,0,0
$GC,7592,0.65,136.3,993.1,16.3,509,7597,0.25,2.20,0.00,0.000,6,0.191,0.032,2640,2013,2735,0,0,0,0,0,0
$GC,7911,0.55,136.3,951.5,13.0,520,7916,0.15,2.20,0.00,0.000,4,0.199,0.043,2603,3410,2731,0,0,0,0,0,0
$GC,7984,0.46,136.3,942.6,11.9,522,7989,0.15,2.12,0.00,0.000,6,0.199,0.028,2579,2016,2729,0,0,0,0,0,0
$GC,8309,0.47,177.6,912.8,8.8,533,8344,0.00,0.00,33.50,1.070,6,0.000,0.000,2578,2016,2573,0,0,0,0,0,0
$GC,8645,0.46,188.2,877.9,10.5,544,8657,0.00,0.00,9.70,0.981,6,0.000,0.000,2578,2015,2530,0,0,0,0,0,0
$GC,8951,0.45,188.2,842.7,11.7,554,8955,0.00,2.20,0.00,0.000,4,0.000,0.041,2579,3411,2526,0,0,0,0,0,0
$GC,8986,0.41,188.2,838.3,13.1,555,8990,0.00,2.17,0.00,0.000,6,0.000,0.029,2587,1995,2525,0,0,0,0,0,0
$GC,9322,0.38,188.2,799.2,11.7,566,9323,0.15,0.00,0.00,0.000,6,0.177,0.000,2550,1994,2524,0,0,0,0,0,0
$GC,9628,0.43,217.3,770.2,9.5,576,9657,0.00,0.00,24.58,0.997,6,0.000,0.000,2550,1994,2412,0,0,0,0,0,0
$GC,9964,0.50,254.6,739.1,9.1,587,9998,0.12,0.00,31.98,0.968,6,0.095,0.000,2602,1994,2259,0,0,0,0,0,0
$GC,10300,0.48,254.6,695.0,13.4,598,10301,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1994,2252,0,0,0,0,0,0
$GC,10606,0.47,254.6,653.3,13.4,608,10608,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1993,2251,0,0,0,0,0,0
$GC,10912,0.45,254.6,613.5,12.7,618,10913,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1994,2249,0,0,0,0,0,0
$GC,11221,0.44,254.6,575.2,12.6,631,11226,0.12,2.17,0.00,0.000,4,0.170,0.039,2580,592,2248,0,0,0,0,0,0
$GC,11270,0.47,260.9,569.3,10.8,633,11283,0.00,2.15,4.90,0.725,6,0.000,0.031,2579,2011,2234,0,0,0,0,0,0
$GC,11594,0.50,271.6,534.5,10.5,649,11609,0.00,2.20,10.60,0.855,4,0.000,0.041,2580,3411,2191,0,0,0,0,0,0
$GC,11655,0.50,271.6,527.2,12.3,651,11659,0.00,2.15,0.00,0.000,6,0.000,0.029,2590,1996,2189,0,0,0,0,0,0
$GC,11976,0.53,284.5,492.4,10.4,669,11993,0.00,2.22,12.10,0.819,4,0.000,0.040,2601,598,2138,0,0,0,0,0,0
$GC,12063,0.54,284.5,482.1,11.5,676,12067,0.00,2.12,0.00,0.000,6,0.000,0.030,2601,2000,2136,0,0,0,0,0,0
$GC,12388,0.54,284.5,443.0,12.0,706,12389,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2001,2134,0,0,0,0,0,0
$GC,12709,0.56,298.4,408.9,10.3,736,12727,0.00,0.00,12.68,0.795,6,0.000,0.000,2601,2001,2080,0,0,0,0,0,0
$GC,13047,0.58,299.9,371.6,11.0,768,13051,0.00,2.17,0.00,0.000,4,0.000,0.038,2612,596,2078,0,0,0,0,0,0
$GC,13108,0.60,299.9,364.0,12.7,773,13112,0.00,2.15,0.00,0.000,6,0.000,0.031,2612,2006,2078,0,0,0,0,0,0
$GC,13440,0.61,299.9,324.2,11.3,804,13444,0.00,2.15,0.00,0.000,4,0.000,0.042,2611,3402,2077,0,0,0,0,0,0
$GC,13506,0.61,299.9,316.3,11.9,809,13513,0.00,2.15,0.00,0.000,6,0.000,0.028,2622,2002,2077,0,0,0,0,0,0
$GC,13832,0.63,315.9,281.8,10.2,840,13855,0.00,2.17,15.32,0.734,4,0.000,0.039,2632,597,2009,0,0,0,0,0,0
$GC,13916,0.65,315.9,272.1,11.4,847,13924,0.00,2.12,0.00,0.000,6,0.000,0.030,2632,2006,2008,0,0,0,0,0,0
$GC,14242,0.65,315.9,232.6,12.3,878,14245,0.00,2.15,0.00,0.000,4,0.000,0.041,2633,3405,2007,0,0,0,0,0,0
$GC,14285,0.65,315.9,226.6,13.3,881,14292,0.00,2.15,0.00,0.000,6,0.000,0.028,2642,2002,2007,0,0,0,0,0,0
$GC,14611,0.65,315.9,188.0,12.5,912,14615,0.00,2.15,0.00,0.000,4,0.000,0.039,2653,595,2007,0,0,0,0,0,0
$GC,14677,0.66,315.9,179.8,11.7,917,14684,0.00,2.10,0.00,0.000,6,0.000,0.029,2654,2001,2007,0,0,0,0,0,0
$GC,15006,0.67,318.4,144.3,11.0,952,15012,0.00,2.15,0.00,0.000,4,0.000,0.041,2653,3404,2008,0,0,0,0,0,0
$GC,15047,0.67,318.4,139.5,12.0,959,15056,0.00,2.12,3.75,0.399,6,0.000,0.028,2664,1995,1999,0,0,0,0,0,0
$GC,15396,0.72,352.8,102.5,9.2,1020,15433,0.00,2.17,28.67,0.604,4,0.000,0.037,2675,591,1858,0,0,0,0,0,0
$GC,15504,0.77,371.7,92.1,10.1,1038,15525,0.00,2.15,15.88,0.570,6,0.000,0.030,2675,2001,1782,0,0,0,0,0,0
$GC,15864,0.89,428.3,62.1,8.0,1101,15915,0.10,2.28,44.03,0.568,4,0.096,0.039,2734,3411,1551,0,0,0,0,0,0
$GC,16000,0.89,428.3,44.3,15.3,1124,16008,0.12,2.15,0.00,0.000,6,0.163,0.027,2713,1993,1548,0,0,0,0,0,0
$STATE,16338,end climb,SURFACE_DEPTH_REACHED
$STATE,16338,begin surface coast
$FINISH,1.4,1.022042
$STATE,16361,end surface coast,CONTROL_FINISHED_OK
$STATE,16361,begin surface
$SM_CCo,16438,0.00,0.000,0,0,1544,430.26
$SM_GC,2.54,6.60,0.00,0.00,0.041,0.000,0.000,197,2428,1544,-6.85,0.79,430.26
$IRIDIUM_FIX,2234.68,12602.67,021110,020222
$TT8_MAMPS,0.026215
$HUMID,50.07
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.7,46.495
$10V_AH,9.9,54.427
$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,18.675,120.950,465.250,0.000,0.000,59.844,55.600,216.832,0.000,0.000,35.914,3026.567,10713.585,566.123,2396.993,322.978,0.000,1669.432,0.000,2008.149,0.000,0.541,0.000
$DEVICE_MAMPS,232.560,46.665,1142.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,805.017,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70199,1188
$CAP_FILE_SIZE,158502,0
$CFSIZE,260165632,224239616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109,313.1,1
$GPS,021110,073536,2237.217,12557.910,30,1.0,30,-3.2