version: 66.08
glider: 181
mission: 4
dive: 349
start: 11 2 110 21 48 43
data:
$ID,181
$MISSION,4
$DIVE,349
$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,-38287.605
$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,43
$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
$GPS1,021110,214237,2234.260,12558.438,31,0.9,31,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-63.1
$GPS2,021110,214819,2234.277,12558.428,10,0.9,15,-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,186.8,134682,-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,-136.3,0.0,0.0,0,48,0.00,0.00,-30.20,0.000,2,0.000,0.000,202,2412,2417,0,0,0,0,0,0
$GC,51,-0.79,-136.3,3.1,-3.3,5,108,7.97,2.22,-41.83,0.000,4,0.224,0.044,2164,983,3856,0,0,0,0,0,0
$GC,222,-0.71,-136.3,43.3,-34.0,34,229,0.15,2.15,0.00,0.000,6,0.164,0.033,2193,2401,3857,0,0,0,0,0,0
$GC,565,-0.67,-136.3,129.6,-17.8,95,572,0.00,2.12,0.00,0.000,4,0.000,0.041,2184,3781,3857,0,0,0,0,0,0
$GC,634,-0.67,-136.3,142.4,-16.6,107,642,0.00,2.08,0.00,0.000,6,0.000,0.024,2184,2383,3858,0,0,0,0,0,0
$GC,969,-0.64,-136.3,199.5,-16.9,142,974,0.12,2.17,0.00,0.000,4,0.158,0.041,2209,3779,3859,0,0,0,0,0,0
$GC,1004,-0.67,-136.3,204.4,-13.1,145,1008,0.00,2.03,0.00,0.000,6,0.000,0.025,2209,2394,3860,0,0,0,0,0,0
$GC,1329,-0.69,-136.3,248.4,-12.6,175,1332,0.00,2.05,0.00,0.000,4,0.000,0.030,2209,1004,3860,0,0,0,0,0,0
$GC,1375,-0.73,-136.3,254.3,-13.1,179,1379,0.00,2.10,0.00,0.000,6,0.000,0.032,2204,2405,3860,0,0,0,0,0,0
$GC,1700,-0.77,-136.3,291.3,-11.7,209,1704,0.00,2.10,0.00,0.000,4,0.000,0.042,2194,3775,3860,0,0,0,0,0,0
$GC,1778,-0.83,-136.3,300.8,-11.4,215,1787,0.10,2.03,0.00,0.000,6,0.093,0.024,2131,2398,3860,0,0,0,0,0,0
$GC,2106,-0.79,-136.3,359.1,-17.5,246,2110,0.15,2.15,0.00,0.000,4,0.156,0.041,2163,3777,3859,0,0,0,0,0,0
$GC,2157,-0.80,-136.3,366.7,-12.3,250,2161,0.00,2.03,0.00,0.000,6,0.000,0.025,2163,2405,3859,0,0,0,0,0,0
$GC,2489,-0.80,-136.3,408.9,-13.6,281,2493,0.00,2.15,0.00,0.000,4,0.000,0.042,2153,3787,3858,0,0,0,0,0,0
$GC,2529,-0.80,-136.3,414.7,-13.8,284,2533,0.00,2.08,0.00,0.000,6,0.000,0.026,2153,2391,3858,0,0,0,0,0,0
$GC,2854,-0.80,-136.3,459.1,-13.5,314,2858,0.00,2.05,0.00,0.000,4,0.000,0.031,2153,998,3856,0,0,0,0,0,0
$GC,2878,-0.80,-136.3,462.2,-13.7,316,2882,0.00,2.12,0.00,0.000,6,0.000,0.033,2151,2402,3856,0,0,0,0,0,0
$GC,3212,-0.80,-136.3,506.4,-13.3,345,3216,0.00,2.10,0.00,0.000,4,0.000,0.043,2141,3775,3854,0,0,0,0,0,0
$GC,3348,-0.82,-136.3,524.0,-13.3,351,3352,0.00,2.05,0.00,0.000,6,0.000,0.025,2142,2387,3853,0,0,0,0,0,0
$GC,3670,-0.82,-136.3,567.7,-14.0,367,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2384,3851,0,0,0,0,0,0
$GC,3999,-0.82,-136.3,609.8,-12.1,382,4003,0.00,2.17,0.00,0.000,4,0.000,0.044,2132,3784,3848,0,0,0,0,0,0
$GC,4050,-0.84,-136.3,615.6,-12.4,383,4054,0.00,2.05,0.00,0.000,6,0.000,0.027,2132,2403,3847,0,0,0,0,0,0
$GC,4368,-0.84,-136.3,654.6,-12.3,394,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2399,3844,0,0,0,0,0,0
$GC,4674,-0.84,-136.3,694.9,-13.2,404,4678,0.00,2.17,0.00,0.000,4,0.000,0.045,2121,3780,3841,0,0,0,0,0,0
$GC,4730,-0.85,-136.3,702.5,-13.1,405,4737,0.12,2.05,0.00,0.000,6,0.155,0.028,2154,2400,3840,0,0,0,0,0,0
$GC,5044,-0.88,-136.3,735.1,-10.0,416,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2397,3838,0,0,0,0,0,0
$GC,5349,-0.91,-136.3,766.3,-10.2,426,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2397,3835,0,0,0,0,0,0
$GC,5656,-0.94,-136.3,799.1,-10.7,436,5660,0.00,2.10,0.00,0.000,4,0.000,0.034,2154,995,3832,0,0,0,0,0,0
$GC,5713,-0.99,-136.3,805.2,-10.4,437,5720,0.15,2.17,0.00,0.000,6,0.082,0.034,2083,2405,3832,0,0,0,0,0,0
$GC,6027,-0.96,-136.3,852.8,-15.5,448,6032,0.12,2.17,0.00,0.000,4,0.178,0.047,2106,3777,3829,0,0,0,0,0,0
$GC,6144,-0.96,-136.3,868.9,-13.1,451,6148,0.00,2.08,0.00,0.000,6,0.000,0.028,2105,2392,3828,0,0,0,0,0,0
$GC,6463,-0.94,-136.3,912.0,-13.6,462,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2390,3826,0,0,0,0,0,0
$GC,6770,-0.93,-136.3,953.2,-13.5,472,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2390,3824,0,0,0,0,0,0
$GC,7076,-0.92,-136.3,994.6,-13.4,482,7080,0.00,2.20,0.00,0.000,4,0.000,0.047,2095,3775,3821,0,0,0,0,0,0
$GC,7108,-0.92,-136.3,999.5,-14.5,483,7113,0.08,2.10,0.00,0.000,6,0.142,0.028,2135,2401,3821,0,0,0,0,0,0
$STATE,7117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7117,begin apogee
$GC,7123,-0.16,0.0,1000.9,13.8,483,7236,0.73,0.00,104.95,1.144,6,0.125,0.000,2370,1984,3297,0,0,0,0,0,0
$STATE,7237,end apogee,CONTROL_FINISHED_OK
$STATE,7237,begin climb
$GC,7239,0.79,136.3,1006.3,0.0,487,7362,0.85,2.38,113.93,1.100,4,0.050,0.041,2689,3407,2742,0,0,0,0,0,0
$GC,7407,0.63,136.3,1002.8,14.4,491,7412,0.30,2.22,0.00,0.000,6,0.207,0.029,2630,2005,2737,0,0,0,0,0,0
$GC,7732,0.54,136.3,964.8,11.7,502,7734,0.12,0.00,0.00,0.000,6,0.203,0.000,2601,2005,2732,0,0,0,0,0,0
$GC,8039,0.48,137.9,931.7,11.0,512,8040,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2005,2729,0,0,0,0,0,0
$GC,8344,0.42,147.4,898.9,10.6,522,8359,0.15,2.22,8.62,1.013,4,0.190,0.039,2572,595,2696,0,0,0,0,0,0
$GC,8413,0.43,175.5,892.3,9.6,524,8446,0.00,2.15,24.65,1.017,6,0.000,0.031,2572,2008,2581,0,0,0,0,0,0
$GC,8753,0.43,187.9,856.6,10.4,535,8768,0.00,2.20,10.65,0.971,4,0.000,0.041,2572,3402,2534,0,0,0,0,0,0
$GC,8815,0.40,187.9,849.3,11.8,537,8819,0.00,2.15,0.00,0.000,6,0.000,0.030,2582,1997,2532,0,0,0,0,0,0
$GC,9151,0.39,200.3,813.3,10.4,548,9171,0.12,2.30,12.00,0.975,4,0.181,0.042,2552,3407,2481,0,0,0,0,0,0
$GC,9199,0.40,215.0,808.3,10.3,549,9219,0.00,2.15,14.02,0.926,6,0.000,0.030,2560,1996,2420,0,0,0,0,0,0
$GC,9558,0.44,240.3,774.7,9.7,561,9589,0.00,2.28,21.80,0.975,4,0.000,0.039,2571,591,2318,0,0,0,0,0,0
$GC,9641,0.48,258.8,766.0,10.1,563,9663,0.00,2.17,16.80,0.918,6,0.000,0.031,2571,1999,2243,0,0,0,0,0,0
$GC,9996,0.49,259.1,726.5,11.1,575,9999,0.00,2.20,0.00,0.000,4,0.000,0.041,2571,3409,2236,0,0,0,0,0,0
$GC,10027,0.49,259.1,722.2,12.8,576,10032,0.00,2.20,0.00,0.000,6,0.000,0.029,2582,2002,2235,0,0,0,0,0,0
$GC,10364,0.49,263.5,685.0,10.9,587,10370,0.00,0.00,4.18,0.692,6,0.000,0.000,2582,1999,2223,0,0,0,0,0,0
$GC,10669,0.49,263.5,650.6,11.5,597,10671,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1998,2222,0,0,0,0,0,0
$GC,10976,0.49,263.5,612.0,13.3,607,10980,0.00,2.17,0.00,0.000,4,0.000,0.041,2593,593,2222,0,0,0,0,0,0
$GC,11014,0.50,263.5,606.7,12.9,608,11018,0.00,2.15,0.00,0.000,6,0.000,0.031,2593,2003,2222,0,0,0,0,0,0
$GC,11341,0.50,263.5,563.3,12.7,623,11342,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2003,2221,0,0,0,0,0,0
$GC,11650,0.50,263.5,525.9,12.2,638,11651,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2003,2220,0,0,0,0,0,0
$GC,11963,0.52,279.6,491.9,10.2,656,11983,0.00,2.25,14.68,0.855,4,0.000,0.043,2593,3400,2158,0,0,0,0,0,0
$GC,12007,0.52,279.6,486.8,11.3,660,12011,0.00,2.15,0.00,0.000,6,0.000,0.030,2603,1988,2156,0,0,0,0,0,0
$GC,12332,0.54,290.4,451.1,10.5,690,12348,0.00,2.17,10.50,0.801,4,0.000,0.041,2614,596,2113,0,0,0,0,0,0
$GC,12394,0.57,302.8,444.1,10.4,695,12411,0.00,2.15,11.80,0.715,6,0.000,0.031,2614,2003,2062,0,0,0,0,0,0
$GC,12731,0.57,302.8,404.2,11.4,726,12733,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2004,2058,0,0,0,0,0,0
$GC,13053,0.57,302.8,364.4,12.0,756,13057,0.00,2.17,0.00,0.000,4,0.000,0.040,2624,589,2057,0,0,0,0,0,0
$GC,13091,0.58,302.8,359.2,12.9,759,13099,0.00,2.17,0.00,0.000,6,0.000,0.031,2625,2010,2057,0,0,0,0,0,0
$GC,13416,0.58,302.8,318.6,12.7,790,13417,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2011,2057,0,0,0,0,0,0
$GC,13738,0.58,302.8,279.8,12.9,820,13742,0.00,2.15,0.00,0.000,4,0.000,0.042,2624,3406,2057,0,0,0,0,0,0
$GC,13781,0.58,302.8,273.2,14.0,823,13790,0.00,2.17,0.00,0.000,6,0.000,0.029,2634,1993,2056,0,0,0,0,0,0
$GC,14107,0.58,307.6,234.8,10.8,854,14120,0.00,2.17,4.50,0.504,4,0.000,0.039,2645,585,2044,0,0,0,0,0,0
$GC,14171,0.58,307.6,227.5,11.3,859,14179,0.12,2.12,0.00,0.000,6,0.155,0.030,2612,2001,2044,0,0,0,0,0,0
$GC,14497,0.67,354.1,198.5,8.6,890,14542,0.00,2.17,38.53,0.662,4,0.000,0.036,2620,596,1852,0,0,0,0,0,0
$GC,14596,0.77,382.8,189.7,9.5,898,14627,0.15,2.15,23.23,0.575,6,0.079,0.029,2690,2012,1736,0,0,0,0,0,0
$GC,14951,0.76,382.8,135.8,13.9,940,14958,0.00,2.17,0.00,0.000,4,0.000,0.037,2700,593,1731,0,0,0,0,0,0
$GC,14970,0.75,382.8,133.0,13.3,943,14979,0.12,2.12,0.00,0.000,6,0.151,0.029,2666,2001,1731,0,0,0,0,0,0
$GC,15318,0.82,412.2,94.6,9.5,1004,15349,0.00,2.17,23.45,0.581,4,0.000,0.037,2675,595,1617,0,0,0,0,0,0
$GC,15373,0.93,460.8,89.1,8.4,1013,15418,0.15,2.12,38.67,0.558,6,0.076,0.029,2745,2000,1419,0,0,0,0,0,0
$GC,15757,0.91,460.8,33.0,15.2,1080,15763,0.00,2.17,0.00,0.000,4,0.000,0.036,2755,587,1413,0,0,0,0,0,0
$GC,15836,0.90,460.8,20.7,15.0,1094,15844,0.15,2.12,0.00,0.000,6,0.149,0.030,2714,2000,1412,0,0,0,0,0,0
$STATE,15972,end climb,SURFACE_DEPTH_REACHED
$STATE,15972,begin surface coast
$FINISH,1.5,1.022232
$STATE,16000,end surface coast,CONTROL_FINISHED_OK
$STATE,16000,begin surface
$SM_CCo,16077,0.00,0.000,0,0,1408,463.37
$SM_GC,2.17,6.45,0.00,0.00,0.031,0.000,0.000,210,2427,1408,-6.84,0.76,463.37
$IRIDIUM_FIX,2225.34,12556.67,021110,171742
$TT8_MAMPS,0.025466
$HUMID,50.35
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.7,47.056
$10V_AH,9.9,54.736
$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,18.400,130.075,496.950,0.000,0.000,23.537,16.797,151.606,0.000,0.000,17.905,2890.098,10430.850,582.375,2179.684,327.677,0.000,1693.057,0.000,1977.523,0.000,0.542,0.000
$DEVICE_MAMPS,224.145,46.665,1143.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,761.267,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66908,1123
$CAP_FILE_SIZE,157433,0
$CFSIZE,260165632,223936512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.025,  0.0,1
$GPS,031110,021800,2232.209,12558.066,37,1.0,42,-3.2