version: 66.08
glider: 181
mission: 4
dive: 354
start: 11 3 110 21 2 51
data:
$ID,181
$MISSION,4
$DIVE,354
$N_DIVES,363
$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,-38293.887
$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,44
$R_STBD_OVSHOOT,57
$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
$GPS1,031110,205631,2227.640,12557.426,39,1.4,39,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-67.0
$GPS2,031110,210226,2227.673,12557.400,12,1.6,12,-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,183.5,122542,-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,-136.3,0.0,0.0,0,48,0.00,0.00,-30.02,0.000,2,0.000,0.000,196,2430,2348,0,0,0,0,0,0
$GC,51,-0.79,-136.3,3.1,-3.4,5,115,8.18,2.17,-46.83,0.000,4,0.230,0.042,2165,991,3854,0,0,0,0,0,0
$GC,229,-0.71,-136.3,40.6,-25.9,35,237,0.15,2.12,0.00,0.000,6,0.161,0.034,2195,2381,3855,0,0,0,0,0,0
$GC,573,-0.66,-136.3,125.8,-19.3,96,579,0.00,2.17,0.00,0.000,4,0.000,0.041,2187,3786,3856,0,0,0,0,0,0
$GC,681,-0.66,-136.3,143.6,-14.4,115,688,0.00,2.05,0.00,0.000,6,0.000,0.024,2186,2388,3856,0,0,0,0,0,0
$GC,1010,-0.63,-136.3,196.1,-14.7,149,1012,0.12,0.00,0.00,0.000,6,0.159,0.000,2219,2385,3858,0,0,0,0,0,0
$GC,1330,-0.67,-136.3,232.1,-11.1,179,1334,0.00,2.03,0.00,0.000,4,0.000,0.030,2220,1005,3858,0,0,0,0,0,0
$GC,1369,-0.73,-136.3,236.9,-11.1,182,1377,0.00,2.10,0.00,0.000,6,0.000,0.032,2219,2408,3858,0,0,0,0,0,0
$GC,1696,-0.78,-136.3,269.1,-8.9,213,1700,0.12,2.12,0.00,0.000,4,0.080,0.042,2139,3778,3858,0,0,0,0,0,0
$GC,1746,-0.78,-136.3,276.1,-15.2,217,1751,0.12,2.05,0.00,0.000,6,0.151,0.024,2172,2390,3858,0,0,0,0,0,0
$GC,2073,-0.78,-136.3,324.3,-15.1,247,2076,0.00,2.03,0.00,0.000,4,0.000,0.030,2173,1006,3857,0,0,0,0,0,0
$GC,2096,-0.78,-136.3,327.9,-14.6,249,2100,0.00,2.12,0.00,0.000,6,0.000,0.032,2164,2406,3857,0,0,0,0,0,0
$GC,2421,-0.78,-136.3,373.0,-13.3,279,2425,0.00,2.10,0.00,0.000,4,0.000,0.042,2154,3790,3856,0,0,0,0,0,0
$GC,2523,-0.80,-136.3,385.5,-11.2,288,2527,0.00,2.05,0.00,0.000,6,0.000,0.024,2154,2402,3856,0,0,0,0,0,0
$GC,2854,-0.80,-136.3,425.5,-12.7,319,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2399,3855,0,0,0,0,0,0
$GC,3174,-0.80,-136.3,466.3,-12.7,349,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2399,3854,0,0,0,0,0,0
$GC,3501,-0.80,-136.3,505.0,-11.7,378,3505,0.00,2.15,0.00,0.000,4,0.000,0.044,2144,3777,3852,0,0,0,0,0,0
$GC,3523,-0.80,-136.3,508.1,-12.3,379,3528,0.00,2.05,0.00,0.000,6,0.000,0.026,2144,2396,3852,0,0,0,0,0,0
$GC,3853,-0.80,-136.3,549.8,-13.7,395,3856,0.00,2.05,0.00,0.000,4,0.000,0.032,2144,1007,3850,0,0,0,0,0,0
$GC,3868,-0.80,-136.3,552.6,-13.7,395,3876,0.08,2.15,0.00,0.000,6,0.138,0.034,2169,2398,3850,0,0,0,0,0,0
$GC,4186,-0.83,-136.3,589.0,-11.4,411,4190,0.00,2.08,0.00,0.000,4,0.000,0.031,2169,1002,3846,0,0,0,0,0,0
$GC,4208,-0.87,-136.3,591.8,-11.5,412,4212,0.00,2.12,0.00,0.000,6,0.000,0.034,2164,2405,3846,0,0,0,0,0,0
$GC,4529,-0.90,-136.3,627.8,-10.8,424,4533,0.00,2.15,0.00,0.000,4,0.000,0.045,2155,3786,3843,0,0,0,0,0,0
$GC,4630,-0.94,-136.3,638.2,-9.5,427,4633,0.00,2.05,0.00,0.000,6,0.000,0.027,2154,2400,3842,0,0,0,0,0,0
$GC,4961,-0.96,-136.3,673.0,-10.9,438,4962,0.12,0.00,0.00,0.000,6,0.088,0.000,2095,2396,3839,0,0,0,0,0,0
$GC,5267,-0.93,-136.3,719.5,-15.2,448,5269,0.12,0.00,0.00,0.000,6,0.167,0.000,2126,2396,3837,0,0,0,0,0,0
$GC,5571,-0.93,-136.3,759.7,-13.2,458,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2396,3834,0,0,0,0,0,0
$GC,5878,-0.93,-136.3,801.3,-13.6,468,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2396,3832,0,0,0,0,0,0
$GC,6185,-0.93,-136.3,840.8,-12.7,478,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2396,3830,0,0,0,0,0,0
$GC,6490,-0.93,-136.3,877.9,-12.0,488,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2396,3827,0,0,0,0,0,0
$GC,6796,-0.93,-136.3,914.6,-12.0,498,6800,0.00,2.17,0.00,0.000,4,0.000,0.047,2118,3776,3826,0,0,0,0,0,0
$GC,6818,-0.93,-136.3,917.6,-12.0,498,6826,0.00,2.08,0.00,0.000,6,0.000,0.029,2118,2394,3826,0,0,0,0,0,0
$GC,7131,-0.93,-136.3,956.3,-12.7,509,7135,0.00,2.10,0.00,0.000,4,0.000,0.035,2117,995,3824,0,0,0,0,0,0
$GC,7169,-0.94,-136.3,961.2,-11.9,510,7173,0.00,2.17,0.00,0.000,6,0.000,0.036,2111,2402,3823,0,0,0,0,0,0
$STATE,7490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7491,begin apogee
$GC,7497,-0.16,0.0,1001.0,12.4,521,7608,0.82,0.00,105.57,1.141,6,0.134,0.000,2368,1970,3297,0,0,0,0,0,0
$STATE,7609,end apogee,CONTROL_FINISHED_OK
$STATE,7609,begin climb
$GC,7611,0.79,136.3,1005.6,0.0,524,7735,0.85,2.22,114.18,1.100,4,0.047,0.037,2703,615,2742,0,0,0,0,0,0
$GC,7960,0.64,136.3,974.9,14.9,535,7965,0.28,2.17,0.00,0.000,6,0.190,0.033,2635,2014,2734,0,0,0,0,0,0
$GC,8284,0.55,138.0,937.9,11.0,546,8289,0.12,2.20,0.00,0.000,4,0.199,0.043,2605,3409,2731,0,0,0,0,0,0
$GC,8340,0.47,138.8,931.4,11.1,547,8348,0.15,2.15,0.00,0.000,6,0.197,0.030,2578,2012,2729,0,0,0,0,0,0
$GC,8653,0.48,183.9,903.6,8.6,558,8697,0.00,2.33,38.20,1.066,4,0.000,0.041,2579,3411,2549,0,0,0,0,0,0
$GC,8757,0.44,183.9,893.0,12.0,561,8761,0.00,2.20,0.00,0.000,6,0.000,0.029,2587,1988,2546,0,0,0,0,0,0
$GC,9087,0.42,187.5,857.0,10.9,572,9093,0.00,0.00,3.85,0.695,6,0.000,0.000,2587,1988,2533,0,0,0,0,0,0
$GC,9393,0.40,193.5,823.7,10.8,582,9407,0.12,2.33,6.70,0.927,4,0.185,0.043,2557,3411,2509,0,0,0,0,0,0
$GC,9427,0.41,206.6,820.0,10.4,583,9446,0.00,2.15,12.77,0.953,6,0.000,0.029,2566,2002,2455,0,0,0,0,0,0
$GC,9765,0.43,219.2,784.8,10.4,594,9779,0.00,0.00,11.60,0.951,6,0.000,0.000,2566,2002,2404,0,0,0,0,0,0
$GC,10072,0.43,223.0,751.7,10.9,604,10079,0.00,0.00,4.80,0.780,6,0.000,0.000,2566,2002,2388,0,0,0,0,0,0
$GC,10378,0.44,231.8,718.2,10.6,614,10389,0.00,0.00,9.02,0.923,6,0.000,0.000,2566,2002,2352,0,0,0,0,0,0
$GC,10685,0.48,251.8,687.2,10.0,624,10709,0.00,2.28,17.98,0.929,4,0.000,0.042,2566,3399,2270,0,0,0,0,0,0
$GC,10743,0.49,251.8,680.9,11.6,625,10750,0.00,2.17,0.00,0.000,6,0.000,0.030,2576,2001,2269,0,0,0,0,0,0
$GC,11056,0.49,251.8,645.5,11.7,636,11060,0.00,2.17,0.00,0.000,4,0.000,0.040,2587,587,2266,0,0,0,0,0,0
$GC,11111,0.49,251.8,638.7,12.1,637,11115,0.00,2.15,0.00,0.000,6,0.000,0.031,2586,2003,2266,0,0,0,0,0,0
$GC,11424,0.49,251.8,601.5,11.5,647,11428,0.00,2.17,0.00,0.000,4,0.000,0.043,2587,3406,2265,0,0,0,0,0,0
$GC,11479,0.49,251.8,594.4,12.7,649,11487,0.00,2.17,0.00,0.000,6,0.000,0.030,2597,1993,2264,0,0,0,0,0,0
$GC,11796,0.49,251.8,557.9,11.3,665,11800,0.00,2.15,0.00,0.000,4,0.000,0.040,2608,597,2265,0,0,0,0,0,0
$GC,11858,0.49,251.8,550.6,12.4,668,11862,0.00,2.15,0.00,0.000,6,0.000,0.031,2608,2009,2265,0,0,0,0,0,0
$GC,12191,0.48,251.8,510.3,12.1,684,12192,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2009,2264,0,0,0,0,0,0
$GC,12509,0.46,251.8,473.9,11.5,709,12516,0.12,0.00,0.00,0.000,6,0.172,0.000,2576,2011,2264,0,0,0,0,0,0
$GC,12836,0.55,306.9,446.1,8.1,740,12885,0.00,2.22,44.28,0.802,4,0.000,0.042,2576,3405,2047,0,0,0,0,0,0
$GC,12926,0.61,322.1,437.8,10.3,747,12945,0.10,2.17,13.65,0.709,6,0.099,0.030,2633,1999,1984,0,0,0,0,0,0
$GC,13263,0.59,322.1,388.4,15.3,779,13267,0.00,2.20,0.00,0.000,4,0.000,0.040,2644,591,1978,0,0,0,0,0,0
$GC,13317,0.59,322.1,379.8,15.1,783,13325,0.00,2.17,0.00,0.000,6,0.000,0.031,2644,2015,1977,0,0,0,0,0,0
$GC,13643,0.57,322.1,332.0,13.5,814,13648,0.12,2.17,0.00,0.000,4,0.174,0.041,2613,3411,1976,0,0,0,0,0,0
$GC,13683,0.57,322.1,326.7,12.9,817,13687,0.00,2.17,0.00,0.000,6,0.000,0.029,2621,1992,1975,0,0,0,0,0,0
$GC,14009,0.59,322.5,290.2,11.1,847,14013,0.00,2.17,0.00,0.000,4,0.000,0.039,2632,586,1975,0,0,0,0,0,0
$GC,14087,0.60,322.5,281.1,11.8,853,14093,0.00,2.15,0.00,0.000,6,0.000,0.031,2632,2000,1975,0,0,0,0,0,0
$GC,14412,0.60,322.5,243.0,11.2,884,14416,0.00,2.17,0.00,0.000,4,0.000,0.041,2632,3404,1975,0,0,0,0,0,0
$GC,14452,0.60,322.5,238.0,12.2,887,14456,0.00,2.15,0.00,0.000,6,0.000,0.029,2642,1989,1975,0,0,0,0,0,0
$GC,14777,0.60,322.5,197.1,12.3,917,14781,0.00,2.12,0.00,0.000,4,0.000,0.038,2653,597,1975,0,0,0,0,0,0
$GC,14867,0.61,322.5,186.3,11.8,924,14873,0.00,2.10,0.00,0.000,6,0.000,0.030,2653,2002,1976,0,0,0,0,0,0
$GC,15192,0.63,337.9,150.1,10.3,955,15211,0.00,2.22,13.30,0.597,4,0.000,0.041,2653,3401,1920,0,0,0,0,0,0
$GC,15347,0.63,338.0,133.3,11.1,981,15354,0.12,2.10,0.00,0.000,6,0.158,0.028,2630,2001,1919,0,0,0,0,0,0
$GC,15691,0.78,413.0,105.1,7.0,1042,15759,0.12,2.22,59.03,0.588,4,0.083,0.037,2701,597,1613,0,0,0,0,0,0
$GC,15886,0.84,447.4,84.1,9.2,1075,15922,0.00,2.12,27.50,0.567,6,0.000,0.028,2701,2003,1472,0,0,0,0,0,0
$GC,16262,0.88,447.4,43.6,11.9,1141,16269,0.00,2.15,0.00,0.000,4,0.000,0.040,2701,3398,1467,0,0,0,0,0,0
$GC,16287,0.90,447.4,40.3,13.6,1145,16294,0.00,2.12,0.00,0.000,6,0.000,0.028,2712,1999,1467,0,0,0,0,0,0
$STATE,16594,end climb,SURFACE_DEPTH_REACHED
$STATE,16595,begin surface coast
$FINISH,1.5,1.018827
$STATE,16620,end surface coast,CONTROL_FINISHED_OK
$STATE,16620,begin surface
$SM_CCo,16696,0.00,0.000,0,0,1466,449.39
$SM_GC,2.35,6.65,0.00,0.00,0.047,0.000,0.000,200,2408,1466,-6.85,0.23,449.39
$IRIDIUM_FIX,2218.34,12555.30,031110,161638
$TT8_MAMPS,0.025466
$HUMID,49.25
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.6,47.765
$10V_AH,9.9,55.127
$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,18.625,125.800,482.425,0.000,0.000,31.537,17.423,157.180,0.000,0.000,15.068,3068.990,10779.168,568.712,2310.174,317.232,0.000,1719.063,0.000,2084.492,0.000,0.541,0.000
$DEVICE_MAMPS,229.500,47.430,1141.380,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,816.006,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70164,1204
$CAP_FILE_SIZE,158938,0
$CFSIZE,260165632,223547392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047, 37.9,1
$GPS,041110,014225,2225.766,12557.475,40,1.3,40,-3.2