version: 66.08
glider: 181
mission: 4
dive: 356
start: 11 4 110 6 40 8
data:
$ID,181
$MISSION,4
$DIVE,356
$N_DIVES,370
$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,-38297.711
$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,46
$R_STBD_OVSHOOT,32
$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
$GPS1,041110,063401,2223.805,12556.374,42,0.9,42,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-60.6
$GPS2,041110,063943,2223.855,12556.276,12,1.3,12,-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,163.5,115609,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.79,-136.3,0.0,0.0,0,60,0.00,0.00,-43.15,0.000,2,0.000,0.000,203,2394,2611,0,0,0,0,0,0
$GC,63,-0.79,-136.3,3.3,-4.0,7,114,8.15,2.15,-32.95,0.000,4,0.230,0.046,2165,986,3856,0,0,0,0,0,0
$GC,172,-0.71,-136.3,25.7,-27.1,25,180,0.15,2.20,0.00,0.000,6,0.164,0.034,2194,2409,3857,0,0,0,0,0,0
$GC,518,-0.68,-136.3,106.3,-17.1,86,525,0.00,2.12,0.00,0.000,4,0.000,0.031,2194,985,3857,0,0,0,0,0,0
$GC,554,-0.68,-136.3,112.2,-16.2,92,561,0.00,2.17,0.00,0.000,6,0.000,0.033,2188,2405,3858,0,0,0,0,0,0
$GC,896,-0.66,-136.3,171.0,-15.9,142,900,0.00,2.12,0.00,0.000,4,0.000,0.042,2177,3781,3860,0,0,0,0,0,0
$GC,1027,-0.66,-136.3,190.2,-12.9,153,1031,0.12,2.05,0.00,0.000,6,0.143,0.024,2211,2377,3860,0,0,0,0,0,0
$GC,1354,-0.70,-136.3,230.3,-12.5,183,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2375,3861,0,0,0,0,0,0
$GC,1682,-0.74,-136.3,269.9,-11.9,214,1685,0.00,2.00,0.00,0.000,4,0.000,0.031,2212,1008,3860,0,0,0,0,0,0
$GC,1709,-0.79,-136.3,273.5,-11.4,216,1717,0.10,2.12,0.00,0.000,6,0.093,0.032,2151,2411,3861,0,0,0,0,0,0
$GC,2036,-0.77,-136.3,327.4,-17.4,247,2040,0.00,2.10,0.00,0.000,4,0.000,0.042,2140,3788,3860,0,0,0,0,0,0
$GC,2075,-0.77,-136.3,334.1,-16.6,250,2080,0.12,2.03,0.00,0.000,6,0.149,0.024,2174,2407,3860,0,0,0,0,0,0
$GC,2400,-0.77,-136.3,379.6,-13.0,280,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2404,3859,0,0,0,0,0,0
$GC,2722,-0.79,-136.3,418.5,-11.4,310,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2404,3858,0,0,0,0,0,0
$GC,3049,-0.81,-136.3,456.0,-11.7,341,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2404,3856,0,0,0,0,0,0
$GC,3379,-0.84,-136.3,493.5,-10.8,372,3383,0.00,2.08,0.00,0.000,4,0.000,0.032,2174,1003,3854,0,0,0,0,0,0
$GC,3397,-0.88,-136.3,495.9,-11.4,373,3401,0.00,2.12,0.00,0.000,6,0.000,0.034,2167,2399,3855,0,0,0,0,0,0
$GC,3725,-0.90,-136.3,531.6,-10.8,390,3729,0.00,2.17,0.00,0.000,4,0.000,0.045,2157,3784,3853,0,0,0,0,0,0
$GC,3803,-0.94,-136.3,540.4,-10.9,393,3808,0.12,2.05,0.00,0.000,6,0.083,0.027,2091,2396,3852,0,0,0,0,0,0
$GC,4120,-0.90,-136.3,590.6,-15.8,408,4122,0.15,0.00,0.00,0.000,6,0.168,0.000,2132,2393,3850,0,0,0,0,0,0
$GC,4446,-0.90,-136.3,630.9,-11.9,420,4450,0.00,2.08,0.00,0.000,4,0.000,0.033,2132,1001,3847,0,0,0,0,0,0
$GC,4468,-0.90,-136.3,633.8,-12.7,420,4472,0.00,2.15,0.00,0.000,6,0.000,0.034,2123,2401,3847,0,0,0,0,0,0
$GC,4781,-0.89,-136.3,673.4,-13.1,430,4785,0.00,2.15,0.00,0.000,4,0.000,0.045,2113,3778,3844,0,0,0,0,0,0
$GC,4836,-0.89,-136.3,681.2,-12.4,431,4843,0.00,2.08,0.00,0.000,6,0.000,0.027,2113,2412,3844,0,0,0,0,0,0
$GC,5151,-0.87,-136.3,727.5,-15.1,442,5152,0.12,0.00,0.00,0.000,6,0.163,0.000,2146,2410,3841,0,0,0,0,0,0
$GC,5456,-0.89,-136.3,764.8,-11.9,452,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2410,3839,0,0,0,0,0,0
$GC,5762,-0.91,-136.3,799.2,-11.3,462,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2410,3837,0,0,0,0,0,0
$GC,6070,-0.94,-136.3,831.0,-10.2,472,6073,0.00,2.15,0.00,0.000,4,0.000,0.034,2146,991,3833,0,0,0,0,0,0
$GC,6120,-0.98,-136.3,836.2,-10.2,473,6124,0.00,2.17,0.00,0.000,6,0.000,0.034,2138,2408,3833,0,0,0,0,0,0
$GC,6434,-1.00,-136.3,869.3,-10.6,483,6438,0.10,2.15,0.00,0.000,4,0.100,0.047,2081,3777,3831,0,0,0,0,0,0
$GC,6463,-0.98,-136.3,872.9,-13.5,484,6467,0.00,2.08,0.00,0.000,6,0.000,0.028,2081,2393,3831,0,0,0,0,0,0
$GC,6799,-0.94,-136.3,922.7,-14.6,495,6801,0.15,0.00,0.00,0.000,6,0.177,0.000,2120,2388,3828,0,0,0,0,0,0
$GC,7105,-0.94,-136.3,958.6,-11.7,505,7106,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2388,3827,0,0,0,0,0,0
$GC,7410,-0.94,-136.3,995.3,-12.2,515,7414,0.00,2.12,0.00,0.000,4,0.000,0.035,2120,997,3825,0,0,0,0,0,0
$STATE,7447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7447,begin apogee
$GC,7454,-0.16,0.0,1000.4,12.4,516,7566,0.80,0.00,105.97,1.141,6,0.132,0.000,2366,2009,3298,0,0,0,0,0,0
$STATE,7567,end apogee,CONTROL_FINISHED_OK
$STATE,7567,begin climb
$GC,7569,0.79,136.3,1005.5,0.0,519,7692,0.88,2.33,114.28,1.100,4,0.055,0.038,2699,605,2741,0,0,0,0,0,0
$GC,7749,0.64,136.3,1001.6,13.1,523,7754,0.28,2.25,0.00,0.000,6,0.191,0.033,2634,2002,2736,0,0,0,0,0,0
$GC,8062,0.55,136.3,965.1,11.4,533,8064,0.12,0.00,0.00,0.000,6,0.200,0.000,2604,2003,2730,0,0,0,0,0,0
$GC,8369,0.50,150.0,933.4,10.4,543,8385,0.00,2.22,10.85,1.035,4,0.000,0.041,2604,3414,2685,0,0,0,0,0,0
$GC,8442,0.42,150.0,924.8,13.3,545,8447,0.20,2.17,0.00,0.000,6,0.189,0.029,2564,1994,2684,0,0,0,0,0,0
$GC,8768,0.44,180.5,893.9,9.4,556,8801,0.00,2.20,25.98,1.047,4,0.000,0.038,2573,593,2563,0,0,0,0,0,0
$GC,8858,0.44,193.4,884.6,10.4,558,8876,0.00,2.20,12.65,0.952,6,0.000,0.032,2573,2003,2509,0,0,0,0,0,0
$GC,9208,0.43,193.4,843.4,11.8,570,9212,0.00,2.20,0.00,0.000,4,0.000,0.044,2573,3408,2504,0,0,0,0,0,0
$GC,9282,0.40,193.4,833.4,12.8,572,9286,0.00,2.17,0.00,0.000,6,0.000,0.030,2583,2000,2502,0,0,0,0,0,0
$GC,9607,0.38,193.4,793.7,12.1,583,9611,0.12,2.20,0.00,0.000,4,0.178,0.041,2562,592,2502,0,0,0,0,0,0
$GC,9675,0.39,202.3,786.3,10.6,585,9689,0.00,2.15,7.80,0.942,6,0.000,0.032,2562,2004,2473,0,0,0,0,0,0
$GC,10009,0.41,214.6,750.8,10.4,596,10027,0.00,2.28,11.75,0.936,4,0.000,0.044,2562,3406,2423,0,0,0,0,0,0
$GC,10120,0.41,214.6,737.9,11.6,599,10124,0.00,2.15,0.00,0.000,6,0.000,0.030,2572,2000,2421,0,0,0,0,0,0
$GC,10444,0.42,223.8,702.5,10.6,610,10458,0.00,2.22,9.02,0.898,4,0.000,0.041,2583,595,2385,0,0,0,0,0,0
$GC,10481,0.44,245.9,698.4,9.9,611,10511,0.00,2.15,19.95,0.900,6,0.000,0.031,2583,2002,2295,0,0,0,0,0,0
$GC,10814,0.44,245.9,660.8,11.3,622,10818,0.00,2.20,0.00,0.000,4,0.000,0.044,2583,3408,2290,0,0,0,0,0,0
$GC,10848,0.44,245.9,656.6,12.3,623,10852,0.00,2.15,0.00,0.000,6,0.000,0.030,2593,2002,2289,0,0,0,0,0,0
$GC,11183,0.43,245.9,617.6,11.5,634,11185,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1997,2288,0,0,0,0,0,0
$GC,11490,0.43,245.9,582.3,11.7,646,11494,0.00,2.17,0.00,0.000,4,0.000,0.041,2604,594,2288,0,0,0,0,0,0
$GC,11522,0.43,245.9,578.5,11.2,647,11530,0.15,2.17,0.00,0.000,6,0.158,0.031,2565,2025,2288,0,0,0,0,0,0
$GC,11840,0.51,285.3,548.6,9.0,663,11877,0.00,2.17,32.58,0.865,4,0.000,0.042,2564,3404,2134,0,0,0,0,0,0
$GC,11956,0.55,297.4,536.9,10.4,667,11973,0.00,2.20,11.18,0.768,6,0.000,0.030,2573,1992,2085,0,0,0,0,0,0
$GC,12302,0.62,324.5,503.9,9.6,684,12328,0.15,0.00,22.77,0.819,6,0.084,0.000,2640,1990,1974,0,0,0,0,0,0
$GC,12638,0.59,324.5,453.1,15.1,714,12639,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,1990,1968,0,0,0,0,0,0
$GC,12959,0.57,324.5,406.2,14.8,744,12964,0.12,2.17,0.00,0.000,4,0.171,0.040,2617,589,1967,0,0,0,0,0,0
$GC,13016,0.59,324.5,398.8,12.6,748,13023,0.00,2.17,0.00,0.000,6,0.000,0.031,2617,2003,1967,0,0,0,0,0,0
$GC,13343,0.59,324.5,358.2,12.0,779,13347,0.00,2.17,0.00,0.000,4,0.000,0.040,2627,594,1967,0,0,0,0,0,0
$GC,13372,0.60,324.5,354.5,12.6,781,13376,0.00,2.15,0.00,0.000,6,0.000,0.031,2628,2004,1966,0,0,0,0,0,0
$GC,13703,0.60,324.5,310.6,13.7,812,13704,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2006,1966,0,0,0,0,0,0
$GC,14024,0.60,326.2,273.9,11.0,842,14028,0.00,2.17,0.00,0.000,4,0.000,0.043,2628,3412,1966,0,0,0,0,0,0
$GC,14067,0.60,326.2,268.4,12.4,845,14074,0.00,2.15,0.00,0.000,6,0.000,0.029,2638,1979,1966,0,0,0,0,0,0
$GC,14393,0.60,326.2,231.0,11.6,876,14397,0.00,2.12,0.00,0.000,4,0.000,0.038,2649,588,1967,0,0,0,0,0,0
$GC,14504,0.60,326.2,218.5,11.3,885,14511,0.00,2.17,0.00,0.000,6,0.000,0.031,2649,2034,1967,0,0,0,0,0,0
$GC,14830,0.60,326.2,180.1,11.4,916,14831,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2035,1967,0,0,0,0,0,0
$GC,15150,0.63,346.4,147.7,10.0,948,15174,0.00,0.00,18.48,0.619,6,0.000,0.000,2649,2035,1885,0,0,0,0,0,0
$GC,15515,0.69,376.2,111.0,9.5,1012,15546,0.00,2.22,24.27,0.601,4,0.000,0.036,2659,593,1763,0,0,0,0,0,0
$GC,15666,0.83,437.7,96.5,7.7,1038,15723,0.00,2.12,48.22,0.568,6,0.000,0.029,2659,2001,1512,0,0,0,0,0,0
$GC,16058,1.01,512.8,66.7,7.0,1107,16126,0.25,2.28,57.80,0.563,4,0.055,0.038,2780,3409,1207,0,0,0,0,0,0
$GC,16172,0.98,512.8,46.1,20.6,1126,16180,0.17,2.17,0.00,0.000,6,0.157,0.028,2745,1988,1203,0,0,0,0,0,0
$STATE,16463,end climb,SURFACE_DEPTH_REACHED
$STATE,16463,begin surface coast
$FINISH,1.4,1.018673
$STATE,16488,end surface coast,CONTROL_FINISHED_OK
$STATE,16488,begin surface
$SM_CCo,16564,0.00,0.000,0,0,1198,515.13
$SM_GC,2.19,6.72,0.00,0.00,0.043,0.000,0.000,201,2408,1198,-6.85,0.23,515.13
$IRIDIUM_FIX,2223.01,12551.52,041110,010122
$TT8_MAMPS,0.025466
$HUMID,49.92
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.6,48.055
$10V_AH,9.9,55.286
$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,19.275,120.925,533.550,0.000,0.000,29.028,15.256,150.461,0.000,0.000,15.072,3013.813,10670.886,604.016,2282.347,327.031,0.000,1759.625,0.000,2070.503,0.000,0.541,0.000
$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,800.362,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70329,1182
$CAP_FILE_SIZE,159436,0
$CFSIZE,260165632,223391744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124,307.4,1
$GPS,041110,111751,2222.379,12556.034,41,2.9,60,-3.1