version: 66.08
glider: 181
mission: 4
dive: 376
start: 11 8 110 5 8 26
data:
$ID,181
$MISSION,4
$DIVE,376
$N_DIVES,379
$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,-38322.867
$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,37
$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
$GPS1,081110,045931,2146.304,12557.839,40,1.4,40,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-66.9
$GPS2,081110,050802,2146.320,12557.824,14,1.8,14,-3.0
$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,170.1,46149,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.79,-136.3,0.0,0.0,0,62,0.00,0.00,-42.20,0.000,2,0.000,0.000,197,2399,2588,0,0,0,0,0,0
$GC,65,-0.79,-136.3,3.4,-3.8,7,115,8.25,2.12,-34.83,0.000,4,0.232,0.043,2161,989,3854,0,0,0,0,0,0
$GC,205,-0.72,-136.3,31.2,-25.5,31,213,0.15,2.17,0.00,0.000,6,0.158,0.035,2190,2398,3855,0,0,0,0,0,0
$GC,549,-0.66,-136.3,117.3,-20.9,92,557,0.00,2.15,0.00,0.000,4,0.000,0.042,2181,3786,3856,0,0,0,0,0,0
$GC,620,-0.64,-136.3,130.8,-17.5,104,629,0.12,2.08,0.00,0.000,6,0.144,0.026,2215,2379,3857,0,0,0,0,0,0
$GC,961,-0.64,-136.3,179.3,-15.3,147,964,0.00,2.03,0.00,0.000,4,0.000,0.032,2216,1007,3858,0,0,0,0,0,0
$GC,1041,-0.69,-136.3,189.1,-11.3,154,1045,0.00,2.12,0.00,0.000,6,0.000,0.034,2208,2407,3858,0,0,0,0,0,0
$GC,1372,-0.72,-136.3,230.5,-11.5,185,1376,0.00,2.10,0.00,0.000,4,0.000,0.043,2198,3778,3858,0,0,0,0,0,0
$GC,1412,-0.76,-136.3,234.8,-10.3,188,1420,0.00,2.03,0.00,0.000,6,0.000,0.026,2198,2395,3858,0,0,0,0,0,0
$GC,1737,-0.78,-136.3,273.7,-13.3,219,1741,0.00,2.08,0.00,0.000,4,0.000,0.033,2198,1002,3858,0,0,0,0,0,0
$GC,1793,-0.84,-136.3,280.5,-10.6,223,1801,0.12,2.10,0.00,0.000,6,0.080,0.034,2126,2400,3858,0,0,0,0,0,0
$GC,2119,-0.79,-136.3,337.6,-17.5,254,2123,0.15,2.15,0.00,0.000,4,0.174,0.044,2156,3784,3857,0,0,0,0,0,0
$GC,2289,-0.81,-136.3,359.0,-11.5,269,2293,0.00,2.03,0.00,0.000,6,0.000,0.027,2156,2407,3856,0,0,0,0,0,0
$GC,2614,-0.81,-136.3,400.9,-12.8,299,2618,0.00,2.15,0.00,0.000,4,0.000,0.044,2146,3777,3855,0,0,0,0,0,0
$GC,2677,-0.82,-136.3,409.1,-12.9,304,2681,0.00,2.05,0.00,0.000,6,0.000,0.028,2146,2398,3855,0,0,0,0,0,0
$GC,3008,-0.82,-136.3,454.7,-13.9,335,3012,0.00,2.08,0.00,0.000,4,0.000,0.034,2146,995,3854,0,0,0,0,0,0
$GC,3029,-0.82,-136.3,457.9,-14.3,336,3037,0.00,2.12,0.00,0.000,6,0.000,0.036,2137,2397,3854,0,0,0,0,0,0
$GC,3364,-0.82,-136.3,506.6,-14.2,366,3368,0.00,2.15,0.00,0.000,4,0.000,0.046,2126,3780,3852,0,0,0,0,0,0
$GC,3475,-0.82,-136.3,522.2,-13.9,371,3480,0.12,2.05,0.00,0.000,6,0.154,0.029,2160,2397,3851,0,0,0,0,0,0
$GC,3797,-0.84,-136.3,559.4,-11.5,387,3800,0.00,2.17,0.00,0.000,4,0.000,0.047,2151,3778,3848,0,0,0,0,0,0
$GC,3830,-0.87,-136.3,563.6,-12.0,388,3838,0.00,2.05,0.00,0.000,6,0.000,0.029,2151,2401,3848,0,0,0,0,0,0
$GC,4147,-0.89,-136.3,599.7,-11.2,404,4150,0.00,2.10,0.00,0.000,4,0.000,0.036,2151,995,3845,0,0,0,0,0,0
$GC,4197,-0.92,-136.3,605.6,-11.0,406,4201,0.00,2.15,0.00,0.000,6,0.000,0.037,2143,2404,3845,0,0,0,0,0,0
$GC,4511,-0.94,-136.3,642.8,-12.1,416,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2405,3842,0,0,0,0,0,0
$GC,4816,-0.95,-136.3,680.3,-12.3,426,4820,0.00,2.15,0.00,0.000,4,0.000,0.049,2133,3777,3839,0,0,0,0,0,0
$GC,4899,-0.97,-136.3,690.7,-12.0,428,4903,0.00,2.08,0.00,0.000,6,0.000,0.031,2133,2404,3839,0,0,0,0,0,0
$GC,5218,-0.97,-136.3,730.8,-12.5,439,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2401,3835,0,0,0,0,0,0
$GC,5524,-0.97,-136.3,768.5,-12.4,449,5528,0.00,2.12,0.00,0.000,4,0.000,0.038,2134,995,3832,0,0,0,0,0,0
$GC,5540,-0.98,-136.3,770.6,-12.3,449,5545,0.00,2.17,0.00,0.000,6,0.000,0.039,2124,2410,3833,0,0,0,0,0,0
$GC,5854,-0.98,-136.3,808.9,-12.5,459,5858,0.00,2.17,0.00,0.000,4,0.000,0.050,2113,3783,3830,0,0,0,0,0,0
$GC,5922,-0.99,-136.3,817.5,-12.4,461,5926,0.00,2.10,0.00,0.000,6,0.000,0.031,2113,2393,3829,0,0,0,0,0,0
$GC,6251,-0.99,-136.3,863.3,-14.1,472,6252,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2389,3827,0,0,0,0,0,0
$GC,6558,-0.99,-136.3,905.1,-13.8,482,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2390,3825,0,0,0,0,0,0
$GC,6864,-0.99,-136.3,946.7,-13.4,492,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2390,3823,0,0,0,0,0,0
$GC,7170,-0.99,-136.3,986.2,-12.8,502,7174,0.00,2.12,0.00,0.000,4,0.000,0.041,2113,995,3821,0,0,0,0,0,0
$GC,7191,-0.99,-136.3,989.1,-13.4,502,7198,0.00,2.20,0.00,0.000,6,0.000,0.042,2110,2408,3821,0,0,0,0,0,0
$STATE,7288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7288,begin apogee
$GC,7294,-0.16,0.0,1001.5,12.8,506,7406,0.82,0.00,104.78,1.145,6,0.132,0.000,2369,1979,3297,0,0,0,0,0,0
$STATE,7406,end apogee,CONTROL_FINISHED_OK
$STATE,7406,begin climb
$GC,7409,0.79,136.3,1006.3,0.0,509,7533,0.85,2.35,113.90,1.105,4,0.047,0.043,2703,605,2741,0,0,0,0,0,0
$GC,7720,0.65,136.3,982.8,14.3,519,7725,0.28,2.20,0.00,0.000,6,0.190,0.038,2635,2008,2733,0,0,0,0,0,0
$GC,8056,0.55,137.8,944.9,11.0,530,8058,0.12,0.00,0.00,0.000,6,0.201,0.000,2605,2009,2730,0,0,0,0,0,0
$GC,8363,0.51,153.5,914.2,10.2,540,8383,0.00,2.28,13.43,1.043,4,0.000,0.048,2605,3401,2672,0,0,0,0,0,0
$GC,8416,0.43,153.5,907.7,12.5,541,8421,0.17,2.17,0.00,0.000,6,0.188,0.034,2572,2005,2671,0,0,0,0,0,0
$GC,8730,0.44,177.9,877.2,9.8,551,8759,0.00,0.00,21.65,1.034,6,0.000,0.000,2572,2005,2572,0,0,0,0,0,0
$GC,9065,0.55,282.3,849.8,5.4,562,9161,0.00,2.35,86.78,1.034,4,0.000,0.047,2572,3408,2146,0,0,0,0,0,0
$GC,9259,0.62,323.8,835.2,8.8,567,9300,0.12,2.22,35.08,0.991,6,0.090,0.034,2632,1992,1977,0,0,0,0,0,0
$GC,9604,0.63,329.1,799.0,10.8,579,9613,0.00,2.28,4.43,0.723,4,0.000,0.048,2632,3411,1956,0,0,0,0,0,0
$GC,9723,0.57,329.1,782.8,15.1,582,9728,0.12,2.17,0.00,0.000,6,0.191,0.035,2614,2006,1954,0,0,0,0,0,0
$GC,10048,0.56,329.1,739.4,13.5,593,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2006,1952,0,0,0,0,0,0
$GC,10354,0.54,329.1,697.5,13.4,603,10358,0.00,2.22,0.00,0.000,4,0.000,0.047,2614,3404,1951,0,0,0,0,0,0
$GC,10398,0.52,329.1,690.7,14.7,604,10402,0.12,2.15,0.00,0.000,6,0.174,0.034,2592,2001,1950,0,0,0,0,0,0
$GC,10716,0.52,329.1,651.1,12.9,615,10719,0.00,2.25,0.00,0.000,4,0.000,0.047,2592,3402,1949,0,0,0,0,0,0
$GC,10754,0.52,329.1,645.4,14.7,616,10758,0.00,2.15,0.00,0.000,6,0.000,0.034,2601,1999,1949,0,0,0,0,0,0
$GC,11084,0.52,329.1,600.5,13.3,627,11088,0.00,2.17,0.00,0.000,4,0.000,0.045,2612,588,1949,0,0,0,0,0,0
$GC,11116,0.52,329.1,596.0,13.5,628,11124,0.00,2.17,0.00,0.000,6,0.000,0.036,2612,2008,1949,0,0,0,0,0,0
$GC,11433,0.51,329.1,552.3,13.6,644,11435,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2009,1948,0,0,0,0,0,0
$GC,11742,0.50,329.1,507.6,14.6,659,11746,0.00,2.17,0.00,0.000,4,0.000,0.047,2612,3404,1948,0,0,0,0,0,0
$GC,11797,0.50,329.1,499.3,14.1,661,11805,0.12,2.17,0.00,0.000,6,0.165,0.034,2590,1996,1946,0,0,0,0,0,0
$GC,12123,0.52,329.1,461.2,11.7,692,12127,0.00,2.20,0.00,0.000,4,0.000,0.045,2600,588,1946,0,0,0,0,0,0
$GC,12179,0.55,329.1,454.3,11.4,696,12187,0.00,2.15,0.00,0.000,6,0.000,0.036,2600,2002,1947,0,0,0,0,0,0
$GC,12504,0.57,329.1,415.6,11.4,727,12506,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2002,1947,0,0,0,0,0,0
$GC,12828,0.60,337.8,380.1,10.6,757,12840,0.00,2.28,7.40,0.715,4,0.000,0.047,2600,3411,1921,0,0,0,0,0,0
$GC,12887,0.62,337.8,372.5,11.6,762,12891,0.00,2.17,0.00,0.000,6,0.000,0.033,2610,1987,1920,0,0,0,0,0,0
$GC,13218,0.65,344.3,335.7,10.8,793,13231,0.00,2.22,7.50,0.683,4,0.000,0.043,2621,591,1894,0,0,0,0,0,0
$GC,13317,0.70,357.6,324.5,10.4,801,13335,0.00,2.15,12.43,0.741,6,0.000,0.034,2621,2004,1840,0,0,0,0,0,0
$GC,13654,0.71,357.6,286.9,12.4,833,13656,0.10,0.00,0.00,0.000,6,0.106,0.000,2667,2004,1837,0,0,0,0,0,0
$GC,13972,0.69,357.6,239.1,14.3,863,13976,0.00,2.17,0.00,0.000,4,0.000,0.041,2678,590,1837,0,0,0,0,0,0
$GC,14043,0.69,357.6,229.2,12.2,869,14050,0.12,2.15,0.00,0.000,6,0.155,0.034,2645,2009,1837,0,0,0,0,0,0
$GC,14369,0.70,363.1,191.4,10.8,900,14382,0.00,2.17,6.10,0.542,4,0.000,0.043,2645,3411,1817,0,0,0,0,0,0
$GC,14422,0.72,368.4,185.1,10.8,904,14433,0.00,2.17,5.97,0.532,6,0.000,0.031,2654,1987,1795,0,0,0,0,0,0
$GC,14754,0.74,368.4,148.8,11.3,936,14762,0.00,2.15,0.00,0.000,4,0.000,0.041,2665,589,1795,0,0,0,0,0,0
$GC,14836,0.79,379.8,139.8,10.5,950,14855,0.00,2.15,10.93,0.578,6,0.000,0.033,2665,2003,1748,0,0,0,0,0,0
$GC,15193,0.94,461.5,107.4,6.6,1013,15266,0.17,2.25,63.90,0.579,4,0.070,0.042,2749,3411,1414,0,0,0,0,0,0
$GC,15341,0.92,461.5,86.5,15.9,1038,15349,0.15,2.20,0.00,0.000,6,0.159,0.031,2721,1992,1410,0,0,0,0,0,0
$GC,15690,0.94,461.5,41.2,14.6,1099,15697,0.00,2.12,0.00,0.000,4,0.000,0.040,2730,594,1408,0,0,0,0,0,0
$GC,15804,0.96,461.5,24.9,13.3,1119,15811,0.00,2.15,0.00,0.000,6,0.000,0.031,2729,2007,1408,0,0,0,0,0,0
$STATE,15967,end climb,SURFACE_DEPTH_REACHED
$STATE,15967,begin surface coast
$FINISH,1.4,1.012424
$STATE,15991,end surface coast,CONTROL_FINISHED_OK
$STATE,15991,begin surface
$SM_CCo,16068,0.00,0.000,0,0,1407,464.11
$SM_GC,2.23,6.55,0.00,0.00,0.036,0.000,0.000,199,2405,1407,-6.84,0.17,464.11
$IRIDIUM_FIX,2143.45,12559.25,081110,000040
$TT8_MAMPS,0.026215
$HUMID,49.37
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.6,50.921
$10V_AH,9.9,56.860
$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,18.775,134.925,494.250,0.000,0.000,64.110,59.928,160.555,0.000,0.000,16.954,2963.194,10281.056,589.402,2402.343,333.670,0.000,1750.365,0.000,2081.128,0.000,0.541,0.000
$DEVICE_MAMPS,231.795,49.725,1145.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,779.963,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,67014,1152
$CAP_FILE_SIZE,160945,0
$CFSIZE,260165632,221835264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.003,190.0,1
$GPS,081110,093736,2144.162,12558.255,37,0.8,42,-3.0