version: 66.08
glider: 181
mission: 4
dive: 288
start: 10 22 110 4 17 38
data:
$ID,181
$MISSION,4
$DIVE,288
$N_DIVES,300
$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,-38212.145
$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,44
$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
$GPS1,221010,041137,2338.660,12609.744,35,1.7,35,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-65.8
$GPS2,221010,041714,2338.715,12609.769,14,1.6,14,-3.5
$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,198.1,254366,-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,-136.3,0.0,0.0,0,61,0.00,0.00,-43.80,0.000,2,0.000,0.000,200,2423,2464,0,0,0,0,0,0
$GC,64,-0.79,-136.3,3.2,-4.9,7,114,7.95,0.00,-37.08,0.000,6,0.226,0.000,2161,2424,3856,0,0,0,0,0,0
$GC,453,-0.68,-136.3,118.0,-29.5,75,460,0.17,2.10,0.00,0.000,4,0.206,0.042,2196,3778,3858,0,0,0,0,0,0
$GC,578,-0.68,-136.3,141.4,-14.0,97,585,0.00,2.05,0.00,0.000,6,0.000,0.026,2196,2387,3859,0,0,0,0,0,0
$GC,913,-0.66,-136.3,198.8,-15.7,133,916,0.00,2.05,0.00,0.000,4,0.000,0.031,2197,1007,3860,0,0,0,0,0,0
$GC,937,-0.64,-136.3,202.7,-16.6,135,941,0.00,2.10,0.00,0.000,6,0.000,0.034,2189,2393,3860,0,0,0,0,0,0
$GC,1262,-0.63,-136.3,254.8,-15.0,165,1267,0.12,2.12,0.00,0.000,4,0.161,0.043,2213,3777,3860,0,0,0,0,0,0
$GC,1357,-0.69,-136.3,265.0,-9.7,173,1365,0.00,2.03,0.00,0.000,6,0.000,0.026,2213,2389,3860,0,0,0,0,0,0
$GC,1683,-0.72,-136.3,301.5,-11.3,204,1687,0.00,2.03,0.00,0.000,4,0.000,0.031,2213,1007,3859,0,0,0,0,0,0
$GC,1721,-0.77,-136.3,306.0,-10.4,207,1728,0.00,2.12,0.00,0.000,6,0.000,0.033,2205,2411,3859,0,0,0,0,0,0
$GC,2047,-0.80,-136.3,344.1,-11.7,238,2052,0.10,2.12,0.00,0.000,4,0.095,0.044,2137,3778,3858,0,0,0,0,0,0
$GC,2103,-0.77,-136.3,352.6,-15.7,242,2110,0.15,2.03,0.00,0.000,6,0.147,0.026,2179,2398,3858,0,0,0,0,0,0
$GC,2428,-0.77,-136.3,395.1,-12.5,273,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2395,3856,0,0,0,0,0,0
$GC,2750,-0.77,-136.3,435.0,-13.3,303,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2395,3855,0,0,0,0,0,0
$GC,3078,-0.79,-136.3,475.1,-11.7,334,3082,0.00,2.05,0.00,0.000,4,0.000,0.033,2178,1002,3853,0,0,0,0,0,0
$GC,3111,-0.82,-136.3,479.3,-11.6,336,3118,0.00,2.12,0.00,0.000,6,0.000,0.034,2172,2400,3853,0,0,0,0,0,0
$GC,3434,-0.84,-136.3,513.9,-10.6,361,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2401,3851,0,0,0,0,0,0
$GC,3742,-0.87,-136.3,550.0,-11.3,376,3746,0.00,2.12,0.00,0.000,4,0.000,0.045,2162,3775,3849,0,0,0,0,0,0
$GC,3766,-0.89,-136.3,552.8,-11.6,377,3769,0.00,2.03,0.00,0.000,6,0.000,0.028,2162,2401,3849,0,0,0,0,0,0
$GC,4094,-0.91,-136.3,593.6,-12.6,393,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2398,3847,0,0,0,0,0,0
$GC,4400,-0.93,-136.3,627.8,-10.6,404,4405,0.10,2.10,0.00,0.000,4,0.099,0.034,2108,997,3843,0,0,0,0,0,0
$GC,4429,-0.91,-136.3,631.3,-12.1,405,4434,0.12,2.15,0.00,0.000,6,0.169,0.036,2129,2398,3843,0,0,0,0,0,0
$GC,4764,-0.90,-136.3,674.8,-12.8,416,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2399,3840,0,0,0,0,0,0
$GC,5070,-0.90,-136.3,713.8,-12.4,426,5074,0.00,2.15,0.00,0.000,4,0.000,0.047,2121,3782,3838,0,0,0,0,0,0
$GC,5142,-0.90,-136.3,723.0,-12.4,428,5146,0.00,2.10,0.00,0.000,6,0.000,0.029,2121,2399,3837,0,0,0,0,0,0
$GC,5479,-0.89,-136.3,766.1,-12.9,439,5483,0.00,2.08,0.00,0.000,4,0.000,0.034,2121,1002,3834,0,0,0,0,0,0
$GC,5513,-0.89,-136.3,770.9,-13.6,440,5517,0.00,2.17,0.00,0.000,6,0.000,0.037,2110,2412,3834,0,0,0,0,0,0
$GC,5843,-0.86,-136.3,818.5,-14.7,451,5848,0.12,2.17,0.00,0.000,4,0.181,0.048,2133,3784,3831,0,0,0,0,0,0
$GC,5876,-0.87,-136.3,823.1,-13.2,452,5880,0.00,2.08,0.00,0.000,6,0.000,0.029,2133,2394,3831,0,0,0,0,0,0
$GC,6211,-0.87,-136.3,866.8,-13.1,463,6215,0.00,2.10,0.00,0.000,4,0.000,0.035,2133,988,3828,0,0,0,0,0,0
$GC,6255,-0.89,-136.3,872.6,-12.2,464,6259,0.00,2.20,0.00,0.000,6,0.000,0.037,2124,2408,3828,0,0,0,0,0,0
$GC,6574,-0.89,-136.3,914.0,-12.8,475,6577,0.00,2.15,0.00,0.000,4,0.000,0.049,2113,3775,3826,0,0,0,0,0,0
$GC,6628,-0.89,-136.3,921.1,-12.3,476,6636,0.00,2.10,0.00,0.000,6,0.000,0.030,2113,2406,3826,0,0,0,0,0,0
$GC,6943,-0.88,-136.3,960.7,-12.3,487,6947,0.00,2.17,0.00,0.000,4,0.000,0.050,2102,3776,3823,0,0,0,0,0,0
$GC,6959,-0.87,-136.3,963.2,-12.2,487,6964,0.15,2.08,0.00,0.000,6,0.156,0.030,2142,2387,3823,0,0,0,0,0,0
$GC,7278,-0.89,-136.3,993.6,-9.3,498,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2384,3821,0,0,0,0,0,0
$STATE,7366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7366,begin apogee
$GC,7373,-0.16,0.0,1002.3,9.4,501,7482,0.70,0.00,103.82,1.153,6,0.125,0.000,2370,1981,3297,0,0,0,0,0,0
$STATE,7483,end apogee,CONTROL_FINISHED_OK
$STATE,7483,begin climb
$GC,7485,0.79,136.3,1005.2,0.0,504,7607,0.85,2.30,112.68,1.108,4,0.047,0.041,2706,616,2741,0,0,0,0,0,0
$GC,7666,0.63,136.3,996.6,16.2,510,7671,0.30,2.22,0.00,0.000,6,0.194,0.035,2634,2011,2737,0,0,0,0,0,0
$GC,8002,0.53,136.3,950.4,13.1,521,8006,0.12,2.22,0.00,0.000,4,0.200,0.046,2604,3404,2731,0,0,0,0,0,0
$GC,8084,0.44,136.3,939.4,12.8,523,8089,0.17,2.12,0.00,0.000,6,0.200,0.031,2572,2011,2730,0,0,0,0,0,0
$GC,8398,0.44,166.0,909.5,9.5,533,8424,0.00,0.00,23.45,1.066,6,0.000,0.000,2572,2011,2621,0,0,0,0,0,0
$GC,8732,0.43,179.0,875.2,10.4,543,8750,0.00,2.30,11.70,1.004,4,0.000,0.044,2572,3411,2568,0,0,0,0,0,0
$GC,8824,0.39,179.0,864.3,12.3,545,8832,0.12,2.20,0.00,0.000,6,0.188,0.031,2552,1996,2565,0,0,0,0,0,0
$GC,9138,0.44,222.5,835.3,8.7,556,9179,0.00,2.22,36.70,1.030,4,0.000,0.040,2560,595,2389,0,0,0,0,0,0
$GC,9209,0.48,243.1,828.9,10.0,558,9234,0.00,2.20,18.67,0.961,6,0.000,0.033,2561,2003,2305,0,0,0,0,0,0
$GC,9572,0.52,272.2,793.5,9.5,570,9605,0.10,2.25,24.12,0.996,4,0.111,0.044,2604,3403,2187,0,0,0,0,0,0
$GC,9646,0.50,272.2,784.1,14.2,572,9650,0.00,2.20,0.00,0.000,6,0.000,0.032,2615,2002,2184,0,0,0,0,0,0
$GC,9975,0.47,272.2,739.5,13.3,583,9980,0.15,2.22,0.00,0.000,4,0.181,0.042,2587,588,2180,0,0,0,0,0,0
$GC,10100,0.49,280.1,726.1,10.7,586,10112,0.00,2.17,7.03,0.903,6,0.000,0.032,2588,2010,2155,0,0,0,0,0,0
$GC,10442,0.49,280.1,685.8,12.2,598,10446,0.00,2.17,0.00,0.000,4,0.000,0.044,2587,3407,2152,0,0,0,0,0,0
$GC,10479,0.49,280.1,680.5,14.3,599,10484,0.00,2.20,0.00,0.000,6,0.000,0.032,2598,1998,2152,0,0,0,0,0,0
$GC,10810,0.49,280.1,635.4,13.7,610,10814,0.00,2.17,0.00,0.000,4,0.000,0.042,2609,582,2151,0,0,0,0,0,0
$GC,10949,0.49,280.1,615.6,13.8,614,10953,0.00,2.20,0.00,0.000,6,0.000,0.033,2609,2000,2151,0,0,0,0,0,0
$GC,11277,0.47,280.1,570.0,13.6,628,11282,0.12,2.20,0.00,0.000,4,0.178,0.044,2577,3410,2151,0,0,0,0,0,0
$GC,11304,0.47,280.1,566.4,12.3,629,11308,0.00,2.17,0.00,0.000,6,0.000,0.032,2586,2004,2149,0,0,0,0,0,0
$GC,11626,0.49,289.0,530.7,10.6,645,11641,0.00,2.20,8.23,0.866,4,0.000,0.042,2597,601,2119,0,0,0,0,0,0
$GC,11697,0.51,296.8,523.1,10.7,648,11715,0.00,2.15,8.05,0.819,6,0.000,0.032,2597,2008,2087,0,0,0,0,0,0
$GC,12026,0.51,296.8,485.2,11.6,669,12027,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2008,2085,0,0,0,0,0,0
$GC,12346,0.51,296.8,445.5,11.9,699,12347,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2008,2084,0,0,0,0,0,0
$GC,12666,0.53,313.6,411.2,10.2,729,12690,0.00,2.25,14.77,0.827,4,0.000,0.041,2607,592,2019,0,0,0,0,0,0
$GC,12726,0.58,331.5,405.2,10.1,734,12749,0.00,2.15,15.75,0.717,6,0.000,0.033,2608,2004,1946,0,0,0,0,0,0
$GC,13068,0.60,337.7,368.4,10.8,766,13081,0.00,2.20,6.38,0.683,4,0.000,0.041,2607,3402,1920,0,0,0,0,0,0
$GC,13117,0.62,337.7,362.2,11.9,770,13121,0.00,2.17,0.00,0.000,6,0.000,0.031,2617,1992,1919,0,0,0,0,0,0
$GC,13442,0.63,337.7,321.6,13.0,800,13446,0.00,2.15,0.00,0.000,4,0.000,0.041,2628,595,1918,0,0,0,0,0,0
$GC,13511,0.65,337.7,312.6,12.6,805,13518,0.00,2.12,0.00,0.000,6,0.000,0.031,2628,2000,1918,0,0,0,0,0,0
$GC,13835,0.65,337.7,266.8,13.7,836,13837,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2000,1918,0,0,0,0,0,0
$GC,14156,0.65,337.7,223.7,12.5,866,14160,0.00,2.20,0.00,0.000,4,0.000,0.041,2638,589,1918,0,0,0,0,0,0
$GC,14185,0.65,337.7,219.8,12.9,868,14189,0.00,2.12,0.00,0.000,6,0.000,0.031,2639,2003,1918,0,0,0,0,0,0
$GC,14510,0.65,337.7,180.4,12.6,898,14512,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2006,1919,0,0,0,0,0,0
$GC,14832,0.67,344.4,140.3,10.7,935,14845,0.00,0.00,7.00,0.545,6,0.000,0.000,2639,2006,1895,0,0,0,0,0,0
$GC,15183,0.75,389.8,103.5,8.6,997,15226,0.00,2.17,36.67,0.627,4,0.000,0.037,2649,594,1707,0,0,0,0,0,0
$GC,15311,0.84,411.9,91.3,9.9,1019,15337,0.12,2.15,18.52,0.591,6,0.085,0.030,2712,2012,1617,0,0,0,0,0,0
$GC,15673,0.86,411.9,43.6,11.5,1083,15679,0.00,2.15,0.00,0.000,4,0.000,0.041,2712,3409,1613,0,0,0,0,0,0
$GC,15715,0.89,421.1,39.1,10.6,1090,15729,0.00,2.12,7.80,0.489,6,0.000,0.028,2722,1995,1581,0,0,0,0,0,0
$STATE,16053,end climb,SURFACE_DEPTH_REACHED
$STATE,16053,begin surface coast
$FINISH,1.0,1.021561
$STATE,16076,end surface coast,CONTROL_FINISHED_OK
$STATE,16076,begin surface
$SM_CCo,16152,0.00,0.000,0,0,1577,421.92
$SM_GC,2.15,6.65,0.00,0.00,0.045,0.000,0.000,199,2423,1577,-6.85,0.65,421.92
$IRIDIUM_FIX,2335.63,12613.58,211010,232343
$TT8_MAMPS,0.026215
$HUMID,50.66
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.30
$XPDR_PINGS,1
$24V_AH,23.9,38.440
$10V_AH,10.0,50.059
$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,18.425,130.150,461.350,0.000,0.000,29.525,17.690,146.028,0.250,0.000,17.003,2985.717,10353.468,545.864,2299.065,296.679,0.000,1706.247,0.000,2082.519,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,49.725,1152.855,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,782.013,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331380
$DATA_FILE_SIZE,70225,1154
$CAP_FILE_SIZE,160874,0
$CFSIZE,260165632,228552704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,356.7,1
$GPS,221010,084806,2337.016,12608.961,38,0.9,38,-3.5