version: 66.08
glider: 181
mission: 4
dive: 303
start: 10 24 110 23 4 26
data:
$ID,181
$MISSION,4
$DIVE,303
$N_DIVES,307
$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,-38229.75
$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,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
$GPS1,241010,225400,2325.068,12605.775,37,1.3,37,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-69.7
$GPS2,241010,230401,2325.115,12605.749,11,1.3,11,-3.4
$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,177.5,228884,-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,15,-0.79,-136.3,0.0,0.0,0,63,0.00,0.00,-45.10,0.000,2,0.000,0.000,202,2397,2407,0,0,0,0,0,0
$GC,66,-0.79,-136.3,3.0,-2.9,7,122,8.02,2.15,-39.20,0.000,4,0.227,0.046,2162,984,3855,0,0,0,0,0,0
$GC,228,-0.69,-136.3,43.3,-30.9,35,235,0.17,2.17,0.00,0.000,6,0.161,0.037,2198,2400,3856,0,0,0,0,0,0
$GC,569,-0.67,-136.3,127.9,-19.5,96,576,0.00,2.12,0.00,0.000,4,0.000,0.043,2190,3785,3857,0,0,0,0,0,0
$GC,606,-0.63,-136.3,135.4,-19.9,102,614,0.12,2.10,0.00,0.000,6,0.146,0.026,2223,2381,3857,0,0,0,0,0,0
$GC,944,-0.65,-136.3,185.2,-12.5,141,947,0.00,2.05,0.00,0.000,4,0.000,0.032,2224,1002,3858,0,0,0,0,0,0
$GC,983,-0.69,-136.3,190.3,-11.9,144,991,0.00,2.12,0.00,0.000,6,0.000,0.034,2218,2402,3858,0,0,0,0,0,0
$GC,1308,-0.71,-136.3,233.3,-13.5,175,1312,0.00,2.12,0.00,0.000,4,0.000,0.044,2207,3777,3858,0,0,0,0,0,0
$GC,1394,-0.76,-136.3,243.9,-11.7,182,1398,0.00,2.03,0.00,0.000,6,0.000,0.025,2207,2393,3858,0,0,0,0,0,0
$GC,1725,-0.79,-136.3,283.9,-11.0,213,1730,0.12,2.05,0.00,0.000,4,0.080,0.032,2139,1004,3857,0,0,0,0,0,0
$GC,1811,-0.77,-136.3,296.5,-15.0,220,1815,0.17,2.12,0.00,0.000,6,0.151,0.034,2176,2401,3857,0,0,0,0,0,0
$GC,2136,-0.77,-136.3,338.0,-13.2,250,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2401,3856,0,0,0,0,0,0
$GC,2456,-0.77,-136.3,381.9,-14.5,280,2459,0.00,2.12,0.00,0.000,4,0.000,0.044,2167,3777,3854,0,0,0,0,0,0
$GC,2564,-0.80,-136.3,395.5,-12.5,289,2568,0.00,2.05,0.00,0.000,6,0.000,0.026,2167,2395,3854,0,0,0,0,0,0
$GC,2894,-0.80,-136.3,442.3,-14.4,320,2898,0.00,2.08,0.00,0.000,4,0.000,0.032,2167,1001,3852,0,0,0,0,0,0
$GC,2941,-0.82,-136.3,449.0,-14.3,324,2945,0.00,2.15,0.00,0.000,6,0.000,0.035,2164,2408,3852,0,0,0,0,0,0
$GC,3267,-0.83,-136.3,495.3,-13.5,354,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2408,3850,0,0,0,0,0,0
$GC,3578,-0.84,-136.3,535.7,-12.4,371,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2408,3847,0,0,0,0,0,0
$GC,3887,-0.86,-136.3,572.2,-11.4,386,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2408,3845,0,0,0,0,0,0
$GC,4217,-0.88,-136.3,607.7,-10.8,401,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2408,3841,0,0,0,0,0,0
$GC,4523,-0.90,-136.3,641.5,-11.0,411,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2408,3839,0,0,0,0,0,0
$GC,4829,-0.93,-136.3,675.5,-10.8,421,4831,0.12,0.00,0.00,0.000,6,0.089,0.000,2101,2408,3836,0,0,0,0,0,0
$GC,5135,-0.89,-136.3,724.0,-16.3,431,5139,0.12,2.17,0.00,0.000,4,0.166,0.048,2124,3784,3833,0,0,0,0,0,0
$GC,5173,-0.89,-136.3,729.9,-14.8,432,5177,0.00,2.05,0.00,0.000,6,0.000,0.029,2123,2407,3832,0,0,0,0,0,0
$GC,5502,-0.88,-136.3,780.2,-15.8,443,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2403,3830,0,0,0,0,0,0
$GC,5809,-0.88,-136.3,826.7,-15.1,453,5813,0.00,2.12,0.00,0.000,4,0.000,0.037,2123,992,3827,0,0,0,0,0,0
$GC,5853,-0.88,-136.3,833.7,-15.2,454,5857,0.00,2.17,0.00,0.000,6,0.000,0.037,2114,2410,3827,0,0,0,0,0,0
$GC,6172,-0.86,-136.3,882.6,-15.2,465,6176,0.12,2.15,0.00,0.000,4,0.181,0.049,2137,3775,3825,0,0,0,0,0,0
$GC,6215,-0.88,-136.3,889.4,-13.6,466,6219,0.00,2.05,0.00,0.000,6,0.000,0.030,2137,2400,3825,0,0,0,0,0,0
$GC,6541,-0.90,-136.3,932.4,-13.1,477,6545,0.00,2.10,0.00,0.000,4,0.000,0.037,2137,1003,3821,0,0,0,0,0,0
$GC,6570,-0.92,-136.3,936.3,-13.4,478,6574,0.00,2.17,0.00,0.000,6,0.000,0.039,2128,2402,3821,0,0,0,0,0,0
$GC,6905,-0.92,-136.3,979.3,-12.8,489,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2402,3820,0,0,0,0,0,0
$STATE,7086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7086,begin apogee
$GC,7092,-0.16,0.0,1001.8,12.2,495,7202,0.75,0.00,103.22,1.156,6,0.129,0.000,2367,1979,3298,0,0,0,0,0,0
$STATE,7203,end apogee,CONTROL_FINISHED_OK
$STATE,7203,begin climb
$GC,7206,0.79,136.3,1007.0,0.0,498,7328,0.85,2.30,113.03,1.103,4,0.045,0.041,2705,615,2742,0,0,0,0,0,0
$GC,7366,0.63,136.3,1004.0,13.2,503,7371,0.30,2.22,0.00,0.000,6,0.193,0.035,2633,2005,2738,0,0,0,0,0,0
$GC,7685,0.54,136.3,966.0,11.5,514,7690,0.12,2.22,0.00,0.000,4,0.197,0.046,2603,3410,2732,0,0,0,0,0,0
$GC,7751,0.45,136.3,958.2,12.0,516,7756,0.17,2.15,0.00,0.000,6,0.198,0.031,2572,2003,2731,0,0,0,0,0,0
$GC,8082,0.49,197.8,931.1,7.7,527,8134,0.00,0.00,50.25,1.089,6,0.000,0.000,2571,2003,2491,0,0,0,0,0,0
$GC,8417,0.49,215.2,898.1,10.2,538,8436,0.00,2.28,14.60,1.030,4,0.000,0.046,2571,3414,2420,0,0,0,0,0,0
$GC,8499,0.47,215.2,888.2,12.5,540,8503,0.00,2.20,0.00,0.000,6,0.000,0.031,2580,1993,2418,0,0,0,0,0,0
$GC,8812,0.45,215.2,851.7,11.8,550,8816,0.00,2.17,0.00,0.000,4,0.000,0.042,2590,598,2415,0,0,0,0,0,0
$GC,8850,0.43,215.2,846.9,12.4,551,8854,0.00,2.15,0.00,0.000,6,0.000,0.034,2590,2006,2415,0,0,0,0,0,0
$GC,9180,0.41,215.2,806.4,12.1,562,9182,0.12,0.00,0.00,0.000,6,0.177,0.000,2560,2008,2412,0,0,0,0,0,0
$GC,9486,0.44,242.0,776.4,9.6,572,9519,0.00,2.30,22.10,1.016,4,0.000,0.045,2560,3412,2311,0,0,0,0,0,0
$GC,9558,0.44,242.0,768.8,11.5,574,9562,0.00,2.17,0.00,0.000,6,0.000,0.031,2568,1998,2308,0,0,0,0,0,0
$GC,9888,0.45,248.6,733.7,10.7,585,9901,0.00,2.30,6.57,0.894,4,0.000,0.044,2568,3409,2284,0,0,0,0,0,0
$GC,9935,0.45,248.6,727.9,12.4,586,9939,0.00,2.20,0.00,0.000,6,0.000,0.031,2578,2003,2283,0,0,0,0,0,0
$GC,10260,0.45,249.6,691.4,11.1,597,10264,0.00,2.20,0.00,0.000,4,0.000,0.043,2589,588,2281,0,0,0,0,0,0
$GC,10295,0.45,253.5,687.5,10.9,598,10305,0.00,2.17,5.43,0.814,6,0.000,0.034,2589,2010,2264,0,0,0,0,0,0
$GC,10625,0.44,253.5,649.9,11.4,609,10629,0.00,2.20,0.00,0.000,4,0.000,0.044,2589,3412,2262,0,0,0,0,0,0
$GC,10721,0.42,253.5,637.4,13.5,612,10726,0.15,2.15,0.00,0.000,6,0.171,0.031,2562,1994,2261,0,0,0,0,0,0
$GC,11058,0.46,264.8,602.6,10.5,623,11071,0.00,0.00,10.73,0.937,6,0.000,0.000,2562,1992,2218,0,0,0,0,0,0
$GC,11376,0.50,278.1,569.7,10.4,638,11398,0.00,2.30,12.40,0.906,4,0.000,0.043,2562,3408,2163,0,0,0,0,0,0
$GC,11422,0.53,278.1,564.5,12.0,640,11426,0.00,2.15,0.00,0.000,6,0.000,0.030,2570,2001,2163,0,0,0,0,0,0
$GC,11749,0.55,278.1,527.5,11.5,656,11754,0.10,2.20,0.00,0.000,4,0.106,0.041,2632,593,2161,0,0,0,0,0,0
$GC,11821,0.53,278.1,517.1,14.7,659,11826,0.12,2.15,0.00,0.000,6,0.165,0.032,2600,2005,2161,0,0,0,0,0,0
$GC,12142,0.53,278.1,475.1,13.0,682,12143,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2004,2161,0,0,0,0,0,0
$GC,12462,0.54,288.5,437.0,10.5,712,12474,0.00,0.00,9.85,0.815,6,0.000,0.000,2600,2004,2122,0,0,0,0,0,0
$GC,12789,0.58,322.1,404.2,9.3,743,12824,0.00,2.20,28.27,0.799,4,0.000,0.041,2600,3403,1983,0,0,0,0,0,0
$GC,12871,0.60,322.1,395.3,11.4,750,12875,0.00,2.17,0.00,0.000,6,0.000,0.030,2609,1995,1980,0,0,0,0,0,0
$GC,13202,0.60,322.1,355.6,13.0,781,13205,0.00,2.15,0.00,0.000,4,0.000,0.040,2620,596,1978,0,0,0,0,0,0
$GC,13225,0.60,322.1,352.6,11.8,783,13229,0.00,2.15,0.00,0.000,6,0.000,0.031,2620,2009,1977,0,0,0,0,0,0
$GC,13550,0.60,322.1,309.0,13.1,813,13554,0.00,2.20,0.00,0.000,4,0.000,0.040,2630,593,1977,0,0,0,0,0,0
$GC,13589,0.60,322.1,303.7,13.8,816,13593,0.00,2.15,0.00,0.000,6,0.000,0.032,2630,2009,1976,0,0,0,0,0,0
$GC,13914,0.60,322.1,262.4,13.0,846,13918,0.00,2.15,0.00,0.000,4,0.000,0.041,2630,3405,1976,0,0,0,0,0,0
$GC,13957,0.60,322.1,256.5,13.7,849,13964,0.00,2.17,0.00,0.000,6,0.000,0.030,2640,1997,1977,0,0,0,0,0,0
$GC,14283,0.60,322.1,210.5,13.5,880,14287,0.00,2.17,0.00,0.000,4,0.000,0.040,2651,585,1977,0,0,0,0,0,0
$GC,14367,0.60,322.1,200.0,12.5,887,14372,0.12,2.12,0.00,0.000,6,0.160,0.031,2618,2002,1977,0,0,0,0,0,0
$GC,14693,0.65,343.8,165.9,9.9,917,14717,0.00,2.25,17.98,0.645,4,0.000,0.041,2617,3409,1896,0,0,0,0,0,0
$GC,14742,0.73,374.7,161.4,9.4,921,14775,0.00,2.12,25.42,0.649,6,0.000,0.029,2626,1995,1768,0,0,0,0,0,0
$GC,15108,0.85,433.2,127.6,7.9,975,15160,0.20,2.25,45.30,0.628,4,0.067,0.039,2729,597,1531,0,0,0,0,0,0
$GC,15339,0.84,433.2,89.6,15.5,1015,15347,0.12,2.15,0.00,0.000,6,0.157,0.030,2697,2009,1526,0,0,0,0,0,0
$GC,15684,0.91,460.1,48.7,9.6,1076,15709,0.00,2.25,21.17,0.545,4,0.000,0.037,2706,596,1422,0,0,0,0,0,0
$GC,15774,1.06,529.2,41.8,7.3,1091,15838,0.17,2.12,53.72,0.548,6,0.069,0.029,2785,2003,1139,0,0,0,0,0,0
$STATE,16009,end climb,SURFACE_DEPTH_REACHED
$STATE,16010,begin surface coast
$FINISH,1.2,1.021697
$STATE,16027,end surface coast,CONTROL_FINISHED_OK
$STATE,16029,begin surface
$SM_CCo,16105,0.00,0.000,0,0,1131,531.57
$SM_GC,2.11,6.78,0.00,0.00,0.037,0.000,0.000,210,2407,1131,-6.84,0.20,531.57
$IRIDIUM_FIX,2314.48,12618.39,241010,222208
$TT8_MAMPS,0.025466
$HUMID,51.14
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,23.8,40.422
$10V_AH,10.0,51.156
$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,19.100,126.650,540.050,0.000,0.000,60.337,45.199,221.245,0.000,0.000,13.984,2908.148,10490.464,607.319,2399.166,294.419,0.000,1720.139,0.000,1988.139,0.000,0.541,0.000
$DEVICE_MAMPS,227.205,48.960,1155.915,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,768.799,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66930,1135
$CAP_FILE_SIZE,158989,0
$CFSIZE,260165632,227483648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.201,  5.3,1
$GPS,251010,033406,2324.607,12606.061,37,0.9,37,-3.4