version: 66.08
glider: 181
mission: 4
dive: 326
start: 10 29 110 9 50 45
data:
$ID,181
$MISSION,4
$DIVE,326
$N_DIVES,333
$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,-38258.676
$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,52
$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
$GPS1,291010,094207,2301.034,12601.776,33,1.0,33,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-61.4
$GPS2,291010,095020,2301.033,12601.667,15,1.1,15,-3.3
$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,172.8,184151,-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,17,-0.79,-136.3,0.0,0.0,0,56,0.00,0.00,-36.47,0.000,2,0.000,0.000,201,2415,2422,0,0,0,0,0,0
$GC,58,-0.79,-136.3,3.0,-3.2,6,114,8.10,2.17,-40.58,0.000,4,0.229,0.043,2163,990,3855,0,0,0,0,0,0
$GC,248,-0.71,-136.3,47.1,-30.2,39,256,0.15,2.15,0.00,0.000,6,0.171,0.034,2191,2382,3855,0,0,0,0,0,0
$GC,594,-0.68,-136.3,130.9,-15.2,100,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2382,3856,0,0,0,0,0,0
$GC,925,-0.66,-136.3,188.3,-16.5,141,928,0.00,2.15,0.00,0.000,4,0.000,0.041,2182,3780,3857,0,0,0,0,0,0
$GC,946,-0.65,-136.3,192.1,-16.0,142,954,0.12,2.03,0.00,0.000,6,0.146,0.024,2216,2383,3858,0,0,0,0,0,0
$GC,1272,-0.68,-136.3,235.0,-11.7,173,1275,0.00,2.03,0.00,0.000,4,0.000,0.030,2216,1000,3858,0,0,0,0,0,0
$GC,1321,-0.74,-136.3,240.6,-9.8,177,1328,0.00,2.12,0.00,0.000,6,0.000,0.032,2209,2417,3857,0,0,0,0,0,0
$GC,1648,-0.77,-136.3,276.0,-10.3,208,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2417,3858,0,0,0,0,0,0
$GC,1967,-0.82,-136.3,307.7,-11.0,238,1969,0.15,0.00,0.00,0.000,6,0.071,0.000,2131,2418,3856,0,0,0,0,0,0
$GC,2285,-0.78,-136.3,363.1,-16.5,268,2289,0.15,2.12,0.00,0.000,4,0.159,0.042,2162,3778,3855,0,0,0,0,0,0
$GC,2337,-0.80,-136.3,370.2,-11.8,272,2340,0.00,2.03,0.00,0.000,6,0.000,0.024,2162,2393,3855,0,0,0,0,0,0
$GC,2667,-0.80,-136.3,413.2,-12.8,303,2671,0.00,2.03,0.00,0.000,4,0.000,0.031,2162,1007,3854,0,0,0,0,0,0
$GC,2725,-0.83,-136.3,420.7,-13.0,308,2729,0.00,2.10,0.00,0.000,6,0.000,0.033,2152,2405,3854,0,0,0,0,0,0
$GC,3055,-0.83,-136.3,469.2,-14.6,339,3059,0.00,2.10,0.00,0.000,4,0.000,0.043,2142,3783,3852,0,0,0,0,0,0
$GC,3098,-0.83,-136.3,475.7,-14.7,342,3105,0.00,2.08,0.00,0.000,6,0.000,0.025,2142,2394,3852,0,0,0,0,0,0
$GC,3420,-0.83,-136.3,520.0,-13.5,366,3424,0.00,2.12,0.00,0.000,4,0.000,0.043,2132,3774,3850,0,0,0,0,0,0
$GC,3452,-0.83,-136.3,524.5,-13.2,367,3460,0.00,2.05,0.00,0.000,6,0.000,0.025,2132,2408,3850,0,0,0,0,0,0
$GC,3769,-0.82,-136.3,567.4,-14.2,383,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2407,3847,0,0,0,0,0,0
$GC,4078,-0.82,-136.3,611.6,-14.2,397,4082,0.12,2.12,0.00,0.000,4,0.167,0.032,2164,1000,3844,0,0,0,0,0,0
$GC,4104,-0.84,-136.3,615.4,-12.9,397,4111,0.00,2.12,0.00,0.000,6,0.000,0.034,2157,2407,3844,0,0,0,0,0,0
$GC,4418,-0.86,-136.3,651.9,-11.4,408,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2407,3841,0,0,0,0,0,0
$GC,4724,-0.89,-136.3,686.3,-11.2,418,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2407,3838,0,0,0,0,0,0
$GC,5031,-0.92,-136.3,721.2,-11.5,428,5035,0.00,2.12,0.00,0.000,4,0.000,0.046,2148,3775,3835,0,0,0,0,0,0
$GC,5058,-0.95,-136.3,724.8,-13.4,428,5065,0.00,2.08,0.00,0.000,6,0.000,0.027,2147,2392,3835,0,0,0,0,0,0
$GC,5372,-0.97,-136.3,762.6,-11.9,439,5376,0.00,2.08,0.00,0.000,4,0.000,0.034,2147,998,3833,0,0,0,0,0,0
$GC,5393,-0.99,-136.3,765.5,-12.5,439,5397,0.00,2.12,0.00,0.000,6,0.000,0.035,2139,2397,3832,0,0,0,0,0,0
$GC,5712,-1.00,-136.3,803.6,-11.7,450,5717,0.10,2.20,0.00,0.000,4,0.103,0.047,2080,3788,3829,0,0,0,0,0,0
$GC,5751,-0.98,-136.3,809.0,-14.4,451,5756,0.12,2.08,0.00,0.000,6,0.172,0.028,2111,2395,3829,0,0,0,0,0,0
$GC,6085,-0.98,-136.3,852.9,-13.2,462,6089,0.00,2.10,0.00,0.000,4,0.000,0.034,2111,1005,3827,0,0,0,0,0,0
$GC,6136,-0.99,-136.3,859.8,-13.1,463,6140,0.00,2.15,0.00,0.000,6,0.000,0.036,2104,2412,3826,0,0,0,0,0,0
$GC,6449,-0.97,-136.3,901.4,-13.2,473,6450,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2412,3824,0,0,0,0,0,0
$GC,6755,-0.96,-136.3,943.0,-13.7,483,6756,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2413,3822,0,0,0,0,0,0
$GC,7062,-0.95,-136.3,985.3,-13.7,493,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2412,3820,0,0,0,0,0,0
$STATE,7181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7181,begin apogee
$GC,7187,-0.16,0.0,1001.8,13.6,497,7298,0.85,0.00,103.93,1.146,6,0.137,0.000,2368,1984,3298,0,0,0,0,0,0
$STATE,7299,end apogee,CONTROL_FINISHED_OK
$STATE,7299,begin climb
$GC,7302,0.79,136.3,1007.3,0.0,500,7424,0.85,2.33,113.18,1.104,4,0.047,0.039,2705,606,2742,0,0,0,0,0,0
$GC,7578,0.64,136.3,987.8,15.2,508,7586,0.28,2.22,0.00,0.000,6,0.193,0.034,2636,2012,2735,0,0,0,0,0,0
$GC,7891,0.55,136.3,950.0,11.7,519,7895,0.12,2.20,0.00,0.000,4,0.195,0.044,2606,3411,2731,0,0,0,0,0,0
$GC,7925,0.46,136.3,946.2,11.6,520,7930,0.17,2.15,0.00,0.000,6,0.197,0.029,2574,2002,2730,0,0,0,0,0,0
$GC,8261,0.47,173.9,915.4,9.0,531,8293,0.00,0.00,30.52,1.072,6,0.000,0.000,2573,2002,2588,0,0,0,0,0,0
$GC,8597,0.45,176.9,879.5,10.9,542,8601,0.00,2.22,0.00,0.000,4,0.000,0.042,2573,3404,2582,0,0,0,0,0,0
$GC,8632,0.41,176.9,875.3,12.5,543,8636,0.00,2.15,0.00,0.000,6,0.000,0.029,2581,1994,2581,0,0,0,0,0,0
$GC,8967,0.39,185.2,839.3,10.7,554,8979,0.00,0.00,9.68,0.987,6,0.000,0.000,2582,1992,2542,0,0,0,0,0,0
$GC,9273,0.38,192.8,806.5,10.7,564,9288,0.12,2.22,7.70,0.923,4,0.177,0.040,2559,592,2512,0,0,0,0,0,0
$GC,9327,0.42,226.9,801.0,9.2,565,9362,0.00,2.17,29.70,0.979,6,0.000,0.031,2560,2012,2372,0,0,0,0,0,0
$GC,9678,0.47,253.3,767.0,9.7,577,9710,0.00,2.30,22.35,0.975,4,0.000,0.042,2560,3410,2265,0,0,0,0,0,0
$GC,9774,0.48,253.3,756.5,12.1,579,9781,0.00,2.20,0.00,0.000,6,0.000,0.029,2570,2002,2261,0,0,0,0,0,0
$GC,10087,0.50,260.0,722.3,10.7,590,10098,0.00,2.20,6.50,0.873,4,0.000,0.039,2581,596,2237,0,0,0,0,0,0
$GC,10138,0.53,261.1,716.3,11.1,591,10142,0.00,2.15,0.00,0.000,6,0.000,0.031,2581,1999,2237,0,0,0,0,0,0
$GC,10452,0.53,264.8,681.4,10.9,601,10462,0.00,2.20,5.32,0.802,4,0.000,0.041,2581,3405,2219,0,0,0,0,0,0
$GC,10506,0.53,264.8,674.3,12.3,602,10513,0.00,2.17,0.00,0.000,6,0.000,0.030,2591,1992,2218,0,0,0,0,0,0
$GC,10820,0.53,264.8,639.1,11.2,613,10823,0.00,2.15,0.00,0.000,4,0.000,0.041,2602,594,2217,0,0,0,0,0,0
$GC,10858,0.53,266.5,634.6,11.0,614,10862,0.00,2.15,0.00,0.000,6,0.000,0.031,2602,2009,2216,0,0,0,0,0,0
$GC,11184,0.53,266.5,596.0,11.9,625,11188,0.00,2.17,0.00,0.000,4,0.000,0.043,2601,3402,2216,0,0,0,0,0,0
$GC,11240,0.52,266.5,588.3,14.1,627,11247,0.00,2.12,0.00,0.000,6,0.000,0.030,2612,1994,2215,0,0,0,0,0,0
$GC,11556,0.50,266.5,547.3,13.2,643,11560,0.00,2.15,0.00,0.000,4,0.000,0.041,2623,597,2215,0,0,0,0,0,0
$GC,11635,0.49,266.5,536.6,13.2,646,11642,0.15,2.12,0.00,0.000,6,0.158,0.032,2583,2002,2215,0,0,0,0,0,0
$GC,11952,0.54,296.6,504.0,9.5,662,11983,0.00,2.22,26.88,0.853,4,0.000,0.041,2583,3412,2088,0,0,0,0,0,0
$GC,12030,0.57,300.7,496.1,10.9,666,12040,0.00,2.20,4.82,0.594,6,0.000,0.030,2592,1992,2071,0,0,0,0,0,0
$GC,12367,0.60,304.7,460.8,10.9,698,12380,0.00,2.20,4.68,0.646,4,0.000,0.042,2603,593,2055,0,0,0,0,0,0
$GC,12452,0.63,304.7,451.3,11.4,705,12459,0.00,2.15,0.00,0.000,6,0.000,0.031,2603,2003,2054,0,0,0,0,0,0
$GC,12777,0.64,304.7,413.4,11.8,736,12781,0.00,2.17,0.00,0.000,4,0.000,0.041,2613,591,2053,0,0,0,0,0,0
$GC,12841,0.66,304.7,405.7,12.8,741,12845,0.00,2.17,0.00,0.000,6,0.000,0.031,2613,2013,2053,0,0,0,0,0,0
$GC,13166,0.66,304.7,365.5,12.1,771,13167,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2013,2053,0,0,0,0,0,0
$GC,13487,0.69,315.5,328.8,10.5,801,13505,0.10,0.00,10.25,0.731,6,0.106,0.000,2660,2014,2011,0,0,0,0,0,0
$GC,13824,0.66,315.5,281.1,14.0,833,13828,0.00,2.20,0.00,0.000,4,0.000,0.039,2671,592,2010,0,0,0,0,0,0
$GC,13933,0.64,315.5,266.4,13.0,842,13938,0.15,2.15,0.00,0.000,6,0.153,0.031,2631,2001,2010,0,0,0,0,0,0
$GC,14259,0.67,327.2,230.4,10.5,872,14271,0.00,0.00,10.98,0.660,6,0.000,0.000,2631,2001,1964,0,0,0,0,0,0
$GC,14586,0.69,327.2,193.9,11.1,903,14590,0.00,2.17,0.00,0.000,4,0.000,0.038,2639,592,1963,0,0,0,0,0,0
$GC,14649,0.72,327.2,186.9,11.2,908,14653,0.00,2.15,0.00,0.000,6,0.000,0.030,2639,2006,1962,0,0,0,0,0,0
$GC,14975,0.78,363.5,153.2,9.1,938,15011,0.10,2.25,29.95,0.648,4,0.102,0.039,2689,3411,1815,0,0,0,0,0,0
$GC,15036,0.76,363.5,145.6,13.6,945,15042,0.00,2.15,0.00,0.000,6,0.000,0.028,2700,1992,1813,0,0,0,0,0,0
$GC,15381,0.75,363.5,96.3,14.0,1006,15388,0.12,2.12,0.00,0.000,4,0.168,0.037,2676,597,1811,0,0,0,0,0,0
$GC,15511,0.84,410.4,83.0,8.5,1028,15555,0.00,2.12,37.00,0.591,6,0.000,0.029,2676,2003,1623,0,0,0,0,0,0
$GC,15891,0.98,476.3,56.9,7.5,1095,15948,0.17,2.28,50.58,0.560,4,0.067,0.037,2769,592,1355,0,0,0,0,0,0
$GC,15974,0.95,476.3,45.9,15.5,1108,15982,0.15,2.15,0.00,0.000,6,0.147,0.028,2730,2000,1353,0,0,0,0,0,0
$STATE,16317,end climb,SURFACE_DEPTH_REACHED
$STATE,16317,begin surface coast
$FINISH,1.5,1.009662
$STATE,16344,end surface coast,CONTROL_FINISHED_OK
$STATE,16345,begin surface
$SM_CCo,16421,0.00,0.000,0,0,1349,478.09
$SM_GC,2.14,6.60,0.00,0.00,0.039,0.000,0.000,209,2413,1349,-6.84,0.37,478.09
$IRIDIUM_FIX,2253.38,12554.58,291010,090914
$TT8_MAMPS,0.026215
$HUMID,49.44
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.60
$XPDR_PINGS,1
$24V_AH,23.7,43.749
$10V_AH,9.9,52.944
$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,18.975,130.300,504.000,0.000,0.000,50.476,83.534,149.745,0.250,0.000,17.800,3011.918,10626.763,595.404,2354.485,318.765,0.000,1741.919,0.000,2055.590,0.000,0.541,0.000
$DEVICE_MAMPS,228.735,46.665,1145.970,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,794.342,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70289,1174
$CAP_FILE_SIZE,162861,0
$CFSIZE,260165632,225710080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.178,320.5,1
$GPS,291010,142537,2259.977,12600.870,33,0.9,33,-3.3