version: 66.08
glider: 181
mission: 4
dive: 327
start: 10 29 110 14 32 15
data:
$ID,181
$MISSION,4
$DIVE,327
$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,-38259.934
$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,45
$R_STBD_OVSHOOT,46
$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
$GPS1,291010,142537,2259.977,12600.870,33,0.9,33,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-59.0
$GPS2,291010,143150,2300.021,12600.802,14,0.9,14,-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,157.5,182278,-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,-136.3,0.0,0.0,0,67,0.00,0.00,-48.78,0.000,2,0.000,0.000,202,2416,2646,0,0,0,0,0,0
$GC,70,-0.79,-136.3,3.5,-4.4,8,115,8.20,2.22,-30.60,0.000,4,0.233,0.041,2161,978,3855,0,0,0,0,0,0
$GC,227,-0.70,-136.3,41.5,-29.1,35,235,0.17,2.17,0.00,0.000,6,0.164,0.034,2196,2397,3855,0,0,0,0,0,0
$GC,569,-0.65,-136.3,129.5,-18.7,96,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2397,3857,0,0,0,0,0,0
$GC,901,-0.64,-136.3,182.2,-15.9,138,905,0.00,2.12,0.00,0.000,4,0.000,0.042,2188,3775,3858,0,0,0,0,0,0
$GC,1012,-0.65,-136.3,198.5,-13.9,147,1019,0.00,2.05,0.00,0.000,6,0.000,0.024,2188,2386,3858,0,0,0,0,0,0
$GC,1337,-0.65,-136.3,247.1,-14.7,178,1340,0.00,2.03,0.00,0.000,4,0.000,0.030,2188,1001,3858,0,0,0,0,0,0
$GC,1405,-0.68,-136.3,256.7,-13.0,184,1409,0.00,2.10,0.00,0.000,6,0.000,0.032,2179,2400,3858,0,0,0,0,0,0
$GC,1730,-0.68,-136.3,303.0,-13.8,214,1734,0.00,2.12,0.00,0.000,4,0.000,0.042,2168,3776,3858,0,0,0,0,0,0
$GC,1782,-0.69,-136.3,310.3,-13.9,218,1787,0.12,2.05,0.00,0.000,6,0.142,0.024,2203,2387,3857,0,0,0,0,0,0
$GC,2108,-0.72,-136.3,345.5,-10.4,248,2112,0.00,2.05,0.00,0.000,4,0.000,0.031,2203,1002,3857,0,0,0,0,0,0
$GC,2137,-0.77,-136.3,348.4,-9.3,250,2144,0.00,2.10,0.00,0.000,6,0.000,0.032,2198,2401,3857,0,0,0,0,0,0
$GC,2463,-0.81,-136.3,380.6,-10.2,281,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2401,3856,0,0,0,0,0,0
$GC,2783,-0.85,-136.3,412.4,-9.7,311,2790,0.15,0.00,0.00,0.000,6,0.073,0.000,2123,2401,3854,0,0,0,0,0,0
$GC,3108,-0.82,-136.3,464.7,-16.4,342,3113,0.15,2.15,0.00,0.000,4,0.164,0.043,2153,3774,3853,0,0,0,0,0,0
$GC,3218,-0.84,-136.3,479.2,-12.8,351,3222,0.00,2.05,0.00,0.000,6,0.000,0.025,2153,2405,3852,0,0,0,0,0,0
$GC,3543,-0.84,-136.3,522.9,-13.5,374,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2402,3850,0,0,0,0,0,0
$GC,3852,-0.84,-136.3,563.3,-12.6,389,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2402,3848,0,0,0,0,0,0
$GC,4163,-0.85,-136.3,601.6,-12.2,404,4166,0.00,2.08,0.00,0.000,4,0.000,0.032,2152,1009,3845,0,0,0,0,0,0
$GC,4190,-0.87,-136.3,605.5,-13.2,404,4197,0.00,2.15,0.00,0.000,6,0.000,0.034,2151,2396,3844,0,0,0,0,0,0
$GC,4504,-0.89,-136.3,643.0,-12.3,415,4508,0.00,2.15,0.00,0.000,4,0.000,0.044,2142,3780,3841,0,0,0,0,0,0
$GC,4567,-0.91,-136.3,651.0,-12.9,417,4571,0.00,2.05,0.00,0.000,6,0.000,0.026,2142,2392,3841,0,0,0,0,0,0
$GC,4902,-0.91,-136.3,695.5,-13.5,428,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2390,3838,0,0,0,0,0,0
$GC,5209,-0.92,-136.3,736.0,-13.2,438,5213,0.00,2.10,0.00,0.000,4,0.000,0.033,2142,994,3836,0,0,0,0,0,0
$GC,5231,-0.94,-136.3,739.3,-13.7,438,5239,0.00,2.15,0.00,0.000,6,0.000,0.035,2138,2405,3836,0,0,0,0,0,0
$GC,5543,-0.94,-136.3,779.3,-12.8,449,5547,0.00,2.12,0.00,0.000,4,0.000,0.046,2128,3777,3833,0,0,0,0,0,0
$GC,5587,-0.95,-136.3,784.8,-11.8,450,5592,0.00,2.10,0.00,0.000,6,0.000,0.027,2127,2394,3833,0,0,0,0,0,0
$GC,5918,-0.95,-136.3,827.8,-13.1,461,5922,0.00,2.17,0.00,0.000,4,0.000,0.046,2117,3775,3829,0,0,0,0,0,0
$GC,5939,-0.95,-136.3,830.9,-12.9,461,5946,0.00,2.08,0.00,0.000,6,0.000,0.027,2117,2408,3829,0,0,0,0,0,0
$GC,6252,-0.95,-136.3,871.1,-12.9,472,6253,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2405,3827,0,0,0,0,0,0
$GC,6559,-0.95,-136.3,908.2,-12.0,482,6563,0.00,2.15,0.00,0.000,4,0.000,0.034,2117,991,3826,0,0,0,0,0,0
$GC,6642,-0.97,-136.3,918.1,-11.3,484,6646,0.00,2.20,0.00,0.000,6,0.000,0.036,2110,2398,3826,0,0,0,0,0,0
$GC,6961,-0.97,-136.3,958.0,-12.8,495,6965,0.00,2.15,0.00,0.000,4,0.000,0.046,2099,3780,3822,0,0,0,0,0,0
$GC,7016,-0.97,-136.3,965.5,-13.0,496,7023,0.00,2.10,0.00,0.000,6,0.000,0.028,2099,2389,3822,0,0,0,0,0,0
$STATE,7297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7297,begin apogee
$GC,7303,-0.16,0.0,1003.8,13.6,506,7413,0.88,0.00,103.97,1.148,6,0.138,0.000,2370,1977,3298,0,0,0,0,0,0
$STATE,7414,end apogee,CONTROL_FINISHED_OK
$STATE,7414,begin climb
$GC,7416,0.79,136.3,1007.9,0.0,509,7538,0.82,2.22,113.20,1.102,4,0.044,0.038,2698,619,2742,0,0,0,0,0,0
$GC,7617,0.65,136.3,998.2,15.1,515,7625,0.25,2.22,0.00,0.000,6,0.191,0.033,2640,2014,2736,0,0,0,0,0,0
$GC,7930,0.55,136.3,956.5,13.5,526,7932,0.15,0.00,0.00,0.000,6,0.193,0.000,2603,2016,2731,0,0,0,0,0,0
$GC,8237,0.49,137.6,921.1,11.0,536,8240,0.00,2.17,0.00,0.000,4,0.000,0.043,2602,3409,2729,0,0,0,0,0,0
$GC,8315,0.40,137.6,911.2,12.5,538,8320,0.22,2.12,0.00,0.000,6,0.190,0.029,2555,2024,2728,0,0,0,0,0,0
$GC,8640,0.44,177.9,881.6,8.9,549,8680,0.00,2.33,32.90,1.056,4,0.000,0.039,2564,588,2571,0,0,0,0,0,0
$GC,8760,0.47,203.0,869.6,9.7,552,8787,0.00,2.20,22.08,0.998,6,0.000,0.032,2564,2000,2470,0,0,0,0,0,0
$GC,9107,0.47,203.9,831.2,11.1,564,9111,0.00,2.25,0.00,0.000,4,0.000,0.042,2564,3411,2463,0,0,0,0,0,0
$GC,9158,0.45,203.9,825.0,11.3,565,9162,0.00,2.17,0.00,0.000,6,0.000,0.029,2575,1985,2462,0,0,0,0,0,0
$GC,9471,0.49,234.6,793.4,9.4,575,9501,0.00,0.00,26.25,1.001,6,0.000,0.000,2575,1985,2341,0,0,0,0,0,0
$GC,9807,0.52,258.5,760.4,9.8,586,9829,0.00,0.00,20.70,0.965,6,0.000,0.000,2575,1985,2244,0,0,0,0,0,0
$GC,10114,0.55,268.6,728.9,10.6,596,10128,0.00,2.28,9.45,0.896,4,0.000,0.042,2574,3404,2202,0,0,0,0,0,0
$GC,10148,0.56,282.8,725.0,10.3,597,10167,0.00,2.15,13.62,0.877,6,0.000,0.030,2585,2003,2144,0,0,0,0,0,0
$GC,10488,0.58,282.8,685.8,11.5,608,10492,0.00,2.17,0.00,0.000,4,0.000,0.041,2596,594,2139,0,0,0,0,0,0
$GC,10518,0.59,282.8,682.1,11.9,609,10522,0.00,2.17,0.00,0.000,6,0.000,0.031,2595,2007,2139,0,0,0,0,0,0
$GC,10858,0.59,282.8,640.7,12.1,620,10862,0.00,2.17,0.00,0.000,4,0.000,0.041,2606,595,2138,0,0,0,0,0,0
$GC,10896,0.59,282.8,635.9,12.3,621,10900,0.00,2.17,0.00,0.000,6,0.000,0.031,2606,2011,2137,0,0,0,0,0,0
$GC,11211,0.59,282.8,596.3,12.7,632,11214,0.00,2.15,0.00,0.000,4,0.000,0.042,2606,3401,2136,0,0,0,0,0,0
$GC,11243,0.59,282.8,591.4,14.0,633,11250,0.00,2.17,0.00,0.000,6,0.000,0.030,2616,1997,2136,0,0,0,0,0,0
$GC,11560,0.59,282.8,550.2,12.8,649,11564,0.00,2.15,0.00,0.000,4,0.000,0.041,2627,595,2135,0,0,0,0,0,0
$GC,11636,0.59,282.8,539.6,13.7,652,11643,0.00,2.17,0.00,0.000,6,0.000,0.031,2627,2001,2135,0,0,0,0,0,0
$GC,11954,0.57,282.8,497.5,13.4,668,11955,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2002,2135,0,0,0,0,0,0
$GC,12273,0.55,282.8,458.5,11.5,698,12277,0.00,2.17,0.00,0.000,4,0.000,0.041,2627,3410,2135,0,0,0,0,0,0
$GC,12306,0.53,282.8,454.0,12.9,700,12313,0.15,2.12,0.00,0.000,6,0.169,0.029,2599,1996,2134,0,0,0,0,0,0
$GC,12632,0.54,282.8,419.0,11.2,731,12636,0.00,2.12,0.00,0.000,4,0.000,0.040,2608,598,2134,0,0,0,0,0,0
$GC,12710,0.56,286.5,409.9,10.9,737,12717,0.00,2.15,0.00,0.000,6,0.000,0.031,2608,2009,2134,0,0,0,0,0,0
$GC,13035,0.58,298.3,375.0,10.5,768,13058,0.00,2.22,12.40,0.792,4,0.000,0.041,2608,3404,2081,0,0,0,0,0,0
$GC,13083,0.58,298.3,369.7,11.4,772,13087,0.00,2.12,0.00,0.000,6,0.000,0.029,2618,1995,2080,0,0,0,0,0,0
$GC,13408,0.58,298.3,331.8,11.6,802,13411,0.00,2.15,0.00,0.000,4,0.000,0.040,2628,595,2080,0,0,0,0,0,0
$GC,13516,0.58,298.3,319.4,11.5,811,13520,0.00,2.12,0.00,0.000,6,0.000,0.030,2628,2011,2080,0,0,0,0,0,0
$GC,13841,0.58,298.3,281.5,11.6,841,13845,0.00,2.15,0.00,0.000,4,0.000,0.040,2628,3402,2080,0,0,0,0,0,0
$GC,13863,0.58,298.3,278.5,13.0,842,13871,0.00,2.12,0.00,0.000,6,0.000,0.028,2639,1994,2080,0,0,0,0,0,0
$GC,14188,0.58,298.3,240.0,11.4,873,14189,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,1994,2080,0,0,0,0,0,0
$GC,14510,0.59,312.4,205.4,10.3,903,14532,0.00,2.20,12.95,0.653,4,0.000,0.038,2650,593,2024,0,0,0,0,0,0
$GC,14639,0.61,313.8,191.7,11.0,914,14646,0.00,2.15,0.00,0.000,6,0.000,0.029,2650,2012,2023,0,0,0,0,0,0
$GC,14964,0.61,315.7,155.4,11.0,945,14976,0.00,2.17,4.65,0.464,4,0.000,0.040,2650,3412,2011,0,0,0,0,0,0
$GC,15057,0.61,315.7,144.2,12.6,957,15064,0.15,2.12,0.00,0.000,6,0.157,0.028,2620,2002,2010,0,0,0,0,0,0
$GC,15402,0.72,368.9,114.9,8.2,1018,15452,0.12,2.20,42.45,0.619,4,0.086,0.037,2677,3405,1793,0,0,0,0,0,0
$GC,15471,0.74,380.5,107.6,10.5,1029,15491,0.00,2.15,10.57,0.546,6,0.000,0.027,2687,1998,1745,0,0,0,0,0,0
$GC,15831,0.87,456.8,73.0,6.9,1092,15899,0.00,2.22,58.53,0.581,4,0.000,0.037,2698,599,1434,0,0,0,0,0,0
$GC,16047,0.99,507.1,54.5,8.4,1129,16093,0.12,2.15,39.22,0.549,6,0.082,0.029,2758,2004,1229,0,0,0,0,0,0
$STATE,16381,end climb,SURFACE_DEPTH_REACHED
$STATE,16381,begin surface coast
$FINISH,1.4,1.022189
$STATE,16400,end surface coast,CONTROL_FINISHED_OK
$STATE,16400,begin surface
$SM_CCo,16476,0.00,0.000,0,0,1221,509.24
$SM_GC,2.03,6.68,0.00,0.00,0.036,0.000,0.000,210,2430,1221,-6.84,0.85,509.24
$IRIDIUM_FIX,2255.72,12606.29,291010,090922
$TT8_MAMPS,0.025466
$HUMID,49.01
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.7,43.896
$10V_AH,9.9,53.022
$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,18.350,134.450,522.950,0.000,0.000,30.495,36.838,160.997,0.000,0.000,17.167,3016.425,10536.593,621.992,2351.821,316.217,0.000,1793.860,0.000,2101.851,0.000,0.541,0.000
$DEVICE_MAMPS,233.325,45.900,1148.265,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,804.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331412
$DATA_FILE_SIZE,70286,1191
$CAP_FILE_SIZE,160187,0
$CFSIZE,260165632,225632256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.201, 11.1,1
$GPS,291010,190807,2259.724,12602.132,38,1.3,38,-3.3