version: 66.08
glider: 181
mission: 4
dive: 332
start: 10 30 110 14 6 39
data:
$ID,181
$MISSION,4
$DIVE,332
$N_DIVES,345
$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,-38266.223
$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,42
$R_STBD_OVSHOOT,49
$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
$GPS1,301010,140007,2254.496,12600.379,48,1.1,48,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-62.1
$GPS2,301010,140614,2254.517,12600.342,12,1.6,12,-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,160.7,172088,-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,-136.3,0.0,0.0,0,54,0.00,0.00,-36.55,0.000,2,0.000,0.000,201,2413,2490,0,0,0,0,0,0
$GC,57,-0.79,-136.3,3.2,-4.4,6,113,8.12,2.20,-38.12,0.000,4,0.231,0.047,2160,998,3856,0,0,0,0,0,0
$GC,219,-0.71,-136.3,40.9,-32.2,34,227,0.17,2.15,0.00,0.000,6,0.164,0.034,2196,2396,3857,0,0,0,0,0,0
$GC,562,-0.68,-136.3,129.9,-16.6,95,570,0.00,2.12,0.00,0.000,4,0.000,0.041,2188,3775,3858,0,0,0,0,0,0
$GC,633,-0.68,-136.3,140.1,-13.7,107,641,0.00,2.08,0.00,0.000,6,0.000,0.024,2188,2382,3858,0,0,0,0,0,0
$GC,963,-0.66,-136.3,192.7,-16.3,143,967,0.00,2.05,0.00,0.000,4,0.000,0.031,2188,1003,3860,0,0,0,0,0,0
$GC,990,-0.64,-136.3,197.3,-15.7,145,998,0.15,2.12,0.00,0.000,6,0.148,0.033,2217,2403,3860,0,0,0,0,0,0
$GC,1316,-0.68,-136.3,237.3,-11.1,176,1320,0.00,2.12,0.00,0.000,4,0.000,0.042,2209,3781,3860,0,0,0,0,0,0
$GC,1366,-0.74,-136.3,242.9,-11.0,180,1373,0.00,2.03,0.00,0.000,6,0.000,0.024,2209,2392,3861,0,0,0,0,0,0
$GC,1692,-0.77,-136.3,279.8,-12.3,211,1696,0.00,2.05,0.00,0.000,4,0.000,0.031,2209,1005,3860,0,0,0,0,0,0
$GC,1719,-0.81,-136.3,283.5,-12.6,213,1727,0.12,2.10,0.00,0.000,6,0.080,0.032,2139,2414,3860,0,0,0,0,0,0
$GC,2045,-0.77,-136.3,340.3,-16.7,244,2050,0.15,2.10,0.00,0.000,4,0.167,0.041,2170,3785,3859,0,0,0,0,0,0
$GC,2111,-0.80,-136.3,349.6,-12.5,249,2118,0.00,2.03,0.00,0.000,6,0.000,0.024,2170,2406,3859,0,0,0,0,0,0
$GC,2437,-0.80,-136.3,392.5,-13.0,280,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2403,3858,0,0,0,0,0,0
$GC,2757,-0.81,-136.3,433.4,-12.9,310,2761,0.00,2.08,0.00,0.000,4,0.000,0.031,2169,992,3857,0,0,0,0,0,0
$GC,2846,-0.85,-136.3,444.4,-11.5,317,2852,0.00,2.12,0.00,0.000,6,0.000,0.033,2163,2406,3856,0,0,0,0,0,0
$GC,3171,-0.86,-136.3,484.4,-12.2,348,3175,0.00,2.12,0.00,0.000,4,0.000,0.043,2152,3778,3854,0,0,0,0,0,0
$GC,3250,-0.89,-136.3,494.3,-12.4,354,3257,0.00,2.05,0.00,0.000,6,0.000,0.025,2152,2395,3854,0,0,0,0,0,0
$GC,3567,-0.89,-136.3,536.2,-13.3,372,3571,0.00,2.17,0.00,0.000,4,0.000,0.043,2142,3781,3852,0,0,0,0,0,0
$GC,3642,-0.90,-136.3,545.5,-12.4,375,3646,0.00,2.05,0.00,0.000,6,0.000,0.026,2142,2404,3852,0,0,0,0,0,0
$GC,3963,-0.90,-136.3,587.5,-13.0,391,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2401,3850,0,0,0,0,0,0
$GC,4281,-0.90,-136.3,628.8,-13.3,403,4285,0.00,2.10,0.00,0.000,4,0.000,0.033,2142,1004,3847,0,0,0,0,0,0
$GC,4326,-0.92,-136.3,635.1,-13.2,404,4330,0.00,2.15,0.00,0.000,6,0.000,0.034,2135,2407,3846,0,0,0,0,0,0
$GC,4644,-0.92,-136.3,679.9,-14.2,415,4648,0.00,2.10,0.00,0.000,4,0.000,0.044,2124,3777,3843,0,0,0,0,0,0
$GC,4688,-0.92,-136.3,686.1,-13.3,416,4692,0.00,2.08,0.00,0.000,6,0.000,0.027,2124,2401,3843,0,0,0,0,0,0
$GC,5018,-0.92,-136.3,732.6,-13.9,427,5022,0.00,2.10,0.00,0.000,4,0.000,0.033,2124,1003,3840,0,0,0,0,0,0
$GC,5048,-0.92,-136.3,736.7,-14.7,428,5052,0.00,2.15,0.00,0.000,6,0.000,0.035,2114,2404,3840,0,0,0,0,0,0
$GC,5383,-0.90,-136.3,783.8,-14.2,439,5387,0.00,2.12,0.00,0.000,4,0.000,0.046,2103,3776,3837,0,0,0,0,0,0
$GC,5456,-0.89,-136.3,794.7,-14.7,441,5460,0.12,2.08,0.00,0.000,6,0.161,0.027,2136,2394,3836,0,0,0,0,0,0
$GC,5786,-0.90,-136.3,835.7,-12.1,452,5789,0.00,2.10,0.00,0.000,4,0.000,0.034,2136,1000,3834,0,0,0,0,0,0
$GC,5849,-0.93,-136.3,843.1,-11.3,454,5853,0.00,2.12,0.00,0.000,6,0.000,0.035,2129,2399,3833,0,0,0,0,0,0
$GC,6184,-0.93,-136.3,883.5,-11.7,465,6188,0.00,2.12,0.00,0.000,4,0.000,0.046,2118,3775,3830,0,0,0,0,0,0
$GC,6239,-0.94,-136.3,890.4,-12.0,466,6246,0.00,2.05,0.00,0.000,6,0.000,0.027,2118,2398,3829,0,0,0,0,0,0
$GC,6552,-0.94,-136.3,927.7,-11.9,477,6554,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2395,3827,0,0,0,0,0,0
$GC,6858,-0.94,-136.3,964.5,-12.3,487,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2394,3826,0,0,0,0,0,0
$STATE,7132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7132,begin apogee
$GC,7139,-0.16,0.0,1000.3,13.4,496,7249,0.80,0.00,104.62,1.144,6,0.132,0.000,2370,1974,3298,0,0,0,0,0,0
$STATE,7250,end apogee,CONTROL_FINISHED_OK
$STATE,7250,begin climb
$GC,7252,0.79,136.3,1006.1,0.0,499,7376,0.85,2.30,113.43,1.102,4,0.050,0.037,2701,611,2741,0,0,0,0,0,0
$GC,7423,0.64,136.3,1004.1,12.3,505,7428,0.28,2.22,0.00,0.000,6,0.189,0.031,2634,2003,2737,0,0,0,0,0,0
$GC,7759,0.55,136.3,966.1,11.9,516,7761,0.12,0.00,0.00,0.000,6,0.194,0.000,2604,2004,2731,0,0,0,0,0,0
$GC,8065,0.49,144.4,933.5,10.7,526,8076,0.00,2.22,6.20,0.938,4,0.000,0.041,2604,3410,2709,0,0,0,0,0,0
$GC,8130,0.41,144.4,926.2,11.7,528,8134,0.22,2.15,0.00,0.000,6,0.190,0.029,2557,2005,2707,0,0,0,0,0,0
$GC,8471,0.43,178.0,895.0,9.3,539,8505,0.00,2.25,29.10,1.060,4,0.000,0.041,2557,3410,2572,0,0,0,0,0,0
$GC,8533,0.41,178.0,888.5,11.4,541,8536,0.00,2.17,0.00,0.000,6,0.000,0.028,2565,1997,2569,0,0,0,0,0,0
$GC,8869,0.41,186.3,852.7,10.7,552,8879,0.00,0.00,7.88,0.956,6,0.000,0.000,2565,1995,2537,0,0,0,0,0,0
$GC,9174,0.43,205.4,821.8,10.1,562,9198,0.00,2.25,17.15,0.994,4,0.000,0.039,2576,597,2460,0,0,0,0,0,0
$GC,9240,0.44,217.3,815.3,10.5,564,9256,0.00,2.17,11.45,0.907,6,0.000,0.031,2577,2001,2412,0,0,0,0,0,0
$GC,9576,0.46,232.0,779.2,10.3,575,9595,0.00,2.25,13.07,0.959,4,0.000,0.041,2576,3397,2352,0,0,0,0,0,0
$GC,9679,0.46,232.0,767.1,12.4,578,9683,0.00,2.20,0.00,0.000,6,0.000,0.028,2587,1993,2349,0,0,0,0,0,0
$GC,10015,0.46,232.0,728.8,11.3,589,10019,0.00,2.15,0.00,0.000,4,0.000,0.040,2598,589,2347,0,0,0,0,0,0
$GC,10053,0.46,232.0,724.1,11.7,590,10057,0.00,2.17,0.00,0.000,6,0.000,0.031,2598,2007,2347,0,0,0,0,0,0
$GC,10383,0.45,232.0,685.3,11.5,601,10387,0.00,2.17,0.00,0.000,4,0.000,0.043,2598,3404,2346,0,0,0,0,0,0
$GC,10433,0.42,232.0,678.9,13.5,602,10438,0.17,2.12,0.00,0.000,6,0.168,0.030,2563,1999,2345,0,0,0,0,0,0
$GC,10747,0.49,274.6,650.7,8.8,612,10784,0.00,0.00,35.53,0.931,6,0.000,0.000,2563,1997,2178,0,0,0,0,0,0
$GC,11083,0.56,307.8,619.8,9.3,623,11118,0.12,2.28,27.92,0.892,4,0.093,0.041,2630,599,2042,0,0,0,0,0,0
$GC,11206,0.56,307.8,603.0,13.8,626,11211,0.00,2.20,0.00,0.000,6,0.000,0.030,2630,1992,2038,0,0,0,0,0,0
$GC,11539,0.55,307.8,553.8,15.0,642,11543,0.00,2.22,0.00,0.000,4,0.000,0.041,2630,3404,2035,0,0,0,0,0,0
$GC,11580,0.52,307.8,547.2,15.6,644,11585,0.17,2.15,0.00,0.000,6,0.163,0.030,2594,1995,2034,0,0,0,0,0,0
$GC,11910,0.54,307.8,506.1,12.0,660,11914,0.00,2.15,0.00,0.000,4,0.000,0.041,2603,597,2033,0,0,0,0,0,0
$GC,11942,0.56,307.8,501.5,12.7,661,11946,0.00,2.15,0.00,0.000,6,0.000,0.031,2603,2002,2033,0,0,0,0,0,0
$GC,12273,0.57,307.8,462.7,11.4,691,12274,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2003,2031,0,0,0,0,0,0
$GC,12595,0.59,310.5,427.8,11.0,721,12599,0.00,2.17,0.00,0.000,4,0.000,0.042,2603,3402,2032,0,0,0,0,0,0
$GC,12651,0.60,310.5,420.6,12.1,725,12658,0.00,2.15,0.00,0.000,6,0.000,0.030,2614,1989,2031,0,0,0,0,0,0
$GC,12977,0.60,310.5,382.2,12.7,756,12981,0.00,2.15,0.00,0.000,4,0.000,0.041,2624,589,2031,0,0,0,0,0,0
$GC,13085,0.61,310.5,368.4,13.2,765,13089,0.00,2.12,0.00,0.000,6,0.000,0.031,2624,2004,2031,0,0,0,0,0,0
$GC,13410,0.61,310.5,325.7,12.6,795,13414,0.00,2.15,0.00,0.000,4,0.000,0.041,2624,3407,2031,0,0,0,0,0,0
$GC,13483,0.61,310.5,315.9,13.4,801,13487,0.00,2.12,0.00,0.000,6,0.000,0.028,2634,1990,2031,0,0,0,0,0,0
$GC,13808,0.61,310.5,276.2,11.6,831,13812,0.00,2.12,0.00,0.000,4,0.000,0.039,2646,597,2031,0,0,0,0,0,0
$GC,13909,0.61,310.5,264.4,11.3,839,13917,0.00,2.12,0.00,0.000,6,0.000,0.031,2645,2003,2032,0,0,0,0,0,0
$GC,14234,0.61,310.5,224.7,12.6,870,14238,0.00,2.17,0.00,0.000,4,0.000,0.041,2645,3411,2032,0,0,0,0,0,0
$GC,14345,0.60,310.5,209.2,14.2,879,14354,0.15,2.12,0.00,0.000,6,0.160,0.028,2615,1988,2033,0,0,0,0,0,0
$GC,14671,0.66,330.3,177.8,10.0,910,14695,0.00,2.17,18.17,0.651,4,0.000,0.037,2625,600,1950,0,0,0,0,0,0
$GC,14770,0.73,355.0,167.8,9.8,918,14800,0.10,2.12,21.05,0.651,6,0.099,0.029,2676,2002,1849,0,0,0,0,0,0
$GC,15132,0.76,374.0,121.4,10.1,971,15152,0.00,2.25,15.65,0.600,4,0.000,0.039,2676,3409,1773,0,0,0,0,0,0
$GC,15309,0.80,406.6,103.2,9.3,1002,15340,0.00,2.15,26.52,0.604,6,0.000,0.027,2687,1991,1640,0,0,0,0,0,0
$GC,15679,0.88,439.4,70.1,9.3,1067,15711,0.00,2.22,26.12,0.568,4,0.000,0.037,2698,592,1505,0,0,0,0,0,0
$GC,15834,0.98,477.8,54.1,9.0,1093,15871,0.12,2.15,30.55,0.552,6,0.083,0.028,2759,2006,1349,0,0,0,0,0,0
$STATE,16183,end climb,SURFACE_DEPTH_REACHED
$STATE,16183,begin surface coast
$FINISH,1.4,1.008671
$STATE,16206,end surface coast,CONTROL_FINISHED_OK
$STATE,16206,begin surface
$SM_CCo,16283,0.00,0.000,0,0,1343,479.56
$SM_GC,2.15,6.72,0.00,0.00,0.041,0.000,0.000,208,2418,1343,-6.84,0.54,479.56
$IRIDIUM_FIX,2251.04,12601.64,301010,090938
$TT8_MAMPS,0.025466
$HUMID,49.84
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.7,44.609
$10V_AH,9.9,53.413
$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,18.700,142.650,504.425,0.000,0.000,29.937,37.393,154.062,0.000,0.000,15.421,2996.043,10389.730,600.074,2347.430,309.833,0.000,1760.437,0.000,2104.478,0.000,0.542,0.000
$DEVICE_MAMPS,231.030,46.665,1144.440,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,784.882,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70168,1159
$CAP_FILE_SIZE,161869,0
$CFSIZE,260165632,225243136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.165, 11.5,1
$GPS,301010,183906,2253.916,12601.481,26,1.7,26,-3.3