version: 66.08
glider: 181
mission: 4
dive: 333
start: 10 30 110 18 45 50
data:
$ID,181
$MISSION,4
$DIVE,333
$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,-38267.48
$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,47
$R_STBD_OVSHOOT,55
$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
$GPS1,301010,183906,2253.916,12601.481,26,1.7,26,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-64.5
$GPS2,301010,184525,2253.990,12601.481,11,2.0,11,-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,190.7,171106,-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,-43.08,0.000,2,0.000,0.000,201,2418,2470,0,0,0,0,0,0
$GC,64,-0.79,-136.3,3.1,-3.4,7,119,8.18,2.10,-38.75,0.000,4,0.232,0.055,2152,3770,3855,0,0,0,0,0,0
$GC,311,-0.71,-136.3,60.0,-26.1,50,318,0.17,2.05,0.00,0.000,6,0.162,0.024,2196,2391,3856,0,0,0,0,0,0
$GC,656,-0.69,-136.3,139.5,-17.0,111,663,0.00,2.08,0.00,0.000,4,0.000,0.031,2197,987,3857,0,0,0,0,0,0
$GC,687,-0.68,-136.3,144.8,-17.7,116,695,0.00,2.12,0.00,0.000,6,0.000,0.032,2189,2390,3858,0,0,0,0,0,0
$GC,1021,-0.66,-136.3,200.2,-16.8,150,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2390,3859,0,0,0,0,0,0
$GC,1342,-0.66,-136.3,245.5,-13.2,180,1345,0.00,2.15,0.00,0.000,4,0.000,0.041,2178,3787,3859,0,0,0,0,0,0
$GC,1419,-0.68,-136.3,256.0,-13.0,186,1426,0.00,2.05,0.00,0.000,6,0.000,0.024,2178,2391,3859,0,0,0,0,0,0
$GC,1746,-0.68,-136.3,299.7,-13.7,217,1749,0.00,2.03,0.00,0.000,4,0.000,0.030,2178,1008,3859,0,0,0,0,0,0
$GC,1862,-0.70,-136.3,315.5,-12.8,227,1869,0.00,2.12,0.00,0.000,6,0.000,0.032,2170,2408,3858,0,0,0,0,0,0
$GC,2187,-0.70,-136.3,359.8,-12.6,258,2191,0.00,2.12,0.00,0.000,4,0.000,0.042,2160,3785,3857,0,0,0,0,0,0
$GC,2264,-0.72,-136.3,370.0,-13.1,264,2273,0.12,2.03,0.00,0.000,6,0.145,0.024,2194,2391,3857,0,0,0,0,0,0
$GC,2590,-0.76,-136.3,406.1,-11.1,295,2594,0.00,2.05,0.00,0.000,4,0.000,0.031,2194,1012,3856,0,0,0,0,0,0
$GC,2618,-0.81,-136.3,409.5,-11.8,297,2625,0.00,2.08,0.00,0.000,6,0.000,0.032,2191,2399,3856,0,0,0,0,0,0
$GC,2944,-0.86,-136.3,446.4,-11.1,328,2946,0.12,0.00,0.00,0.000,6,0.082,0.000,2125,2399,3855,0,0,0,0,0,0
$GC,3261,-0.83,-136.3,496.8,-15.8,358,3266,0.12,2.15,0.00,0.000,4,0.168,0.043,2149,3775,3853,0,0,0,0,0,0
$GC,3294,-0.84,-136.3,501.7,-13.8,360,3302,0.00,2.03,0.00,0.000,6,0.000,0.025,2149,2407,3853,0,0,0,0,0,0
$GC,3610,-0.84,-136.3,542.7,-13.2,376,3614,0.00,2.15,0.00,0.000,4,0.000,0.043,2139,3780,3851,0,0,0,0,0,0
$GC,3718,-0.85,-136.3,555.6,-11.6,381,3722,0.00,2.05,0.00,0.000,6,0.000,0.025,2139,2402,3850,0,0,0,0,0,0
$GC,4052,-0.85,-136.3,599.6,-13.1,397,4056,0.00,2.10,0.00,0.000,4,0.000,0.033,2138,997,3847,0,0,0,0,0,0
$GC,4067,-0.85,-136.3,602.2,-13.3,397,4075,0.00,2.17,0.00,0.000,6,0.000,0.034,2130,2406,3847,0,0,0,0,0,0
$GC,4381,-0.85,-136.3,644.3,-13.8,408,4385,0.00,2.12,0.00,0.000,4,0.000,0.031,2129,995,3844,0,0,0,0,0,0
$GC,4414,-0.85,-136.3,649.3,-14.4,409,4418,0.00,2.17,0.00,0.000,6,0.000,0.035,2122,2400,3844,0,0,0,0,0,0
$GC,4750,-0.84,-136.3,697.5,-14.5,420,4754,0.12,2.17,0.00,0.000,4,0.178,0.044,2144,3787,3841,0,0,0,0,0,0
$GC,4828,-0.87,-136.3,707.3,-11.5,422,4832,0.00,2.10,0.00,0.000,6,0.000,0.028,2144,2388,3841,0,0,0,0,0,0
$GC,5152,-0.88,-136.3,745.0,-11.7,433,5156,0.00,2.08,0.00,0.000,4,0.000,0.034,2145,992,3838,0,0,0,0,0,0
$GC,5190,-0.91,-136.3,749.8,-11.8,434,5193,0.00,2.15,0.00,0.000,6,0.000,0.035,2137,2406,3838,0,0,0,0,0,0
$GC,5520,-0.91,-136.3,789.1,-11.9,445,5524,0.00,2.15,0.00,0.000,4,0.000,0.046,2127,3784,3834,0,0,0,0,0,0
$GC,5598,-0.93,-136.3,798.7,-11.9,447,5602,0.00,2.08,0.00,0.000,6,0.000,0.028,2127,2391,3833,0,0,0,0,0,0
$GC,5929,-0.93,-136.3,839.0,-12.3,458,5932,0.00,2.08,0.00,0.000,4,0.000,0.034,2127,1001,3831,0,0,0,0,0,0
$GC,5968,-0.94,-136.3,844.2,-11.8,459,5971,0.00,2.17,0.00,0.000,6,0.000,0.036,2117,2411,3831,0,0,0,0,0,0
$GC,6291,-0.94,-136.3,884.9,-12.8,470,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2412,3828,0,0,0,0,0,0
$GC,6598,-0.94,-136.3,923.9,-12.7,480,6599,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2411,3826,0,0,0,0,0,0
$GC,6904,-0.94,-136.3,961.4,-11.9,490,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2412,3824,0,0,0,0,0,0
$GC,7210,-0.94,-136.3,998.3,-12.1,500,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2412,3821,0,0,0,0,0,0
$STATE,7239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7239,begin apogee
$GC,7245,-0.16,0.0,1001.9,12.1,501,7356,0.80,0.00,104.35,1.145,6,0.133,0.000,2368,1984,3298,0,0,0,0,0,0
$STATE,7357,end apogee,CONTROL_FINISHED_OK
$STATE,7357,begin climb
$GC,7359,0.79,136.3,1006.2,0.0,504,7481,0.85,2.25,113.05,1.102,4,0.053,0.037,2697,613,2742,0,0,0,0,0,0
$GC,7605,0.65,136.3,990.1,14.8,512,7610,0.25,2.17,0.00,0.000,6,0.190,0.033,2637,2003,2736,0,0,0,0,0,0
$GC,7929,0.55,136.3,950.2,12.2,523,7931,0.12,0.00,0.00,0.000,6,0.194,0.000,2606,2005,2732,0,0,0,0,0,0
$GC,8235,0.50,146.9,917.6,10.5,533,8250,0.00,2.25,8.30,1.017,4,0.000,0.044,2606,3402,2699,0,0,0,0,0,0
$GC,8289,0.41,146.9,911.1,12.9,534,8294,0.22,2.12,0.00,0.000,6,0.190,0.029,2559,2008,2697,0,0,0,0,0,0
$GC,8604,0.46,194.5,883.7,8.5,544,8646,0.00,0.00,40.65,1.050,6,0.000,0.000,2559,2008,2504,0,0,0,0,0,0
$GC,8939,0.48,216.7,850.5,9.9,555,8960,0.00,0.00,19.10,1.010,6,0.000,0.000,2559,2007,2414,0,0,0,0,0,0
$GC,9246,0.51,242.5,819.7,9.7,565,9275,0.00,0.00,22.33,1.000,6,0.000,0.000,2559,2007,2308,0,0,0,0,0,0
$GC,9581,0.55,257.9,785.2,10.3,576,9601,0.15,2.25,13.75,0.962,4,0.086,0.041,2634,606,2247,0,0,0,0,0,0
$GC,9652,0.52,257.9,775.0,15.6,578,9656,0.15,2.17,0.00,0.000,6,0.169,0.032,2596,2009,2244,0,0,0,0,0,0
$GC,9987,0.52,257.9,731.4,13.3,589,9991,0.00,2.17,0.00,0.000,4,0.000,0.042,2596,3407,2241,0,0,0,0,0,0
$GC,10037,0.51,257.9,724.1,13.6,590,10041,0.00,2.15,0.00,0.000,6,0.000,0.029,2606,2003,2240,0,0,0,0,0,0
$GC,10357,0.50,257.9,681.5,13.1,601,10361,0.00,2.17,0.00,0.000,4,0.000,0.041,2616,594,2239,0,0,0,0,0,0
$GC,10430,0.49,257.9,671.8,11.9,603,10434,0.12,2.12,0.00,0.000,6,0.165,0.031,2584,1998,2239,0,0,0,0,0,0
$GC,10753,0.49,257.9,635.7,11.3,614,10757,0.00,2.17,0.00,0.000,4,0.000,0.043,2584,3404,2238,0,0,0,0,0,0
$GC,10774,0.49,257.9,633.1,11.8,614,10781,0.00,2.15,0.00,0.000,6,0.000,0.030,2593,1996,2238,0,0,0,0,0,0
$GC,11099,0.49,257.9,593.3,12.4,626,11103,0.00,2.17,0.00,0.000,4,0.000,0.041,2604,586,2237,0,0,0,0,0,0
$GC,11222,0.49,257.9,577.4,12.2,631,11229,0.00,2.17,0.00,0.000,6,0.000,0.032,2604,2009,2237,0,0,0,0,0,0
$GC,11538,0.49,257.9,539.1,11.9,647,11539,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2009,2236,0,0,0,0,0,0
$GC,11848,0.49,257.9,504.2,11.4,662,11852,0.00,2.15,0.00,0.000,4,0.000,0.042,2604,3404,2236,0,0,0,0,0,0
$GC,11876,0.47,257.9,500.5,12.5,663,11880,0.15,2.15,0.00,0.000,6,0.171,0.030,2576,1989,2235,0,0,0,0,0,0
$GC,12206,0.56,306.5,470.3,8.4,694,12252,0.00,2.17,38.60,0.822,4,0.000,0.039,2585,595,2049,0,0,0,0,0,0
$GC,12290,0.64,334.4,463.0,9.6,701,12324,0.12,2.15,23.88,0.757,6,0.091,0.030,2637,1998,1934,0,0,0,0,0,0
$GC,12642,0.64,334.4,414.1,13.3,734,12646,0.00,2.20,0.00,0.000,4,0.000,0.040,2648,595,1927,0,0,0,0,0,0
$GC,12697,0.64,334.4,406.3,13.3,738,12704,0.00,2.17,0.00,0.000,6,0.000,0.031,2648,1993,1926,0,0,0,0,0,0
$GC,13024,0.62,334.4,357.6,15.0,769,13028,0.00,2.20,0.00,0.000,4,0.000,0.040,2648,3406,1925,0,0,0,0,0,0
$GC,13079,0.60,334.4,348.7,16.0,773,13086,0.15,2.15,0.00,0.000,6,0.163,0.028,2619,2001,1924,0,0,0,0,0,0
$GC,13404,0.62,334.4,309.7,11.5,804,13408,0.00,2.15,0.00,0.000,4,0.000,0.039,2628,592,1923,0,0,0,0,0,0
$GC,13501,0.64,334.4,298.7,11.5,812,13505,0.00,2.12,0.00,0.000,6,0.000,0.029,2628,2006,1923,0,0,0,0,0,0
$GC,13827,0.70,367.3,264.7,9.3,842,13857,0.00,0.00,26.10,0.721,6,0.000,0.000,2628,2006,1800,0,0,0,0,0,0
$GC,14176,0.73,370.6,229.1,10.9,875,14186,0.00,0.00,3.75,0.438,6,0.000,0.000,2628,2006,1786,0,0,0,0,0,0
$GC,14504,0.79,384.5,193.9,10.3,906,14527,0.15,2.22,12.82,0.634,4,0.081,0.040,2696,3400,1729,0,0,0,0,0,0
$GC,14552,0.76,384.5,187.2,15.8,910,14557,0.15,2.12,0.00,0.000,6,0.165,0.028,2668,1991,1729,0,0,0,0,0,0
$GC,14879,0.77,384.5,144.3,12.1,944,14887,0.00,2.12,0.00,0.000,4,0.000,0.037,2677,593,1728,0,0,0,0,0,0
$GC,15140,0.83,410.4,114.6,9.7,990,15172,0.00,2.12,22.00,0.601,6,0.000,0.028,2677,2007,1623,0,0,0,0,0,0
$GC,15508,0.93,455.2,77.4,8.7,1055,15553,0.12,2.25,35.17,0.580,4,0.083,0.037,2753,592,1441,0,0,0,0,0,0
$GC,15643,0.93,455.2,59.9,13.0,1078,15649,0.00,2.15,0.00,0.000,6,0.000,0.028,2753,2000,1439,0,0,0,0,0,0
$GC,15988,0.91,455.2,17.8,14.3,1139,15995,0.12,2.17,0.00,0.000,4,0.168,0.037,2729,596,1437,0,0,0,0,0,0
$GC,16019,0.93,455.2,13.5,12.5,1144,16027,0.00,2.10,0.00,0.000,6,0.000,0.029,2729,1998,1437,0,0,0,0,0,0
$STATE,16104,end climb,SURFACE_DEPTH_REACHED
$STATE,16104,begin surface coast
$FINISH,1.4,0.999131
$STATE,16135,end surface coast,CONTROL_FINISHED_OK
$STATE,16135,begin surface
$SM_CCo,16211,0.00,0.000,0,0,1435,456.99
$SM_GC,2.29,6.62,0.00,0.00,0.041,0.000,0.000,200,2404,1435,-6.85,0.11,456.99
$IRIDIUM_FIX,2244.02,12605.42,301010,141416
$TT8_MAMPS,0.025466
$HUMID,49.44
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.7,44.752
$10V_AH,9.9,53.490
$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,19.125,129.525,483.850,0.000,0.000,36.121,40.908,158.106,0.000,0.000,13.908,2978.192,10383.910,607.464,2305.004,309.546,0.000,1743.651,0.000,2053.755,0.000,0.540,0.000
$DEVICE_MAMPS,231.795,55.080,1145.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,787.521,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70292,1164
$CAP_FILE_SIZE,158641,0
$CFSIZE,260165632,225169408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079, 24.9,1
$GPS,301010,231707,2252.505,12601.235,28,1.1,28,-3.3