version: 66.08
glider: 181
mission: 4
dive: 360
start: 11 5 110 1 29 44
data:
$ID,181
$MISSION,4
$DIVE,360
$N_DIVES,370
$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,-38302.742
$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,43
$R_STBD_OVSHOOT,54
$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
$GPS1,051110,012307,2218.818,12557.049,25,1.9,25,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-63.5
$GPS2,051110,012919,2218.821,12557.018,14,1.9,31,-3.1
$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,186.6,106218,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.79,-136.3,0.0,0.0,0,53,0.00,0.00,-35.85,0.000,2,0.000,0.000,202,2425,2550,0,0,0,0,0,0
$GC,56,-0.79,-136.3,3.4,-4.8,6,107,8.12,2.22,-36.12,0.000,4,0.229,0.041,2164,985,3855,0,0,0,0,0,0
$GC,219,-0.72,-136.3,37.2,-26.2,34,227,0.15,2.12,0.00,0.000,6,0.168,0.034,2193,2382,3857,0,0,0,0,0,0
$GC,565,-0.66,-136.3,117.4,-20.1,95,573,0.00,2.15,0.00,0.000,4,0.000,0.042,2183,3780,3857,0,0,0,0,0,0
$GC,676,-0.66,-136.3,137.0,-14.7,114,683,0.00,2.08,0.00,0.000,6,0.000,0.024,2183,2381,3858,0,0,0,0,0,0
$GC,1005,-0.65,-136.3,191.9,-14.5,151,1007,0.12,0.00,0.00,0.000,6,0.157,0.000,2217,2378,3860,0,0,0,0,0,0
$GC,1325,-0.69,-136.3,230.1,-11.1,181,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2378,3860,0,0,0,0,0,0
$GC,1644,-0.74,-136.3,265.6,-11.1,211,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2378,3860,0,0,0,0,0,0
$GC,1963,-0.79,-136.3,296.3,-9.2,241,1970,0.15,0.00,0.00,0.000,6,0.072,0.000,2140,2378,3859,0,0,0,0,0,0
$GC,2289,-0.76,-136.3,350.3,-17.5,272,2294,0.15,2.20,0.00,0.000,4,0.155,0.042,2171,3781,3859,0,0,0,0,0,0
$GC,2380,-0.80,-136.3,361.8,-10.4,279,2388,0.00,2.03,0.00,0.000,6,0.000,0.025,2172,2394,3858,0,0,0,0,0,0
$GC,2706,-0.82,-136.3,399.4,-11.2,310,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2394,3858,0,0,0,0,0,0
$GC,3027,-0.83,-136.3,438.6,-12.0,340,3031,0.00,2.15,0.00,0.000,4,0.000,0.043,2162,3777,3856,0,0,0,0,0,0
$GC,3090,-0.87,-136.3,446.3,-11.6,345,3093,0.00,2.03,0.00,0.000,6,0.000,0.026,2162,2398,3855,0,0,0,0,0,0
$GC,3421,-0.89,-136.3,486.7,-12.3,376,3425,0.00,2.08,0.00,0.000,4,0.000,0.032,2162,996,3854,0,0,0,0,0,0
$GC,3455,-0.91,-136.3,491.0,-12.7,379,3459,0.00,2.12,0.00,0.000,6,0.000,0.033,2152,2409,3853,0,0,0,0,0,0
$GC,3786,-0.91,-136.3,532.4,-12.4,398,3790,0.00,2.10,0.00,0.000,4,0.000,0.044,2142,3777,3852,0,0,0,0,0,0
$GC,3918,-0.93,-136.3,548.8,-12.6,404,3922,0.00,2.05,0.00,0.000,6,0.000,0.026,2142,2392,3850,0,0,0,0,0,0
$GC,4252,-0.93,-136.3,593.9,-13.5,420,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2389,3848,0,0,0,0,0,0
$GC,4558,-0.93,-136.3,630.0,-11.0,431,4559,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2390,3846,0,0,0,0,0,0
$GC,4864,-0.93,-136.3,663.1,-11.0,441,4865,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2390,3843,0,0,0,0,0,0
$GC,5171,-0.93,-136.3,699.2,-12.2,451,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2390,3840,0,0,0,0,0,0
$GC,5477,-0.94,-136.3,737.6,-12.6,461,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2389,3838,0,0,0,0,0,0
$GC,5783,-0.96,-136.3,773.5,-11.3,471,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2389,3835,0,0,0,0,0,0
$GC,6090,-0.97,-136.3,807.5,-11.2,481,6094,0.00,2.10,0.00,0.000,4,0.000,0.034,2142,998,3833,0,0,0,0,0,0
$GC,6134,-1.01,-136.3,812.7,-10.6,482,6139,0.12,2.15,0.00,0.000,6,0.087,0.035,2082,2399,3832,0,0,0,0,0,0
$GC,6463,-0.96,-136.3,862.7,-15.6,493,6468,0.12,2.17,0.00,0.000,4,0.178,0.046,2104,3778,3830,0,0,0,0,0,0
$GC,6519,-0.96,-136.3,870.5,-13.0,494,6525,0.00,2.05,0.00,0.000,6,0.000,0.027,2104,2405,3829,0,0,0,0,0,0
$GC,6832,-0.94,-136.3,912.2,-13.5,505,6836,0.00,2.17,0.00,0.000,4,0.000,0.047,2093,3787,3828,0,0,0,0,0,0
$GC,6871,-0.93,-136.3,917.7,-13.9,506,6876,0.12,2.08,0.00,0.000,6,0.162,0.028,2126,2398,3828,0,0,0,0,0,0
$GC,7200,-0.93,-136.3,955.1,-11.5,517,7204,0.00,2.10,0.00,0.000,4,0.000,0.035,2125,999,3826,0,0,0,0,0,0
$GC,7244,-0.96,-136.3,960.2,-11.6,518,7248,0.00,2.15,0.00,0.000,6,0.000,0.036,2123,2403,3826,0,0,0,0,0,0
$GC,7563,-0.96,-136.3,996.1,-11.3,529,7567,0.00,2.17,0.00,0.000,4,0.000,0.047,2112,3780,3823,0,0,0,0,0,0
$STATE,7593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7593,begin apogee
$GC,7601,-0.16,0.0,1000.1,12.6,530,7713,0.82,0.00,105.80,1.141,6,0.131,0.000,2372,2003,3298,0,0,0,0,0,0
$STATE,7714,end apogee,CONTROL_FINISHED_OK
$STATE,7714,begin climb
$GC,7716,0.79,136.3,1004.6,0.0,533,7840,0.82,2.38,114.25,1.103,4,0.046,0.041,2689,3414,2741,0,0,0,0,0,0
$GC,7924,0.63,136.3,993.7,16.3,540,7929,0.30,2.25,0.00,0.000,6,0.205,0.029,2629,1999,2734,0,0,0,0,0,0
$GC,8249,0.55,141.9,956.6,10.8,551,8255,0.00,0.00,4.32,0.769,6,0.000,0.000,2629,1999,2719,0,0,0,0,0,0
$GC,8556,0.46,143.2,923.4,11.0,561,8558,0.20,0.00,0.00,0.000,6,0.189,0.000,2578,1998,2717,0,0,0,0,0,0
$GC,8861,0.48,186.3,895.8,8.8,571,8904,0.00,2.28,37.72,1.062,4,0.000,0.041,2578,3410,2538,0,0,0,0,0,0
$GC,8990,0.44,186.3,881.5,11.4,575,8995,0.00,2.20,0.00,0.000,6,0.000,0.029,2586,1985,2534,0,0,0,0,0,0
$GC,9325,0.41,186.3,843.2,11.2,586,9329,0.00,2.15,0.00,0.000,4,0.000,0.039,2597,598,2530,0,0,0,0,0,0
$GC,9359,0.38,186.3,839.1,11.8,587,9364,0.17,2.17,0.00,0.000,6,0.168,0.031,2553,2009,2531,0,0,0,0,0,0
$GC,9689,0.44,232.8,809.9,8.6,598,9734,0.00,2.28,38.45,1.016,4,0.000,0.043,2554,3397,2348,0,0,0,0,0,0
$GC,9807,0.46,240.0,797.8,10.7,601,9819,0.00,2.17,7.20,0.821,6,0.000,0.030,2561,1997,2319,0,0,0,0,0,0
$GC,10126,0.50,254.7,765.8,10.3,612,10146,0.00,2.25,13.48,0.949,4,0.000,0.040,2572,593,2259,0,0,0,0,0,0
$GC,10174,0.52,254.7,760.2,11.1,613,10179,0.00,2.17,0.00,0.000,6,0.000,0.031,2572,2009,2257,0,0,0,0,0,0
$GC,10494,0.52,254.7,724.0,11.2,624,10498,0.00,2.20,0.00,0.000,4,0.000,0.043,2572,3407,2255,0,0,0,0,0,0
$GC,10545,0.52,254.7,718.1,12.0,625,10549,0.00,2.15,0.00,0.000,6,0.000,0.030,2582,1998,2254,0,0,0,0,0,0
$GC,10863,0.52,254.7,681.9,11.2,636,10864,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1996,2253,0,0,0,0,0,0
$GC,11170,0.52,254.7,647.4,11.4,646,11174,0.00,2.15,0.00,0.000,4,0.000,0.040,2593,592,2252,0,0,0,0,0,0
$GC,11202,0.52,254.7,643.1,12.9,647,11206,0.00,2.12,0.00,0.000,6,0.000,0.031,2593,2001,2251,0,0,0,0,0,0
$GC,11538,0.52,254.7,602.4,11.9,658,11542,0.00,2.20,0.00,0.000,4,0.000,0.042,2593,3404,2251,0,0,0,0,0,0
$GC,11593,0.52,254.7,595.3,12.8,660,11599,0.00,2.15,0.00,0.000,6,0.000,0.030,2604,1998,2251,0,0,0,0,0,0
$GC,11909,0.50,254.7,558.7,11.4,676,11913,0.00,2.17,0.00,0.000,4,0.000,0.039,2615,594,2251,0,0,0,0,0,0
$GC,12010,0.49,254.7,546.2,12.5,680,12017,0.00,2.12,0.00,0.000,6,0.000,0.031,2615,2003,2250,0,0,0,0,0,0
$GC,12327,0.47,254.7,505.6,13.1,696,12329,0.15,0.00,0.00,0.000,6,0.165,0.000,2575,2004,2250,0,0,0,0,0,0
$GC,12646,0.53,288.5,474.4,9.3,723,12680,0.00,2.20,27.80,0.828,4,0.000,0.042,2575,3399,2120,0,0,0,0,0,0
$GC,12720,0.57,296.8,466.4,10.7,729,12737,0.00,2.17,8.02,0.675,6,0.000,0.030,2584,1997,2086,0,0,0,0,0,0
$GC,13056,0.60,296.8,428.5,11.5,761,13060,0.10,2.20,0.00,0.000,4,0.103,0.041,2644,595,2082,0,0,0,0,0,0
$GC,13129,0.58,296.8,418.2,14.0,767,13134,0.12,2.15,0.00,0.000,6,0.164,0.031,2612,2007,2082,0,0,0,0,0,0
$GC,13454,0.58,296.8,377.9,11.2,797,13458,0.00,2.17,0.00,0.000,4,0.000,0.042,2612,3412,2081,0,0,0,0,0,0
$GC,13519,0.58,296.8,369.6,12.1,802,13526,0.00,2.20,0.00,0.000,6,0.000,0.030,2621,1977,2081,0,0,0,0,0,0
$GC,13845,0.58,296.8,329.8,12.0,833,13849,0.00,2.12,0.00,0.000,4,0.000,0.039,2632,595,2081,0,0,0,0,0,0
$GC,13922,0.58,296.8,320.0,12.2,839,13930,0.00,2.17,0.00,0.000,6,0.000,0.030,2632,2019,2081,0,0,0,0,0,0
$GC,14248,0.58,296.8,279.1,12.0,870,14252,0.00,2.20,0.00,0.000,4,0.000,0.037,2643,592,2081,0,0,0,0,0,0
$GC,14277,0.58,296.8,275.7,12.4,872,14281,0.12,2.12,0.00,0.000,6,0.158,0.030,2609,2001,2081,0,0,0,0,0,0
$GC,14609,0.64,333.4,242.9,9.1,903,14644,0.00,2.28,29.75,0.689,4,0.000,0.042,2609,3411,1938,0,0,0,0,0,0
$GC,14698,0.70,350.8,234.2,10.2,910,14720,0.00,2.15,15.10,0.598,6,0.000,0.028,2618,1995,1867,0,0,0,0,0,0
$GC,15047,0.76,372.0,199.1,9.9,943,15072,0.15,2.17,18.12,0.664,4,0.080,0.035,2694,596,1780,0,0,0,0,0,0
$GC,15143,0.73,372.0,186.2,14.8,951,15148,0.12,2.17,0.00,0.000,6,0.155,0.031,2663,2009,1778,0,0,0,0,0,0
$GC,15471,0.73,372.0,145.6,11.3,984,15477,0.00,2.15,0.00,0.000,4,0.000,0.041,2662,3404,1777,0,0,0,0,0,0
$GC,15551,0.73,372.0,135.2,12.4,998,15558,0.00,2.15,0.00,0.000,6,0.000,0.028,2670,1992,1775,0,0,0,0,0,0
$GC,15897,0.78,399.7,96.6,9.6,1059,15929,0.00,2.17,22.60,0.593,4,0.000,0.037,2681,598,1667,0,0,0,0,0,0
$GC,16027,0.85,416.8,82.6,10.2,1081,16047,0.00,2.12,14.93,0.558,6,0.000,0.029,2681,2007,1598,0,0,0,0,0,0
$GC,16388,0.96,464.7,50.1,8.5,1144,16432,0.15,2.25,37.85,0.555,4,0.073,0.039,2755,3406,1402,0,0,0,0,0,0
$GC,16495,0.96,464.7,32.9,17.4,1162,16503,0.12,2.15,0.00,0.000,6,0.166,0.028,2734,2002,1399,0,0,0,0,0,0
$STATE,16714,end climb,SURFACE_DEPTH_REACHED
$STATE,16714,begin surface coast
$FINISH,1.4,1.003848
$STATE,16737,end surface coast,CONTROL_FINISHED_OK
$STATE,16738,begin surface
$SM_CCo,16814,0.00,0.000,0,0,1395,466.81
$SM_GC,2.36,6.65,0.00,0.00,0.041,0.000,0.000,202,2404,1395,-6.85,0.11,466.81
$IRIDIUM_FIX,2211.35,12553.93,041110,202036
$TT8_MAMPS,0.025466
$HUMID,50.47
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.6,48.617
$10V_AH,9.9,55.602
$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,19.100,130.925,495.400,0.000,0.000,30.350,16.942,154.583,0.000,0.000,34.286,3087.774,10828.676,568.688,2366.365,326.229,0.000,1745.831,0.000,2127.122,0.000,0.542,0.000
$DEVICE_MAMPS,228.735,47.430,1140.615,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,817.130,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70293,1205
$CAP_FILE_SIZE,163308,0
$CFSIZE,260165632,223076352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,278.5,1
$GPS,051110,061107,2216.624,12556.499,31,1.1,31,-3.1