version: 66.08
glider: 181
mission: 4
dive: 363
start: 11 5 110 15 53 14
data:
$ID,181
$MISSION,4
$DIVE,363
$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,-38306.516
$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,56
$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
$GPS1,051110,154437,2213.219,12556.219,33,0.9,33,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-57.8
$GPS2,051110,155250,2213.231,12556.199,11,1.5,11,-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,169.5,96008,-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,15,begin dive
$GC,17,-0.79,-136.3,0.0,0.0,0,50,0.00,0.00,-30.67,0.000,2,0.000,0.000,205,2428,2315,0,0,0,0,0,0
$GC,53,-0.79,-136.3,3.1,-3.9,5,115,8.20,2.20,-46.53,0.000,4,0.232,0.042,2164,985,3854,0,0,0,0,0,0
$GC,199,-0.72,-136.3,31.6,-26.4,30,207,0.15,2.12,0.00,0.000,6,0.168,0.031,2192,2390,3855,0,0,0,0,0,0
$GC,545,-0.67,-136.3,115.4,-20.7,91,551,0.00,2.15,0.00,0.000,4,0.000,0.041,2183,3784,3855,0,0,0,0,0,0
$GC,673,-0.66,-136.3,136.4,-16.4,113,680,0.12,2.05,0.00,0.000,6,0.148,0.024,2217,2388,3856,0,0,0,0,0,0
$GC,1005,-0.68,-136.3,178.6,-12.0,152,1008,0.00,2.05,0.00,0.000,4,0.000,0.031,2217,1006,3857,0,0,0,0,0,0
$GC,1089,-0.73,-136.3,188.9,-11.5,159,1096,0.00,2.10,0.00,0.000,6,0.000,0.033,2216,2402,3857,0,0,0,0,0,0
$GC,1414,-0.77,-136.3,228.3,-11.6,190,1419,0.12,2.12,0.00,0.000,4,0.081,0.041,2139,3777,3857,0,0,0,0,0,0
$GC,1492,-0.75,-136.3,241.4,-16.9,196,1501,0.15,2.05,0.00,0.000,6,0.148,0.025,2180,2391,3857,0,0,0,0,0,0
$GC,1817,-0.75,-136.3,290.3,-13.8,227,1821,0.00,2.15,0.00,0.000,4,0.000,0.041,2171,3787,3857,0,0,0,0,0,0
$GC,1848,-0.75,-136.3,294.5,-14.2,229,1852,0.00,2.08,0.00,0.000,6,0.000,0.026,2171,2409,3857,0,0,0,0,0,0
$GC,2178,-0.75,-136.3,341.1,-13.9,260,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2406,3857,0,0,0,0,0,0
$GC,2499,-0.76,-136.3,383.3,-12.2,290,2503,0.00,2.12,0.00,0.000,4,0.000,0.041,2161,3777,3855,0,0,0,0,0,0
$GC,2532,-0.78,-136.3,387.9,-12.4,292,2540,0.00,2.05,0.00,0.000,6,0.000,0.026,2161,2396,3855,0,0,0,0,0,0
$GC,2858,-0.78,-136.3,429.0,-11.9,323,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2394,3854,0,0,0,0,0,0
$GC,3179,-0.79,-136.3,464.0,-11.1,353,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2394,3853,0,0,0,0,0,0
$GC,3497,-0.81,-136.3,500.1,-11.8,383,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2394,3851,0,0,0,0,0,0
$GC,3806,-0.83,-136.3,534.7,-11.1,398,3807,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2394,3849,0,0,0,0,0,0
$GC,4115,-0.85,-136.3,568.6,-10.6,413,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2394,3846,0,0,0,0,0,0
$GC,4433,-0.88,-136.3,604.0,-10.8,428,4437,0.00,2.17,0.00,0.000,4,0.000,0.045,2150,3774,3843,0,0,0,0,0,0
$GC,4530,-0.92,-136.3,614.9,-11.5,431,4534,0.00,2.05,0.00,0.000,6,0.000,0.028,2151,2392,3843,0,0,0,0,0,0
$GC,4866,-0.94,-136.3,652.5,-10.9,442,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2389,3840,0,0,0,0,0,0
$GC,5172,-0.96,-136.3,685.9,-11.0,452,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2389,3837,0,0,0,0,0,0
$GC,5479,-0.98,-136.3,718.9,-10.5,462,5483,0.12,2.12,0.00,0.000,4,0.086,0.034,2091,994,3834,0,0,0,0,0,0
$GC,5522,-0.97,-136.3,725.0,-14.0,463,5527,0.12,2.15,0.00,0.000,6,0.171,0.035,2114,2406,3834,0,0,0,0,0,0
$GC,5841,-0.96,-136.3,767.2,-13.4,474,5845,0.00,2.12,0.00,0.000,4,0.000,0.047,2103,3779,3832,0,0,0,0,0,0
$GC,5871,-0.94,-136.3,771.3,-13.9,475,5875,0.00,2.05,0.00,0.000,6,0.000,0.028,2104,2404,3831,0,0,0,0,0,0
$GC,6206,-0.92,-136.3,821.0,-15.0,486,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2401,3828,0,0,0,0,0,0
$GC,6513,-0.90,-136.3,866.9,-14.9,496,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2401,3827,0,0,0,0,0,0
$GC,6819,-0.89,-136.3,911.9,-14.4,506,6820,0.12,0.00,0.00,0.000,6,0.169,0.000,2136,2401,3825,0,0,0,0,0,0
$GC,7125,-0.91,-136.3,947.5,-11.5,516,7129,0.00,2.15,0.00,0.000,4,0.000,0.036,2137,990,3822,0,0,0,0,0,0
$GC,7164,-0.94,-136.3,952.2,-11.2,517,7168,0.00,2.20,0.00,0.000,6,0.000,0.037,2130,2407,3822,0,0,0,0,0,0
$GC,7488,-0.95,-136.3,989.7,-11.8,528,7492,0.00,2.15,0.00,0.000,4,0.000,0.048,2119,3778,3820,0,0,0,0,0,0
$GC,7517,-0.97,-136.3,993.3,-12.6,529,7521,0.00,2.08,0.00,0.000,6,0.000,0.029,2119,2398,3820,0,0,0,0,0,0
$STATE,7574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7574,begin apogee
$GC,7581,-0.16,0.0,1000.7,12.5,531,7692,0.80,0.00,105.00,1.145,6,0.132,0.000,2372,1979,3297,0,0,0,0,0,0
$STATE,7692,end apogee,CONTROL_FINISHED_OK
$STATE,7693,begin climb
$GC,7695,0.79,136.3,1006.2,0.0,534,7818,0.85,2.47,114.68,1.104,4,0.054,0.042,2687,3411,2741,0,0,0,0,0,0
$GC,7961,0.63,136.3,987.8,15.5,542,7966,0.28,2.17,0.00,0.000,6,0.205,0.030,2633,2013,2733,0,0,0,0,0,0
$GC,8274,0.54,136.3,950.7,11.5,552,8276,0.12,0.00,0.00,0.000,6,0.200,0.000,2602,2013,2730,0,0,0,0,0,0
$GC,8580,0.50,149.5,919.8,10.4,562,8595,0.00,2.20,10.30,1.028,4,0.000,0.038,2612,592,2688,0,0,0,0,0,0
$GC,8642,0.46,172.5,913.4,9.9,564,8669,0.15,2.17,20.80,1.016,6,0.176,0.032,2575,2013,2594,0,0,0,0,0,0
$GC,8979,0.47,199.4,880.7,9.6,574,9012,0.00,2.28,23.15,1.039,4,0.000,0.044,2575,3400,2484,0,0,0,0,0,0
$GC,9092,0.45,199.4,867.9,11.6,577,9096,0.00,2.17,0.00,0.000,6,0.000,0.031,2584,1995,2481,0,0,0,0,0,0
$GC,9416,0.43,201.8,832.3,11.0,588,9420,0.00,2.17,0.00,0.000,4,0.000,0.041,2595,586,2478,0,0,0,0,0,0
$GC,9455,0.40,201.8,827.7,11.4,589,9460,0.15,2.15,0.00,0.000,6,0.170,0.032,2558,1999,2478,0,0,0,0,0,0
$GC,9785,0.44,231.1,796.2,9.5,600,9818,0.00,2.25,26.35,1.011,4,0.000,0.042,2558,3401,2356,0,0,0,0,0,0
$GC,9891,0.44,231.1,784.3,12.3,603,9895,0.00,2.17,0.00,0.000,6,0.000,0.031,2566,1994,2352,0,0,0,0,0,0
$GC,10228,0.45,239.9,748.0,10.6,614,10238,0.00,0.00,8.65,0.920,6,0.000,0.000,2565,1993,2319,0,0,0,0,0,0
$GC,10533,0.48,250.3,715.5,10.5,624,10545,0.00,0.00,10.02,0.905,6,0.000,0.000,2566,1993,2277,0,0,0,0,0,0
$GC,10840,0.54,286.6,686.3,9.1,634,10877,0.00,2.22,31.15,0.936,4,0.000,0.041,2576,596,2129,0,0,0,0,0,0
$GC,10929,0.58,299.5,677.6,10.4,636,10946,0.10,2.20,11.95,0.838,6,0.103,0.032,2622,2001,2077,0,0,0,0,0,0
$GC,11273,0.56,299.5,628.6,14.8,648,11277,0.00,2.22,0.00,0.000,4,0.000,0.042,2622,3409,2071,0,0,0,0,0,0
$GC,11328,0.54,299.5,619.6,14.8,649,11335,0.12,2.17,0.00,0.000,6,0.171,0.031,2601,1992,2069,0,0,0,0,0,0
$GC,11653,0.54,299.5,578.2,12.5,663,11654,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1989,2068,0,0,0,0,0,0
$GC,11963,0.54,299.5,540.3,12.8,678,11967,0.00,2.17,0.00,0.000,4,0.000,0.041,2611,585,2068,0,0,0,0,0,0
$GC,12009,0.55,299.5,534.3,13.2,680,12013,0.00,2.15,0.00,0.000,6,0.000,0.031,2611,2002,2068,0,0,0,0,0,0
$GC,12333,0.55,299.5,493.2,12.9,697,12337,0.00,2.17,0.00,0.000,4,0.000,0.043,2611,3405,2068,0,0,0,0,0,0
$GC,12418,0.55,299.5,481.6,13.1,704,12422,0.00,2.15,0.00,0.000,6,0.000,0.031,2621,1988,2066,0,0,0,0,0,0
$GC,12743,0.55,299.5,440.1,12.7,734,12747,0.00,2.15,0.00,0.000,4,0.000,0.041,2631,595,2066,0,0,0,0,0,0
$GC,12849,0.55,299.5,426.1,12.9,743,12856,0.00,2.15,0.00,0.000,6,0.000,0.031,2632,2002,2066,0,0,0,0,0,0
$GC,13175,0.54,299.5,382.9,13.2,774,13180,0.12,2.20,0.00,0.000,4,0.168,0.043,2598,3410,2066,0,0,0,0,0,0
$GC,13208,0.55,299.5,378.5,12.0,776,13216,0.00,2.15,0.00,0.000,6,0.000,0.031,2607,1999,2065,0,0,0,0,0,0
$GC,13534,0.59,319.7,345.1,10.0,807,13557,0.00,2.15,16.48,0.777,4,0.000,0.038,2618,595,1993,0,0,0,0,0,0
$GC,13616,0.63,329.1,336.5,10.6,814,13630,0.00,2.15,9.00,0.637,6,0.000,0.031,2618,2000,1956,0,0,0,0,0,0
$GC,13957,0.64,329.1,297.4,11.4,846,13961,0.00,2.22,0.00,0.000,4,0.000,0.042,2618,3409,1952,0,0,0,0,0,0
$GC,14024,0.66,329.1,289.4,11.4,851,14031,0.00,2.17,0.00,0.000,6,0.000,0.030,2628,1985,1952,0,0,0,0,0,0
$GC,14352,0.67,333.3,253.4,10.9,882,14364,0.00,2.15,4.72,0.529,4,0.000,0.040,2639,595,1939,0,0,0,0,0,0
$GC,14410,0.70,347.7,246.7,10.3,887,14434,0.00,2.12,13.80,0.690,6,0.000,0.030,2639,2002,1879,0,0,0,0,0,0
$GC,14751,0.72,347.7,206.2,12.8,919,14755,0.00,2.15,0.00,0.000,4,0.000,0.041,2639,3399,1877,0,0,0,0,0,0
$GC,14784,0.73,347.7,201.6,12.9,921,14791,0.00,2.12,0.00,0.000,6,0.000,0.030,2649,1994,1876,0,0,0,0,0,0
$GC,15110,0.74,348.1,163.5,11.1,952,15114,0.00,2.15,0.00,0.000,4,0.000,0.037,2660,583,1876,0,0,0,0,0,0
$GC,15248,0.76,348.1,148.7,11.4,964,15256,0.00,2.12,0.00,0.000,6,0.000,0.030,2660,2005,1876,0,0,0,0,0,0
$GC,15596,0.82,378.9,111.4,9.4,1025,15627,0.00,2.25,25.58,0.607,4,0.000,0.041,2660,3411,1752,0,0,0,0,0,0
$GC,15715,0.85,386.7,99.0,10.7,1045,15729,0.00,2.15,7.38,0.509,6,0.000,0.028,2671,1996,1721,0,0,0,0,0,0
$GC,16069,0.97,441.0,65.2,8.1,1107,16120,0.17,2.15,43.08,0.575,4,0.067,0.035,2766,597,1498,0,0,0,0,0,0
$GC,16295,0.94,441.0,34.2,13.2,1146,16302,0.15,2.12,0.00,0.000,6,0.152,0.029,2727,2003,1495,0,0,0,0,0,0
$STATE,16507,end climb,SURFACE_DEPTH_REACHED
$STATE,16507,begin surface coast
$FINISH,1.3,1.022736
$STATE,16542,end surface coast,CONTROL_FINISHED_OK
$STATE,16542,begin surface
$SM_CCo,16618,0.00,0.000,0,0,1491,443.26
$SM_GC,2.33,6.55,0.00,0.00,0.034,0.000,0.000,199,2417,1491,-6.85,0.48,443.26
$IRIDIUM_FIX,2204.37,12559.59,051110,151543
$TT8_MAMPS,0.025466
$HUMID,50.23
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.6,49.051
$10V_AH,9.9,55.839
$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,18.700,126.200,482.075,0.000,0.000,47.666,80.716,153.820,0.000,0.000,14.058,3064.145,10722.025,581.697,2402.804,331.381,0.000,1733.085,0.000,2102.541,0.000,0.541,0.000
$DEVICE_MAMPS,231.795,48.195,1145.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,806.936,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70282,1190
$CAP_FILE_SIZE,163734,0
$CFSIZE,260165632,222842880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,342.6,1
$GPS,051110,203130,2211.888,12556.365,35,1.3,40,-3.1