version: 66.08
glider: 181
mission: 4
dive: 372
start: 11 7 110 10 12 38
data:
$ID,181
$MISSION,4
$DIVE,372
$N_DIVES,379
$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,-38317.836
$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,44
$R_STBD_OVSHOOT,38
$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
$GPS1,071110,100625,2155.762,12557.208,36,1.6,36,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-61.3
$GPS2,071110,101213,2155.689,12557.212,9,1.1,14,-3.0
$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,173.4,63506,-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,-136.3,0.0,0.0,0,55,0.00,0.00,-36.50,0.000,2,0.000,0.000,202,2405,2506,0,0,0,0,0,0
$GC,58,-0.79,-136.3,3.3,-4.2,6,109,8.10,2.22,-36.78,0.000,4,0.226,0.046,2158,983,3855,0,0,0,0,0,0
$GC,223,-0.71,-136.3,39.1,-28.0,34,231,0.17,2.17,0.00,0.000,6,0.164,0.037,2194,2397,3856,0,0,0,0,0,0
$GC,570,-0.67,-136.3,124.8,-17.1,95,576,0.00,2.15,0.00,0.000,4,0.000,0.044,2186,3780,3857,0,0,0,0,0,0
$GC,688,-0.69,-136.3,143.2,-13.7,116,695,0.00,2.08,0.00,0.000,6,0.000,0.026,2186,2388,3858,0,0,0,0,0,0
$GC,1017,-0.67,-136.3,196.9,-17.0,151,1021,0.00,2.08,0.00,0.000,4,0.000,0.032,2186,1000,3859,0,0,0,0,0,0
$GC,1064,-0.67,-136.3,203.9,-15.3,155,1068,0.12,2.12,0.00,0.000,6,0.152,0.035,2210,2405,3860,0,0,0,0,0,0
$GC,1390,-0.70,-136.3,246.0,-11.1,185,1393,0.00,2.12,0.00,0.000,4,0.000,0.044,2202,3777,3860,0,0,0,0,0,0
$GC,1464,-0.76,-136.3,253.5,-9.5,191,1468,0.00,2.03,0.00,0.000,6,0.000,0.026,2202,2396,3860,0,0,0,0,0,0
$GC,1796,-0.80,-136.3,288.9,-10.3,222,1799,0.00,2.05,0.00,0.000,4,0.000,0.033,2201,1008,3860,0,0,0,0,0,0
$GC,1843,-0.86,-136.3,293.8,-10.2,226,1848,0.15,2.12,0.00,0.000,6,0.071,0.034,2117,2400,3860,0,0,0,0,0,0
$GC,2169,-0.81,-136.3,352.9,-16.6,256,2173,0.17,2.15,0.00,0.000,4,0.167,0.045,2154,3778,3859,0,0,0,0,0,0
$GC,2270,-0.83,-136.3,366.1,-11.3,264,2277,0.00,2.05,0.00,0.000,6,0.000,0.027,2154,2401,3858,0,0,0,0,0,0
$GC,2596,-0.83,-136.3,410.8,-14.0,295,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2397,3858,0,0,0,0,0,0
$GC,2918,-0.83,-136.3,451.2,-12.1,325,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2397,3856,0,0,0,0,0,0
$GC,3244,-0.83,-136.3,489.7,-11.7,356,3248,0.00,2.17,0.00,0.000,4,0.000,0.046,2144,3784,3854,0,0,0,0,0,0
$GC,3273,-0.84,-136.3,493.4,-12.7,358,3278,0.00,2.05,0.00,0.000,6,0.000,0.028,2144,2401,3854,0,0,0,0,0,0
$GC,3601,-0.84,-136.3,534.7,-12.3,376,3605,0.00,2.10,0.00,0.000,4,0.000,0.036,2144,995,3852,0,0,0,0,0,0
$GC,3622,-0.84,-136.3,537.6,-12.7,377,3626,0.00,2.17,0.00,0.000,6,0.000,0.038,2136,2415,3853,0,0,0,0,0,0
$GC,3950,-0.84,-136.3,579.1,-13.1,393,3954,0.00,2.15,0.00,0.000,4,0.000,0.048,2125,3786,3849,0,0,0,0,0,0
$GC,3976,-0.84,-136.3,582.7,-12.9,394,3981,0.05,2.10,0.00,0.000,6,0.145,0.029,2151,2404,3850,0,0,0,0,0,0
$GC,4317,-0.85,-136.3,622.3,-11.8,408,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2401,3847,0,0,0,0,0,0
$GC,4624,-0.88,-136.3,658.3,-11.8,418,4628,0.00,2.12,0.00,0.000,4,0.000,0.037,2151,1003,3844,0,0,0,0,0,0
$GC,4668,-0.92,-136.3,663.6,-11.0,419,4672,0.00,2.15,0.00,0.000,6,0.000,0.040,2150,2398,3844,0,0,0,0,0,0
$GC,4998,-0.94,-136.3,700.0,-11.2,430,5002,0.00,2.17,0.00,0.000,4,0.000,0.050,2140,3779,3840,0,0,0,0,0,0
$GC,5116,-0.97,-136.3,712.8,-10.4,433,5120,0.00,2.08,0.00,0.000,6,0.000,0.031,2140,2402,3839,0,0,0,0,0,0
$GC,5434,-0.99,-136.3,748.4,-11.4,444,5438,0.00,2.12,0.00,0.000,4,0.000,0.039,2141,995,3837,0,0,0,0,0,0
$GC,5464,-1.01,-136.3,751.8,-11.6,445,5469,0.12,2.17,0.00,0.000,6,0.086,0.041,2081,2400,3837,0,0,0,0,0,0
$GC,5799,-0.96,-136.3,806.4,-16.4,456,5804,0.12,2.20,0.00,0.000,4,0.181,0.050,2103,3788,3833,0,0,0,0,0,0
$GC,5843,-0.96,-136.3,813.0,-14.3,457,5847,0.00,2.12,0.00,0.000,6,0.000,0.032,2103,2396,3833,0,0,0,0,0,0
$GC,6173,-0.94,-136.3,859.8,-13.9,468,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2393,3831,0,0,0,0,0,0
$GC,6479,-0.93,-136.3,903.2,-14.4,478,6483,0.00,2.20,0.00,0.000,4,0.000,0.052,2093,3778,3828,0,0,0,0,0,0
$GC,6502,-0.91,-136.3,906.6,-14.5,478,6510,0.15,2.12,0.00,0.000,6,0.155,0.034,2133,2395,3828,0,0,0,0,0,0
$GC,6815,-0.93,-136.3,944.4,-11.9,489,6819,0.00,2.15,0.00,0.000,4,0.000,0.041,2133,998,3827,0,0,0,0,0,0
$GC,6883,-0.96,-136.3,952.3,-11.0,491,6887,0.00,2.20,0.00,0.000,6,0.000,0.042,2125,2411,3826,0,0,0,0,0,0
$GC,7213,-0.97,-136.3,993.2,-12.5,502,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2411,3825,0,0,0,0,0,0
$STATE,7271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7271,begin apogee
$GC,7277,-0.16,0.0,1000.8,12.5,504,7389,0.75,0.00,105.32,1.143,6,0.128,0.000,2365,1982,3297,0,0,0,0,0,0
$STATE,7390,end apogee,CONTROL_FINISHED_OK
$STATE,7390,begin climb
$GC,7392,0.79,136.3,1006.2,0.0,507,7515,0.88,2.33,113.85,1.107,4,0.052,0.043,2702,601,2742,0,0,0,0,0,0
$GC,7663,0.64,136.3,988.2,15.3,515,7671,0.28,2.25,0.00,0.000,6,0.190,0.039,2635,2004,2734,0,0,0,0,0,0
$GC,7976,0.55,136.3,950.6,11.9,526,7980,0.12,2.25,0.00,0.000,4,0.197,0.049,2605,3416,2731,0,0,0,0,0,0
$GC,8003,0.46,136.3,947.1,11.4,526,8011,0.15,2.17,0.00,0.000,6,0.197,0.035,2579,2007,2730,0,0,0,0,0,0
$GC,8317,0.47,178.7,918.4,8.8,537,8356,0.00,2.30,34.08,1.073,4,0.000,0.046,2588,601,2569,0,0,0,0,0,0
$GC,8410,0.47,195.3,909.5,10.2,539,8431,0.00,2.22,15.15,0.979,6,0.000,0.039,2588,2007,2501,0,0,0,0,0,0
$GC,8759,0.45,205.2,872.5,10.6,551,8773,0.00,2.28,9.30,0.968,4,0.000,0.050,2588,3410,2461,0,0,0,0,0,0
$GC,8841,0.41,205.2,862.1,12.8,553,8846,0.15,2.20,0.00,0.000,6,0.187,0.035,2564,1997,2459,0,0,0,0,0,0
$GC,9160,0.46,243.4,832.9,9.0,564,9199,0.00,2.38,32.55,1.020,4,0.000,0.049,2563,3405,2305,0,0,0,0,0,0
$GC,9224,0.47,252.0,826.4,10.6,566,9239,0.00,2.25,8.30,0.846,6,0.000,0.035,2572,1995,2272,0,0,0,0,0,0
$GC,9565,0.47,253.1,789.4,11.1,577,9569,0.00,2.22,0.00,0.000,4,0.000,0.047,2583,590,2266,0,0,0,0,0,0
$GC,9627,0.47,253.1,782.4,11.2,579,9631,0.00,2.20,0.00,0.000,6,0.000,0.038,2583,2003,2265,0,0,0,0,0,0
$GC,9962,0.47,253.1,744.8,11.2,590,9966,0.00,2.22,0.00,0.000,4,0.000,0.049,2583,3411,2264,0,0,0,0,0,0
$GC,10025,0.46,253.1,736.8,13.8,592,10029,0.00,2.17,0.00,0.000,6,0.000,0.036,2593,1997,2263,0,0,0,0,0,0
$GC,10360,0.46,253.1,696.2,12.3,603,10364,0.00,2.17,0.00,0.000,4,0.000,0.047,2604,595,2263,0,0,0,0,0,0
$GC,10398,0.46,253.1,691.3,12.4,604,10403,0.12,2.17,0.00,0.000,6,0.167,0.038,2573,2006,2263,0,0,0,0,0,0
$GC,10722,0.51,281.1,659.0,9.6,615,10756,0.00,2.30,24.15,0.933,4,0.000,0.050,2573,3421,2151,0,0,0,0,0,0
$GC,10773,0.53,286.0,653.5,10.8,616,10784,0.00,2.22,5.85,0.698,6,0.000,0.036,2582,1996,2131,0,0,0,0,0,0
$GC,11092,0.56,297.6,618.9,10.5,626,11107,0.00,2.20,10.68,0.866,4,0.000,0.046,2593,598,2084,0,0,0,0,0,0
$GC,11147,0.59,305.6,612.9,10.7,627,11160,0.00,2.20,8.23,0.759,6,0.000,0.037,2592,2009,2052,0,0,0,0,0,0
$GC,11484,0.61,307.5,575.5,11.0,642,11485,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2009,2048,0,0,0,0,0,0
$GC,11792,0.62,307.5,539.2,12.4,657,11794,0.10,0.00,0.00,0.000,6,0.104,0.000,2639,2009,2047,0,0,0,0,0,0
$GC,12102,0.59,307.5,491.1,15.1,674,12103,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2008,2046,0,0,0,0,0,0
$GC,12423,0.57,307.5,443.8,14.8,704,12430,0.12,0.00,0.00,0.000,6,0.168,0.000,2607,2010,2046,0,0,0,0,0,0
$GC,12749,0.58,307.5,405.4,11.2,735,12753,0.00,2.22,0.00,0.000,4,0.000,0.045,2616,593,2046,0,0,0,0,0,0
$GC,12801,0.61,316.0,399.6,10.6,739,12817,0.00,2.17,9.45,0.776,6,0.000,0.037,2616,2009,2008,0,0,0,0,0,0
$GC,13143,0.61,316.0,360.3,11.3,771,13144,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2009,2007,0,0,0,0,0,0
$GC,13466,0.63,322.6,326.4,10.8,801,13475,0.00,0.00,6.70,0.659,6,0.000,0.000,2616,2009,1983,0,0,0,0,0,0
$GC,13793,0.65,325.7,290.4,10.9,832,13805,0.00,2.22,4.22,0.519,4,0.000,0.047,2616,3398,1970,0,0,0,0,0,0
$GC,13841,0.66,325.7,284.6,12.9,836,13845,0.00,2.15,0.00,0.000,6,0.000,0.034,2626,1999,1970,0,0,0,0,0,0
$GC,14167,0.69,331.6,247.4,10.8,866,14180,0.00,2.22,6.72,0.604,4,0.000,0.043,2637,596,1946,0,0,0,0,0,0
$GC,14298,0.75,357.8,233.7,9.7,877,14328,0.00,2.17,22.65,0.702,6,0.000,0.035,2637,2007,1839,0,0,0,0,0,0
$GC,14646,0.78,363.9,195.4,10.8,910,14656,0.12,0.00,6.03,0.541,6,0.090,0.000,2693,2007,1814,0,0,0,0,0,0
$GC,14975,0.75,363.9,146.3,14.6,943,14983,0.00,2.20,0.00,0.000,4,0.000,0.041,2704,592,1813,0,0,0,0,0,0
$GC,15096,0.73,363.9,129.3,13.2,964,15104,0.15,2.15,0.00,0.000,6,0.151,0.034,2663,2007,1813,0,0,0,0,0,0
$GC,15443,0.88,439.1,101.1,7.0,1025,15511,0.12,2.20,58.92,0.588,4,0.087,0.042,2728,3402,1506,0,0,0,0,0,0
$GC,15557,0.88,439.1,87.9,12.9,1044,15564,0.00,2.15,0.00,0.000,6,0.000,0.031,2738,1995,1503,0,0,0,0,0,0
$GC,15902,0.86,439.1,38.9,14.9,1105,15910,0.12,2.17,0.00,0.000,4,0.166,0.040,2715,595,1500,0,0,0,0,0,0
$GC,15979,0.89,439.1,29.0,12.0,1118,15985,0.00,2.15,0.00,0.000,6,0.000,0.032,2715,2004,1500,0,0,0,0,0,0
$STATE,16198,end climb,SURFACE_DEPTH_REACHED
$STATE,16198,begin surface coast
$FINISH,1.4,1.022692
$STATE,16227,end surface coast,CONTROL_FINISHED_OK
$STATE,16227,begin surface
$SM_CCo,16304,0.00,0.000,0,0,1498,441.29
$SM_GC,2.34,6.50,0.00,0.00,0.034,0.000,0.000,201,2408,1498,-6.85,0.25,441.29
$IRIDIUM_FIX,2150.42,12607.11,071110,050516
$TT8_MAMPS,0.026215
$HUMID,49.68
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.6,50.336
$10V_AH,9.9,56.542
$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,18.875,136.075,482.150,0.000,0.000,27.823,19.847,150.438,0.000,0.000,17.541,3008.803,10437.813,561.683,2311.293,326.446,0.000,1726.891,0.000,2087.779,0.000,0.540,0.000
$DEVICE_MAMPS,226.440,52.020,1142.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,787.647,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70302,1162
$CAP_FILE_SIZE,163983,0
$CFSIZE,260165632,222142464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.018,224.5,1
$GPS,071110,144536,2153.396,12557.315,35,1.4,35,-3.0