version: 66.08
glider: 181
mission: 4
dive: 297
start: 10 23 110 22 7 39
data:
$ID,181
$MISSION,4
$DIVE,297
$N_DIVES,307
$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,-38223.465
$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,46
$R_STBD_OVSHOOT,43
$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
$GPS1,231010,220137,2327.619,12607.504,35,0.9,35,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-71.6
$GPS2,231010,220714,2327.661,12607.528,14,1.0,14,-3.4
$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,184.5,233719,-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,-36.53,0.000,2,0.000,0.000,200,2413,2401,0,0,0,0,0,0
$GC,57,-0.79,-136.3,3.1,-3.9,6,114,7.93,2.15,-41.25,0.000,4,0.224,0.043,2163,988,3852,0,0,0,0,0,0
$GC,168,-0.68,-136.3,25.5,-29.9,24,176,0.20,2.17,0.00,0.000,6,0.165,0.034,2205,2396,3853,0,0,0,0,0,0
$GC,510,-0.65,-136.3,116.5,-18.9,85,516,0.00,2.12,0.00,0.000,4,0.000,0.041,2197,3776,3854,0,0,0,0,0,0
$GC,575,-0.66,-136.3,128.3,-16.4,96,581,0.00,2.05,0.00,0.000,6,0.000,0.025,2196,2388,3855,0,0,0,0,0,0
$GC,911,-0.63,-136.3,189.0,-16.9,137,915,0.00,2.15,0.00,0.000,4,0.000,0.041,2186,3777,3856,0,0,0,0,0,0
$GC,974,-0.63,-136.3,199.6,-15.6,142,978,0.12,2.03,0.00,0.000,6,0.143,0.024,2221,2394,3856,0,0,0,0,0,0
$GC,1299,-0.66,-136.3,240.3,-12.5,172,1303,0.00,2.05,0.00,0.000,4,0.000,0.031,2221,996,3856,0,0,0,0,0,0
$GC,1379,-0.72,-136.3,249.4,-10.8,179,1383,0.00,2.10,0.00,0.000,6,0.000,0.032,2218,2401,3856,0,0,0,0,0,0
$GC,1704,-0.76,-136.3,287.3,-12.3,209,1709,0.12,2.15,0.00,0.000,4,0.080,0.042,2139,3786,3856,0,0,0,0,0,0
$GC,1767,-0.74,-136.3,297.5,-18.2,214,1771,0.17,2.03,0.00,0.000,6,0.145,0.024,2188,2399,3856,0,0,0,0,0,0
$GC,2097,-0.74,-136.3,340.7,-11.5,245,2101,0.00,2.08,0.00,0.000,4,0.000,0.031,2188,996,3855,0,0,0,0,0,0
$GC,2124,-0.76,-136.3,344.0,-12.0,247,2132,0.00,2.10,0.00,0.000,6,0.000,0.033,2181,2402,3855,0,0,0,0,0,0
$GC,2449,-0.76,-136.3,380.7,-11.7,278,2453,0.00,2.12,0.00,0.000,4,0.000,0.043,2171,3781,3854,0,0,0,0,0,0
$GC,2511,-0.79,-136.3,387.4,-10.1,283,2515,0.00,2.05,0.00,0.000,6,0.000,0.025,2171,2397,3853,0,0,0,0,0,0
$GC,2842,-0.79,-136.3,430.8,-14.3,314,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2393,3853,0,0,0,0,0,0
$GC,3165,-0.80,-136.3,477.4,-14.6,344,3168,0.00,2.05,0.00,0.000,4,0.000,0.031,2170,1004,3851,0,0,0,0,0,0
$GC,3212,-0.83,-136.3,484.3,-13.7,348,3216,0.00,2.12,0.00,0.000,6,0.000,0.034,2163,2401,3850,0,0,0,0,0,0
$GC,3543,-0.84,-136.3,525.6,-11.4,369,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2401,3848,0,0,0,0,0,0
$GC,3852,-0.86,-136.3,558.5,-10.4,384,3856,0.00,2.12,0.00,0.000,4,0.000,0.044,2152,3778,3846,0,0,0,0,0,0
$GC,3897,-0.88,-136.3,563.5,-10.6,386,3900,0.00,2.03,0.00,0.000,6,0.000,0.026,2152,2401,3845,0,0,0,0,0,0
$GC,4224,-0.88,-136.3,602.5,-12.9,402,4227,0.00,2.10,0.00,0.000,4,0.000,0.033,2152,1003,3842,0,0,0,0,0,0
$GC,4259,-0.90,-136.3,607.1,-13.0,403,4263,0.00,2.12,0.00,0.000,6,0.000,0.036,2151,2400,3842,0,0,0,0,0,0
$GC,4594,-0.90,-136.3,651.1,-13.0,414,4597,0.00,2.17,0.00,0.000,4,0.000,0.045,2140,3784,3839,0,0,0,0,0,0
$GC,4660,-0.92,-136.3,659.6,-12.3,416,4664,0.00,2.05,0.00,0.000,6,0.000,0.027,2141,2404,3839,0,0,0,0,0,0
$GC,4996,-0.92,-136.3,704.2,-13.3,427,4997,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2400,3836,0,0,0,0,0,0
$GC,5302,-0.92,-136.3,745.0,-13.0,437,5305,0.00,2.15,0.00,0.000,4,0.000,0.034,2140,990,3833,0,0,0,0,0,0
$GC,5346,-0.94,-136.3,750.8,-12.8,438,5350,0.00,2.17,0.00,0.000,6,0.000,0.037,2137,2399,3833,0,0,0,0,0,0
$GC,5664,-0.94,-136.3,789.9,-12.4,449,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2399,3831,0,0,0,0,0,0
$GC,5971,-0.94,-136.3,827.5,-12.2,459,5975,0.00,2.17,0.00,0.000,4,0.000,0.047,2127,3780,3828,0,0,0,0,0,0
$GC,6014,-0.96,-136.3,833.0,-12.0,460,6018,0.00,2.05,0.00,0.000,6,0.000,0.028,2127,2398,3828,0,0,0,0,0,0
$GC,6339,-0.96,-136.3,873.2,-12.2,471,6343,0.00,2.10,0.00,0.000,4,0.000,0.035,2127,996,3827,0,0,0,0,0,0
$GC,6393,-0.97,-136.3,880.2,-12.5,472,6400,0.00,2.15,0.00,0.000,6,0.000,0.037,2122,2399,3826,0,0,0,0,0,0
$GC,6707,-0.97,-136.3,919.6,-13.1,483,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2399,3823,0,0,0,0,0,0
$GC,7012,-0.97,-136.3,961.9,-13.6,493,7016,0.00,2.17,0.00,0.000,4,0.000,0.048,2111,3780,3820,0,0,0,0,0,0
$GC,7041,-0.97,-136.3,965.8,-14.3,494,7045,0.00,2.10,0.00,0.000,6,0.000,0.028,2111,2391,3820,0,0,0,0,0,0
$STATE,7313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7313,begin apogee
$GC,7319,-0.16,0.0,1003.6,13.8,503,7428,0.82,0.00,103.43,1.154,6,0.135,0.000,2371,1980,3298,0,0,0,0,0,0
$STATE,7429,end apogee,CONTROL_FINISHED_OK
$STATE,7429,begin climb
$GC,7431,0.79,136.3,1008.8,0.0,506,7553,0.85,2.30,113.03,1.108,4,0.047,0.039,2705,598,2741,0,0,0,0,0,0
$GC,7760,0.64,136.3,980.7,16.0,516,7765,0.28,2.20,0.00,0.000,6,0.197,0.034,2637,2007,2734,0,0,0,0,0,0
$GC,8074,0.53,136.3,944.8,11.5,526,8079,0.15,2.22,0.00,0.000,4,0.195,0.044,2601,3409,2730,0,0,0,0,0,0
$GC,8113,0.45,139.1,940.2,11.0,527,8118,0.15,2.12,0.00,0.000,6,0.206,0.029,2575,2016,2729,0,0,0,0,0,0
$GC,8449,0.45,171.5,909.4,9.3,538,8479,0.00,0.00,28.23,1.078,6,0.000,0.000,2575,2016,2598,0,0,0,0,0,0
$GC,8784,0.43,179.2,873.4,10.7,549,8793,0.00,0.00,7.18,0.949,6,0.000,0.000,2575,2015,2567,0,0,0,0,0,0
$GC,9091,0.43,200.8,842.3,9.9,559,9112,0.00,0.00,19.35,1.019,6,0.000,0.000,2575,2014,2479,0,0,0,0,0,0
$GC,9397,0.42,204.7,809.1,10.9,569,9406,0.00,2.22,4.30,0.755,4,0.000,0.043,2575,3404,2463,0,0,0,0,0,0
$GC,9490,0.39,204.7,798.3,11.8,571,9499,0.12,2.17,0.00,0.000,6,0.183,0.030,2554,1994,2462,0,0,0,0,0,0
$GC,9804,0.45,258.1,771.6,8.2,582,9854,0.00,2.25,44.97,1.006,4,0.000,0.041,2563,598,2245,0,0,0,0,0,0
$GC,9922,0.53,291.7,760.9,9.3,585,9957,0.00,2.20,28.73,0.955,6,0.000,0.032,2562,2000,2109,0,0,0,0,0,0
$GC,10273,0.57,302.7,725.1,10.5,597,10288,0.12,2.22,9.45,0.916,4,0.096,0.043,2621,3404,2064,0,0,0,0,0,0
$GC,10327,0.53,302.7,716.5,16.7,598,10332,0.12,2.17,0.00,0.000,6,0.179,0.030,2602,2001,2062,0,0,0,0,0,0
$GC,10641,0.53,302.7,673.9,13.4,608,10645,0.00,2.17,0.00,0.000,4,0.000,0.041,2611,597,2060,0,0,0,0,0,0
$GC,10697,0.53,302.7,666.2,14.3,609,10701,0.00,2.15,0.00,0.000,6,0.000,0.032,2611,2009,2059,0,0,0,0,0,0
$GC,11017,0.52,302.7,621.7,14.2,620,11021,0.00,2.17,0.00,0.000,4,0.000,0.043,2611,3411,2058,0,0,0,0,0,0
$GC,11055,0.50,302.7,615.5,16.1,621,11059,0.12,2.15,0.00,0.000,6,0.173,0.030,2591,1989,2057,0,0,0,0,0,0
$GC,11380,0.50,302.7,572.4,13.8,635,11381,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1987,2057,0,0,0,0,0,0
$GC,11690,0.50,302.7,531.9,12.6,650,11694,0.00,2.15,0.00,0.000,4,0.000,0.041,2600,592,2056,0,0,0,0,0,0
$GC,11712,0.50,302.7,528.9,11.8,651,11716,0.00,2.15,0.00,0.000,6,0.000,0.032,2599,2011,2056,0,0,0,0,0,0
$GC,12033,0.51,311.8,491.8,10.6,670,12043,0.00,0.00,7.85,0.821,6,0.000,0.000,2600,2013,2027,0,0,0,0,0,0
$GC,12360,0.52,319.4,456.4,10.7,701,12373,0.00,2.25,8.00,0.799,4,0.000,0.040,2610,597,1994,0,0,0,0,0,0
$GC,12401,0.53,319.4,451.8,11.2,704,12408,0.00,2.15,0.00,0.000,6,0.000,0.032,2610,2002,1994,0,0,0,0,0,0
$GC,12726,0.53,319.4,410.3,12.7,735,12727,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2002,1993,0,0,0,0,0,0
$GC,13048,0.53,319.4,366.3,13.7,765,13052,0.00,2.15,0.00,0.000,4,0.000,0.040,2621,597,1993,0,0,0,0,0,0
$GC,13087,0.53,319.4,360.7,13.1,768,13091,0.00,2.12,0.00,0.000,6,0.000,0.031,2621,2003,1993,0,0,0,0,0,0
$GC,13413,0.53,319.4,320.2,12.5,798,13417,0.00,2.17,0.00,0.000,4,0.000,0.042,2621,3404,1993,0,0,0,0,0,0
$GC,13464,0.53,319.4,313.3,13.5,802,13469,0.12,2.12,0.00,0.000,6,0.168,0.029,2599,1991,1992,0,0,0,0,0,0
$GC,13795,0.58,333.2,279.2,10.4,833,13817,0.00,2.20,12.38,0.722,4,0.000,0.039,2607,595,1939,0,0,0,0,0,0
$GC,13857,0.64,350.8,272.5,10.1,838,13878,0.00,2.12,15.65,0.733,6,0.000,0.031,2608,2002,1868,0,0,0,0,0,0
$GC,14205,0.67,352.2,234.5,11.0,871,14209,0.00,2.17,0.00,0.000,4,0.000,0.041,2608,3412,1865,0,0,0,0,0,0
$GC,14302,0.70,352.2,223.8,11.2,879,14306,0.00,2.12,0.00,0.000,6,0.000,0.029,2618,2002,1865,0,0,0,0,0,0
$GC,14628,0.78,389.8,192.7,9.1,909,14666,0.17,2.22,31.52,0.700,4,0.073,0.038,2707,595,1709,0,0,0,0,0,0
$GC,14752,0.75,389.8,174.0,15.6,920,14757,0.15,2.15,0.00,0.000,6,0.156,0.029,2668,2012,1706,0,0,0,0,0,0
$GC,15085,0.75,389.8,126.9,12.3,965,15091,0.00,2.17,0.00,0.000,4,0.000,0.037,2677,595,1703,0,0,0,0,0,0
$GC,15155,0.78,396.4,119.0,10.7,977,15168,0.00,2.12,6.47,0.519,6,0.000,0.028,2677,2009,1681,0,0,0,0,0,0
$GC,15505,0.84,418.1,82.7,9.9,1039,15530,0.00,2.17,18.45,0.584,4,0.000,0.038,2676,3405,1592,0,0,0,0,0,0
$GC,15652,0.95,471.4,68.6,8.2,1064,15702,0.12,2.12,41.70,0.588,6,0.080,0.028,2747,1990,1376,0,0,0,0,0,0
$GC,16039,0.95,471.4,17.1,13.6,1132,16046,0.00,2.12,0.00,0.000,4,0.000,0.038,2757,599,1371,0,0,0,0,0,0
$GC,16120,0.95,471.4,5.8,13.5,1146,16126,0.00,2.12,0.00,0.000,6,0.000,0.029,2757,2001,1371,0,0,0,0,0,0
$STATE,16143,end climb,SURFACE_DEPTH_REACHED
$STATE,16143,begin surface coast
$FINISH,1.2,1.019318
$STATE,16167,end surface coast,CONTROL_FINISHED_OK
$STATE,16167,begin surface
$SM_CCo,16244,0.00,0.000,0,0,1369,473.18
$SM_GC,2.19,6.72,0.00,0.00,0.042,0.000,0.000,202,2425,1369,-6.85,0.71,473.18
$IRIDIUM_FIX,2316.83,12609.93,231010,171712
$TT8_MAMPS,0.026215
$HUMID,49.17
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.8,39.741
$10V_AH,10.0,50.755
$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,18.600,138.225,500.675,0.000,0.000,30.380,16.040,146.587,0.000,0.000,17.046,2989.527,10427.834,571.427,2289.909,295.534,0.000,1725.935,0.000,2073.249,0.000,0.541,0.000
$DEVICE_MAMPS,224.145,48.195,1153.620,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,781.904,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331348
$DATA_FILE_SIZE,70258,1154
$CAP_FILE_SIZE,161332,0
$CFSIZE,260165632,227860480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.179,  4.2,1
$GPS,241010,023936,2327.008,12607.565,35,0.9,35,-3.4