version: 66.08
glider: 181
mission: 4
dive: 302
start: 10 24 110 18 17 51
data:
$ID,181
$MISSION,4
$DIVE,302
$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,-38228.492
$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,37
$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
$GPS1,241010,181137,2325.998,12606.913,40,1.0,40,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-70.4
$GPS2,241010,181726,2326.088,12606.954,14,1.0,14,-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,204.7,230765,-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,15,-0.79,-136.3,0.0,0.0,0,60,0.00,0.00,-42.92,0.000,2,0.000,0.000,201,2409,2537,0,0,0,0,0,0
$GC,63,-0.79,-136.3,3.4,-4.4,7,114,7.93,2.20,-32.17,0.000,4,0.224,0.044,2163,995,3856,0,0,0,0,0,0
$GC,226,-0.70,-136.3,47.5,-29.1,35,234,0.17,2.17,0.00,0.000,6,0.161,0.037,2199,2398,3857,0,0,0,0,0,0
$GC,570,-0.66,-136.3,131.5,-19.7,96,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2398,3858,0,0,0,0,0,0
$GC,901,-0.65,-136.3,188.9,-14.7,135,905,0.00,2.15,0.00,0.000,4,0.000,0.043,2190,3790,3859,0,0,0,0,0,0
$GC,968,-0.67,-136.3,199.1,-13.8,140,976,0.00,2.08,0.00,0.000,6,0.000,0.026,2190,2392,3859,0,0,0,0,0,0
$GC,1294,-0.67,-136.3,247.6,-14.3,171,1298,0.00,2.15,0.00,0.000,4,0.000,0.042,2180,3777,3859,0,0,0,0,0,0
$GC,1315,-0.67,-136.3,251.1,-14.9,172,1323,0.00,2.08,0.00,0.000,6,0.000,0.026,2180,2394,3860,0,0,0,0,0,0
$GC,1641,-0.65,-136.3,296.4,-13.0,203,1645,0.12,2.08,0.00,0.000,4,0.157,0.032,2214,995,3859,0,0,0,0,0,0
$GC,1674,-0.68,-136.3,300.6,-11.5,205,1681,0.00,2.15,0.00,0.000,6,0.000,0.034,2206,2410,3859,0,0,0,0,0,0
$GC,1999,-0.72,-136.3,335.8,-11.7,236,2003,0.00,2.10,0.00,0.000,4,0.000,0.031,2206,991,3859,0,0,0,0,0,0
$GC,2040,-0.77,-136.3,340.6,-11.7,239,2044,0.00,2.15,0.00,0.000,6,0.000,0.035,2205,2399,3859,0,0,0,0,0,0
$GC,2366,-0.81,-136.3,379.0,-10.9,269,2368,0.12,0.00,0.00,0.000,6,0.084,0.000,2139,2400,3857,0,0,0,0,0,0
$GC,2683,-0.77,-136.3,427.3,-15.1,299,2688,0.12,2.15,0.00,0.000,4,0.160,0.044,2163,3777,3856,0,0,0,0,0,0
$GC,2723,-0.78,-136.3,432.6,-12.4,302,2727,0.00,2.03,0.00,0.000,6,0.000,0.027,2163,2400,3856,0,0,0,0,0,0
$GC,3054,-0.78,-136.3,475.4,-13.9,333,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2397,3854,0,0,0,0,0,0
$GC,3369,-0.78,-136.3,517.1,-13.5,357,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2397,3852,0,0,0,0,0,0
$GC,3679,-0.79,-136.3,556.8,-12.6,372,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2397,3850,0,0,0,0,0,0
$GC,3988,-0.81,-136.3,595.1,-11.6,387,3992,0.00,2.08,0.00,0.000,4,0.000,0.034,2163,1000,3848,0,0,0,0,0,0
$GC,4029,-0.84,-136.3,599.7,-10.9,389,4033,0.00,2.15,0.00,0.000,6,0.000,0.036,2154,2402,3848,0,0,0,0,0,0
$GC,4354,-0.85,-136.3,636.7,-10.8,400,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2403,3845,0,0,0,0,0,0
$GC,4660,-0.87,-136.3,669.1,-10.7,410,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2403,3842,0,0,0,0,0,0
$GC,4966,-0.89,-136.3,704.1,-11.7,420,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2403,3840,0,0,0,0,0,0
$GC,5272,-0.90,-136.3,741.3,-12.1,430,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2402,3837,0,0,0,0,0,0
$GC,5578,-0.92,-136.3,776.7,-11.1,440,5579,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2403,3834,0,0,0,0,0,0
$GC,5884,-0.95,-136.3,807.8,-9.5,450,5888,0.00,2.17,0.00,0.000,4,0.000,0.050,2147,3775,3832,0,0,0,0,0,0
$GC,5914,-0.97,-136.3,810.6,-10.2,451,5919,0.10,2.05,0.00,0.000,6,0.099,0.029,2096,2404,3832,0,0,0,0,0,0
$GC,6249,-0.94,-136.3,855.8,-13.5,462,6253,0.00,2.10,0.00,0.000,4,0.000,0.036,2096,1003,3828,0,0,0,0,0,0
$GC,6299,-0.93,-136.3,862.7,-12.6,463,6303,0.15,2.17,0.00,0.000,6,0.161,0.038,2126,2405,3828,0,0,0,0,0,0
$GC,6612,-0.93,-136.3,898.0,-11.5,473,6613,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2405,3827,0,0,0,0,0,0
$GC,6917,-0.93,-136.3,933.2,-11.3,483,6921,0.00,2.17,0.00,0.000,4,0.000,0.050,2118,3774,3825,0,0,0,0,0,0
$GC,6934,-0.93,-136.3,935.2,-11.0,483,6938,0.00,2.08,0.00,0.000,6,0.000,0.030,2117,2394,3824,0,0,0,0,0,0
$GC,7247,-0.93,-136.3,973.0,-12.2,493,7251,0.00,2.10,0.00,0.000,4,0.000,0.037,2118,1002,3822,0,0,0,0,0,0
$GC,7291,-0.93,-136.3,978.5,-11.5,494,7295,0.00,2.20,0.00,0.000,6,0.000,0.039,2110,2395,3822,0,0,0,0,0,0
$STATE,7492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7492,begin apogee
$GC,7498,-0.16,0.0,1003.7,12.6,501,7608,0.82,0.00,104.30,1.154,6,0.136,0.000,2368,1985,3298,0,0,0,0,0,0
$STATE,7609,end apogee,CONTROL_FINISHED_OK
$STATE,7609,begin climb
$GC,7611,0.79,136.3,1007.8,0.0,504,7733,0.85,2.30,113.43,1.102,4,0.050,0.041,2700,606,2741,0,0,0,0,0,0
$GC,7953,0.64,136.3,977.6,14.3,515,7958,0.28,2.22,0.00,0.000,6,0.194,0.037,2633,2013,2733,0,0,0,0,0,0
$GC,8282,0.55,136.3,939.6,11.3,526,8287,0.12,2.20,0.00,0.000,4,0.198,0.041,2612,613,2730,0,0,0,0,0,0
$GC,8333,0.48,142.5,934.1,10.8,527,8345,0.12,2.15,4.47,0.800,6,0.187,0.037,2583,2005,2717,0,0,0,0,0,0
$GC,8651,0.46,163.3,902.7,10.0,538,8675,0.00,2.28,18.58,1.069,4,0.000,0.047,2583,3395,2632,0,0,0,0,0,0
$GC,8753,0.40,163.3,891.0,12.8,541,8757,0.15,2.15,0.00,0.000,6,0.197,0.032,2557,2014,2629,0,0,0,0,0,0
$GC,9088,0.41,178.4,856.0,10.3,552,9107,0.00,2.28,13.52,1.024,4,0.000,0.043,2566,593,2570,0,0,0,0,0,0
$GC,9141,0.41,178.5,850.0,11.1,553,9145,0.00,2.17,0.00,0.000,6,0.000,0.034,2566,2002,2569,0,0,0,0,0,0
$GC,9461,0.39,178.7,814.6,11.1,564,9462,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2001,2566,0,0,0,0,0,0
$GC,9766,0.39,190.3,782.2,10.5,574,9782,0.00,2.22,10.98,0.990,4,0.000,0.045,2566,3412,2521,0,0,0,0,0,0
$GC,9816,0.36,190.3,776.3,12.0,575,9821,0.12,2.20,0.00,0.000,6,0.184,0.032,2547,1992,2519,0,0,0,0,0,0
$GC,10129,0.41,232.0,747.5,8.8,585,10169,0.00,2.33,34.75,0.983,4,0.000,0.045,2547,3408,2352,0,0,0,0,0,0
$GC,10243,0.43,240.9,736.5,10.6,588,10261,0.00,2.22,8.80,0.858,6,0.000,0.032,2556,1992,2315,0,0,0,0,0,0
$GC,10566,0.48,261.0,705.2,10.0,599,10590,0.00,2.28,17.75,0.952,4,0.000,0.044,2566,597,2233,0,0,0,0,0,0
$GC,10634,0.51,264.4,698.0,10.9,601,10643,0.00,2.20,4.12,0.618,6,0.000,0.035,2566,2010,2220,0,0,0,0,0,0
$GC,10974,0.52,264.4,658.8,11.4,612,10978,0.00,2.20,0.00,0.000,4,0.000,0.046,2566,3411,2216,0,0,0,0,0,0
$GC,11045,0.52,264.4,650.1,12.1,614,11050,0.00,2.20,0.00,0.000,6,0.000,0.032,2577,2006,2215,0,0,0,0,0,0
$GC,11376,0.52,264.5,612.2,11.1,625,11378,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2004,2214,0,0,0,0,0,0
$GC,11684,0.56,287.6,580.6,9.8,638,11709,0.00,2.22,20.00,0.918,4,0.000,0.044,2588,596,2125,0,0,0,0,0,0
$GC,11775,0.61,309.7,571.5,9.9,642,11801,0.10,2.17,19.25,0.835,6,0.103,0.034,2632,2008,2035,0,0,0,0,0,0
$GC,12128,0.58,309.7,517.1,15.6,659,12132,0.00,2.20,0.00,0.000,4,0.000,0.044,2632,3411,2029,0,0,0,0,0,0
$GC,12184,0.55,309.7,507.8,15.3,661,12191,0.15,2.20,0.00,0.000,6,0.172,0.031,2604,1988,2027,0,0,0,0,0,0
$GC,12507,0.55,309.7,466.4,12.1,689,12511,0.00,2.17,0.00,0.000,4,0.000,0.043,2614,596,2026,0,0,0,0,0,0
$GC,12537,0.55,309.7,462.6,12.4,691,12541,0.00,2.15,0.00,0.000,6,0.000,0.033,2614,2006,2026,0,0,0,0,0,0
$GC,12864,0.55,309.7,419.7,13.3,721,12868,0.00,2.17,0.00,0.000,4,0.000,0.045,2614,3404,2025,0,0,0,0,0,0
$GC,12885,0.55,309.7,416.2,14.0,722,12892,0.00,2.15,0.00,0.000,6,0.000,0.031,2624,2000,2025,0,0,0,0,0,0
$GC,13211,0.54,309.7,369.9,13.2,753,13215,0.00,2.20,0.00,0.000,4,0.000,0.043,2624,3409,2025,0,0,0,0,0,0
$GC,13275,0.52,309.7,361.4,13.5,758,13280,0.15,2.12,0.00,0.000,6,0.166,0.031,2595,2000,2025,0,0,0,0,0,0
$GC,13608,0.59,340.1,328.7,9.4,789,13641,0.00,2.22,24.35,0.789,4,0.000,0.041,2605,597,1910,0,0,0,0,0,0
$GC,13695,0.64,352.0,320.1,10.5,796,13715,0.00,2.15,10.90,0.659,6,0.000,0.031,2605,2003,1863,0,0,0,0,0,0
$GC,14034,0.68,354.3,281.3,11.0,828,14038,0.12,2.20,0.00,0.000,4,0.090,0.044,2663,3408,1859,0,0,0,0,0,0
$GC,14090,0.65,354.3,272.8,15.4,832,14099,0.15,2.17,0.00,0.000,6,0.165,0.030,2635,1991,1859,0,0,0,0,0,0
$GC,14415,0.65,354.3,230.2,13.8,863,14419,0.00,2.12,0.00,0.000,4,0.000,0.041,2644,595,1859,0,0,0,0,0,0
$GC,14517,0.67,354.3,216.6,12.9,872,14521,0.00,2.12,0.00,0.000,6,0.000,0.031,2644,2004,1859,0,0,0,0,0,0
$GC,14842,0.67,354.3,174.8,13.2,902,14846,0.00,2.17,0.00,0.000,4,0.000,0.040,2654,591,1858,0,0,0,0,0,0
$GC,14889,0.69,354.3,168.7,13.4,906,14893,0.00,2.15,0.00,0.000,6,0.000,0.031,2654,2006,1859,0,0,0,0,0,0
$GC,15224,0.69,354.3,126.8,11.4,953,15231,0.00,2.15,0.00,0.000,4,0.000,0.042,2654,3409,1859,0,0,0,0,0,0
$GC,15272,0.69,354.3,121.0,11.7,961,15279,0.00,2.15,0.00,0.000,6,0.000,0.029,2665,1986,1859,0,0,0,0,0,0
$GC,15617,0.77,406.3,88.1,8.3,1022,15666,0.00,2.15,42.55,0.598,4,0.000,0.037,2675,589,1642,0,0,0,0,0,0
$GC,15779,0.87,437.6,74.4,9.4,1050,15811,0.00,2.15,25.33,0.568,6,0.000,0.030,2675,2009,1512,0,0,0,0,0,0
$GC,16146,1.04,507.5,42.4,7.3,1115,16208,0.22,2.20,53.72,0.546,4,0.058,0.038,2777,3408,1227,0,0,0,0,0,0
$GC,16244,1.01,507.5,27.1,18.9,1131,16251,0.15,2.17,0.00,0.000,6,0.158,0.028,2749,2001,1225,0,0,0,0,0,0
$STATE,16400,end climb,SURFACE_DEPTH_REACHED
$STATE,16400,begin surface coast
$FINISH,1.3,1.021738
$STATE,16418,end surface coast,CONTROL_FINISHED_OK
$STATE,16418,begin surface
$SM_CCo,16494,0.00,0.000,0,0,1220,509.73
$SM_GC,2.12,6.72,0.00,0.00,0.042,0.000,0.000,208,2395,1220,-6.85,-0.14,509.73
$IRIDIUM_FIX,2314.48,12618.39,241010,131328
$TT8_MAMPS,0.026215
$HUMID,49.33
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.8,40.265
$10V_AH,9.9,51.079
$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,18.975,135.625,526.800,0.000,0.000,25.682,27.225,151.904,0.000,0.000,17.234,2994.910,10628.933,594.488,2313.972,303.838,0.000,1767.603,0.000,2084.753,0.000,0.541,0.000
$DEVICE_MAMPS,224.145,49.725,1154.385,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,786.507,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331372
$DATA_FILE_SIZE,70330,1162
$CAP_FILE_SIZE,164742,0
$CFSIZE,260165632,227549184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.118,344.4,1
$GPS,241010,225400,2325.068,12605.775,37,1.3,37,-3.4