version: 66.08
glider: 181
mission: 4
dive: 334
start: 10 30 110 23 27 21
data:
$ID,181
$MISSION,4
$DIVE,334
$N_DIVES,345
$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,-38268.742
$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,44
$R_STBD_OVSHOOT,40
$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
$GPS1,301010,231707,2252.505,12601.235,28,1.1,28,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-63.8
$GPS2,301010,232656,2252.513,12601.117,13,1.4,13,-3.3
$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,190.6,168371,-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,17,-0.79,-136.3,0.0,0.0,0,60,0.00,0.00,-41.12,0.000,2,0.000,0.000,200,2405,2533,0,0,0,0,0,0
$GC,63,-0.79,-136.3,3.4,-4.0,7,113,8.12,2.15,-33.47,0.000,4,0.229,0.045,2162,985,3855,0,0,0,0,0,0
$GC,250,-0.71,-136.3,51.6,-27.4,39,257,0.15,2.15,0.00,0.000,6,0.168,0.034,2191,2399,3856,0,0,0,0,0,0
$GC,594,-0.66,-136.3,126.9,-20.5,100,601,0.00,2.10,0.00,0.000,4,0.000,0.029,2191,991,3857,0,0,0,0,0,0
$GC,702,-0.68,-136.3,147.0,-15.7,119,709,0.00,2.15,0.00,0.000,6,0.000,0.033,2184,2401,3857,0,0,0,0,0,0
$GC,1036,-0.65,-136.3,204.9,-17.6,152,1041,0.12,2.15,0.00,0.000,4,0.164,0.041,2207,3786,3858,0,0,0,0,0,0
$GC,1101,-0.69,-136.3,214.6,-12.7,157,1108,0.00,2.05,0.00,0.000,6,0.000,0.024,2208,2377,3859,0,0,0,0,0,0
$GC,1427,-0.70,-136.3,257.5,-13.7,188,1431,0.00,2.17,0.00,0.000,4,0.000,0.041,2197,3780,3859,0,0,0,0,0,0
$GC,1490,-0.74,-136.3,265.4,-12.5,193,1494,0.00,2.03,0.00,0.000,6,0.000,0.024,2197,2391,3859,0,0,0,0,0,0
$GC,1821,-0.77,-136.3,303.2,-10.8,224,1825,0.00,2.03,0.00,0.000,4,0.000,0.030,2197,1002,3858,0,0,0,0,0,0
$GC,1879,-0.82,-136.3,309.4,-10.2,229,1883,0.00,2.12,0.00,0.000,6,0.000,0.033,2191,2406,3858,0,0,0,0,0,0
$GC,2210,-0.85,-136.3,347.7,-11.8,260,2215,0.12,2.15,0.00,0.000,4,0.082,0.043,2116,3786,3857,0,0,0,0,0,0
$GC,2311,-0.81,-136.3,364.0,-16.1,268,2320,0.17,2.03,0.00,0.000,6,0.151,0.024,2163,2394,3857,0,0,0,0,0,0
$GC,2638,-0.81,-136.3,407.5,-12.7,299,2641,0.00,2.05,0.00,0.000,4,0.000,0.031,2164,1013,3855,0,0,0,0,0,0
$GC,2699,-0.85,-136.3,415.1,-11.5,304,2707,0.00,2.10,0.00,0.000,6,0.000,0.033,2163,2406,3855,0,0,0,0,0,0
$GC,3024,-0.86,-136.3,453.2,-11.6,335,3028,0.00,2.12,0.00,0.000,4,0.000,0.043,2154,3778,3853,0,0,0,0,0,0
$GC,3087,-0.88,-136.3,460.6,-11.2,340,3091,0.00,2.05,0.00,0.000,6,0.000,0.025,2154,2411,3853,0,0,0,0,0,0
$GC,3417,-0.88,-136.3,500.4,-12.3,371,3421,0.00,2.08,0.00,0.000,4,0.000,0.031,2154,1006,3851,0,0,0,0,0,0
$GC,3486,-0.91,-136.3,509.2,-12.6,374,3490,0.00,2.10,0.00,0.000,6,0.000,0.034,2152,2398,3850,0,0,0,0,0,0
$GC,3813,-0.91,-136.3,552.4,-13.8,390,3817,0.00,2.15,0.00,0.000,4,0.000,0.044,2141,3784,3848,0,0,0,0,0,0
$GC,3847,-0.92,-136.3,557.2,-13.6,391,3855,0.00,2.08,0.00,0.000,6,0.000,0.026,2142,2391,3847,0,0,0,0,0,0
$GC,4163,-0.92,-136.3,602.2,-14.0,407,4167,0.00,2.08,0.00,0.000,4,0.000,0.033,2141,1007,3844,0,0,0,0,0,0
$GC,4191,-0.92,-136.3,606.3,-14.2,407,4198,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2408,3844,0,0,0,0,0,0
$GC,4503,-0.92,-136.3,647.0,-12.9,418,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2408,3841,0,0,0,0,0,0
$GC,4810,-0.92,-136.3,684.8,-12.0,428,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2409,3838,0,0,0,0,0,0
$GC,5116,-0.92,-136.3,721.6,-12.1,438,5120,0.00,2.12,0.00,0.000,4,0.000,0.045,2127,3777,3835,0,0,0,0,0,0
$GC,5151,-0.92,-136.3,725.8,-12.7,439,5155,0.00,2.05,0.00,0.000,6,0.000,0.027,2127,2396,3835,0,0,0,0,0,0
$GC,5486,-0.92,-136.3,768.9,-12.9,450,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2394,3832,0,0,0,0,0,0
$GC,5792,-0.92,-136.3,805.9,-11.8,460,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2394,3830,0,0,0,0,0,0
$GC,6099,-0.92,-136.3,841.7,-11.5,470,6100,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2394,3827,0,0,0,0,0,0
$GC,6404,-0.92,-136.3,877.0,-11.5,480,6408,0.00,2.08,0.00,0.000,4,0.000,0.034,2127,1006,3825,0,0,0,0,0,0
$GC,6448,-0.94,-136.3,882.1,-11.1,481,6452,0.00,2.12,0.00,0.000,6,0.000,0.036,2123,2399,3825,0,0,0,0,0,0
$GC,6773,-0.94,-136.3,920.6,-12.1,492,6777,0.00,2.17,0.00,0.000,4,0.000,0.046,2113,3787,3822,0,0,0,0,0,0
$GC,6805,-0.94,-136.3,925.0,-12.8,493,6810,0.00,2.10,0.00,0.000,6,0.000,0.027,2113,2408,3822,0,0,0,0,0,0
$GC,7141,-0.94,-136.3,969.0,-13.3,504,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2405,3820,0,0,0,0,0,0
$STATE,7384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7384,begin apogee
$GC,7390,-0.16,0.0,1002.1,13.7,512,7500,0.80,0.00,103.80,1.149,6,0.133,0.000,2365,1979,3298,0,0,0,0,0,0
$STATE,7501,end apogee,CONTROL_FINISHED_OK
$STATE,7501,begin climb
$GC,7503,0.79,136.3,1007.8,0.0,515,7626,0.85,2.22,113.60,1.110,4,0.051,0.036,2694,617,2741,0,0,0,0,0,0
$GC,7727,0.65,136.3,997.1,13.6,522,7732,0.22,2.17,0.00,0.000,6,0.188,0.031,2641,2006,2735,0,0,0,0,0,0
$GC,8040,0.55,136.3,959.8,12.1,532,8042,0.15,0.00,0.00,0.000,6,0.194,0.000,2603,2009,2730,0,0,0,0,0,0
$GC,8346,0.51,153.4,927.7,10.2,542,8365,0.00,2.25,13.60,1.057,4,0.000,0.043,2603,3398,2672,0,0,0,0,0,0
$GC,8400,0.43,153.4,921.4,12.4,543,8405,0.20,2.15,0.00,0.000,6,0.188,0.029,2564,2007,2669,0,0,0,0,0,0
$GC,8714,0.46,195.3,893.1,8.8,553,8754,0.00,2.25,35.38,1.056,4,0.000,0.040,2572,599,2501,0,0,0,0,0,0
$GC,8788,0.48,213.2,885.7,10.1,555,8809,0.00,2.17,16.23,0.972,6,0.000,0.031,2572,2000,2427,0,0,0,0,0,0
$GC,9139,0.48,213.2,846.3,11.1,567,9143,0.00,2.20,0.00,0.000,4,0.000,0.042,2572,3408,2421,0,0,0,0,0,0
$GC,9184,0.46,213.2,840.6,12.5,568,9188,0.00,2.15,0.00,0.000,6,0.000,0.029,2582,1994,2420,0,0,0,0,0,0
$GC,9509,0.45,213.2,801.5,12.2,579,9510,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1993,2419,0,0,0,0,0,0
$GC,9815,0.43,213.2,765.1,11.5,589,9819,0.00,2.22,0.00,0.000,4,0.000,0.041,2583,3410,2417,0,0,0,0,0,0
$GC,9853,0.40,213.2,760.0,12.4,590,9858,0.15,2.12,0.00,0.000,6,0.177,0.029,2556,1997,2416,0,0,0,0,0,0
$GC,10184,0.48,260.4,730.4,8.5,601,10229,0.00,2.28,37.85,0.980,4,0.000,0.040,2564,596,2236,0,0,0,0,0,0
$GC,10253,0.56,299.3,724.1,9.0,603,10294,0.12,2.17,33.47,0.930,6,0.093,0.030,2619,2002,2076,0,0,0,0,0,0
$GC,10619,0.54,299.3,673.8,14.1,615,10623,0.00,2.20,0.00,0.000,4,0.000,0.042,2619,3408,2067,0,0,0,0,0,0
$GC,10682,0.52,299.3,664.1,15.6,617,10687,0.15,2.15,0.00,0.000,6,0.167,0.030,2591,2002,2066,0,0,0,0,0,0
$GC,11018,0.53,299.3,624.3,11.5,628,11022,0.00,2.17,0.00,0.000,4,0.000,0.041,2600,589,2065,0,0,0,0,0,0
$GC,11118,0.55,299.3,611.8,12.2,631,11122,0.00,2.15,0.00,0.000,6,0.000,0.031,2601,2005,2065,0,0,0,0,0,0
$GC,11446,0.55,299.3,568.0,13.7,645,11447,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2006,2064,0,0,0,0,0,0
$GC,11754,0.55,299.3,527.8,12.4,660,11758,0.00,2.17,0.00,0.000,4,0.000,0.040,2611,592,2063,0,0,0,0,0,0
$GC,11786,0.55,299.3,523.5,13.3,661,11790,0.00,2.17,0.00,0.000,6,0.000,0.031,2611,2001,2063,0,0,0,0,0,0
$GC,12112,0.55,299.3,484.6,11.6,683,12116,0.00,2.17,0.00,0.000,4,0.000,0.041,2621,595,2063,0,0,0,0,0,0
$GC,12167,0.55,299.3,477.9,11.4,687,12175,0.00,2.17,0.00,0.000,6,0.000,0.031,2621,2008,2063,0,0,0,0,0,0
$GC,12493,0.55,299.3,436.1,13.5,718,12497,0.00,2.17,0.00,0.000,4,0.000,0.039,2630,588,2062,0,0,0,0,0,0
$GC,12514,0.55,299.3,433.1,13.0,719,12521,0.00,2.17,0.00,0.000,6,0.000,0.031,2632,2012,2063,0,0,0,0,0,0
$GC,12840,0.54,299.3,386.1,14.6,750,12844,0.12,2.15,0.00,0.000,4,0.168,0.041,2599,3405,2062,0,0,0,0,0,0
$GC,12897,0.56,299.3,378.8,12.6,755,12901,0.00,2.12,0.00,0.000,6,0.000,0.029,2608,1987,2062,0,0,0,0,0,0
$GC,13223,0.59,313.4,341.2,10.3,785,13238,0.00,2.15,10.35,0.750,4,0.000,0.041,2618,596,2020,0,0,0,0,0,0
$GC,13261,0.61,325.3,337.0,10.5,788,13280,0.00,2.12,11.30,0.729,6,0.000,0.030,2618,2009,1971,0,0,0,0,0,0
$GC,13598,0.64,332.3,299.7,10.7,820,13613,0.00,2.22,7.05,0.655,4,0.000,0.038,2629,599,1943,0,0,0,0,0,0
$GC,13648,0.67,338.5,294.3,10.8,824,13662,0.00,2.12,7.15,0.651,6,0.000,0.030,2628,2006,1917,0,0,0,0,0,0
$GC,13979,0.68,341.5,258.1,10.9,855,13991,0.00,2.22,3.95,0.479,4,0.000,0.039,2639,598,1905,0,0,0,0,0,0
$GC,14061,0.74,372.3,249.3,9.4,862,14096,0.00,2.15,25.85,0.689,6,0.000,0.030,2639,2006,1779,0,0,0,0,0,0
$GC,14413,0.76,372.3,206.4,11.2,895,14414,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2006,1775,0,0,0,0,0,0
$GC,14736,0.79,372.3,171.7,11.2,925,14740,0.12,2.17,0.00,0.000,4,0.089,0.040,2700,3409,1774,0,0,0,0,0,0
$GC,14776,0.76,372.3,165.2,16.3,928,14781,0.15,2.12,0.00,0.000,6,0.168,0.028,2672,1994,1774,0,0,0,0,0,0
$GC,15112,0.76,372.3,122.1,12.0,977,15118,0.00,2.12,0.00,0.000,4,0.000,0.037,2681,596,1774,0,0,0,0,0,0
$GC,15170,0.78,372.3,115.2,11.2,987,15177,0.00,2.10,0.00,0.000,6,0.000,0.029,2681,2002,1774,0,0,0,0,0,0
$GC,15516,0.89,432.7,78.9,7.8,1048,15573,0.00,2.22,47.22,0.591,4,0.000,0.037,2691,596,1531,0,0,0,0,0,0
$GC,15675,1.01,473.3,65.6,8.9,1075,15714,0.17,2.15,32.08,0.564,6,0.069,0.028,2771,2006,1368,0,0,0,0,0,0
$GC,16054,0.99,473.3,5.8,18.8,1141,16060,0.00,2.17,0.00,0.000,4,0.000,0.035,2782,586,1363,0,0,0,0,0,0
$STATE,16071,end climb,SURFACE_DEPTH_REACHED
$STATE,16071,begin surface coast
$FINISH,1.3,1.022516
$STATE,16088,end surface coast,CONTROL_FINISHED_OK
$STATE,16088,begin surface
$SM_CCo,16167,0.00,0.000,0,0,1360,475.39
$SM_GC,2.12,6.80,0.00,0.00,0.041,0.000,0.000,192,2402,1360,-6.86,0.06,475.39
$IRIDIUM_FIX,2244.02,12557.00,301010,232313
$TT8_MAMPS,0.026215
$HUMID,50.70
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.7,44.904
$10V_AH,9.9,53.568
$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,18.725,142.700,498.875,0.000,0.000,54.080,80.257,214.794,0.000,0.000,16.199,2950.573,10460.764,584.630,2430.391,323.883,0.000,1731.592,0.000,2040.229,0.000,0.541,0.000
$DEVICE_MAMPS,228.735,45.900,1149.030,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,776.905,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331420
$DATA_FILE_SIZE,66956,1147
$CAP_FILE_SIZE,162605,0
$CFSIZE,260165632,225091584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060,335.6,1
$GPS,311010,035806,2250.745,12600.483,35,0.9,40,-3.3