version: 66.08
glider: 181
mission: 4
dive: 342
start: 11 1 110 12 56 57
data:
$ID,181
$MISSION,4
$DIVE,342
$N_DIVES,351
$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,-38278.801
$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,43
$R_STBD_OVSHOOT,66
$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
$GPS1,011110,125024,2242.499,12558.241,24,1.2,41,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-64.9
$GPS2,011110,125632,2242.531,12558.179,14,1.1,14,-3.2
$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,155.8,149975,-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,-136.3,0.0,0.0,0,68,0.00,0.00,-50.55,0.000,2,0.000,0.000,202,2443,2668,0,0,0,0,0,0
$GC,71,-0.79,-136.3,3.3,-3.0,8,116,8.12,2.22,-29.75,0.000,4,0.229,0.041,2166,984,3855,0,0,0,0,0,0
$GC,217,-0.70,-136.3,39.3,-28.1,33,225,0.15,2.15,0.00,0.000,6,0.160,0.034,2195,2379,3856,0,0,0,0,0,0
$GC,563,-0.67,-136.3,123.9,-15.4,94,570,0.00,2.17,0.00,0.000,4,0.000,0.041,2187,3790,3857,0,0,0,0,0,0
$GC,644,-0.69,-136.3,135.0,-13.1,108,651,0.00,2.08,0.00,0.000,6,0.000,0.024,2187,2387,3857,0,0,0,0,0,0
$GC,974,-0.67,-136.3,192.1,-15.5,147,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2385,3858,0,0,0,0,0,0
$GC,1294,-0.67,-136.3,237.6,-13.7,177,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2385,3859,0,0,0,0,0,0
$GC,1612,-0.68,-136.3,279.4,-13.3,207,1616,0.00,2.05,0.00,0.000,4,0.000,0.031,2187,995,3859,0,0,0,0,0,0
$GC,1660,-0.72,-136.3,285.6,-12.3,211,1664,0.00,2.15,0.00,0.000,6,0.000,0.032,2178,2412,3858,0,0,0,0,0,0
$GC,1985,-0.73,-136.3,329.9,-12.7,241,1989,0.00,2.10,0.00,0.000,4,0.000,0.043,2168,3785,3857,0,0,0,0,0,0
$GC,2053,-0.76,-136.3,338.7,-12.6,247,2057,0.00,2.03,0.00,0.000,6,0.000,0.025,2168,2399,3857,0,0,0,0,0,0
$GC,2385,-0.77,-136.3,380.5,-11.8,278,2389,0.00,2.12,0.00,0.000,4,0.000,0.042,2157,3777,3856,0,0,0,0,0,0
$GC,2439,-0.79,-136.3,387.4,-12.0,282,2446,0.00,2.05,0.00,0.000,6,0.000,0.024,2157,2392,3856,0,0,0,0,0,0
$GC,2764,-0.79,-136.3,429.4,-13.3,313,2768,0.00,2.05,0.00,0.000,4,0.000,0.031,2157,1000,3854,0,0,0,0,0,0
$GC,2787,-0.79,-136.3,432.6,-14.0,315,2791,0.00,2.12,0.00,0.000,6,0.000,0.033,2151,2406,3854,0,0,0,0,0,0
$GC,3117,-0.79,-136.3,476.6,-12.9,346,3121,0.00,2.10,0.00,0.000,4,0.000,0.044,2141,3780,3852,0,0,0,0,0,0
$GC,3174,-0.80,-136.3,484.5,-13.7,350,3181,0.00,2.05,0.00,0.000,6,0.000,0.025,2141,2401,3852,0,0,0,0,0,0
$GC,3504,-0.80,-136.3,528.4,-13.1,372,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2397,3851,0,0,0,0,0,0
$GC,3813,-0.80,-136.3,570.2,-13.4,387,3817,0.00,2.10,0.00,0.000,4,0.000,0.032,2141,995,3847,0,0,0,0,0,0
$GC,3834,-0.80,-136.3,573.4,-13.6,388,3839,0.12,2.15,0.00,0.000,6,0.158,0.034,2166,2406,3847,0,0,0,0,0,0
$GC,4159,-0.83,-136.3,608.3,-10.5,403,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2407,3844,0,0,0,0,0,0
$GC,4461,-0.87,-136.3,641.5,-11.1,413,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2406,3841,0,0,0,0,0,0
$GC,4768,-0.91,-136.3,674.8,-10.7,423,4772,0.00,2.12,0.00,0.000,4,0.000,0.045,2157,3784,3839,0,0,0,0,0,0
$GC,4812,-0.95,-136.3,679.9,-11.4,424,4817,0.12,2.05,0.00,0.000,6,0.086,0.027,2093,2403,3839,0,0,0,0,0,0
$GC,5130,-0.92,-136.3,731.5,-16.8,435,5135,0.12,2.12,0.00,0.000,4,0.171,0.034,2126,1006,3835,0,0,0,0,0,0
$GC,5163,-0.92,-136.3,736.9,-15.9,436,5167,0.00,2.12,0.00,0.000,6,0.000,0.035,2118,2402,3835,0,0,0,0,0,0
$GC,5492,-0.92,-136.3,782.9,-13.4,447,5496,0.00,2.15,0.00,0.000,4,0.000,0.046,2107,3783,3833,0,0,0,0,0,0
$GC,5530,-0.92,-136.3,788.3,-13.9,448,5534,0.00,2.10,0.00,0.000,6,0.000,0.027,2108,2405,3832,0,0,0,0,0,0
$GC,5867,-0.90,-136.3,834.0,-13.9,459,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2401,3829,0,0,0,0,0,0
$GC,6172,-0.89,-136.3,876.5,-13.9,469,6177,0.12,2.12,0.00,0.000,4,0.167,0.034,2140,1000,3827,0,0,0,0,0,0
$GC,6210,-0.92,-136.3,881.7,-11.8,470,6214,0.00,2.15,0.00,0.000,6,0.000,0.036,2137,2406,3827,0,0,0,0,0,0
$GC,6541,-0.94,-136.3,918.1,-10.8,481,6545,0.00,2.15,0.00,0.000,4,0.000,0.047,2127,3775,3825,0,0,0,0,0,0
$GC,6580,-0.96,-136.3,922.7,-11.2,482,6584,0.00,2.08,0.00,0.000,6,0.000,0.027,2127,2395,3825,0,0,0,0,0,0
$GC,6915,-0.96,-136.3,959.6,-11.2,493,6919,0.00,2.10,0.00,0.000,4,0.000,0.034,2127,1005,3822,0,0,0,0,0,0
$GC,6947,-0.98,-136.3,962.8,-12.4,494,6951,0.00,2.15,0.00,0.000,6,0.000,0.036,2121,2400,3821,0,0,0,0,0,0
$STATE,7281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7281,begin apogee
$GC,7287,-0.16,0.0,1002.5,11.7,505,7397,0.77,0.00,104.15,1.148,6,0.129,0.000,2368,1979,3298,0,0,0,0,0,0
$STATE,7398,end apogee,CONTROL_FINISHED_OK
$STATE,7398,begin climb
$GC,7400,0.79,136.3,1006.9,0.0,508,7523,0.85,2.40,113.68,1.104,4,0.046,0.041,2693,3409,2742,0,0,0,0,0,0
$GC,7608,0.62,136.3,996.1,16.9,515,7613,0.32,2.17,0.00,0.000,6,0.208,0.028,2627,2020,2735,0,0,0,0,0,0
$GC,7938,0.54,136.3,955.2,11.9,526,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2019,2730,0,0,0,0,0,0
$GC,8244,0.45,136.3,919.1,11.4,536,8246,0.20,0.00,0.00,0.000,6,0.188,0.000,2576,2019,2728,0,0,0,0,0,0
$GC,8550,0.46,181.0,891.7,8.7,546,8591,0.00,2.25,35.83,1.063,4,0.000,0.040,2576,3409,2558,0,0,0,0,0,0
$GC,8627,0.42,181.0,884.0,11.4,548,8631,0.00,2.20,0.00,0.000,6,0.000,0.029,2584,1990,2555,0,0,0,0,0,0
$GC,8945,0.39,181.6,848.7,11.1,559,8950,0.12,2.17,0.00,0.000,4,0.183,0.040,2564,600,2551,0,0,0,0,0,0
$GC,9007,0.43,209.8,842.3,9.6,561,9041,0.00,2.15,24.15,1.021,6,0.000,0.031,2564,2009,2441,0,0,0,0,0,0
$GC,9347,0.45,224.1,808.2,10.3,572,9366,0.00,2.28,12.62,0.971,4,0.000,0.041,2564,3406,2384,0,0,0,0,0,0
$GC,9425,0.45,224.2,799.5,11.1,574,9429,0.00,2.15,0.00,0.000,6,0.000,0.029,2574,2002,2381,0,0,0,0,0,0
$GC,9749,0.46,233.8,764.9,10.6,585,9760,0.00,0.00,9.25,0.932,6,0.000,0.000,2574,2002,2344,0,0,0,0,0,0
$GC,10055,0.46,236.9,731.4,10.9,595,10064,0.00,2.22,4.05,0.693,4,0.000,0.040,2585,596,2332,0,0,0,0,0,0
$GC,10109,0.46,236.9,725.2,11.2,596,10113,0.00,2.17,0.00,0.000,6,0.000,0.031,2585,2010,2332,0,0,0,0,0,0
$GC,10422,0.48,251.0,692.0,10.3,606,10442,0.00,2.22,13.32,0.933,4,0.000,0.043,2585,3395,2274,0,0,0,0,0,0
$GC,10492,0.48,251.0,683.8,11.9,608,10496,0.00,2.17,0.00,0.000,6,0.000,0.030,2595,2003,2272,0,0,0,0,0,0
$GC,10828,0.48,251.0,645.3,11.7,619,10829,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2001,2270,0,0,0,0,0,0
$GC,11134,0.48,251.0,608.8,12.0,629,11135,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2001,2269,0,0,0,0,0,0
$GC,11453,0.48,251.0,570.3,12.5,643,11457,0.00,2.15,0.00,0.000,4,0.000,0.039,2606,596,2269,0,0,0,0,0,0
$GC,11480,0.48,251.0,566.7,13.2,644,11484,0.00,2.12,0.00,0.000,6,0.000,0.031,2606,2003,2269,0,0,0,0,0,0
$GC,11802,0.47,251.0,523.6,13.7,660,11806,0.00,2.17,0.00,0.000,4,0.000,0.043,2606,3411,2268,0,0,0,0,0,0
$GC,11902,0.45,251.0,509.6,13.3,664,11909,0.17,2.12,0.00,0.000,6,0.165,0.029,2571,1998,2268,0,0,0,0,0,0
$GC,12225,0.52,294.4,479.4,8.7,690,12265,0.00,0.00,35.62,0.824,6,0.000,0.000,2571,1996,2097,0,0,0,0,0,0
$GC,12583,0.61,326.5,447.8,9.3,724,12619,0.15,2.22,26.67,0.783,4,0.084,0.040,2648,594,1965,0,0,0,0,0,0
$GC,12691,0.61,326.5,432.1,14.8,733,12699,0.00,2.20,0.00,0.000,6,0.000,0.030,2648,1993,1962,0,0,0,0,0,0
$GC,13017,0.58,326.5,381.0,15.1,764,13019,0.12,0.00,0.00,0.000,6,0.175,0.000,2617,1996,1959,0,0,0,0,0,0
$GC,13336,0.60,326.5,342.0,11.5,794,13340,0.00,2.22,0.00,0.000,4,0.000,0.041,2617,3408,1958,0,0,0,0,0,0
$GC,13358,0.61,326.5,339.1,12.0,795,13365,0.00,2.12,0.00,0.000,6,0.000,0.029,2625,1999,1957,0,0,0,0,0,0
$GC,13683,0.61,326.5,299.7,11.6,826,13687,0.00,2.15,0.00,0.000,4,0.000,0.039,2636,590,1957,0,0,0,0,0,0
$GC,13717,0.62,326.5,295.7,12.2,828,13724,0.00,2.15,0.00,0.000,6,0.000,0.030,2636,2007,1957,0,0,0,0,0,0
$GC,14042,0.62,326.5,256.9,12.0,859,14046,0.00,2.15,0.00,0.000,4,0.000,0.041,2636,3409,1957,0,0,0,0,0,0
$GC,14085,0.62,326.5,251.3,12.3,862,14093,0.00,2.17,0.00,0.000,6,0.000,0.028,2646,1993,1957,0,0,0,0,0,0
$GC,14411,0.62,328.9,212.9,11.0,893,14415,0.00,2.12,0.00,0.000,4,0.000,0.037,2657,596,1957,0,0,0,0,0,0
$GC,14489,0.62,328.9,203.8,11.8,899,14497,0.12,2.12,0.00,0.000,6,0.155,0.030,2624,2004,1957,0,0,0,0,0,0
$GC,14816,0.69,352.7,172.5,9.8,930,14842,0.00,2.20,21.25,0.653,4,0.000,0.041,2624,3411,1859,0,0,0,0,0,0
$GC,14905,0.73,352.7,162.7,11.1,937,14913,0.00,2.15,0.00,0.000,6,0.000,0.028,2632,1995,1858,0,0,0,0,0,0
$GC,15243,0.81,384.5,130.3,9.4,986,15275,0.15,2.22,26.02,0.618,4,0.079,0.037,2715,588,1729,0,0,0,0,0,0
$GC,15361,0.79,384.5,112.7,14.2,1006,15368,0.12,2.17,0.00,0.000,6,0.154,0.029,2683,2012,1728,0,0,0,0,0,0
$GC,15708,0.92,453.1,77.9,7.4,1067,15770,0.12,2.25,53.33,0.584,4,0.082,0.036,2754,589,1450,0,0,0,0,0,0
$GC,15833,0.92,453.1,61.1,14.1,1088,15840,0.12,2.17,0.00,0.000,6,0.157,0.029,2722,2001,1446,0,0,0,0,0,0
$GC,16178,0.94,453.1,15.1,13.9,1149,16185,0.00,2.15,0.00,0.000,4,0.000,0.036,2731,585,1444,0,0,0,0,0,0
$GC,16216,1.03,509.5,11.3,8.0,1155,16266,0.00,2.15,43.47,0.518,6,0.000,0.029,2731,2003,1219,0,0,0,0,0,0
$STATE,16283,end climb,SURFACE_DEPTH_REACHED
$STATE,16283,begin surface coast
$FINISH,1.6,1.022247
$STATE,16309,end surface coast,CONTROL_FINISHED_OK
$STATE,16309,begin surface
$SM_CCo,16385,0.00,0.000,0,0,1213,511.21
$SM_GC,2.24,6.75,0.00,0.00,0.044,0.000,0.000,208,2423,1213,-6.83,0.65,511.21
$IRIDIUM_FIX,2239.35,12555.63,011110,080816
$TT8_MAMPS,0.025466
$HUMID,49.13
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.6,46.071
$10V_AH,9.9,54.193
$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,18.900,134.575,523.425,0.000,0.000,22.397,41.460,150.117,0.000,0.000,17.189,2983.783,10561.096,604.686,2282.360,313.559,0.000,1750.914,0.000,2040.610,0.000,0.540,0.000
$DEVICE_MAMPS,228.735,46.665,1148.265,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,791.826,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331448
$DATA_FILE_SIZE,70313,1170
$CAP_FILE_SIZE,159871,0
$CFSIZE,260165632,224464896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.156,336.1,1
$GPS,011110,173107,2241.730,12558.649,27,1.6,27,-3.2