version: 66.08
glider: 181
mission: 4
dive: 343
start: 11 1 110 17 38 1
data:
$ID,181
$MISSION,4
$DIVE,343
$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,-38280.059
$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,49
$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
$GPS1,011110,173107,2241.730,12558.649,27,1.6,27,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-62.5
$GPS2,011110,173736,2241.764,12558.605,15,1.0,31,-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,168.5,148531,-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,-136.3,0.0,0.0,0,59,0.00,0.00,-41.67,0.000,2,0.000,0.000,204,2424,2317,0,0,0,0,0,0
$GC,62,-0.79,-136.3,3.1,-3.4,7,125,8.23,2.20,-46.33,0.000,4,0.233,0.045,2159,992,3855,0,0,0,0,0,0
$GC,221,-0.72,-136.3,37.1,-26.2,34,229,0.15,2.15,0.00,0.000,6,0.164,0.034,2188,2388,3855,0,0,0,0,0,0
$GC,565,-0.68,-136.3,128.2,-18.5,95,573,0.00,2.15,0.00,0.000,4,0.000,0.041,2180,3779,3857,0,0,0,0,0,0
$GC,646,-0.68,-136.3,142.1,-16.4,109,653,0.00,2.05,0.00,0.000,6,0.000,0.024,2180,2386,3857,0,0,0,0,0,0
$GC,975,-0.65,-136.3,204.1,-17.5,144,980,0.12,2.17,0.00,0.000,4,0.160,0.041,2204,3778,3858,0,0,0,0,0,0
$GC,1002,-0.65,-136.3,208.7,-15.5,146,1009,0.00,2.05,0.00,0.000,6,0.000,0.024,2204,2406,3859,0,0,0,0,0,0
$GC,1328,-0.68,-136.3,256.0,-13.3,177,1331,0.00,2.05,0.00,0.000,4,0.000,0.030,2203,1000,3859,0,0,0,0,0,0
$GC,1396,-0.72,-136.3,264.1,-11.3,182,1403,0.00,2.12,0.00,0.000,6,0.000,0.031,2196,2406,3859,0,0,0,0,0,0
$GC,1721,-0.75,-136.3,303.3,-11.7,213,1725,0.00,2.10,0.00,0.000,4,0.000,0.042,2185,3776,3859,0,0,0,0,0,0
$GC,1794,-0.79,-136.3,312.5,-12.3,219,1802,0.00,2.03,0.00,0.000,6,0.000,0.024,2185,2384,3859,0,0,0,0,0,0
$GC,2119,-0.81,-136.3,355.5,-12.6,250,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2383,3857,0,0,0,0,0,0
$GC,2440,-0.84,-136.3,390.8,-11.0,280,2444,0.00,2.15,0.00,0.000,4,0.000,0.042,2176,3774,3856,0,0,0,0,0,0
$GC,2456,-0.87,-136.3,393.0,-10.9,281,2463,0.00,2.03,0.00,0.000,6,0.000,0.025,2176,2392,3856,0,0,0,0,0,0
$GC,2782,-0.89,-136.3,432.1,-12.3,312,2784,0.12,0.00,0.00,0.000,6,0.083,0.000,2109,2390,3855,0,0,0,0,0,0
$GC,3100,-0.85,-136.3,484.8,-15.9,342,3101,0.15,0.00,0.00,0.000,6,0.159,0.000,2148,2389,3853,0,0,0,0,0,0
$GC,3422,-0.85,-136.3,528.3,-13.2,363,3426,0.00,2.15,0.00,0.000,4,0.000,0.043,2139,3774,3851,0,0,0,0,0,0
$GC,3490,-0.86,-136.3,536.8,-12.1,366,3493,0.00,2.03,0.00,0.000,6,0.000,0.025,2139,2401,3851,0,0,0,0,0,0
$GC,3816,-0.86,-136.3,581.8,-13.9,382,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2398,3848,0,0,0,0,0,0
$GC,4145,-0.86,-136.3,625.0,-12.9,395,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2398,3845,0,0,0,0,0,0
$GC,4451,-0.86,-136.3,662.6,-12.1,405,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2398,3843,0,0,0,0,0,0
$GC,4757,-0.86,-136.3,699.5,-12.0,415,4761,0.00,2.08,0.00,0.000,4,0.000,0.033,2139,1005,3839,0,0,0,0,0,0
$GC,4788,-0.88,-136.3,702.9,-11.7,416,4792,0.00,2.12,0.00,0.000,6,0.000,0.034,2132,2403,3839,0,0,0,0,0,0
$GC,5123,-0.88,-136.3,742.9,-11.8,427,5127,0.00,2.15,0.00,0.000,4,0.000,0.045,2121,3789,3836,0,0,0,0,0,0
$GC,5185,-0.89,-136.3,750.5,-11.9,429,5189,0.00,2.08,0.00,0.000,6,0.000,0.026,2121,2397,3836,0,0,0,0,0,0
$GC,5526,-0.89,-136.3,794.8,-13.2,440,5530,0.00,2.08,0.00,0.000,4,0.000,0.034,2121,1004,3833,0,0,0,0,0,0
$GC,5594,-0.91,-136.3,803.9,-11.9,442,5598,0.00,2.15,0.00,0.000,6,0.000,0.034,2112,2405,3833,0,0,0,0,0,0
$GC,5924,-0.90,-136.3,848.5,-13.6,453,5928,0.00,2.12,0.00,0.000,4,0.000,0.045,2101,3780,3829,0,0,0,0,0,0
$GC,5968,-0.90,-136.3,854.6,-13.4,454,5973,0.12,2.05,0.00,0.000,6,0.160,0.027,2133,2398,3829,0,0,0,0,0,0
$GC,6286,-0.91,-136.3,890.6,-11.2,465,6290,0.00,2.10,0.00,0.000,4,0.000,0.034,2133,992,3827,0,0,0,0,0,0
$GC,6307,-0.93,-136.3,893.4,-12.2,465,6314,0.00,2.15,0.00,0.000,6,0.000,0.034,2125,2405,3827,0,0,0,0,0,0
$GC,6621,-0.93,-136.3,929.7,-11.9,476,6622,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2405,3825,0,0,0,0,0,0
$GC,6926,-0.93,-136.3,966.2,-12.1,486,6930,0.00,2.15,0.00,0.000,4,0.000,0.047,2115,3781,3823,0,0,0,0,0,0
$GC,6961,-0.94,-136.3,970.7,-13.5,487,6965,0.00,2.08,0.00,0.000,6,0.000,0.028,2115,2394,3822,0,0,0,0,0,0
$STATE,7202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7202,begin apogee
$GC,7208,-0.16,0.0,1003.0,13.4,495,7318,0.80,0.00,104.43,1.144,6,0.131,0.000,2367,1971,3298,0,0,0,0,0,0
$STATE,7319,end apogee,CONTROL_FINISHED_OK
$STATE,7319,begin climb
$GC,7322,0.79,136.3,1008.5,0.0,498,7445,0.85,2.25,113.65,1.104,4,0.046,0.038,2701,616,2741,0,0,0,0,0,0
$GC,7562,0.65,136.3,996.2,14.1,506,7567,0.28,2.17,0.00,0.000,6,0.192,0.032,2634,2005,2735,0,0,0,0,0,0
$GC,7892,0.55,136.3,957.3,11.7,517,7897,0.12,2.20,0.00,0.000,4,0.200,0.043,2604,3403,2730,0,0,0,0,0,0
$GC,7976,0.47,136.3,946.6,12.8,519,7981,0.15,2.15,0.00,0.000,6,0.199,0.029,2579,2008,2729,0,0,0,0,0,0
$GC,8294,0.46,159.7,915.3,9.8,530,8319,0.00,2.28,18.48,1.059,4,0.000,0.043,2579,3407,2647,0,0,0,0,0,0
$GC,8353,0.40,159.7,908.9,11.4,531,8361,0.12,2.15,0.00,0.000,6,0.194,0.028,2560,2001,2644,0,0,0,0,0,0
$GC,8667,0.43,191.1,879.1,9.4,542,8696,0.00,0.00,27.20,1.041,6,0.000,0.000,2560,2001,2518,0,0,0,0,0,0
$GC,9002,0.46,210.9,846.2,10.0,553,9026,0.00,2.30,17.05,1.001,4,0.000,0.041,2559,3402,2438,0,0,0,0,0,0
$GC,9060,0.46,210.9,840.0,11.4,554,9067,0.00,2.20,0.00,0.000,6,0.000,0.029,2568,1992,2436,0,0,0,0,0,0
$GC,9373,0.46,210.9,804.3,11.6,565,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1992,2433,0,0,0,0,0,0
$GC,9679,0.46,210.9,769.6,11.4,575,9683,0.00,2.22,0.00,0.000,4,0.000,0.041,2568,3404,2432,0,0,0,0,0,0
$GC,9714,0.44,210.9,765.6,12.1,576,9718,0.00,2.12,0.00,0.000,6,0.000,0.028,2578,2000,2431,0,0,0,0,0,0
$GC,10050,0.47,231.0,729.5,10.0,587,10073,0.00,2.25,16.88,0.967,4,0.000,0.038,2589,590,2356,0,0,0,0,0,0
$GC,10130,0.51,267.8,721.5,9.1,589,10167,0.00,2.15,31.77,0.934,6,0.000,0.030,2590,2002,2205,0,0,0,0,0,0
$GC,10483,0.53,282.2,685.5,10.3,601,10502,0.00,2.30,12.57,0.900,4,0.000,0.042,2589,3409,2147,0,0,0,0,0,0
$GC,10559,0.53,282.2,676.2,12.5,603,10563,0.00,2.17,0.00,0.000,6,0.000,0.029,2600,1995,2145,0,0,0,0,0,0
$GC,10884,0.53,282.2,635.1,13.3,614,10888,0.00,2.17,0.00,0.000,4,0.000,0.039,2611,593,2142,0,0,0,0,0,0
$GC,10938,0.53,282.2,627.5,13.5,615,10946,0.00,2.17,0.00,0.000,6,0.000,0.030,2611,1994,2142,0,0,0,0,0,0
$GC,11264,0.52,282.2,584.6,12.9,628,11268,0.00,2.20,0.00,0.000,4,0.000,0.042,2610,3415,2141,0,0,0,0,0,0
$GC,11314,0.50,282.2,577.6,13.7,630,11319,0.12,2.15,0.00,0.000,6,0.170,0.029,2591,1996,2140,0,0,0,0,0,0
$GC,11630,0.51,282.2,542.1,11.3,645,11634,0.00,2.12,0.00,0.000,4,0.000,0.040,2599,598,2139,0,0,0,0,0,0
$GC,11681,0.53,282.2,536.1,11.4,647,11685,0.00,2.12,0.00,0.000,6,0.000,0.031,2600,2007,2140,0,0,0,0,0,0
$GC,11997,0.53,282.2,496.7,12.4,663,12001,0.00,2.15,0.00,0.000,4,0.000,0.041,2599,3408,2139,0,0,0,0,0,0
$GC,12037,0.53,282.2,491.5,14.0,666,12041,0.00,2.12,0.00,0.000,6,0.000,0.029,2610,1998,2139,0,0,0,0,0,0
$GC,12363,0.53,282.2,451.8,11.8,696,12367,0.00,2.17,0.00,0.000,4,0.000,0.041,2610,3404,2139,0,0,0,0,0,0
$GC,12403,0.53,282.2,446.8,12.6,699,12407,0.00,2.15,0.00,0.000,6,0.000,0.029,2620,1990,2138,0,0,0,0,0,0
$GC,12728,0.53,284.0,409.9,11.0,729,12732,0.00,2.12,0.00,0.000,4,0.000,0.040,2631,590,2138,0,0,0,0,0,0
$GC,12771,0.53,284.0,405.0,11.4,732,12778,0.12,2.17,0.00,0.000,6,0.161,0.031,2598,2004,2139,0,0,0,0,0,0
$GC,13097,0.59,320.5,375.8,9.1,763,13134,0.00,2.28,30.65,0.764,4,0.000,0.041,2598,3409,1991,0,0,0,0,0,0
$GC,13181,0.62,324.0,367.3,10.9,770,13190,0.00,2.17,4.12,0.501,6,0.000,0.029,2607,2001,1976,0,0,0,0,0,0
$GC,13518,0.67,338.2,329.8,10.3,802,13542,0.10,2.25,12.90,0.722,4,0.106,0.038,2666,587,1919,0,0,0,0,0,0
$GC,13601,0.66,338.2,319.4,12.3,809,13605,0.00,2.15,0.00,0.000,6,0.000,0.029,2666,2003,1918,0,0,0,0,0,0
$GC,13927,0.63,338.2,271.4,14.9,839,13932,0.15,2.20,0.00,0.000,4,0.161,0.041,2625,3404,1916,0,0,0,0,0,0
$GC,13993,0.65,338.2,262.4,12.5,844,14000,0.00,2.12,0.00,0.000,6,0.000,0.029,2634,1996,1915,0,0,0,0,0,0
$GC,14319,0.67,344.4,224.5,10.8,875,14332,0.00,2.22,6.60,0.584,4,0.000,0.038,2645,585,1892,0,0,0,0,0,0
$GC,14426,0.71,352.7,213.1,10.7,884,14441,0.00,2.15,8.32,0.609,6,0.000,0.030,2645,2007,1860,0,0,0,0,0,0
$GC,14768,0.72,352.7,173.1,11.4,916,14769,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2007,1857,0,0,0,0,0,0
$GC,15092,0.79,380.1,137.6,9.6,956,15123,0.00,2.20,22.83,0.626,4,0.000,0.037,2655,595,1747,0,0,0,0,0,0
$GC,15147,0.88,425.2,132.6,8.6,965,15192,0.15,2.12,36.35,0.588,6,0.076,0.030,2726,1998,1564,0,0,0,0,0,0
$GC,15528,0.88,425.2,77.6,12.4,1032,15534,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2000,1557,0,0,0,0,0,0
$GC,15869,0.88,425.2,37.2,13.2,1093,15875,0.00,2.12,0.00,0.000,4,0.000,0.037,2737,595,1556,0,0,0,0,0,0
$GC,15917,0.88,425.2,31.3,12.0,1101,15924,0.00,2.12,0.00,0.000,6,0.000,0.028,2737,2014,1556,0,0,0,0,0,0
$STATE,16125,end climb,SURFACE_DEPTH_REACHED
$STATE,16125,begin surface coast
$FINISH,1.4,1.021827
$STATE,16154,end surface coast,CONTROL_FINISHED_OK
$STATE,16154,begin surface
$SM_CCo,16231,0.00,0.000,0,0,1555,427.56
$SM_GC,2.29,6.62,0.00,0.00,0.040,0.000,0.000,189,2408,1555,-6.86,0.23,427.56
$IRIDIUM_FIX,2232.34,12556.15,011110,121228
$TT8_MAMPS,0.026215
$HUMID,50.66
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.7,46.210
$10V_AH,9.9,54.270
$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,18.500,138.775,463.800,0.000,0.000,28.776,42.244,153.845,0.000,0.000,34.056,2949.626,10471.429,574.496,2308.923,309.430,0.000,1723.333,0.000,2050.371,0.000,0.541,0.000
$DEVICE_MAMPS,232.560,46.665,1144.440,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,774.457,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,67000,1143
$CAP_FILE_SIZE,160214,0
$CFSIZE,260165632,224395264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123, 10.4,1
$GPS,011110,220936,2240.626,12559.426,25,1.6,25,-3.2