version: 66.08
glider: 181
mission: 4
dive: 346
start: 11 2 110 7 44 15
data:
$ID,181
$MISSION,4
$DIVE,346
$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,-38283.832
$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,45
$R_STBD_OVSHOOT,47
$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
$GPS1,021110,073536,2237.217,12557.910,30,1.0,30,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-62.3
$GPS2,021110,074350,2237.253,12557.842,15,1.2,15,-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,163.8,140229,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.79,-136.3,0.0,0.0,0,55,0.00,0.00,-36.35,0.000,2,0.000,0.000,197,2428,2497,0,0,0,0,0,0
$GC,58,-0.79,-136.3,3.2,-3.5,6,114,8.15,2.22,-38.00,0.000,4,0.230,0.041,2160,985,3856,0,0,0,0,0,0
$GC,215,-0.72,-136.3,35.2,-27.1,33,222,0.15,2.15,0.00,0.000,6,0.164,0.033,2189,2397,3856,0,0,0,0,0,0
$GC,560,-0.67,-136.3,118.1,-19.0,94,566,0.00,2.12,0.00,0.000,4,0.000,0.041,2181,3785,3857,0,0,0,0,0,0
$GC,692,-0.67,-136.3,140.8,-15.2,117,699,0.00,2.08,0.00,0.000,6,0.000,0.024,2181,2392,3858,0,0,0,0,0,0
$GC,1026,-0.65,-136.3,195.0,-16.3,153,1031,0.12,2.17,0.00,0.000,4,0.161,0.041,2204,3781,3859,0,0,0,0,0,0
$GC,1059,-0.66,-136.3,200.1,-14.2,155,1067,0.00,2.03,0.00,0.000,6,0.000,0.024,2204,2397,3860,0,0,0,0,0,0
$GC,1385,-0.68,-136.3,241.7,-12.0,186,1389,0.00,2.12,0.00,0.000,4,0.000,0.041,2194,3783,3860,0,0,0,0,0,0
$GC,1437,-0.71,-136.3,248.0,-12.0,190,1441,0.00,2.03,0.00,0.000,6,0.000,0.024,2194,2396,3859,0,0,0,0,0,0
$GC,1768,-0.73,-136.3,287.2,-12.0,221,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2392,3860,0,0,0,0,0,0
$GC,2091,-0.76,-136.3,323.6,-11.1,251,2094,0.00,2.05,0.00,0.000,4,0.000,0.030,2194,1000,3858,0,0,0,0,0,0
$GC,2118,-0.80,-136.3,327.3,-11.5,253,2125,0.00,2.12,0.00,0.000,6,0.000,0.032,2191,2410,3858,0,0,0,0,0,0
$GC,2444,-0.83,-136.3,363.9,-12.3,284,2448,0.00,2.10,0.00,0.000,4,0.000,0.043,2182,3775,3857,0,0,0,0,0,0
$GC,2553,-0.87,-136.3,376.9,-11.8,293,2557,0.12,2.03,0.00,0.000,6,0.082,0.024,2108,2391,3857,0,0,0,0,0,0
$GC,2878,-0.82,-136.3,435.7,-18.7,323,2883,0.17,2.08,0.00,0.000,4,0.158,0.031,2156,992,3855,0,0,0,0,0,0
$GC,2911,-0.82,-136.3,440.8,-14.6,326,2915,0.00,2.15,0.00,0.000,6,0.000,0.033,2151,2407,3855,0,0,0,0,0,0
$GC,3237,-0.82,-136.3,483.1,-13.5,356,3241,0.00,2.10,0.00,0.000,4,0.000,0.043,2140,3785,3853,0,0,0,0,0,0
$GC,3292,-0.84,-136.3,490.3,-12.1,360,3299,0.00,2.05,0.00,0.000,6,0.000,0.025,2140,2403,3853,0,0,0,0,0,0
$GC,3621,-0.84,-136.3,531.7,-12.8,380,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2400,3851,0,0,0,0,0,0
$GC,3930,-0.84,-136.3,572.6,-13.4,395,3934,0.00,2.20,0.00,0.000,4,0.000,0.044,2132,3781,3849,0,0,0,0,0,0
$GC,3956,-0.84,-136.3,576.4,-13.8,396,3960,0.00,2.08,0.00,0.000,6,0.000,0.026,2132,2409,3849,0,0,0,0,0,0
$GC,4287,-0.84,-136.3,621.6,-13.9,410,4291,0.00,2.12,0.00,0.000,4,0.000,0.032,2132,991,3846,0,0,0,0,0,0
$GC,4325,-0.84,-136.3,627.3,-13.6,411,4329,0.12,2.15,0.00,0.000,6,0.166,0.034,2155,2400,3846,0,0,0,0,0,0
$GC,4655,-0.87,-136.3,663.3,-10.5,422,4659,0.00,2.12,0.00,0.000,4,0.000,0.045,2147,3780,3842,0,0,0,0,0,0
$GC,4720,-0.90,-136.3,670.0,-9.6,424,4724,0.00,2.08,0.00,0.000,6,0.000,0.026,2147,2387,3841,0,0,0,0,0,0
$GC,5061,-0.92,-136.3,709.3,-11.7,435,5064,0.00,2.05,0.00,0.000,4,0.000,0.033,2147,1003,3839,0,0,0,0,0,0
$GC,5090,-0.95,-136.3,712.7,-12.3,436,5094,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2406,3839,0,0,0,0,0,0
$GC,5427,-0.96,-136.3,756.1,-13.2,447,5431,0.00,2.12,0.00,0.000,4,0.000,0.045,2128,3779,3834,0,0,0,0,0,0
$GC,5487,-0.98,-136.3,764.6,-12.8,448,5494,0.00,2.05,0.00,0.000,6,0.000,0.026,2128,2394,3834,0,0,0,0,0,0
$GC,5801,-0.98,-136.3,808.0,-13.6,459,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2391,3832,0,0,0,0,0,0
$GC,6106,-0.98,-136.3,847.7,-12.7,469,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2391,3830,0,0,0,0,0,0
$GC,6413,-0.98,-136.3,885.8,-12.3,479,6414,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2391,3828,0,0,0,0,0,0
$GC,6719,-0.98,-136.3,922.8,-11.9,489,6720,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2391,3826,0,0,0,0,0,0
$GC,7026,-0.99,-136.3,960.1,-12.3,499,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2391,3823,0,0,0,0,0,0
$GC,7332,-1.01,-136.3,996.9,-12.0,509,7333,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2391,3821,0,0,0,0,0,0
$STATE,7360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7360,begin apogee
$GC,7366,-0.16,0.0,1000.5,12.0,510,7477,0.75,0.00,104.75,1.144,6,0.125,0.000,2369,1987,3297,0,0,0,0,0,0
$STATE,7478,end apogee,CONTROL_FINISHED_OK
$STATE,7478,begin climb
$GC,7480,0.79,136.3,1005.5,0.0,513,7604,0.85,2.42,113.78,1.102,4,0.047,0.041,2691,3402,2741,0,0,0,0,0,0
$GC,7649,0.63,136.3,1001.3,14.7,518,7656,0.30,2.20,0.00,0.000,6,0.207,0.029,2633,2011,2736,0,0,0,0,0,0
$GC,7962,0.53,136.3,961.9,12.7,529,7964,0.15,0.00,0.00,0.000,6,0.192,0.000,2596,2010,2731,0,0,0,0,0,0
$GC,8269,0.48,141.1,928.2,10.8,539,8273,0.00,2.17,0.00,0.000,4,0.000,0.038,2605,596,2729,0,0,0,0,0,0
$GC,8304,0.42,141.1,924.4,11.9,540,8309,0.17,2.17,0.00,0.000,6,0.177,0.031,2562,2010,2729,0,0,0,0,0,0
$GC,8639,0.43,174.0,893.0,9.3,551,8675,0.00,2.28,29.95,1.059,4,0.000,0.043,2561,3402,2588,0,0,0,0,0,0
$GC,8777,0.41,177.7,877.7,10.9,555,8787,0.00,2.17,4.25,0.710,6,0.000,0.029,2570,2001,2572,0,0,0,0,0,0
$GC,9113,0.43,208.4,844.2,9.4,566,9144,0.00,0.00,26.58,1.017,6,0.000,0.000,2570,2001,2448,0,0,0,0,0,0
$GC,9451,0.46,226.8,810.4,10.1,577,9469,0.00,0.00,16.15,0.981,6,0.000,0.000,2570,2001,2373,0,0,0,0,0,0
$GC,9757,0.47,234.2,777.7,10.7,587,9771,0.00,2.30,7.12,0.884,4,0.000,0.041,2570,3406,2343,0,0,0,0,0,0
$GC,9805,0.47,234.2,772.0,11.5,588,9809,0.00,2.15,0.00,0.000,6,0.000,0.029,2580,2000,2342,0,0,0,0,0,0
$GC,10124,0.48,246.1,737.4,10.5,599,10140,0.00,2.17,11.18,0.923,4,0.000,0.037,2591,597,2295,0,0,0,0,0,0
$GC,10190,0.51,265.9,730.1,10.0,601,10218,0.00,2.20,18.48,0.913,6,0.000,0.031,2590,2003,2212,0,0,0,0,0,0
$GC,10524,0.51,265.9,691.6,11.9,612,10528,0.00,2.20,0.00,0.000,4,0.000,0.043,2591,3404,2208,0,0,0,0,0,0
$GC,10567,0.51,265.9,685.7,13.8,613,10572,0.00,2.17,0.00,0.000,6,0.000,0.031,2601,2007,2206,0,0,0,0,0,0
$GC,10899,0.49,265.9,641.5,13.8,624,10903,0.00,2.20,0.00,0.000,4,0.000,0.040,2613,585,2205,0,0,0,0,0,0
$GC,10976,0.49,265.9,629.9,14.6,626,10980,0.00,2.20,0.00,0.000,6,0.000,0.031,2613,2035,2205,0,0,0,0,0,0
$GC,11292,0.48,265.9,585.3,13.9,638,11294,0.12,0.00,0.00,0.000,6,0.170,0.000,2581,2036,2203,0,0,0,0,0,0
$GC,11601,0.51,278.1,551.4,10.4,653,11616,0.00,2.15,10.23,0.863,4,0.000,0.042,2581,3411,2163,0,0,0,0,0,0
$GC,11640,0.52,280.7,546.9,11.0,654,11650,0.00,2.15,3.83,0.529,6,0.000,0.029,2589,1992,2153,0,0,0,0,0,0
$GC,11975,0.56,296.7,511.7,10.2,670,11997,0.00,2.20,14.62,0.822,4,0.000,0.041,2600,594,2088,0,0,0,0,0,0
$GC,12071,0.58,296.7,500.8,11.3,674,12075,0.00,2.17,0.00,0.000,6,0.000,0.031,2600,2008,2085,0,0,0,0,0,0
$GC,12402,0.59,296.7,463.4,11.8,705,12406,0.00,2.17,0.00,0.000,4,0.000,0.041,2600,3403,2083,0,0,0,0,0,0
$GC,12423,0.59,296.7,460.3,12.4,706,12430,0.00,2.17,0.00,0.000,6,0.000,0.030,2611,2002,2083,0,0,0,0,0,0
$GC,12748,0.59,296.7,420.6,11.5,737,12750,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2001,2082,0,0,0,0,0,0
$GC,13069,0.59,296.7,382.6,12.2,767,13073,0.00,2.17,0.00,0.000,4,0.000,0.039,2621,585,2082,0,0,0,0,0,0
$GC,13180,0.60,296.7,368.0,13.6,776,13187,0.00,2.15,0.00,0.000,6,0.000,0.031,2621,2000,2082,0,0,0,0,0,0
$GC,13505,0.60,296.7,327.9,11.9,807,13509,0.00,2.15,0.00,0.000,4,0.000,0.041,2622,3404,2082,0,0,0,0,0,0
$GC,13548,0.60,296.7,322.3,12.0,810,13556,0.00,2.15,0.00,0.000,6,0.000,0.029,2632,2002,2082,0,0,0,0,0,0
$GC,13875,0.61,307.6,284.8,10.5,841,13890,0.00,2.20,9.95,0.697,4,0.000,0.039,2642,595,2043,0,0,0,0,0,0
$GC,13993,0.63,323.9,271.6,10.2,851,14012,0.00,2.15,14.65,0.721,6,0.000,0.030,2642,2009,1977,0,0,0,0,0,0
$GC,14330,0.65,340.3,233.1,10.2,883,14354,0.00,2.22,14.57,0.685,4,0.000,0.040,2643,3404,1909,0,0,0,0,0,0
$GC,14389,0.65,340.3,226.2,12.0,888,14393,0.00,2.15,0.00,0.000,6,0.000,0.028,2653,1989,1909,0,0,0,0,0,0
$GC,14714,0.65,340.3,190.0,11.3,918,14718,0.00,2.15,0.00,0.000,4,0.000,0.037,2664,585,1907,0,0,0,0,0,0
$GC,14802,0.66,340.3,179.3,11.7,925,14809,0.00,2.12,0.00,0.000,6,0.000,0.029,2664,1999,1907,0,0,0,0,0,0
$GC,15131,0.66,340.3,139.6,12.2,963,15138,0.00,2.15,0.00,0.000,4,0.000,0.039,2664,3408,1907,0,0,0,0,0,0
$GC,15167,0.66,340.3,134.5,14.0,969,15175,0.12,2.12,0.00,0.000,6,0.158,0.028,2642,1988,1907,0,0,0,0,0,0
$GC,15515,0.79,411.8,104.8,7.2,1030,15580,0.12,2.22,56.22,0.599,4,0.086,0.037,2716,594,1618,0,0,0,0,0,0
$GC,15606,0.79,411.8,95.4,11.6,1044,15613,0.12,2.17,0.00,0.000,6,0.151,0.028,2683,2010,1615,0,0,0,0,0,0
$GC,15951,0.89,445.2,63.0,9.3,1105,15982,0.00,2.25,26.25,0.549,4,0.000,0.040,2683,3409,1481,0,0,0,0,0,0
$GC,16000,0.99,475.5,58.1,9.5,1113,16032,0.15,2.15,24.45,0.543,6,0.072,0.027,2758,1988,1359,0,0,0,0,0,0
$STATE,16365,end climb,SURFACE_DEPTH_REACHED
$STATE,16365,begin surface coast
$FINISH,1.6,1.010758
$STATE,16388,end surface coast,CONTROL_FINISHED_OK
$STATE,16388,begin surface
$SM_CCo,16465,0.00,0.000,0,0,1351,477.60
$SM_GC,2.44,6.65,0.00,0.00,0.034,0.000,0.000,200,2435,1351,-6.85,0.99,477.60
$IRIDIUM_FIX,2230.01,12622.76,021110,070748
$TT8_MAMPS,0.025466
$HUMID,50.43
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.7,46.641
$10V_AH,9.9,54.506
$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,18.375,134.625,507.000,0.000,0.000,61.485,62.629,159.148,0.000,0.000,18.547,3023.368,10630.010,596.410,2385.843,317.700,0.000,1756.156,0.000,2079.233,0.000,0.541,0.000
$DEVICE_MAMPS,229.500,45.135,1144.440,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,800.690,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331432
$DATA_FILE_SIZE,70209,1182
$CAP_FILE_SIZE,161748,0
$CFSIZE,260165632,224161792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.151,309.4,1
$GPS,021110,121955,2235.777,12557.299,37,1.3,37,-3.2