version: 66.08
glider: 181
mission: 4
dive: 353
start: 11 3 110 16 31 39
data:
$ID,181
$MISSION,4
$DIVE,353
$N_DIVES,363
$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,-38292.629
$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,61
$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
$GPS1,031110,162531,2228.120,12556.642,40,1.1,40,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-64.4
$GPS2,031110,163114,2228.171,12556.579,14,1.3,14,-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,158.8,123547,-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,-136.3,0.0,0.0,0,62,0.00,0.00,-43.55,0.000,2,0.000,0.000,201,2430,2417,0,0,0,0,0,0
$GC,65,-0.79,-136.3,3.0,-3.6,7,121,8.05,2.25,-42.47,0.000,4,0.226,0.044,2162,992,3855,0,0,0,0,0,0
$GC,233,-0.70,-136.3,39.0,-27.0,36,240,0.17,2.15,0.00,0.000,6,0.168,0.035,2197,2383,3856,0,0,0,0,0,0
$GC,578,-0.65,-136.3,123.2,-22.4,97,585,0.00,2.17,0.00,0.000,4,0.000,0.041,2188,3787,3857,0,0,0,0,0,0
$GC,750,-0.65,-136.3,152.5,-14.6,126,758,0.00,2.10,0.00,0.000,6,0.000,0.024,2188,2383,3858,0,0,0,0,0,0
$GC,1076,-0.63,-136.3,204.6,-15.2,157,1080,0.12,2.08,0.00,0.000,4,0.157,0.031,2222,1002,3859,0,0,0,0,0,0
$GC,1139,-0.69,-136.3,212.3,-10.4,162,1143,0.00,2.12,0.00,0.000,6,0.000,0.033,2219,2407,3860,0,0,0,0,0,0
$GC,1470,-0.73,-136.3,250.3,-10.7,193,1474,0.00,2.10,0.00,0.000,4,0.000,0.043,2209,3777,3860,0,0,0,0,0,0
$GC,1573,-0.78,-136.3,261.1,-10.7,202,1577,0.12,2.03,0.00,0.000,6,0.080,0.024,2135,2405,3860,0,0,0,0,0,0
$GC,1900,-0.73,-136.3,317.5,-17.9,232,1904,0.20,2.08,0.00,0.000,4,0.150,0.028,2191,994,3858,0,0,0,0,0,0
$GC,1944,-0.77,-136.3,324.1,-11.9,235,1950,0.00,2.15,0.00,0.000,6,0.000,0.033,2184,2414,3858,0,0,0,0,0,0
$GC,2269,-0.79,-136.3,364.6,-12.5,266,2273,0.00,2.10,0.00,0.000,4,0.000,0.043,2174,3775,3857,0,0,0,0,0,0
$GC,2313,-0.82,-136.3,370.2,-12.2,269,2320,0.00,2.05,0.00,0.000,6,0.000,0.025,2174,2391,3857,0,0,0,0,0,0
$GC,2639,-0.84,-136.3,409.7,-12.5,300,2642,0.00,2.05,0.00,0.000,4,0.000,0.031,2174,1005,3857,0,0,0,0,0,0
$GC,2667,-0.87,-136.3,413.6,-14.1,302,2675,0.00,2.12,0.00,0.000,6,0.000,0.033,2165,2404,3857,0,0,0,0,0,0
$GC,2993,-0.88,-136.3,456.8,-12.6,333,2996,0.00,2.12,0.00,0.000,4,0.000,0.043,2155,3787,3855,0,0,0,0,0,0
$GC,3028,-0.90,-136.3,461.1,-12.2,336,3032,0.00,2.08,0.00,0.000,6,0.000,0.025,2154,2390,3854,0,0,0,0,0,0
$GC,3363,-0.90,-136.3,503.1,-12.2,366,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2388,3853,0,0,0,0,0,0
$GC,3673,-0.91,-136.3,540.5,-11.9,381,3677,0.00,2.17,0.00,0.000,4,0.000,0.044,2145,3780,3851,0,0,0,0,0,0
$GC,3729,-0.93,-136.3,547.3,-11.3,383,3736,0.00,2.05,0.00,0.000,6,0.000,0.026,2145,2401,3850,0,0,0,0,0,0
$GC,4045,-0.93,-136.3,586.4,-12.3,399,4049,0.00,2.08,0.00,0.000,4,0.000,0.032,2145,1000,3848,0,0,0,0,0,0
$GC,4086,-0.94,-136.3,591.6,-12.5,401,4090,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2403,3847,0,0,0,0,0,0
$GC,4410,-0.94,-136.3,634.5,-13.5,413,4414,0.00,2.12,0.00,0.000,4,0.000,0.045,2128,3778,3844,0,0,0,0,0,0
$GC,4522,-0.96,-136.3,649.3,-13.0,416,4526,0.00,2.05,0.00,0.000,6,0.000,0.026,2128,2396,3843,0,0,0,0,0,0
$GC,4846,-0.96,-136.3,694.5,-13.9,427,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2392,3840,0,0,0,0,0,0
$GC,5152,-0.96,-136.3,737.6,-13.9,437,5156,0.00,2.15,0.00,0.000,4,0.000,0.045,2117,3777,3838,0,0,0,0,0,0
$GC,5180,-0.96,-136.3,741.7,-14.3,438,5184,0.00,2.08,0.00,0.000,6,0.000,0.027,2118,2397,3838,0,0,0,0,0,0
$GC,5516,-0.96,-136.3,788.7,-14.0,449,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2394,3834,0,0,0,0,0,0
$GC,5822,-0.96,-136.3,829.5,-13.1,459,5826,0.00,2.20,0.00,0.000,4,0.000,0.047,2107,3789,3832,0,0,0,0,0,0
$GC,5848,-0.96,-136.3,833.4,-13.7,459,5856,0.00,2.12,0.00,0.000,6,0.000,0.028,2107,2396,3831,0,0,0,0,0,0
$GC,6163,-0.94,-136.3,876.4,-13.8,470,6167,0.00,2.10,0.00,0.000,4,0.000,0.034,2107,1000,3829,0,0,0,0,0,0
$GC,6178,-0.93,-136.3,878.9,-13.5,470,6182,0.00,2.15,0.00,0.000,6,0.000,0.035,2097,2412,3828,0,0,0,0,0,0
$GC,6497,-0.91,-136.3,924.4,-14.4,481,6502,0.12,2.15,0.00,0.000,4,0.177,0.047,2120,3778,3827,0,0,0,0,0,0
$GC,6564,-0.92,-136.3,932.8,-11.4,483,6568,0.00,2.10,0.00,0.000,6,0.000,0.028,2119,2392,3826,0,0,0,0,0,0
$GC,6893,-0.92,-136.3,972.2,-12.1,494,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2390,3824,0,0,0,0,0,0
$STATE,7136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7136,begin apogee
$GC,7143,-0.16,0.0,1001.4,11.9,502,7254,0.77,0.00,105.07,1.143,6,0.130,0.000,2366,1969,3298,0,0,0,0,0,0
$STATE,7255,end apogee,CONTROL_FINISHED_OK
$STATE,7255,begin climb
$GC,7257,0.79,136.3,1006.3,0.0,505,7381,0.85,2.25,114.43,1.100,4,0.049,0.037,2699,613,2740,0,0,0,0,0,0
$GC,7530,0.65,136.3,987.2,15.3,514,7535,0.25,2.20,0.00,0.000,6,0.190,0.033,2638,2008,2733,0,0,0,0,0,0
$GC,7866,0.55,136.3,945.3,12.0,525,7870,0.12,2.22,0.00,0.000,4,0.200,0.043,2608,3411,2729,0,0,0,0,0,0
$GC,7945,0.46,136.3,935.2,12.8,527,7950,0.17,2.15,0.00,0.000,6,0.196,0.029,2574,2016,2728,0,0,0,0,0,0
$GC,8265,0.46,163.6,904.8,9.6,538,8294,0.00,0.00,21.48,1.052,6,0.000,0.000,2574,2017,2631,0,0,0,0,0,0
$GC,8600,0.44,174.4,869.3,10.5,549,8614,0.00,2.20,10.12,0.965,4,0.000,0.041,2574,3408,2587,0,0,0,0,0,0
$GC,8638,0.42,181.0,864.8,10.8,550,8651,0.00,2.17,7.10,0.836,6,0.000,0.030,2583,1991,2561,0,0,0,0,0,0
$GC,8965,0.40,187.8,827.7,10.7,561,8979,0.00,2.22,7.12,0.909,4,0.000,0.040,2594,598,2532,0,0,0,0,0,0
$GC,9013,0.37,187.8,822.3,11.3,562,9018,0.17,2.15,0.00,0.000,6,0.163,0.031,2550,2005,2532,0,0,0,0,0,0
$GC,9334,0.45,247.1,796.0,7.9,573,9389,0.00,2.30,50.03,1.003,4,0.000,0.044,2550,3409,2290,0,0,0,0,0,0
$GC,9442,0.51,274.5,786.5,9.6,576,9472,0.00,2.22,24.10,0.947,6,0.000,0.030,2558,1999,2177,0,0,0,0,0,0
$GC,9805,0.58,309.9,753.1,9.2,588,9841,0.15,2.28,29.35,0.965,4,0.084,0.041,2635,597,2034,0,0,0,0,0,0
$GC,9893,0.57,309.9,740.8,14.3,590,9897,0.00,2.20,0.00,0.000,6,0.000,0.031,2635,2003,2030,0,0,0,0,0,0
$GC,10212,0.54,309.9,691.2,15.9,601,10217,0.15,2.20,0.00,0.000,4,0.171,0.043,2597,3407,2026,0,0,0,0,0,0
$GC,10244,0.54,309.9,686.0,15.6,602,10248,0.00,2.15,0.00,0.000,6,0.000,0.031,2606,1999,2025,0,0,0,0,0,0
$GC,10580,0.54,309.9,638.8,14.7,613,10584,0.00,2.17,0.00,0.000,4,0.000,0.041,2616,591,2024,0,0,0,0,0,0
$GC,10648,0.54,309.9,628.7,14.5,615,10652,0.00,2.17,0.00,0.000,6,0.000,0.031,2616,2010,2023,0,0,0,0,0,0
$GC,10966,0.53,309.9,581.1,14.8,627,10967,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2012,2022,0,0,0,0,0,0
$GC,11273,0.53,309.9,536.3,14.3,642,11277,0.00,2.20,0.00,0.000,4,0.000,0.041,2626,585,2021,0,0,0,0,0,0
$GC,11317,0.53,309.9,529.7,14.3,644,11322,0.12,2.17,0.00,0.000,6,0.159,0.031,2594,1997,2021,0,0,0,0,0,0
$GC,11641,0.54,309.9,490.1,12.3,663,11645,0.00,2.20,0.00,0.000,4,0.000,0.043,2594,3407,2021,0,0,0,0,0,0
$GC,11693,0.56,309.9,482.7,12.5,667,11697,0.00,2.12,0.00,0.000,6,0.000,0.030,2603,1998,2020,0,0,0,0,0,0
$GC,12019,0.58,317.5,444.1,10.7,697,12031,0.00,2.17,5.85,0.709,4,0.000,0.038,2613,592,2003,0,0,0,0,0,0
$GC,12136,0.60,317.5,431.0,12.1,707,12140,0.00,2.15,0.00,0.000,6,0.000,0.031,2614,2003,2002,0,0,0,0,0,0
$GC,12461,0.60,317.5,391.2,12.8,737,12462,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2004,2002,0,0,0,0,0,0
$GC,12782,0.60,317.5,350.2,12.8,767,12786,0.00,2.17,0.00,0.000,4,0.000,0.042,2613,3402,2002,0,0,0,0,0,0
$GC,12845,0.60,317.5,341.6,13.0,772,12849,0.00,2.12,0.00,0.000,6,0.000,0.029,2624,1989,2001,0,0,0,0,0,0
$GC,13170,0.60,317.5,301.9,11.9,802,13174,0.00,2.12,0.00,0.000,4,0.000,0.040,2634,598,2001,0,0,0,0,0,0
$GC,13242,0.60,317.5,293.2,11.7,808,13248,0.00,2.12,0.00,0.000,6,0.000,0.030,2634,2003,2002,0,0,0,0,0,0
$GC,13568,0.60,320.5,253.8,10.9,839,13580,0.00,2.20,4.12,0.488,4,0.000,0.041,2634,3398,1991,0,0,0,0,0,0
$GC,13619,0.60,320.5,247.4,12.2,843,13626,0.00,2.10,0.00,0.000,6,0.000,0.029,2645,1999,1991,0,0,0,0,0,0
$GC,13944,0.60,320.5,207.9,11.8,874,13948,0.00,2.15,0.00,0.000,4,0.000,0.038,2656,588,1991,0,0,0,0,0,0
$GC,14029,0.60,320.5,197.7,11.3,881,14033,0.15,2.15,0.00,0.000,6,0.148,0.030,2614,2009,1992,0,0,0,0,0,0
$GC,14356,0.70,366.6,169.4,8.6,911,14402,0.12,2.25,38.12,0.656,4,0.088,0.040,2672,3409,1802,0,0,0,0,0,0
$GC,14431,0.70,366.6,159.6,14.8,917,14438,0.12,2.15,0.00,0.000,6,0.162,0.028,2651,1995,1800,0,0,0,0,0,0
$GC,14771,0.78,402.2,121.1,9.2,971,14808,0.00,2.20,28.58,0.612,4,0.000,0.037,2660,599,1657,0,0,0,0,0,0
$GC,14857,0.86,426.3,113.3,9.8,985,14884,0.12,2.15,20.17,0.585,6,0.083,0.029,2722,2003,1560,0,0,0,0,0,0
$GC,15219,0.86,426.3,69.4,11.5,1049,15226,0.00,2.15,0.00,0.000,4,0.000,0.037,2733,595,1554,0,0,0,0,0,0
$GC,15284,0.88,426.3,61.5,12.2,1060,15290,0.00,2.15,0.00,0.000,6,0.000,0.030,2732,2006,1554,0,0,0,0,0,0
$GC,15628,0.88,426.3,15.7,16.4,1121,15635,0.00,2.15,0.00,0.000,4,0.000,0.037,2744,596,1554,0,0,0,0,0,0
$GC,15679,0.88,426.3,8.2,12.6,1130,15688,0.12,2.12,0.00,0.000,6,0.166,0.028,2711,2009,1554,0,0,0,0,0,0
$STATE,15715,end climb,SURFACE_DEPTH_REACHED
$STATE,15715,begin surface coast
$FINISH,1.6,1.022350
$STATE,15738,end surface coast,CONTROL_FINISHED_OK
$STATE,15738,begin surface
$SM_CCo,15815,0.00,0.000,0,0,1553,428.05
$SM_GC,2.37,6.57,0.00,0.00,0.042,0.000,0.000,196,2429,1553,-6.85,0.85,428.05
$IRIDIUM_FIX,2218.34,12558.56,031110,111112
$TT8_MAMPS,0.026215
$HUMID,50.43
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.6,47.627
$10V_AH,9.9,55.049
$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,18.800,147.325,465.650,0.000,0.000,24.235,15.141,153.958,0.000,0.000,17.094,2963.151,10005.147,566.643,2289.524,325.224,0.000,1730.001,0.000,2076.650,0.000,0.541,0.000
$DEVICE_MAMPS,225.675,47.430,1142.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,772.507,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331448
$DATA_FILE_SIZE,67036,1140
$CAP_FILE_SIZE,162218,0
$CFSIZE,260165632,223625216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.186,  1.6,1
$GPS,031110,205631,2227.640,12557.426,39,1.4,39,-3.2