version: 66.08
glider: 181
mission: 4
dive: 392
start: 11 11 110 5 9 9
data:
$ID,181
$MISSION,4
$DIVE,392
$N_DIVES,402
$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,-38350.465
$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,47
$R_STBD_OVSHOOT,45
$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
$GPS1,111110,045737,2122.490,12559.698,24,2.0,24,-2.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-61.7
$GPS2,111110,050834,2122.370,12559.623,15,2.2,34,-2.9
$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,95.7,3071,-20.3,-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,-0.80,-131.6,0.0,0.0,0,49,0.00,0.00,-31.15,0.000,2,0.000,0.000,201,2415,2571,0,0,0,0,0,0
$GC,52,-0.80,-136.3,3.2,-3.3,5,103,8.12,2.22,-35.53,0.000,4,0.227,0.044,2161,995,3855,0,0,0,0,0,0
$GC,140,-0.72,-136.3,17.2,-23.0,19,147,0.15,2.15,0.00,0.000,6,0.163,0.036,2191,2398,3857,0,0,0,0,0,0
$GC,485,-0.63,-136.3,110.6,-27.3,80,493,0.00,2.12,0.00,0.000,4,0.000,0.043,2182,3780,3857,0,0,0,0,0,0
$GC,611,-0.63,-136.3,136.8,-18.1,102,618,0.12,2.08,0.00,0.000,6,0.144,0.026,2216,2391,3857,0,0,0,0,0,0
$GC,947,-0.66,-136.3,186.2,-12.4,140,951,0.00,2.05,0.00,0.000,4,0.000,0.031,2216,989,3859,0,0,0,0,0,0
$GC,1023,-0.74,-136.3,194.2,-10.3,146,1027,0.00,2.15,0.00,0.000,6,0.000,0.033,2216,2406,3860,0,0,0,0,0,0
$GC,1355,-0.79,-136.3,230.9,-10.1,177,1359,0.12,2.12,0.00,0.000,4,0.080,0.044,2138,3777,3860,0,0,0,0,0,0
$GC,1416,-0.77,-136.3,239.9,-14.9,182,1423,0.15,2.05,0.00,0.000,6,0.146,0.025,2179,2393,3860,0,0,0,0,0,0
$GC,1742,-0.77,-136.3,282.7,-13.0,213,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2390,3860,0,0,0,0,0,0
$GC,2062,-0.79,-136.3,320.5,-12.0,243,2066,0.00,2.08,0.00,0.000,4,0.000,0.032,2180,992,3860,0,0,0,0,0,0
$GC,2125,-0.83,-136.3,327.7,-10.0,248,2129,0.00,2.12,0.00,0.000,6,0.000,0.034,2175,2407,3859,0,0,0,0,0,0
$GC,2451,-0.86,-136.3,365.6,-12.3,278,2455,0.00,2.12,0.00,0.000,4,0.000,0.044,2165,3785,3858,0,0,0,0,0,0
$GC,2500,-0.90,-136.3,372.2,-12.8,282,2507,0.00,2.08,0.00,0.000,6,0.000,0.026,2164,2391,3858,0,0,0,0,0,0
$GC,2826,-0.92,-136.3,412.6,-12.0,313,2828,0.12,0.00,0.00,0.000,6,0.085,0.000,2099,2388,3856,0,0,0,0,0,0
$GC,3145,-0.88,-136.3,466.7,-16.5,343,3149,0.15,2.17,0.00,0.000,4,0.161,0.044,2130,3786,3854,0,0,0,0,0,0
$GC,3166,-0.86,-136.3,470.3,-15.4,344,3174,0.00,2.05,0.00,0.000,6,0.000,0.027,2130,2398,3854,0,0,0,0,0,0
$GC,3490,-0.86,-136.3,515.0,-14.3,370,3494,0.00,2.17,0.00,0.000,4,0.000,0.045,2120,3784,3853,0,0,0,0,0,0
$GC,3568,-0.86,-136.3,526.3,-14.2,373,3575,0.00,2.05,0.00,0.000,6,0.000,0.027,2119,2398,3852,0,0,0,0,0,0
$GC,3885,-0.85,-136.3,572.5,-14.4,389,3887,0.12,0.00,0.00,0.000,6,0.160,0.000,2152,2395,3850,0,0,0,0,0,0
$GC,4215,-0.87,-136.3,608.6,-10.6,404,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2395,3847,0,0,0,0,0,0
$GC,4520,-0.90,-136.3,639.8,-10.4,414,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2395,3843,0,0,0,0,0,0
$GC,4826,-0.93,-136.3,674.7,-11.9,424,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2395,3841,0,0,0,0,0,0
$GC,5133,-0.96,-136.3,709.3,-11.0,434,5135,0.12,0.00,0.00,0.000,6,0.089,0.000,2096,2395,3838,0,0,0,0,0,0
$GC,5438,-0.94,-136.3,754.1,-14.7,444,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2395,3835,0,0,0,0,0,0
$GC,5745,-0.92,-136.3,799.2,-15.1,454,5749,0.12,2.22,0.00,0.000,4,0.163,0.048,2120,3774,3833,0,0,0,0,0,0
$GC,5800,-0.94,-136.3,806.5,-12.0,455,5807,0.00,2.05,0.00,0.000,6,0.000,0.030,2120,2407,3832,0,0,0,0,0,0
$GC,6113,-0.94,-136.3,845.0,-12.2,466,6117,0.00,2.12,0.00,0.000,4,0.000,0.037,2120,995,3830,0,0,0,0,0,0
$GC,6152,-0.96,-136.3,849.9,-12.6,467,6156,0.00,2.15,0.00,0.000,6,0.000,0.038,2110,2395,3829,0,0,0,0,0,0
$GC,6477,-0.96,-136.3,891.1,-12.9,478,6481,0.00,2.20,0.00,0.000,4,0.000,0.049,2099,3786,3827,0,0,0,0,0,0
$GC,6509,-0.96,-136.3,895.7,-14.1,479,6513,0.00,2.10,0.00,0.000,6,0.000,0.030,2099,2389,3827,0,0,0,0,0,0
$GC,6845,-0.96,-136.3,941.0,-13.9,490,6849,0.00,2.10,0.00,0.000,4,0.000,0.037,2098,997,3825,0,0,0,0,0,0
$GC,6878,-0.96,-136.3,946.0,-15.0,491,6882,0.00,2.20,0.00,0.000,6,0.000,0.040,2090,2410,3824,0,0,0,0,0,0
$GC,7213,-0.95,-136.3,993.6,-14.3,502,7218,0.12,2.20,0.00,0.000,4,0.172,0.050,2113,3782,3822,0,0,0,0,0,0
$STATE,7260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7260,begin apogee
$GC,7269,-0.16,0.0,1000.2,12.1,503,7380,0.80,0.00,105.45,1.142,6,0.128,0.000,2366,2000,3298,0,0,0,0,0,0
$STATE,7381,end apogee,CONTROL_FINISHED_OK
$STATE,7381,begin climb
$GC,7383,0.80,136.3,1005.3,0.0,507,7507,0.88,2.33,113.95,1.103,4,0.050,0.039,2705,595,2742,0,0,0,0,0,0
$GC,7619,0.66,136.3,991.0,15.4,514,7624,0.25,2.25,0.00,0.000,6,0.191,0.036,2643,2013,2736,0,0,0,0,0,0
$GC,7932,0.56,136.3,951.7,12.2,524,7937,0.15,2.20,0.00,0.000,4,0.198,0.045,2606,3409,2732,0,0,0,0,0,0
$GC,7999,0.48,136.3,943.7,11.3,526,8004,0.15,2.20,0.00,0.000,6,0.200,0.033,2581,1989,2730,0,0,0,0,0,0
$GC,8330,0.49,181.4,914.8,8.5,537,8372,0.00,2.25,36.60,1.070,4,0.000,0.043,2590,576,2558,0,0,0,0,0,0
$GC,8395,0.50,207.6,908.4,9.6,539,8425,0.00,2.25,23.40,1.008,6,0.000,0.035,2590,2007,2451,0,0,0,0,0,0
$GC,8764,0.48,207.6,866.0,11.7,551,8768,0.00,2.20,0.00,0.000,4,0.000,0.046,2590,3407,2444,0,0,0,0,0,0
$GC,8793,0.45,207.6,862.0,13.5,552,8797,0.00,2.17,0.00,0.000,6,0.000,0.033,2600,1992,2443,0,0,0,0,0,0
$GC,9128,0.43,207.6,821.4,11.9,563,9133,0.15,2.17,0.00,0.000,4,0.183,0.044,2572,597,2441,0,0,0,0,0,0
$GC,9172,0.46,232.4,816.9,9.7,564,9198,0.00,2.17,20.50,1.008,6,0.000,0.034,2572,2007,2349,0,0,0,0,0,0
$GC,9537,0.48,251.4,780.1,10.0,576,9558,0.00,2.22,16.45,0.969,4,0.000,0.044,2572,3402,2274,0,0,0,0,0,0
$GC,9592,0.48,251.4,773.8,11.2,577,9599,0.00,2.20,0.00,0.000,6,0.000,0.032,2582,2002,2272,0,0,0,0,0,0
$GC,9905,0.48,255.1,739.6,10.9,588,9914,0.00,2.22,4.60,0.754,4,0.000,0.044,2593,590,2257,0,0,0,0,0,0
$GC,9931,0.48,255.1,736.5,11.3,588,9939,0.00,2.17,0.00,0.000,6,0.000,0.034,2593,2002,2257,0,0,0,0,0,0
$GC,10244,0.48,255.1,699.9,11.9,599,10248,0.00,2.20,0.00,0.000,4,0.000,0.045,2593,3408,2255,0,0,0,0,0,0
$GC,10266,0.48,255.1,696.9,12.8,599,10273,0.00,2.17,0.00,0.000,6,0.000,0.032,2604,1998,2255,0,0,0,0,0,0
$GC,10579,0.47,255.1,657.6,12.3,610,10583,0.00,2.17,0.00,0.000,4,0.000,0.043,2615,596,2255,0,0,0,0,0,0
$GC,10602,0.46,255.1,654.6,12.1,610,10609,0.15,2.15,0.00,0.000,6,0.161,0.033,2576,2007,2254,0,0,0,0,0,0
$GC,10916,0.50,269.8,622.4,10.3,621,10935,0.00,2.25,13.38,0.907,4,0.000,0.046,2575,3405,2198,0,0,0,0,0,0
$GC,10987,0.52,269.8,614.0,12.6,623,10990,0.00,2.17,0.00,0.000,6,0.000,0.033,2584,1998,2197,0,0,0,0,0,0
$GC,11304,0.54,279.4,580.5,10.6,636,11315,0.00,0.00,9.60,0.842,6,0.000,0.000,2584,1997,2158,0,0,0,0,0,0
$GC,11613,0.57,285.4,547.1,10.8,651,11624,0.00,2.20,6.47,0.773,4,0.000,0.041,2595,591,2134,0,0,0,0,0,0
$GC,11663,0.60,285.4,541.4,11.3,653,11668,0.00,2.15,0.00,0.000,6,0.000,0.033,2595,1998,2134,0,0,0,0,0,0
$GC,11980,0.61,285.4,505.6,11.2,668,11984,0.00,2.20,0.00,0.000,4,0.000,0.045,2595,3408,2132,0,0,0,0,0,0
$GC,12043,0.61,285.4,497.9,12.4,671,12047,0.00,2.15,0.00,0.000,6,0.000,0.032,2605,1994,2131,0,0,0,0,0,0
$GC,12369,0.61,285.4,460.9,11.6,701,12373,0.00,2.15,0.00,0.000,4,0.000,0.043,2617,593,2131,0,0,0,0,0,0
$GC,12422,0.62,285.4,454.9,11.5,705,12426,0.00,2.17,0.00,0.000,6,0.000,0.032,2617,2010,2131,0,0,0,0,0,0
$GC,12747,0.62,285.4,413.7,12.5,735,12748,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2010,2131,0,0,0,0,0,0
$GC,13070,0.62,285.4,374.0,12.2,765,13075,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2010,2131,0,0,0,0,0,0
$GC,13396,0.62,285.4,334.9,11.6,796,13397,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2010,2131,0,0,0,0,0,0
$GC,13716,0.63,285.4,296.9,11.4,826,13720,0.00,2.20,0.00,0.000,4,0.000,0.041,2627,589,2131,0,0,0,0,0,0
$GC,13759,0.65,285.4,291.4,12.0,829,13766,0.00,2.12,0.00,0.000,6,0.000,0.033,2627,2000,2131,0,0,0,0,0,0
$GC,14084,0.65,285.4,250.0,12.8,860,14088,0.00,2.20,0.00,0.000,4,0.000,0.044,2627,3408,2132,0,0,0,0,0,0
$GC,14106,0.65,285.4,247.0,13.2,861,14113,0.00,2.15,0.00,0.000,6,0.000,0.030,2637,1993,2132,0,0,0,0,0,0
$GC,14432,0.67,303.8,209.9,10.1,892,14456,0.00,2.15,16.77,0.680,4,0.000,0.038,2648,598,2058,0,0,0,0,0,0
$GC,14494,0.68,310.9,203.3,10.7,897,14506,0.00,2.15,7.22,0.588,6,0.000,0.032,2648,2002,2030,0,0,0,0,0,0
$GC,14826,0.72,332.6,166.7,9.9,928,14846,0.00,0.00,18.60,0.650,6,0.000,0.000,2648,2001,1941,0,0,0,0,0,0
$GC,15174,0.81,374.1,132.8,8.8,976,15214,0.10,2.22,33.72,0.617,4,0.104,0.040,2708,589,1772,0,0,0,0,0,0
$GC,15233,0.81,374.1,126.1,11.9,985,15239,0.00,2.17,0.00,0.000,6,0.000,0.031,2708,2010,1771,0,0,0,0,0,0
$GC,15576,0.83,395.2,83.2,9.9,1046,15601,0.00,2.22,17.08,0.562,4,0.000,0.040,2719,604,1687,0,0,0,0,0,0
$GC,15665,0.84,395.2,73.4,11.7,1061,15671,0.00,2.12,0.00,0.000,6,0.000,0.031,2719,2002,1686,0,0,0,0,0,0
$GC,16008,0.84,395.2,26.6,13.9,1122,16014,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2003,1685,0,0,0,0,0,0
$STATE,16216,end climb,SURFACE_DEPTH_REACHED
$STATE,16216,begin surface coast
$FINISH,1.5,1.022593
$STATE,16250,end surface coast,CONTROL_FINISHED_OK
$STATE,16250,begin surface
$SM_CCo,16327,0.00,0.000,0,0,1683,395.91
$SM_GC,2.25,6.53,0.00,0.00,0.036,0.000,0.000,196,2422,1683,-6.85,0.65,395.91
$IRIDIUM_FIX,2115.63,12605.90,111110,050534
$TT8_MAMPS,0.025466
$HUMID,50.15
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,23.6,53.078
$10V_AH,9.9,58.072
$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,18.600,135.425,443.800,0.000,0.000,91.834,112.147,155.587,0.250,0.000,39.615,3004.430,10668.345,540.411,2447.064,330.597,0.000,1671.212,0.000,2037.005,0.000,0.541,0.000
$DEVICE_MAMPS,227.205,50.490,1142.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,790.146,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70227,1165
$CAP_FILE_SIZE,161030,0
$CFSIZE,260165632,220622848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,282.5,1
$GPS,111110,094231,2122.257,12601.355,37,1.5,37,-2.9