version: 66.08
glider: 181
mission: 4
dive: 310
start: 10 26 110 7 28 44
data:
$ID,181
$MISSION,4
$DIVE,310
$N_DIVES,319
$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,-38238.559
$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,42
$R_STBD_OVSHOOT,37
$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
$GPS1,261010,072206,2319.142,12604.993,97,1.0,97,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-52.7
$GPS2,261010,072820,2319.173,12604.899,12,1.2,12,-3.4
$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,186.5,217838,-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,-136.3,0.0,0.0,0,57,0.00,0.00,-39.28,0.000,2,0.000,0.000,202,2402,2357,0,0,0,0,0,0
$GC,60,-0.79,-136.3,3.4,-5.2,6,122,7.97,2.22,-43.47,0.000,4,0.226,0.054,2153,3789,3856,0,0,0,0,0,0
$GC,263,-0.71,-136.3,52.8,-27.2,41,271,0.15,2.08,0.00,0.000,6,0.158,0.026,2191,2395,3857,0,0,0,0,0,0
$GC,607,-0.66,-136.3,133.0,-18.2,102,614,0.00,2.08,0.00,0.000,4,0.000,0.031,2191,984,3858,0,0,0,0,0,0
$GC,626,-0.63,-136.3,136.5,-16.7,105,635,0.15,2.17,0.00,0.000,6,0.151,0.033,2222,2411,3858,0,0,0,0,0,0
$GC,964,-0.63,-136.3,184.9,-14.3,145,968,0.00,2.10,0.00,0.000,4,0.000,0.031,2222,992,3859,0,0,0,0,0,0
$GC,1015,-0.67,-136.3,191.8,-12.5,149,1019,0.00,2.12,0.00,0.000,6,0.000,0.033,2216,2405,3859,0,0,0,0,0,0
$GC,1340,-0.69,-136.3,232.6,-12.2,179,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2405,3859,0,0,0,0,0,0
$GC,1660,-0.73,-136.3,272.3,-12.1,209,1664,0.00,2.10,0.00,0.000,4,0.000,0.031,2216,995,3858,0,0,0,0,0,0
$GC,1719,-0.79,-136.3,279.1,-11.0,214,1724,0.12,2.15,0.00,0.000,6,0.076,0.034,2141,2409,3858,0,0,0,0,0,0
$GC,2047,-0.75,-136.3,335.4,-17.0,244,2051,0.15,2.12,0.00,0.000,4,0.170,0.044,2170,3774,3858,0,0,0,0,0,0
$GC,2167,-0.77,-136.3,351.4,-12.1,254,2171,0.00,2.05,0.00,0.000,6,0.000,0.026,2170,2386,3857,0,0,0,0,0,0
$GC,2497,-0.77,-136.3,396.2,-14.7,285,2501,0.00,2.15,0.00,0.000,4,0.000,0.042,2159,3783,3856,0,0,0,0,0,0
$GC,2514,-0.77,-136.3,398.7,-14.4,286,2518,0.00,2.05,0.00,0.000,6,0.000,0.026,2159,2400,3856,0,0,0,0,0,0
$GC,2840,-0.77,-136.3,448.8,-14.8,316,2844,0.00,2.08,0.00,0.000,4,0.000,0.032,2159,1002,3854,0,0,0,0,0,0
$GC,2866,-0.77,-136.3,453.0,-15.1,318,2873,0.00,2.15,0.00,0.000,6,0.000,0.034,2151,2397,3854,0,0,0,0,0,0
$GC,3192,-0.77,-136.3,498.5,-12.8,349,3196,0.00,2.15,0.00,0.000,4,0.000,0.044,2141,3789,3852,0,0,0,0,0,0
$GC,3278,-0.78,-136.3,509.2,-12.3,353,3282,0.12,2.05,0.00,0.000,6,0.149,0.027,2174,2394,3852,0,0,0,0,0,0
$GC,3606,-0.81,-136.3,543.9,-10.8,369,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2391,3850,0,0,0,0,0,0
$GC,3914,-0.85,-136.3,578.8,-11.7,384,3918,0.00,2.08,0.00,0.000,4,0.000,0.034,2175,1004,3847,0,0,0,0,0,0
$GC,3983,-0.90,-136.3,586.6,-10.9,387,3987,0.00,2.15,0.00,0.000,6,0.000,0.034,2167,2410,3846,0,0,0,0,0,0
$GC,4320,-0.93,-136.3,625.6,-11.6,400,4322,0.12,0.00,0.00,0.000,6,0.089,0.000,2106,2411,3843,0,0,0,0,0,0
$GC,4625,-0.90,-136.3,672.8,-15.1,410,4627,0.12,0.00,0.00,0.000,6,0.171,0.000,2137,2411,3840,0,0,0,0,0,0
$GC,4930,-0.90,-136.3,713.3,-13.5,420,4934,0.00,2.15,0.00,0.000,4,0.000,0.047,2129,3779,3837,0,0,0,0,0,0
$GC,4994,-0.91,-136.3,721.7,-13.7,422,4998,0.00,2.05,0.00,0.000,6,0.000,0.029,2129,2405,3837,0,0,0,0,0,0
$GC,5329,-0.91,-136.3,768.3,-13.5,433,5333,0.00,2.10,0.00,0.000,4,0.000,0.036,2128,1002,3834,0,0,0,0,0,0
$GC,5351,-0.91,-136.3,771.5,-14.3,433,5359,0.00,2.17,0.00,0.000,6,0.000,0.037,2120,2391,3834,0,0,0,0,0,0
$GC,5665,-0.90,-136.3,814.5,-13.4,444,5669,0.00,2.15,0.00,0.000,4,0.000,0.048,2109,3775,3831,0,0,0,0,0,0
$GC,5708,-0.90,-136.3,821.0,-13.2,445,5713,0.00,2.10,0.00,0.000,6,0.000,0.029,2109,2402,3830,0,0,0,0,0,0
$GC,6039,-0.88,-136.3,867.3,-14.4,456,6043,0.12,2.12,0.00,0.000,4,0.172,0.037,2140,1000,3828,0,0,0,0,0,0
$GC,6060,-0.88,-136.3,870.3,-13.6,456,6067,0.00,2.17,0.00,0.000,6,0.000,0.038,2134,2405,3827,0,0,0,0,0,0
$GC,6372,-0.88,-136.3,907.5,-12.1,467,6376,0.00,2.12,0.00,0.000,4,0.000,0.036,2134,999,3826,0,0,0,0,0,0
$GC,6402,-0.89,-136.3,910.8,-12.4,468,6406,0.00,2.15,0.00,0.000,6,0.000,0.038,2125,2399,3825,0,0,0,0,0,0
$GC,6737,-0.89,-136.3,950.9,-11.8,479,6738,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2399,3823,0,0,0,0,0,0
$GC,7043,-0.89,-136.3,988.0,-12.2,489,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2399,3821,0,0,0,0,0,0
$STATE,7163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7163,begin apogee
$GC,7169,-0.16,0.0,1003.0,12.3,493,7279,0.77,0.00,103.75,1.150,6,0.131,0.000,2370,1974,3298,0,0,0,0,0,0
$STATE,7280,end apogee,CONTROL_FINISHED_OK
$STATE,7280,begin climb
$GC,7282,0.79,136.3,1007.7,0.0,496,7405,0.85,2.28,113.15,1.102,4,0.047,0.041,2704,610,2742,0,0,0,0,0,0
$GC,7427,0.65,149.4,1006.8,10.4,501,7447,0.28,2.25,12.10,0.971,6,0.195,0.036,2639,2002,2689,0,0,0,0,0,0
$GC,7762,0.56,149.4,963.6,13.1,512,7764,0.12,0.00,0.00,0.000,6,0.200,0.000,2609,2003,2680,0,0,0,0,0,0
$GC,8068,0.49,149.4,924.2,12.8,522,8072,0.00,2.20,0.00,0.000,4,0.000,0.046,2609,3406,2679,0,0,0,0,0,0
$GC,8140,0.40,149.4,914.0,13.8,524,8145,0.17,2.17,0.00,0.000,6,0.179,0.031,2557,2016,2677,0,0,0,0,0,0
$GC,8470,0.42,173.7,881.5,9.8,535,8494,0.00,2.25,19.48,1.057,4,0.000,0.042,2566,594,2590,0,0,0,0,0,0
$GC,8523,0.43,190.1,876.0,10.2,536,8543,0.00,2.17,15.32,0.966,6,0.000,0.034,2566,2002,2522,0,0,0,0,0,0
$GC,8870,0.42,198.2,838.2,10.7,548,8884,0.00,2.30,7.60,0.939,4,0.000,0.045,2566,3411,2489,0,0,0,0,0,0
$GC,8912,0.40,198.2,832.8,12.6,549,8916,0.00,2.17,0.00,0.000,6,0.000,0.031,2576,1989,2488,0,0,0,0,0,0
$GC,9242,0.38,198.2,794.4,11.7,560,9244,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1988,2485,0,0,0,0,0,0
$GC,9550,0.37,198.2,758.1,11.6,570,9552,0.12,0.00,0.00,0.000,6,0.177,0.000,2546,1987,2484,0,0,0,0,0,0
$GC,9855,0.41,220.3,727.7,9.9,580,9879,0.00,2.30,18.90,0.981,4,0.000,0.045,2546,3403,2399,0,0,0,0,0,0
$GC,9922,0.41,220.3,720.7,11.8,582,9926,0.00,2.15,0.00,0.000,6,0.000,0.031,2554,2002,2397,0,0,0,0,0,0
$GC,10257,0.45,236.8,686.6,10.2,593,10277,0.00,2.25,14.48,0.932,4,0.000,0.043,2565,592,2332,0,0,0,0,0,0
$GC,10316,0.49,246.4,680.4,10.6,594,10331,0.00,2.17,9.70,0.825,6,0.000,0.034,2565,2003,2293,0,0,0,0,0,0
$GC,10665,0.52,265.1,644.0,10.1,606,10686,0.00,2.22,16.33,0.906,4,0.000,0.043,2565,3405,2216,0,0,0,0,0,0
$GC,10815,0.53,265.1,626.2,11.4,610,10819,0.00,2.17,0.00,0.000,6,0.000,0.032,2575,1994,2213,0,0,0,0,0,0
$GC,11129,0.57,280.2,593.2,10.3,621,11152,0.00,2.22,13.35,0.882,4,0.000,0.043,2586,601,2155,0,0,0,0,0,0
$GC,11187,0.60,289.5,587.0,10.6,623,11202,0.00,2.17,9.50,0.772,6,0.000,0.034,2586,1999,2117,0,0,0,0,0,0
$GC,11531,0.62,289.5,546.2,12.3,640,11536,0.10,2.22,0.00,0.000,4,0.105,0.045,2633,3405,2112,0,0,0,0,0,0
$GC,11558,0.59,289.5,541.7,16.0,641,11562,0.00,2.17,0.00,0.000,6,0.000,0.031,2643,1999,2112,0,0,0,0,0,0
$GC,11878,0.55,289.5,488.6,15.6,659,11883,0.15,2.17,0.00,0.000,4,0.173,0.041,2614,594,2111,0,0,0,0,0,0
$GC,11907,0.53,289.5,484.3,14.6,661,11911,0.00,2.15,0.00,0.000,6,0.000,0.033,2614,2005,2111,0,0,0,0,0,0
$GC,12238,0.52,289.5,443.4,11.1,692,12239,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2005,2110,0,0,0,0,0,0
$GC,12558,0.52,289.5,405.5,11.5,722,12562,0.00,2.17,0.00,0.000,4,0.000,0.044,2614,3409,2109,0,0,0,0,0,0
$GC,12577,0.51,289.5,403.0,12.2,723,12581,0.12,2.15,0.00,0.000,6,0.171,0.031,2593,1986,2109,0,0,0,0,0,0
$GC,12904,0.56,311.6,369.5,9.9,753,12924,0.00,0.00,18.23,0.799,6,0.000,0.000,2593,1983,2027,0,0,0,0,0,0
$GC,13241,0.63,344.3,337.6,9.3,785,13276,0.10,2.17,27.20,0.728,4,0.102,0.042,2650,592,1893,0,0,0,0,0,0
$GC,13324,0.63,344.3,327.3,13.6,792,13328,0.00,2.20,0.00,0.000,6,0.000,0.032,2650,2009,1890,0,0,0,0,0,0
$GC,13654,0.61,344.3,276.4,15.7,823,13658,0.00,2.17,0.00,0.000,4,0.000,0.042,2650,3412,1888,0,0,0,0,0,0
$GC,13699,0.59,344.3,269.1,15.9,826,13707,0.17,2.17,0.00,0.000,6,0.158,0.029,2614,1992,1887,0,0,0,0,0,0
$GC,14025,0.63,349.2,232.3,10.8,857,14038,0.00,2.12,4.62,0.510,4,0.000,0.040,2623,597,1874,0,0,0,0,0,0
$GC,14132,0.71,378.8,221.6,9.5,866,14166,0.00,2.15,25.20,0.701,6,0.000,0.031,2623,2010,1751,0,0,0,0,0,0
$GC,14485,0.76,386.7,183.3,10.7,899,14498,0.15,2.22,7.03,0.565,4,0.082,0.041,2689,3401,1721,0,0,0,0,0,0
$GC,14533,0.74,386.7,176.2,16.1,903,14538,0.15,2.12,0.00,0.000,6,0.167,0.029,2661,2000,1720,0,0,0,0,0,0
$GC,14867,0.75,389.1,131.7,11.0,946,14873,0.00,2.17,0.00,0.000,4,0.000,0.038,2661,3412,1719,0,0,0,0,0,0
$GC,15016,0.80,405.8,116.4,10.2,972,15042,0.00,2.15,16.75,0.596,6,0.000,0.028,2669,1989,1642,0,0,0,0,0,0
$GC,15379,0.92,459.1,80.3,8.2,1036,15431,0.15,2.20,41.88,0.588,4,0.075,0.037,2754,596,1425,0,0,0,0,0,0
$GC,15616,0.92,459.1,49.1,12.6,1077,15624,0.12,2.12,0.00,0.000,6,0.155,0.028,2721,2010,1421,0,0,0,0,0,0
$GC,15962,0.96,473.2,8.8,10.3,1138,15981,0.00,2.17,11.80,0.477,4,0.000,0.032,2729,586,1367,0,0,0,0,0,0
$GC,16005,1.02,494.7,4.1,9.9,1145,16021,0.00,2.15,10.43,0.464,2,0.000,0.033,2729,2004,1317,0,0,0,0,0,0
$STATE,16022,end climb,SURFACE_DEPTH_REACHED
$STATE,16022,begin surface coast
$FINISH,2.0,1.021845
$STATE,16049,end surface coast,CONTROL_FINISHED_OK
$STATE,16049,begin surface
$SM_CCo,16126,0.00,0.000,0,0,1313,486.92
$SM_GC,2.18,6.72,0.00,0.00,0.047,0.000,0.000,192,2426,1313,-6.85,0.74,486.92
$IRIDIUM_FIX,2314.48,12603.37,261010,020244
$TT8_MAMPS,0.025466
$HUMID,49.52
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.8,41.445
$10V_AH,9.9,51.697
$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,19.325,139.400,516.775,0.000,0.000,29.438,42.889,152.826,0.000,0.000,15.387,2974.801,10306.738,593.344,2299.260,319.052,0.000,1753.074,0.000,2047.375,0.000,0.540,0.000
$DEVICE_MAMPS,225.675,53.550,1149.795,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,779.743,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70284,1152
$CAP_FILE_SIZE,165020,0
$CFSIZE,260165632,226934784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.176,332.4,1
$GPS,261010,115837,2318.369,12604.019,29,1.1,29,-3.4