version: 66.08
glider: 181
mission: 4
dive: 324
start: 10 29 110 0 34 20
data:
$ID,181
$MISSION,4
$DIVE,324
$N_DIVES,333
$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,-38256.16
$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,49
$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
$GPS1,291010,002737,2304.134,12602.668,33,1.1,33,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-56.2
$GPS2,291010,003355,2304.096,12602.652,13,1.1,18,-3.3
$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,183.5,189839,-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,-43.90,0.000,2,0.000,0.000,201,2422,2536,0,0,0,0,0,0
$GC,64,-0.79,-136.3,3.3,-4.3,7,115,7.90,2.20,-34.62,0.000,4,0.222,0.046,2162,996,3854,0,0,0,0,0,0
$GC,241,-0.70,-136.3,46.2,-27.7,37,248,0.17,2.15,0.00,0.000,6,0.162,0.036,2199,2399,3854,0,0,0,0,0,0
$GC,584,-0.66,-136.3,132.5,-20.4,98,591,0.00,2.15,0.00,0.000,4,0.000,0.041,2190,3791,3856,0,0,0,0,0,0
$GC,779,-0.66,-136.3,165.2,-14.1,123,783,0.00,2.08,0.00,0.000,6,0.000,0.024,2190,2388,3857,0,0,0,0,0,0
$GC,1110,-0.65,-136.3,214.0,-14.7,154,1113,0.00,2.03,0.00,0.000,4,0.000,0.030,2190,1005,3857,0,0,0,0,0,0
$GC,1155,-0.67,-136.3,220.7,-13.8,158,1159,0.00,2.12,0.00,0.000,6,0.000,0.032,2180,2405,3858,0,0,0,0,0,0
$GC,1480,-0.67,-136.3,273.7,-16.0,188,1484,0.00,2.12,0.00,0.000,4,0.000,0.041,2170,3787,3857,0,0,0,0,0,0
$GC,1553,-0.69,-136.3,284.7,-14.2,194,1558,0.12,2.03,0.00,0.000,6,0.141,0.024,2204,2395,3857,0,0,0,0,0,0
$GC,1879,-0.72,-136.3,322.2,-10.8,224,1883,0.00,2.03,0.00,0.000,4,0.000,0.030,2204,1011,3857,0,0,0,0,0,0
$GC,1937,-0.79,-136.3,328.4,-10.1,229,1941,0.00,2.10,0.00,0.000,6,0.000,0.032,2202,2412,3857,0,0,0,0,0,0
$GC,2263,-0.83,-136.3,362.3,-10.5,259,2268,0.12,2.10,0.00,0.000,4,0.081,0.043,2125,3775,3856,0,0,0,0,0,0
$GC,2297,-0.81,-136.3,367.1,-15.0,261,2304,0.15,2.00,0.00,0.000,6,0.151,0.024,2166,2402,3856,0,0,0,0,0,0
$GC,2622,-0.81,-136.3,409.1,-12.1,292,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2400,3854,0,0,0,0,0,0
$GC,2943,-0.82,-136.3,449.7,-12.8,322,2947,0.00,2.15,0.00,0.000,4,0.000,0.042,2157,3778,3853,0,0,0,0,0,0
$GC,2983,-0.85,-136.3,455.1,-12.6,325,2986,0.00,2.03,0.00,0.000,6,0.000,0.025,2157,2397,3852,0,0,0,0,0,0
$GC,3314,-0.86,-136.3,497.5,-12.3,356,3317,0.00,2.05,0.00,0.000,4,0.000,0.031,2157,1006,3851,0,0,0,0,0,0
$GC,3335,-0.87,-136.3,500.5,-12.4,357,3342,0.00,2.10,0.00,0.000,6,0.000,0.033,2150,2402,3851,0,0,0,0,0,0
$GC,3651,-0.87,-136.3,539.3,-12.6,373,3655,0.00,2.10,0.00,0.000,4,0.000,0.043,2139,3774,3848,0,0,0,0,0,0
$GC,3678,-0.87,-136.3,542.9,-13.2,374,3682,0.00,2.05,0.00,0.000,6,0.000,0.025,2140,2383,3848,0,0,0,0,0,0
$GC,3999,-0.87,-136.3,583.8,-12.6,390,4002,0.00,2.08,0.00,0.000,4,0.000,0.032,2139,1000,3846,0,0,0,0,0,0
$GC,4048,-0.89,-136.3,590.2,-11.7,392,4052,0.00,2.17,0.00,0.000,6,0.000,0.034,2131,2403,3845,0,0,0,0,0,0
$GC,4373,-0.89,-136.3,635.2,-14.5,404,4377,0.00,2.15,0.00,0.000,4,0.000,0.044,2120,3780,3841,0,0,0,0,0,0
$GC,4402,-0.89,-136.3,639.4,-14.4,405,4406,0.00,2.05,0.00,0.000,6,0.000,0.026,2120,2393,3842,0,0,0,0,0,0
$GC,4738,-0.87,-136.3,691.0,-15.4,416,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2389,3839,0,0,0,0,0,0
$GC,5043,-0.86,-136.3,737.1,-14.6,426,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2389,3837,0,0,0,0,0,0
$GC,5349,-0.86,-136.3,781.6,-14.5,436,5353,0.00,2.10,0.00,0.000,4,0.000,0.034,2120,1003,3833,0,0,0,0,0,0
$GC,5387,-0.86,-136.3,787.1,-13.9,437,5391,0.08,2.17,0.00,0.000,6,0.153,0.035,2143,2398,3833,0,0,0,0,0,0
$GC,5724,-0.88,-136.3,824.0,-10.5,448,5728,0.00,2.15,0.00,0.000,4,0.000,0.046,2135,3786,3831,0,0,0,0,0,0
$GC,5757,-0.91,-136.3,827.7,-10.7,449,5761,0.00,2.08,0.00,0.000,6,0.000,0.027,2135,2391,3830,0,0,0,0,0,0
$GC,6087,-0.92,-136.3,862.7,-10.9,460,6091,0.00,2.08,0.00,0.000,4,0.000,0.034,2135,998,3827,0,0,0,0,0,0
$GC,6117,-0.94,-136.3,866.1,-11.5,461,6120,0.00,2.15,0.00,0.000,6,0.000,0.036,2126,2407,3827,0,0,0,0,0,0
$GC,6452,-0.94,-136.3,907.4,-12.6,472,6455,0.00,2.12,0.00,0.000,4,0.000,0.047,2115,3780,3825,0,0,0,0,0,0
$GC,6491,-0.94,-136.3,912.6,-13.0,473,6495,0.00,2.08,0.00,0.000,6,0.000,0.028,2115,2401,3825,0,0,0,0,0,0
$GC,6815,-0.94,-136.3,956.3,-13.6,484,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2398,3822,0,0,0,0,0,0
$GC,7121,-0.94,-136.3,998.2,-13.5,494,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2398,3820,0,0,0,0,0,0
$STATE,7150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7150,begin apogee
$GC,7156,-0.16,0.0,1002.4,13.6,495,7266,0.80,0.00,104.00,1.149,6,0.133,0.000,2366,1977,3298,0,0,0,0,0,0
$STATE,7267,end apogee,CONTROL_FINISHED_OK
$STATE,7267,begin climb
$GC,7269,0.79,136.3,1008.5,0.0,498,7392,0.85,2.28,113.07,1.104,4,0.054,0.037,2693,622,2741,0,0,0,0,0,0
$GC,7459,0.65,136.3,1002.8,14.1,504,7464,0.22,2.20,0.00,0.000,6,0.190,0.032,2641,2014,2737,0,0,0,0,0,0
$GC,7778,0.55,136.3,962.6,12.6,515,7783,0.15,2.20,0.00,0.000,4,0.192,0.042,2603,3406,2731,0,0,0,0,0,0
$GC,7817,0.46,136.3,957.3,12.7,516,7822,0.15,2.12,0.00,0.000,6,0.199,0.029,2578,2014,2730,0,0,0,0,0,0
$GC,8142,0.43,145.2,923.4,10.6,527,8155,0.00,2.28,6.68,0.962,4,0.000,0.043,2578,3412,2706,0,0,0,0,0,0
$GC,8195,0.37,145.2,917.0,12.1,528,8200,0.15,2.17,0.00,0.000,6,0.186,0.029,2551,1994,2705,0,0,0,0,0,0
$GC,8509,0.41,187.1,888.7,8.8,538,8550,0.00,2.28,35.80,1.058,4,0.000,0.042,2551,3404,2535,0,0,0,0,0,0
$GC,8584,0.40,187.1,881.4,11.1,540,8588,0.00,2.17,0.00,0.000,6,0.000,0.029,2559,2002,2531,0,0,0,0,0,0
$GC,8909,0.44,220.5,850.5,9.3,551,8939,0.00,0.00,28.30,1.024,6,0.000,0.000,2559,2002,2398,0,0,0,0,0,0
$GC,9246,0.46,232.6,816.2,10.5,562,9261,0.00,2.22,10.82,0.955,4,0.000,0.041,2559,3404,2348,0,0,0,0,0,0
$GC,9318,0.46,232.6,807.5,12.4,564,9322,0.00,2.17,0.00,0.000,6,0.000,0.029,2569,1990,2347,0,0,0,0,0,0
$GC,9643,0.47,238.0,771.6,10.8,575,9653,0.00,2.17,5.88,0.872,4,0.000,0.039,2580,598,2326,0,0,0,0,0,0
$GC,9716,0.49,250.5,763.3,10.4,577,9737,0.00,2.15,11.90,0.910,6,0.000,0.031,2580,2004,2276,0,0,0,0,0,0
$GC,10042,0.49,250.5,723.4,12.5,588,10046,0.00,2.20,0.00,0.000,4,0.000,0.042,2580,3411,2272,0,0,0,0,0,0
$GC,10150,0.49,250.5,708.7,13.4,591,10154,0.00,2.15,0.00,0.000,6,0.000,0.029,2591,1998,2271,0,0,0,0,0,0
$GC,10479,0.49,250.5,666.2,12.8,602,10483,0.00,2.17,0.00,0.000,4,0.000,0.039,2602,588,2270,0,0,0,0,0,0
$GC,10551,0.49,250.5,656.6,13.2,604,10555,0.00,2.15,0.00,0.000,6,0.000,0.031,2602,2007,2270,0,0,0,0,0,0
$GC,10875,0.47,250.5,614.0,13.0,615,10879,0.00,2.15,0.00,0.000,4,0.000,0.041,2602,3403,2269,0,0,0,0,0,0
$GC,10938,0.45,250.5,605.0,14.0,617,10943,0.15,2.12,0.00,0.000,6,0.171,0.029,2574,1998,2269,0,0,0,0,0,0
$GC,11273,0.48,260.2,569.0,10.6,632,11288,0.00,2.20,8.48,0.880,4,0.000,0.040,2583,598,2237,0,0,0,0,0,0
$GC,11318,0.49,260.2,563.8,11.3,634,11322,0.00,2.12,0.00,0.000,6,0.000,0.031,2583,2002,2236,0,0,0,0,0,0
$GC,11646,0.51,260.2,525.0,11.7,650,11647,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2003,2235,0,0,0,0,0,0
$GC,11957,0.55,288.1,492.0,9.6,668,11991,0.00,2.25,24.05,0.836,4,0.000,0.042,2583,3395,2123,0,0,0,0,0,0
$GC,12009,0.60,314.0,486.7,9.7,672,12039,0.00,2.15,22.15,0.771,6,0.000,0.029,2594,1992,2017,0,0,0,0,0,0
$GC,12356,0.63,314.0,448.8,11.3,705,12360,0.10,2.20,0.00,0.000,4,0.106,0.041,2652,594,2012,0,0,0,0,0,0
$GC,12477,0.61,314.0,431.8,14.5,715,12481,0.00,2.15,0.00,0.000,6,0.000,0.031,2653,2004,2011,0,0,0,0,0,0
$GC,12803,0.59,314.0,381.5,15.6,745,12807,0.15,2.20,0.00,0.000,4,0.166,0.041,2613,3411,2010,0,0,0,0,0,0
$GC,12836,0.59,314.0,376.7,13.4,748,12840,0.00,2.15,0.00,0.000,6,0.000,0.028,2622,1989,2009,0,0,0,0,0,0
$GC,13161,0.59,314.0,337.9,11.4,778,13165,0.00,2.15,0.00,0.000,4,0.000,0.040,2632,592,2009,0,0,0,0,0,0
$GC,13201,0.59,314.0,333.2,11.5,781,13205,0.00,2.15,0.00,0.000,6,0.000,0.031,2632,2004,2009,0,0,0,0,0,0
$GC,13527,0.59,314.0,292.1,12.6,811,13528,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2005,2009,0,0,0,0,0,0
$GC,13847,0.59,314.0,252.2,11.5,841,13851,0.00,2.15,0.00,0.000,4,0.000,0.041,2632,3404,2009,0,0,0,0,0,0
$GC,13879,0.59,314.0,247.9,11.9,843,13886,0.00,2.15,0.00,0.000,6,0.000,0.028,2642,2001,2009,0,0,0,0,0,0
$GC,14204,0.59,314.0,209.7,11.2,874,14206,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2001,2010,0,0,0,0,0,0
$GC,14525,0.62,341.9,176.4,9.6,904,14552,0.00,2.17,22.60,0.664,4,0.000,0.036,2653,583,1903,0,0,0,0,0,0
$GC,14715,0.67,359.3,157.1,10.2,920,14736,0.00,2.15,14.75,0.621,6,0.000,0.029,2653,2014,1834,0,0,0,0,0,0
$GC,15075,0.74,400.0,120.6,8.9,978,15114,0.00,2.20,32.55,0.620,4,0.000,0.034,2665,593,1667,0,0,0,0,0,0
$GC,15234,0.85,436.0,106.0,9.1,1005,15272,0.00,2.15,28.95,0.597,6,0.000,0.028,2664,2014,1519,0,0,0,0,0,0
$GC,15610,1.00,489.2,74.0,8.2,1071,15659,0.22,0.00,41.28,0.571,6,0.058,0.000,2766,2014,1304,0,0,0,0,0,0
$GC,15999,0.97,489.2,6.0,16.0,1139,16007,0.12,2.22,0.00,0.000,4,0.161,0.037,2743,582,1299,0,0,0,0,0,0
$STATE,16017,end climb,SURFACE_DEPTH_REACHED
$STATE,16017,begin surface coast
$FINISH,1.4,1.007992
$STATE,16035,end surface coast,CONTROL_FINISHED_OK
$STATE,16035,begin surface
$SM_CCo,16115,0.00,0.000,0,0,1296,491.09
$SM_GC,2.02,6.65,0.00,0.00,0.040,0.000,0.000,212,2390,1296,-6.83,-0.28,491.09
$IRIDIUM_FIX,2255.72,12549.42,281010,191903
$TT8_MAMPS,0.025466
$HUMID,49.52
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.7,43.463
$10V_AH,9.9,52.787
$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,18.275,142.675,511.250,0.000,0.000,29.732,43.131,152.429,0.000,0.000,21.597,2959.612,10312.772,576.309,2330.866,306.286,0.000,1741.520,0.000,2075.854,0.000,0.542,0.000
$DEVICE_MAMPS,221.850,46.665,1149.030,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,775.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66892,1145
$CAP_FILE_SIZE,162368,0
$CFSIZE,260165632,225869824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109,  1.2,1
$GPS,291010,050406,2302.825,12602.530,33,1.0,33,-3.3