version: 66.08
glider: 181
mission: 4
dive: 318
start: 10 27 110 20 43 8
data:
$ID,181
$MISSION,4
$DIVE,318
$N_DIVES,328
$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,-38248.617
$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,43
$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
$GPS1,271010,203630,2312.264,12604.405,71,1.1,71,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-52.7
$GPS2,271010,204243,2312.237,12604.368,9,1.7,9,-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,204.4,204972,-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,14,begin dive
$GC,16,-0.79,-136.3,0.0,0.0,0,67,0.00,0.00,-48.40,0.000,2,0.000,0.000,200,2420,2753,0,0,0,0,0,0
$GC,70,-0.79,-136.3,3.5,-6.1,8,114,8.25,2.17,-26.30,0.000,4,0.235,0.054,2151,3769,3856,0,0,0,0,0,0
$GC,284,-0.68,-136.3,63.2,-28.7,45,291,0.20,2.08,0.00,0.000,6,0.165,0.025,2203,2390,3857,0,0,0,0,0,0
$GC,627,-0.66,-136.3,137.5,-18.7,106,634,0.00,2.05,0.00,0.000,4,0.000,0.030,2203,991,3859,0,0,0,0,0,0
$GC,782,-0.68,-136.3,161.6,-12.8,126,789,0.00,2.12,0.00,0.000,6,0.000,0.032,2194,2396,3859,0,0,0,0,0,0
$GC,1108,-0.68,-136.3,208.5,-14.0,157,1112,0.00,2.12,0.00,0.000,4,0.000,0.041,2184,3785,3860,0,0,0,0,0,0
$GC,1123,-0.68,-136.3,211.0,-13.8,158,1131,0.00,2.08,0.00,0.000,6,0.000,0.024,2184,2391,3860,0,0,0,0,0,0
$GC,1449,-0.68,-136.3,260.5,-15.5,189,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2389,3861,0,0,0,0,0,0
$GC,1769,-0.68,-136.3,306.4,-12.2,219,1773,0.00,2.15,0.00,0.000,4,0.000,0.041,2174,3784,3860,0,0,0,0,0,0
$GC,1807,-0.70,-136.3,311.3,-11.5,222,1814,0.00,2.05,0.00,0.000,6,0.000,0.024,2174,2397,3860,0,0,0,0,0,0
$GC,2133,-0.70,-136.3,351.4,-12.5,253,2137,0.00,2.05,0.00,0.000,4,0.000,0.031,2173,994,3859,0,0,0,0,0,0
$GC,2218,-0.73,-136.3,361.0,-11.2,260,2222,0.00,2.12,0.00,0.000,6,0.000,0.032,2165,2399,3858,0,0,0,0,0,0
$GC,2543,-0.73,-136.3,402.8,-12.9,290,2547,0.00,2.12,0.00,0.000,4,0.000,0.042,2154,3780,3857,0,0,0,0,0,0
$GC,2644,-0.75,-136.3,415.6,-12.0,298,2651,0.12,2.03,0.00,0.000,6,0.145,0.024,2188,2394,3856,0,0,0,0,0,0
$GC,2970,-0.78,-136.3,452.6,-11.3,329,2974,0.00,2.05,0.00,0.000,4,0.000,0.031,2188,1000,3854,0,0,0,0,0,0
$GC,3026,-0.84,-136.3,459.4,-11.4,333,3033,0.00,2.12,0.00,0.000,6,0.000,0.033,2182,2401,3854,0,0,0,0,0,0
$GC,3352,-0.87,-136.3,495.4,-10.4,364,3357,0.12,2.17,0.00,0.000,4,0.084,0.044,2109,3784,3852,0,0,0,0,0,0
$GC,3384,-0.85,-136.3,499.9,-14.3,366,3392,0.15,2.03,0.00,0.000,6,0.155,0.025,2148,2400,3851,0,0,0,0,0,0
$GC,3700,-0.85,-136.3,542.2,-13.4,382,3704,0.00,2.08,0.00,0.000,4,0.000,0.031,2149,994,3850,0,0,0,0,0,0
$GC,3727,-0.85,-136.3,545.9,-14.1,383,3731,0.00,2.15,0.00,0.000,6,0.000,0.034,2141,2401,3850,0,0,0,0,0,0
$GC,4043,-0.85,-136.3,592.0,-14.9,398,4047,0.00,2.12,0.00,0.000,4,0.000,0.044,2130,3776,3847,0,0,0,0,0,0
$GC,4120,-0.86,-136.3,603.6,-15.0,401,4124,0.00,2.05,0.00,0.000,6,0.000,0.026,2130,2403,3846,0,0,0,0,0,0
$GC,4450,-0.86,-136.3,652.8,-14.6,412,4453,0.00,2.10,0.00,0.000,4,0.000,0.033,2130,1004,3844,0,0,0,0,0,0
$GC,4485,-0.86,-136.3,657.9,-14.1,413,4489,0.00,2.15,0.00,0.000,6,0.000,0.035,2120,2408,3844,0,0,0,0,0,0
$GC,4826,-0.84,-136.3,706.9,-14.1,424,4828,0.12,0.00,0.00,0.000,6,0.184,0.000,2152,2408,3840,0,0,0,0,0,0
$GC,5132,-0.87,-136.3,742.5,-11.4,434,5136,0.00,2.12,0.00,0.000,4,0.000,0.046,2143,3776,3838,0,0,0,0,0,0
$GC,5182,-0.90,-136.3,748.4,-11.1,435,5186,0.00,2.05,0.00,0.000,6,0.000,0.027,2143,2394,3838,0,0,0,0,0,0
$GC,5496,-0.91,-136.3,784.9,-11.8,445,5500,0.00,2.08,0.00,0.000,4,0.000,0.034,2143,1001,3834,0,0,0,0,0,0
$GC,5530,-0.94,-136.3,789.2,-12.1,446,5534,0.00,2.15,0.00,0.000,6,0.000,0.037,2137,2397,3834,0,0,0,0,0,0
$GC,5865,-0.95,-136.3,830.4,-12.6,457,5869,0.00,2.17,0.00,0.000,4,0.000,0.046,2128,3781,3832,0,0,0,0,0,0
$GC,5888,-0.96,-136.3,833.3,-11.9,457,5895,0.00,2.05,0.00,0.000,6,0.000,0.027,2127,2402,3831,0,0,0,0,0,0
$GC,6200,-0.96,-136.3,872.3,-12.4,468,6201,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2399,3829,0,0,0,0,0,0
$GC,6506,-0.96,-136.3,909.1,-11.8,478,6510,0.00,2.15,0.00,0.000,4,0.000,0.035,2127,998,3827,0,0,0,0,0,0
$GC,6540,-0.97,-136.3,913.0,-11.1,479,6544,0.00,2.15,0.00,0.000,6,0.000,0.037,2119,2401,3827,0,0,0,0,0,0
$GC,6875,-0.97,-136.3,952.8,-12.1,490,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2401,3824,0,0,0,0,0,0
$GC,7182,-0.97,-136.3,988.6,-11.6,500,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2401,3821,0,0,0,0,0,0
$STATE,7302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7302,begin apogee
$GC,7308,-0.16,0.0,1003.2,11.9,504,7418,0.77,0.00,104.20,1.152,6,0.133,0.000,2364,1973,3298,0,0,0,0,0,0
$STATE,7419,end apogee,CONTROL_FINISHED_OK
$STATE,7419,begin climb
$GC,7421,0.79,136.3,1007.1,0.0,507,7543,0.88,2.28,113.00,1.105,4,0.051,0.038,2700,605,2742,0,0,0,0,0,0
$GC,7798,0.64,136.3,971.1,16.4,519,7803,0.28,2.20,0.00,0.000,6,0.191,0.034,2632,2006,2733,0,0,0,0,0,0
$GC,8134,0.56,140.9,932.8,10.9,530,8135,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2006,2730,0,0,0,0,0,0
$GC,8440,0.47,140.9,898.7,11.3,540,8442,0.20,0.00,0.00,0.000,6,0.184,0.000,2580,2007,2728,0,0,0,0,0,0
$GC,8747,0.48,184.2,871.8,8.7,550,8790,0.00,2.25,38.22,1.059,4,0.000,0.042,2580,3406,2546,0,0,0,0,0,0
$GC,8823,0.44,184.2,863.5,12.4,552,8827,0.00,2.20,0.00,0.000,6,0.000,0.030,2589,2003,2543,0,0,0,0,0,0
$GC,9143,0.40,184.2,825.8,11.8,563,9147,0.12,2.25,0.00,0.000,4,0.189,0.042,2559,3410,2539,0,0,0,0,0,0
$GC,9177,0.38,184.2,821.7,11.9,564,9181,0.00,2.17,0.00,0.000,6,0.000,0.030,2567,2000,2538,0,0,0,0,0,0
$GC,9513,0.39,194.5,786.0,10.5,575,9527,0.00,2.22,8.50,0.955,4,0.000,0.041,2578,595,2505,0,0,0,0,0,0
$GC,9550,0.38,200.8,781.8,10.8,576,9564,0.00,2.15,7.15,0.818,6,0.000,0.032,2578,2000,2479,0,0,0,0,0,0
$GC,9884,0.37,203.0,743.8,11.0,587,9888,0.12,2.20,0.00,0.000,4,0.166,0.044,2547,3404,2476,0,0,0,0,0,0
$GC,9950,0.38,210.2,736.3,10.7,589,9965,0.00,2.17,9.00,0.925,6,0.000,0.030,2556,1988,2441,0,0,0,0,0,0
$GC,10286,0.43,245.0,704.9,9.2,600,10322,0.00,2.25,29.75,0.950,4,0.000,0.041,2566,598,2299,0,0,0,0,0,0
$GC,10363,0.47,252.4,697.1,10.7,602,10378,0.00,2.20,7.62,0.787,6,0.000,0.032,2566,2004,2269,0,0,0,0,0,0
$GC,10693,0.50,255.7,662.0,10.9,613,10697,0.00,2.20,0.00,0.000,4,0.000,0.043,2566,3411,2264,0,0,0,0,0,0
$GC,10771,0.51,255.7,652.3,12.3,615,10775,0.00,2.17,0.00,0.000,6,0.000,0.030,2576,2002,2262,0,0,0,0,0,0
$GC,11089,0.52,255.7,613.3,12.2,626,11093,0.00,2.20,0.00,0.000,4,0.000,0.041,2587,597,2261,0,0,0,0,0,0
$GC,11161,0.53,255.7,604.3,12.4,628,11165,0.00,2.17,0.00,0.000,6,0.000,0.032,2587,2012,2262,0,0,0,0,0,0
$GC,11484,0.54,263.3,567.8,10.7,643,11495,0.00,0.00,9.55,0.884,6,0.000,0.000,2587,2012,2223,0,0,0,0,0,0
$GC,11793,0.58,292.9,536.4,9.5,658,11823,0.00,2.22,25.27,0.849,4,0.000,0.043,2587,3402,2104,0,0,0,0,0,0
$GC,11846,0.61,310.6,530.7,10.1,660,11868,0.00,2.20,15.95,0.781,6,0.000,0.030,2599,1988,2030,0,0,0,0,0,0
$GC,12188,0.63,310.6,493.1,11.8,679,12192,0.00,2.15,0.00,0.000,4,0.000,0.041,2609,597,2024,0,0,0,0,0,0
$GC,12257,0.65,310.6,484.8,11.8,685,12260,0.00,2.15,0.00,0.000,6,0.000,0.031,2609,2004,2024,0,0,0,0,0,0
$GC,12581,0.65,310.6,444.1,12.9,715,12583,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2004,2022,0,0,0,0,0,0
$GC,12903,0.65,310.6,404.0,12.5,745,12909,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2005,2022,0,0,0,0,0,0
$GC,13230,0.66,310.6,364.5,11.9,776,13234,0.00,2.15,0.00,0.000,4,0.000,0.043,2609,3401,2021,0,0,0,0,0,0
$GC,13294,0.67,310.6,356.4,12.5,781,13298,0.00,2.12,0.00,0.000,6,0.000,0.029,2619,1991,2021,0,0,0,0,0,0
$GC,13624,0.67,310.6,315.8,11.5,812,13628,0.00,2.15,0.00,0.000,4,0.000,0.040,2630,596,2021,0,0,0,0,0,0
$GC,13748,0.71,329.5,302.6,10.1,822,13769,0.00,2.15,15.40,0.754,6,0.000,0.031,2630,2010,1954,0,0,0,0,0,0
$GC,14095,0.71,329.5,263.5,11.4,855,14099,0.00,2.20,0.00,0.000,4,0.000,0.039,2640,589,1951,0,0,0,0,0,0
$GC,14127,0.71,329.5,259.4,11.8,857,14134,0.00,2.17,0.00,0.000,6,0.000,0.031,2640,1999,1951,0,0,0,0,0,0
$GC,14452,0.71,329.5,218.0,12.7,888,14456,0.00,2.15,0.00,0.000,4,0.000,0.041,2640,3402,1951,0,0,0,0,0,0
$GC,14515,0.71,329.5,209.6,13.1,893,14519,0.00,2.12,0.00,0.000,6,0.000,0.029,2649,1993,1951,0,0,0,0,0,0
$GC,14846,0.71,329.5,167.4,11.2,924,14847,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1992,1952,0,0,0,0,0,0
$GC,15172,0.73,331.3,132.3,11.0,968,15180,0.00,2.12,0.00,0.000,4,0.000,0.037,2662,593,1953,0,0,0,0,0,0
$GC,15266,0.75,332.5,122.1,11.0,984,15274,0.00,2.10,4.07,0.415,6,0.000,0.029,2661,2003,1942,0,0,0,0,0,0
$GC,15614,0.89,426.4,91.1,6.0,1045,15694,0.15,2.28,72.82,0.579,4,0.080,0.037,2748,593,1558,0,0,0,0,0,0
$GC,15798,0.89,426.4,70.8,11.5,1076,15807,0.12,2.15,0.00,0.000,6,0.150,0.030,2714,2004,1553,0,0,0,0,0,0
$GC,16144,0.91,426.4,29.1,15.9,1137,16151,0.00,2.17,0.00,0.000,4,0.000,0.040,2714,3407,1550,0,0,0,0,0,0
$GC,16175,0.93,426.4,24.0,14.1,1142,16181,0.00,2.12,0.00,0.000,6,0.000,0.027,2722,1999,1550,0,0,0,0,0,0
$STATE,16332,end climb,SURFACE_DEPTH_REACHED
$STATE,16333,begin surface coast
$FINISH,1.2,1.021977
$STATE,16355,end surface coast,CONTROL_FINISHED_OK
$STATE,16355,begin surface
$SM_CCo,16431,0.00,0.000,0,0,1548,429.27
$SM_GC,2.03,6.55,0.00,0.00,0.037,0.000,0.000,205,2402,1548,-6.85,0.06,429.27
$IRIDIUM_FIX,2305.10,12605.78,271010,161639
$TT8_MAMPS,0.026215
$HUMID,49.72
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.8,42.616
$10V_AH,9.9,52.330
$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,18.175,138.525,460.525,0.000,0.000,28.963,40.608,161.402,0.000,0.000,12.000,3037.288,10529.273,546.602,2374.272,309.923,0.000,1720.017,0.000,2122.410,0.000,0.541,0.000
$DEVICE_MAMPS,234.855,54.315,1152.090,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,795.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70418,1174
$CAP_FILE_SIZE,162211,0
$CFSIZE,260165632,226316288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,315.4,1
$GPS,281010,011806,2310.661,12603.026,29,1.4,29,-3.4