version: 66.08
glider: 181
mission: 4
dive: 319
start: 10 28 110 1 24 27
data:
$ID,181
$MISSION,4
$DIVE,319
$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,-38249.875
$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,44
$R_STBD_OVSHOOT,34
$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
$GPS1,281010,011806,2310.661,12603.026,29,1.4,29,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-55.2
$GPS2,281010,012402,2310.646,12602.919,11,1.7,11,-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,173.5,201975,-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,-136.3,0.0,0.0,0,48,0.00,0.00,-30.75,0.000,2,0.000,0.000,201,2405,2343,0,0,0,0,0,0
$GC,51,-0.79,-136.3,3.1,-4.9,5,108,8.02,2.15,-41.28,0.000,4,0.226,0.048,2153,3783,3854,0,0,0,0,0,0
$GC,271,-0.69,-136.3,61.1,-30.6,43,278,0.17,2.08,0.00,0.000,6,0.158,0.025,2199,2389,3856,0,0,0,0,0,0
$GC,614,-0.66,-136.3,132.2,-17.1,104,620,0.00,2.05,0.00,0.000,4,0.000,0.029,2199,992,3857,0,0,0,0,0,0
$GC,644,-0.65,-136.3,137.6,-17.5,109,651,0.00,2.15,0.00,0.000,6,0.000,0.031,2191,2407,3857,0,0,0,0,0,0
$GC,974,-0.63,-136.3,195.8,-15.4,146,979,0.12,2.12,0.00,0.000,4,0.162,0.030,2225,987,3859,0,0,0,0,0,0
$GC,1021,-0.68,-136.3,202.0,-11.6,150,1025,0.00,2.15,0.00,0.000,6,0.000,0.032,2217,2404,3859,0,0,0,0,0,0
$GC,1347,-0.71,-136.3,241.0,-11.9,180,1351,0.00,2.12,0.00,0.000,4,0.000,0.041,2207,3781,3859,0,0,0,0,0,0
$GC,1391,-0.76,-136.3,246.4,-11.5,183,1398,0.00,2.05,0.00,0.000,6,0.000,0.024,2207,2386,3859,0,0,0,0,0,0
$GC,1716,-0.79,-136.3,283.9,-11.2,214,1721,0.12,2.08,0.00,0.000,4,0.081,0.031,2139,997,3859,0,0,0,0,0,0
$GC,1748,-0.77,-136.3,288.7,-15.0,216,1756,0.17,2.12,0.00,0.000,6,0.148,0.033,2176,2402,3858,0,0,0,0,0,0
$GC,2074,-0.77,-136.3,330.7,-12.0,247,2078,0.00,2.10,0.00,0.000,4,0.000,0.041,2168,3786,3858,0,0,0,0,0,0
$GC,2114,-0.79,-136.3,335.6,-12.2,250,2118,0.00,2.03,0.00,0.000,6,0.000,0.025,2168,2402,3857,0,0,0,0,0,0
$GC,2444,-0.79,-136.3,381.9,-14.2,281,2448,0.00,2.10,0.00,0.000,4,0.000,0.031,2168,1001,3857,0,0,0,0,0,0
$GC,2501,-0.82,-136.3,389.7,-13.4,286,2505,0.00,2.12,0.00,0.000,6,0.000,0.033,2159,2401,3856,0,0,0,0,0,0
$GC,2826,-0.82,-136.3,435.9,-13.9,316,2830,0.00,2.12,0.00,0.000,4,0.000,0.043,2149,3774,3855,0,0,0,0,0,0
$GC,2854,-0.82,-136.3,440.0,-14.2,318,2858,0.00,2.05,0.00,0.000,6,0.000,0.025,2149,2392,3854,0,0,0,0,0,0
$GC,3185,-0.82,-136.3,487.5,-14.6,349,3188,0.00,2.08,0.00,0.000,4,0.000,0.031,2148,1001,3852,0,0,0,0,0,0
$GC,3212,-0.82,-136.3,491.7,-14.8,351,3219,0.00,2.15,0.00,0.000,6,0.000,0.034,2138,2394,3853,0,0,0,0,0,0
$GC,3530,-0.82,-136.3,538.4,-14.7,370,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2395,3851,0,0,0,0,0,0
$GC,3840,-0.82,-136.3,581.9,-13.6,385,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2395,3849,0,0,0,0,0,0
$GC,4167,-0.82,-136.3,623.5,-12.1,398,4171,0.00,2.08,0.00,0.000,4,0.000,0.033,2138,1005,3846,0,0,0,0,0,0
$GC,4189,-0.82,-136.3,626.4,-12.9,398,4198,0.08,2.15,0.00,0.000,6,0.142,0.035,2163,2394,3846,0,0,0,0,0,0
$GC,4503,-0.85,-136.3,658.5,-10.5,409,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2394,3842,0,0,0,0,0,0
$GC,4809,-0.88,-136.3,691.6,-10.8,419,4813,0.00,2.17,0.00,0.000,4,0.000,0.046,2154,3787,3840,0,0,0,0,0,0
$GC,4894,-0.92,-136.3,701.0,-10.5,421,4898,0.00,2.08,0.00,0.000,6,0.000,0.027,2154,2389,3839,0,0,0,0,0,0
$GC,5208,-0.94,-136.3,734.0,-10.5,431,5212,0.00,2.08,0.00,0.000,4,0.000,0.034,2154,994,3836,0,0,0,0,0,0
$GC,5246,-0.98,-136.3,738.2,-9.6,432,5251,0.12,2.15,0.00,0.000,6,0.088,0.036,2092,2405,3836,0,0,0,0,0,0
$GC,5571,-0.95,-136.3,787.1,-15.9,443,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2406,3833,0,0,0,0,0,0
$GC,5876,-0.92,-136.3,837.5,-16.5,453,5878,0.15,0.00,0.00,0.000,6,0.175,0.000,2131,2406,3831,0,0,0,0,0,0
$GC,6183,-0.92,-136.3,880.1,-13.6,463,6186,0.00,2.15,0.00,0.000,4,0.000,0.047,2122,3777,3828,0,0,0,0,0,0
$GC,6222,-0.94,-136.3,885.8,-13.1,464,6226,0.00,2.08,0.00,0.000,6,0.000,0.028,2122,2404,3828,0,0,0,0,0,0
$GC,6552,-0.94,-136.3,931.6,-13.8,475,6555,0.00,2.10,0.00,0.000,4,0.000,0.036,2122,1002,3827,0,0,0,0,0,0
$GC,6580,-0.94,-136.3,935.5,-14.7,476,6584,0.00,2.17,0.00,0.000,6,0.000,0.037,2112,2411,3826,0,0,0,0,0,0
$GC,6922,-0.94,-136.3,982.5,-13.6,487,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2411,3824,0,0,0,0,0,0
$STATE,7072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7072,begin apogee
$GC,7078,-0.16,0.0,1002.7,13.0,492,7189,0.82,0.00,104.53,1.144,6,0.135,0.000,2369,1985,3298,0,0,0,0,0,0
$STATE,7190,end apogee,CONTROL_FINISHED_OK
$STATE,7190,begin climb
$GC,7192,0.79,136.3,1007.5,0.0,495,7314,0.85,2.28,113.35,1.104,4,0.052,0.038,2700,602,2741,0,0,0,0,0,0
$GC,7326,0.71,191.2,1007.9,8.1,499,7379,0.20,2.30,46.88,1.076,6,0.194,0.034,2656,2009,2518,0,0,0,0,0,0
$GC,7698,0.61,191.2,945.7,17.5,512,7702,0.12,2.20,0.00,0.000,4,0.201,0.044,2626,3405,2509,0,0,0,0,0,0
$GC,7737,0.53,191.2,939.1,16.2,513,7741,0.15,2.15,0.00,0.000,6,0.190,0.030,2599,2003,2508,0,0,0,0,0,0
$GC,8061,0.49,191.2,893.3,14.1,524,8062,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2003,2506,0,0,0,0,0,0
$GC,8367,0.45,191.2,850.7,13.4,534,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2003,2504,0,0,0,0,0,0
$GC,8674,0.41,191.2,811.0,12.8,544,8676,0.15,0.00,0.00,0.000,6,0.186,0.000,2560,2001,2503,0,0,0,0,0,0
$GC,8979,0.44,217.5,780.7,9.7,554,9005,0.00,2.22,20.27,1.002,4,0.000,0.041,2560,3407,2411,0,0,0,0,0,0
$GC,9040,0.44,217.5,774.3,11.6,555,9044,0.00,2.15,0.00,0.000,6,0.000,0.029,2568,2000,2408,0,0,0,0,0,0
$GC,9375,0.46,232.6,739.5,10.3,566,9395,0.00,2.22,13.38,0.953,4,0.000,0.041,2579,601,2349,0,0,0,0,0,0
$GC,9433,0.48,252.9,733.3,10.0,567,9458,0.00,2.15,18.33,0.913,6,0.000,0.032,2579,2009,2267,0,0,0,0,0,0
$GC,9778,0.48,252.9,695.0,11.1,579,9782,0.00,2.17,0.00,0.000,4,0.000,0.042,2579,3404,2261,0,0,0,0,0,0
$GC,9822,0.48,252.9,689.6,12.0,580,9826,0.00,2.20,0.00,0.000,6,0.000,0.030,2589,1995,2260,0,0,0,0,0,0
$GC,10147,0.48,252.9,651.7,11.6,591,10151,0.00,2.20,0.00,0.000,4,0.000,0.041,2590,3407,2259,0,0,0,0,0,0
$GC,10191,0.48,252.9,645.6,14.2,592,10195,0.00,2.12,0.00,0.000,6,0.000,0.030,2600,2000,2259,0,0,0,0,0,0
$GC,10510,0.47,252.9,603.4,13.4,603,10514,0.00,2.15,0.00,0.000,4,0.000,0.041,2611,595,2258,0,0,0,0,0,0
$GC,10544,0.46,252.9,598.7,14.1,604,10551,0.15,2.12,0.00,0.000,6,0.158,0.031,2572,2001,2258,0,0,0,0,0,0
$GC,10861,0.48,252.9,563.1,11.1,620,10864,0.00,2.20,0.00,0.000,4,0.000,0.043,2572,3411,2257,0,0,0,0,0,0
$GC,10893,0.49,252.9,559.0,12.3,621,10897,0.00,2.12,0.00,0.000,6,0.000,0.030,2580,2001,2256,0,0,0,0,0,0
$GC,11216,0.53,267.4,523.5,10.3,637,11238,0.00,2.22,12.02,0.866,4,0.000,0.041,2591,597,2207,0,0,0,0,0,0
$GC,11288,0.55,270.7,515.7,10.9,640,11298,0.00,2.15,4.32,0.583,6,0.000,0.031,2591,2005,2194,0,0,0,0,0,0
$GC,11620,0.55,270.7,479.6,11.3,664,11621,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2005,2191,0,0,0,0,0,0
$GC,11940,0.56,270.7,443.8,11.8,694,11941,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2005,2191,0,0,0,0,0,0
$GC,12261,0.58,277.5,410.3,10.7,724,12274,0.00,2.25,6.90,0.738,4,0.000,0.041,2602,593,2166,0,0,0,0,0,0
$GC,12320,0.60,277.5,403.1,11.4,729,12324,0.00,2.15,0.00,0.000,6,0.000,0.032,2601,2012,2166,0,0,0,0,0,0
$GC,12651,0.62,283.1,364.7,10.8,760,12661,0.00,0.00,6.25,0.682,6,0.000,0.000,2602,2011,2143,0,0,0,0,0,0
$GC,12980,0.68,314.4,332.2,9.4,791,13014,0.12,2.20,26.60,0.752,4,0.091,0.038,2669,598,2014,0,0,0,0,0,0
$GC,13062,0.65,314.4,321.4,14.5,798,13067,0.12,2.17,0.00,0.000,6,0.159,0.031,2638,2011,2012,0,0,0,0,0,0
$GC,13392,0.65,314.4,278.2,12.8,829,13396,0.00,2.17,0.00,0.000,4,0.000,0.041,2636,3411,2010,0,0,0,0,0,0
$GC,13441,0.65,314.4,271.1,14.5,833,13448,0.00,2.15,0.00,0.000,6,0.000,0.028,2646,1987,2010,0,0,0,0,0,0
$GC,13767,0.65,314.4,226.8,12.8,864,13770,0.00,2.12,0.00,0.000,4,0.000,0.039,2657,598,2010,0,0,0,0,0,0
$GC,13838,0.65,314.4,217.5,12.8,870,13846,0.00,2.17,0.00,0.000,6,0.000,0.031,2657,2007,2010,0,0,0,0,0,0
$GC,14164,0.67,328.4,178.3,10.3,901,14181,0.00,2.17,11.75,0.629,4,0.000,0.039,2657,3409,1959,0,0,0,0,0,0
$GC,14242,0.68,339.6,169.8,10.5,907,14261,0.00,2.12,10.77,0.617,6,0.000,0.028,2667,1989,1912,0,0,0,0,0,0
$GC,14586,0.70,355.4,133.3,10.2,952,14606,0.00,2.20,13.77,0.601,4,0.000,0.037,2678,595,1848,0,0,0,0,0,0
$GC,14801,0.75,374.3,111.2,10.1,990,14827,0.00,2.12,16.05,0.589,6,0.000,0.030,2678,2006,1771,0,0,0,0,0,0
$GC,15166,0.84,408.0,75.6,9.3,1054,15198,0.00,2.25,27.15,0.574,4,0.000,0.037,2688,593,1633,0,0,0,0,0,0
$GC,15234,0.99,476.2,69.8,7.4,1065,15297,0.15,2.12,53.12,0.574,6,0.076,0.028,2759,2004,1354,0,0,0,0,0,0
$GC,15634,0.98,484.3,7.5,10.7,1135,15647,0.00,0.00,7.07,0.430,6,0.000,0.000,2759,2006,1322,0,0,0,0,0,0
$STATE,15674,end climb,SURFACE_DEPTH_REACHED
$STATE,15674,begin surface coast
$FINISH,1.2,1.022067
$STATE,15697,end surface coast,CONTROL_FINISHED_OK
$STATE,15697,begin surface
$SM_CCo,15773,0.00,0.000,0,0,1319,485.45
$SM_GC,2.08,6.70,0.00,0.00,0.038,0.000,0.000,205,2408,1319,-6.84,0.25,485.45
$IRIDIUM_FIX,2302.75,12607.67,271010,202040
$TT8_MAMPS,0.026215
$HUMID,50.11
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.8,42.759
$10V_AH,9.9,52.404
$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,18.525,129.975,512.525,0.000,0.000,30.741,17.571,164.494,0.000,0.000,14.442,2921.806,10125.670,575.485,2208.102,292.543,0.000,1690.014,0.000,1972.982,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,48.195,1143.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,775.401,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66949,1146
$CAP_FILE_SIZE,156000,0
$CFSIZE,260165632,226246656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124,354.7,1
$GPS,281010,054837,2309.502,12603.320,39,1.3,39,-3.4