version: 66.08
glider: 181
mission: 4
dive: 335
start: 10 31 110 4 4 43
data:
$ID,181
$MISSION,4
$DIVE,335
$N_DIVES,345
$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,-38270
$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,39
$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
$GPS1,311010,035806,2250.745,12600.483,35,0.9,40,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-61.3
$GPS2,311010,040418,2250.783,12600.427,11,1.4,13,-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,177.4,165172,-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,-44.08,0.000,2,0.000,0.000,192,2402,2510,0,0,0,0,0,0
$GC,65,-0.79,-136.3,3.1,-3.1,7,116,8.23,2.20,-36.60,0.000,4,0.232,0.043,2163,985,3855,0,0,0,0,0,0
$GC,229,-0.69,-136.3,39.6,-28.4,35,236,0.17,2.17,0.00,0.000,6,0.164,0.034,2199,2406,3857,0,0,0,0,0,0
$GC,574,-0.66,-136.3,123.2,-16.1,96,581,0.00,2.10,0.00,0.000,4,0.000,0.041,2190,3783,3857,0,0,0,0,0,0
$GC,593,-0.64,-136.3,126.4,-16.6,99,599,0.00,2.05,0.00,0.000,6,0.000,0.024,2191,2391,3857,0,0,0,0,0,0
$GC,931,-0.61,-136.3,185.2,-17.5,142,936,0.12,2.17,0.00,0.000,4,0.161,0.040,2215,3778,3859,0,0,0,0,0,0
$GC,997,-0.67,-136.3,193.8,-10.6,147,1004,0.00,2.03,0.00,0.000,6,0.000,0.024,2216,2391,3860,0,0,0,0,0,0
$GC,1323,-0.70,-136.3,233.5,-12.1,178,1327,0.00,2.15,0.00,0.000,4,0.000,0.041,2205,3781,3860,0,0,0,0,0,0
$GC,1342,-0.74,-136.3,235.7,-12.4,179,1346,0.00,2.03,0.00,0.000,6,0.000,0.024,2205,2394,3860,0,0,0,0,0,0
$GC,1674,-0.78,-136.3,278.9,-11.3,210,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2391,3860,0,0,0,0,0,0
$GC,1994,-0.82,-136.3,311.8,-9.7,240,1998,0.12,2.08,0.00,0.000,4,0.081,0.031,2137,1002,3860,0,0,0,0,0,0
$GC,2023,-0.82,-136.3,315.5,-13.4,242,2028,0.12,2.10,0.00,0.000,6,0.161,0.032,2159,2405,3859,0,0,0,0,0,0
$GC,2348,-0.82,-136.3,360.8,-14.7,272,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2405,3858,0,0,0,0,0,0
$GC,2669,-0.82,-136.3,405.2,-13.2,302,2673,0.00,2.10,0.00,0.000,4,0.000,0.042,2150,3787,3856,0,0,0,0,0,0
$GC,2726,-0.83,-136.3,413.2,-13.2,306,2732,0.00,2.03,0.00,0.000,6,0.000,0.024,2150,2402,3857,0,0,0,0,0,0
$GC,3050,-0.83,-136.3,457.6,-13.9,337,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2398,3854,0,0,0,0,0,0
$GC,3371,-0.83,-136.3,501.2,-13.3,367,3372,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2398,3853,0,0,0,0,0,0
$GC,3680,-0.83,-136.3,541.3,-12.8,382,3684,0.00,2.08,0.00,0.000,4,0.000,0.032,2150,1005,3851,0,0,0,0,0,0
$GC,3731,-0.86,-136.3,547.7,-11.9,384,3735,0.00,2.10,0.00,0.000,6,0.000,0.033,2141,2401,3851,0,0,0,0,0,0
$GC,4053,-0.86,-136.3,587.8,-12.8,400,4057,0.00,2.12,0.00,0.000,4,0.000,0.044,2131,3782,3848,0,0,0,0,0,0
$GC,4079,-0.86,-136.3,591.6,-13.9,401,4084,0.00,2.08,0.00,0.000,6,0.000,0.025,2131,2406,3847,0,0,0,0,0,0
$GC,4404,-0.86,-136.3,636.5,-14.1,413,4408,0.00,2.12,0.00,0.000,4,0.000,0.044,2121,3776,3845,0,0,0,0,0,0
$GC,4434,-0.86,-136.3,640.4,-14.6,414,4438,0.00,2.05,0.00,0.000,6,0.000,0.026,2121,2398,3844,0,0,0,0,0,0
$GC,4775,-0.84,-136.3,689.8,-14.5,425,4777,0.12,0.00,0.00,0.000,6,0.163,0.000,2153,2395,3842,0,0,0,0,0,0
$GC,5081,-0.87,-136.3,725.8,-11.4,435,5084,0.00,2.17,0.00,0.000,4,0.000,0.045,2145,3781,3839,0,0,0,0,0,0
$GC,5103,-0.90,-136.3,728.7,-12.3,435,5110,0.00,2.05,0.00,0.000,6,0.000,0.027,2145,2398,3839,0,0,0,0,0,0
$GC,5416,-0.91,-136.3,766.0,-11.8,446,5420,0.00,2.08,0.00,0.000,4,0.000,0.034,2145,1001,3836,0,0,0,0,0,0
$GC,5461,-0.95,-136.3,771.4,-11.4,447,5464,0.00,2.15,0.00,0.000,6,0.000,0.035,2139,2406,3835,0,0,0,0,0,0
$GC,5786,-0.96,-136.3,809.7,-12.0,458,5790,0.00,2.15,0.00,0.000,4,0.000,0.046,2128,3783,3832,0,0,0,0,0,0
$GC,5824,-0.98,-136.3,814.8,-13.0,459,5828,0.00,2.05,0.00,0.000,6,0.000,0.027,2128,2396,3832,0,0,0,0,0,0
$GC,6160,-0.98,-136.3,857.3,-12.5,470,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2392,3830,0,0,0,0,0,0
$GC,6466,-0.98,-136.3,893.8,-11.5,480,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2393,3827,0,0,0,0,0,0
$GC,6772,-0.98,-136.3,928.1,-11.2,490,6776,0.00,2.10,0.00,0.000,4,0.000,0.034,2128,1005,3826,0,0,0,0,0,0
$GC,6805,-0.99,-136.3,932.1,-11.3,491,6809,0.00,2.12,0.00,0.000,6,0.000,0.035,2125,2400,3826,0,0,0,0,0,0
$GC,7136,-0.99,-136.3,968.4,-11.2,502,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2400,3823,0,0,0,0,0,0
$STATE,7439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7439,begin apogee
$GC,7445,-0.16,0.0,1002.3,11.2,512,7556,0.77,0.00,104.62,1.150,6,0.129,0.000,2371,1977,3297,0,0,0,0,0,0
$STATE,7557,end apogee,CONTROL_FINISHED_OK
$STATE,7557,begin climb
$GC,7559,0.79,136.3,1006.5,0.0,515,7681,0.85,2.25,113.28,1.106,4,0.050,0.037,2701,617,2742,0,0,0,0,0,0
$GC,7866,0.64,136.3,981.9,14.8,524,7874,0.28,2.17,0.00,0.000,6,0.192,0.032,2634,2014,2734,0,0,0,0,0,0
$GC,8179,0.55,136.3,946.4,11.1,535,8184,0.12,2.17,0.00,0.000,4,0.196,0.043,2603,3402,2730,0,0,0,0,0,0
$GC,8209,0.48,153.2,943.5,10.2,536,8229,0.12,2.10,13.73,1.053,6,0.203,0.029,2585,2020,2673,0,0,0,0,0,0
$GC,8551,0.48,187.4,911.4,9.2,547,8586,0.00,2.30,29.35,1.059,4,0.000,0.040,2594,595,2532,0,0,0,0,0,0
$GC,8688,0.45,187.4,896.0,11.8,551,8692,0.00,2.20,0.00,0.000,6,0.000,0.033,2594,1994,2529,0,0,0,0,0,0
$GC,9024,0.41,187.4,856.6,11.9,562,9029,0.15,2.22,0.00,0.000,4,0.174,0.043,2557,3411,2526,0,0,0,0,0,0
$GC,9093,0.40,189.6,848.7,11.0,564,9097,0.00,2.17,0.00,0.000,6,0.000,0.028,2565,1991,2525,0,0,0,0,0,0
$GC,9422,0.42,205.5,814.4,10.2,575,9442,0.00,2.15,15.00,1.008,4,0.000,0.040,2576,600,2460,0,0,0,0,0,0
$GC,9459,0.44,226.3,810.3,10.0,576,9484,0.00,2.15,18.73,0.954,6,0.000,0.031,2576,2005,2375,0,0,0,0,0,0
$GC,9821,0.44,226.3,768.9,11.3,588,9825,0.00,2.17,0.00,0.000,4,0.000,0.042,2576,3402,2369,0,0,0,0,0,0
$GC,9865,0.43,226.3,763.2,12.4,589,9869,0.00,2.12,0.00,0.000,6,0.000,0.029,2586,2003,2368,0,0,0,0,0,0
$GC,10190,0.41,226.3,725.4,11.6,600,10194,0.00,2.15,0.00,0.000,4,0.000,0.041,2597,595,2367,0,0,0,0,0,0
$GC,10258,0.41,226.3,716.9,12.8,602,10263,0.15,2.15,0.00,0.000,6,0.168,0.031,2559,2002,2366,0,0,0,0,0,0
$GC,10595,0.47,256.0,684.2,9.5,613,10629,0.00,2.22,24.55,0.948,4,0.000,0.042,2559,3407,2253,0,0,0,0,0,0
$GC,10673,0.48,256.0,675.6,11.2,615,10677,0.00,2.15,0.00,0.000,6,0.000,0.029,2567,1999,2251,0,0,0,0,0,0
$GC,11005,0.51,263.6,640.7,10.7,626,11014,0.00,0.00,7.30,0.861,6,0.000,0.000,2567,1997,2223,0,0,0,0,0,0
$GC,11310,0.55,275.4,608.5,10.5,636,11324,0.10,0.00,11.45,0.872,6,0.108,0.000,2616,1996,2175,0,0,0,0,0,0
$GC,11629,0.53,275.4,565.3,13.3,650,11630,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1996,2172,0,0,0,0,0,0
$GC,11938,0.52,275.4,526.8,11.9,665,11940,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1996,2171,0,0,0,0,0,0
$GC,12251,0.51,275.4,488.5,13.3,684,12255,0.00,2.17,0.00,0.000,4,0.000,0.040,2626,591,2170,0,0,0,0,0,0
$GC,12387,0.51,275.4,469.6,14.1,695,12395,0.15,2.12,0.00,0.000,6,0.152,0.031,2586,1997,2170,0,0,0,0,0,0
$GC,12716,0.53,279.6,432.2,10.9,726,12728,0.00,2.17,4.38,0.617,4,0.000,0.041,2586,3405,2158,0,0,0,0,0,0
$GC,12775,0.55,279.6,425.2,11.4,731,12779,0.00,2.12,0.00,0.000,6,0.000,0.028,2594,1995,2157,0,0,0,0,0,0
$GC,13107,0.60,307.1,392.5,9.6,762,13141,0.00,2.28,23.80,0.789,4,0.000,0.040,2595,3404,2045,0,0,0,0,0,0
$GC,13180,0.62,307.1,384.3,12.2,768,13187,0.00,2.15,0.00,0.000,6,0.000,0.029,2605,1994,2043,0,0,0,0,0,0
$GC,13505,0.66,320.4,349.6,10.4,799,13522,0.00,2.17,12.02,0.761,4,0.000,0.037,2616,588,1990,0,0,0,0,0,0
$GC,13580,0.71,340.3,341.6,10.0,805,13605,0.12,2.15,17.42,0.678,6,0.093,0.030,2670,2003,1910,0,0,0,0,0,0
$GC,13922,0.68,340.3,290.4,15.8,837,13926,0.00,2.17,0.00,0.000,4,0.000,0.039,2680,589,1905,0,0,0,0,0,0
$GC,13967,0.65,340.3,283.1,15.8,840,13974,0.17,2.15,0.00,0.000,6,0.150,0.031,2633,2009,1904,0,0,0,0,0,0
$GC,14292,0.66,340.3,243.2,11.6,871,14293,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2009,1904,0,0,0,0,0,0
$GC,14615,0.72,364.7,208.8,9.8,901,14640,0.00,2.25,19.77,0.685,4,0.000,0.037,2641,594,1811,0,0,0,0,0,0
$GC,14676,0.76,378.8,202.2,10.3,906,14698,0.00,2.12,12.95,0.648,6,0.000,0.029,2641,2001,1752,0,0,0,0,0,0
$GC,15018,0.84,409.5,164.6,9.4,938,15047,0.15,0.00,25.15,0.649,6,0.080,0.000,2713,2001,1628,0,0,0,0,0,0
$GC,15378,0.82,409.5,107.9,15.9,994,15385,0.00,2.17,0.00,0.000,4,0.000,0.037,2724,593,1624,0,0,0,0,0,0
$GC,15560,0.82,409.5,82.7,13.9,1026,15567,0.12,2.15,0.00,0.000,6,0.148,0.029,2690,2010,1624,0,0,0,0,0,0
$GC,15906,0.88,426.6,50.7,10.2,1087,15925,0.00,0.00,14.38,0.527,6,0.000,0.000,2690,2011,1558,0,0,0,0,0,0
$GC,16265,0.99,470.2,11.4,8.7,1150,16303,0.15,0.00,34.55,0.518,6,0.073,0.000,2757,2013,1380,0,0,0,0,0,0
$STATE,16336,end climb,SURFACE_DEPTH_REACHED
$STATE,16336,begin surface coast
$FINISH,1.3,1.009490
$STATE,16374,end surface coast,CONTROL_FINISHED_OK
$STATE,16374,begin surface
$SM_CCo,16450,0.00,0.000,0,0,1373,471.71
$SM_GC,2.24,6.80,0.00,0.00,0.044,0.000,0.000,197,2422,1373,-6.85,0.62,471.71
$IRIDIUM_FIX,2244.02,12545.31,301010,232301
$TT8_MAMPS,0.025466
$HUMID,48.42
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.7,45.048
$10V_AH,9.9,53.645
$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,19.125,121.025,502.425,0.000,0.000,28.414,41.072,155.065,0.000,0.000,15.744,3014.653,10589.118,575.210,2315.281,321.044,0.000,1726.777,0.000,2073.867,0.000,0.540,0.000
$DEVICE_MAMPS,231.795,45.900,1149.795,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,792.291,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331396
$DATA_FILE_SIZE,70205,1169
$CAP_FILE_SIZE,159703,0
$CFSIZE,260165632,225013760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137,315.1,1
$GPS,311010,084007,2249.298,12559.516,36,1.1,36,-3.3