version: 66.08
glider: 181
mission: 4
dive: 347
start: 11 2 110 12 26 32
data:
$ID,181
$MISSION,4
$DIVE,347
$N_DIVES,351
$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,-38285.09
$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,48
$R_STBD_OVSHOOT,46
$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
$GPS1,021110,121955,2235.777,12557.299,37,1.3,37,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-60.0
$GPS2,021110,122607,2235.781,12557.237,11,1.2,23,-3.2
$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,154.9,137554,-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,-43.90,0.000,2,0.000,0.000,199,2438,2513,0,0,0,0,0,0
$GC,65,-0.79,-136.3,3.4,-3.8,7,114,8.18,2.17,-33.90,0.000,4,0.230,0.041,2165,994,3855,0,0,0,0,0,0
$GC,188,-0.72,-136.3,31.8,-29.4,28,196,0.12,2.15,0.00,0.000,6,0.176,0.035,2187,2394,3856,0,0,0,0,0,0
$GC,533,-0.67,-136.3,123.2,-18.9,89,540,0.00,2.15,0.00,0.000,4,0.000,0.041,2178,3789,3856,0,0,0,0,0,0
$GC,700,-0.66,-136.3,150.2,-15.2,118,707,0.12,2.08,0.00,0.000,6,0.148,0.024,2211,2386,3857,0,0,0,0,0,0
$GC,1025,-0.67,-136.3,199.5,-13.5,149,1029,0.00,2.15,0.00,0.000,4,0.000,0.041,2202,3783,3859,0,0,0,0,0,0
$GC,1054,-0.69,-136.3,203.4,-13.8,151,1058,0.00,2.03,0.00,0.000,6,0.000,0.024,2203,2402,3858,0,0,0,0,0,0
$GC,1385,-0.70,-136.3,245.9,-13.2,182,1389,0.00,2.08,0.00,0.000,4,0.000,0.030,2202,998,3859,0,0,0,0,0,0
$GC,1414,-0.72,-136.3,249.9,-13.9,184,1418,0.00,2.10,0.00,0.000,6,0.000,0.032,2193,2402,3859,0,0,0,0,0,0
$GC,1740,-0.74,-136.3,291.3,-11.5,214,1744,0.00,2.12,0.00,0.000,4,0.000,0.042,2183,3784,3859,0,0,0,0,0,0
$GC,1780,-0.78,-136.3,296.1,-11.5,217,1784,0.00,2.05,0.00,0.000,6,0.000,0.024,2183,2395,3859,0,0,0,0,0,0
$GC,2112,-0.80,-136.3,335.4,-11.0,248,2116,0.00,2.12,0.00,0.000,4,0.000,0.041,2175,3777,3858,0,0,0,0,0,0
$GC,2144,-0.83,-136.3,339.6,-11.7,250,2151,0.00,2.05,0.00,0.000,6,0.000,0.024,2175,2391,3858,0,0,0,0,0,0
$GC,2470,-0.84,-136.3,381.4,-13.0,281,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2388,3857,0,0,0,0,0,0
$GC,2790,-0.86,-136.3,420.4,-11.4,311,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2388,3855,0,0,0,0,0,0
$GC,3109,-0.89,-136.3,454.2,-10.3,341,3114,0.12,2.17,0.00,0.000,4,0.084,0.043,2097,3781,3854,0,0,0,0,0,0
$GC,3141,-0.86,-136.3,459.0,-15.6,343,3149,0.17,2.05,0.00,0.000,6,0.151,0.025,2145,2401,3853,0,0,0,0,0,0
$GC,3466,-0.86,-136.3,503.1,-13.8,373,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2397,3852,0,0,0,0,0,0
$GC,3775,-0.86,-136.3,544.0,-12.9,388,3779,0.00,2.10,0.00,0.000,4,0.000,0.032,2145,994,3849,0,0,0,0,0,0
$GC,3802,-0.86,-136.3,547.8,-14.0,389,3806,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2398,3849,0,0,0,0,0,0
$GC,4118,-0.86,-136.3,587.7,-12.3,404,4122,0.00,2.15,0.00,0.000,4,0.000,0.044,2128,3786,3846,0,0,0,0,0,0
$GC,4195,-0.87,-136.3,597.5,-11.8,407,4199,0.00,2.08,0.00,0.000,6,0.000,0.026,2127,2395,3846,0,0,0,0,0,0
$GC,4535,-0.87,-136.3,642.5,-13.4,419,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2393,3842,0,0,0,0,0,0
$GC,4840,-0.87,-136.3,682.8,-13.4,429,4844,0.00,2.15,0.00,0.000,4,0.000,0.045,2117,3775,3839,0,0,0,0,0,0
$GC,4884,-0.87,-136.3,689.0,-13.2,430,4888,0.00,2.08,0.00,0.000,6,0.000,0.027,2117,2406,3839,0,0,0,0,0,0
$GC,5210,-0.86,-136.3,734.0,-13.7,441,5212,0.12,0.00,0.00,0.000,6,0.164,0.000,2150,2402,3836,0,0,0,0,0,0
$GC,5516,-0.88,-136.3,766.9,-10.5,451,5520,0.00,2.10,0.00,0.000,4,0.000,0.034,2150,999,3833,0,0,0,0,0,0
$GC,5545,-0.91,-136.3,770.1,-10.8,452,5549,0.00,2.15,0.00,0.000,6,0.000,0.035,2150,2409,3833,0,0,0,0,0,0
$GC,5882,-0.95,-136.3,802.4,-9.9,463,5886,0.00,2.12,0.00,0.000,4,0.000,0.031,2150,992,3830,0,0,0,0,0,0
$GC,5982,-0.99,-136.3,812.7,-10.0,466,5987,0.12,2.15,0.00,0.000,6,0.090,0.035,2093,2399,3829,0,0,0,0,0,0
$GC,6312,-0.96,-136.3,859.7,-14.7,477,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2399,3827,0,0,0,0,0,0
$GC,6618,-0.94,-136.3,905.5,-15.1,487,6619,0.12,0.00,0.00,0.000,6,0.175,0.000,2125,2399,3825,0,0,0,0,0,0
$GC,6924,-0.94,-136.3,944.7,-12.9,497,6925,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2399,3822,0,0,0,0,0,0
$GC,7230,-0.95,-136.3,982.0,-11.8,507,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2399,3821,0,0,0,0,0,0
$STATE,7381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7381,begin apogee
$GC,7386,-0.16,0.0,1000.1,11.7,512,7498,0.75,0.00,104.30,1.144,6,0.129,0.000,2365,1966,3300,0,0,0,0,0,0
$STATE,7498,end apogee,CONTROL_FINISHED_OK
$STATE,7499,begin climb
$GC,7501,0.79,136.3,1005.2,0.0,515,7623,0.85,2.22,113.88,1.102,4,0.051,0.037,2694,612,2742,0,0,0,0,0,0
$GC,7657,0.65,136.3,1002.4,12.9,520,7663,0.25,2.25,0.00,0.000,6,0.189,0.032,2635,2003,2738,0,0,0,0,0,0
$GC,7976,0.55,136.3,962.3,12.9,531,7981,0.12,2.22,0.00,0.000,4,0.200,0.044,2605,3413,2732,0,0,0,0,0,0
$GC,8108,0.46,136.3,946.2,12.3,535,8113,0.15,2.15,0.00,0.000,6,0.199,0.028,2580,2011,2730,0,0,0,0,0,0
$GC,8449,0.47,172.3,914.7,9.1,546,8485,0.00,2.28,28.92,1.070,4,0.000,0.042,2580,3397,2595,0,0,0,0,0,0
$GC,8583,0.42,172.3,900.4,11.3,550,8587,0.00,2.15,0.00,0.000,6,0.000,0.029,2588,1999,2592,0,0,0,0,0,0
$GC,8918,0.41,193.3,866.3,10.0,561,8943,0.00,2.28,18.08,1.024,4,0.000,0.041,2588,3401,2510,0,0,0,0,0,0
$GC,9029,0.37,193.3,853.2,11.9,564,9034,0.20,2.15,0.00,0.000,6,0.181,0.030,2549,2001,2506,0,0,0,0,0,0
$GC,9353,0.44,239.9,824.9,8.6,575,9398,0.00,2.33,39.22,1.018,4,0.000,0.042,2549,3402,2320,0,0,0,0,0,0
$GC,9435,0.46,249.8,816.9,10.6,577,9453,0.00,2.20,9.68,0.874,6,0.000,0.029,2557,1991,2279,0,0,0,0,0,0
$GC,9758,0.51,267.5,783.4,10.1,588,9778,0.00,2.28,15.18,0.965,4,0.000,0.040,2557,3412,2209,0,0,0,0,0,0
$GC,9824,0.53,267.5,776.1,11.3,590,9828,0.00,2.20,0.00,0.000,6,0.000,0.029,2567,2001,2206,0,0,0,0,0,0
$GC,10160,0.56,282.7,741.1,10.3,601,10180,0.12,2.25,14.05,0.947,4,0.096,0.040,2635,593,2145,0,0,0,0,0,0
$GC,10197,0.53,282.7,736.0,15.0,602,10202,0.15,2.20,0.00,0.000,6,0.164,0.031,2597,2009,2144,0,0,0,0,0,0
$GC,10526,0.53,282.7,695.0,12.4,613,10530,0.00,2.20,0.00,0.000,4,0.000,0.042,2596,3410,2140,0,0,0,0,0,0
$GC,10586,0.53,282.7,686.8,14.0,614,10593,0.00,2.20,0.00,0.000,6,0.000,0.029,2606,1962,2140,0,0,0,0,0,0
$GC,10900,0.53,282.7,646.3,12.8,625,10901,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1961,2139,0,0,0,0,0,0
$GC,11205,0.53,282.7,607.9,12.9,635,11209,0.00,2.25,0.00,0.000,4,0.000,0.041,2606,3408,2138,0,0,0,0,0,0
$GC,11255,0.52,282.7,600.8,14.4,636,11259,0.00,2.12,0.00,0.000,6,0.000,0.030,2616,2001,2138,0,0,0,0,0,0
$GC,11578,0.51,282.7,557.3,13.2,652,11582,0.00,2.17,0.00,0.000,4,0.000,0.039,2627,589,2138,0,0,0,0,0,0
$GC,11618,0.50,282.7,551.8,12.8,654,11623,0.15,2.15,0.00,0.000,6,0.158,0.031,2587,2000,2138,0,0,0,0,0,0
$GC,11948,0.51,282.7,513.1,11.6,670,11952,0.00,2.17,0.00,0.000,4,0.000,0.041,2587,3404,2137,0,0,0,0,0,0
$GC,11975,0.52,282.7,509.1,12.3,671,11979,0.00,2.12,0.00,0.000,6,0.000,0.029,2595,1992,2137,0,0,0,0,0,0
$GC,12300,0.54,288.7,471.4,10.8,698,12313,0.00,2.15,5.40,0.712,4,0.000,0.038,2606,586,2121,0,0,0,0,0,0
$GC,12348,0.55,288.7,465.8,11.6,702,12352,0.00,2.15,0.00,0.000,6,0.000,0.031,2606,1999,2121,0,0,0,0,0,0
$GC,12673,0.55,288.7,429.2,11.3,732,12677,0.00,2.22,0.00,0.000,4,0.000,0.042,2607,3410,2119,0,0,0,0,0,0
$GC,12728,0.55,288.7,422.3,12.8,736,12736,0.00,2.17,0.00,0.000,6,0.000,0.029,2617,1997,2119,0,0,0,0,0,0
$GC,13054,0.55,288.7,380.9,12.9,767,13058,0.00,2.12,0.00,0.000,4,0.000,0.039,2627,595,2119,0,0,0,0,0,0
$GC,13082,0.55,288.7,377.2,13.6,769,13086,0.00,2.15,0.00,0.000,6,0.000,0.031,2627,2009,2119,0,0,0,0,0,0
$GC,13407,0.55,288.7,336.4,11.7,799,13411,0.00,2.15,0.00,0.000,4,0.000,0.042,2627,3408,2119,0,0,0,0,0,0
$GC,13458,0.54,288.7,329.8,13.6,803,13463,0.15,2.12,0.00,0.000,6,0.164,0.029,2598,1995,2119,0,0,0,0,0,0
$GC,13785,0.60,319.8,298.2,9.4,833,13819,0.00,2.17,26.42,0.734,4,0.000,0.039,2607,589,1993,0,0,0,0,0,0
$GC,13873,0.65,325.3,289.2,10.8,840,13883,0.00,2.17,5.75,0.571,6,0.000,0.030,2607,2006,1971,0,0,0,0,0,0
$GC,14204,0.71,344.8,252.5,10.0,871,14228,0.12,2.25,17.05,0.686,4,0.091,0.041,2664,3404,1892,0,0,0,0,0,0
$GC,14298,0.69,344.8,239.3,15.4,879,14302,0.00,2.15,0.00,0.000,6,0.000,0.029,2675,1994,1890,0,0,0,0,0,0
$GC,14623,0.67,344.8,190.6,14.0,909,14628,0.12,2.17,0.00,0.000,4,0.168,0.038,2652,593,1889,0,0,0,0,0,0
$GC,14736,0.68,345.3,177.6,11.1,918,14743,0.00,2.15,0.00,0.000,6,0.000,0.029,2652,2007,1888,0,0,0,0,0,0
$GC,15066,0.73,376.7,141.6,9.4,956,15097,0.00,2.25,26.10,0.633,4,0.000,0.040,2652,3409,1761,0,0,0,0,0,0
$GC,15154,0.76,376.7,132.1,11.4,971,15161,0.00,2.15,0.00,0.000,6,0.000,0.028,2663,1989,1760,0,0,0,0,0,0
$GC,15502,0.81,395.1,93.9,10.1,1032,15522,0.00,2.20,15.60,0.565,4,0.000,0.037,2673,595,1686,0,0,0,0,0,0
$GC,15609,0.91,432.0,83.5,9.1,1050,15646,0.12,2.15,29.77,0.578,6,0.084,0.028,2735,2008,1537,0,0,0,0,0,0
$GC,15983,0.91,432.0,35.1,14.8,1116,15989,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2009,1532,0,0,0,0,0,0
$STATE,16199,end climb,SURFACE_DEPTH_REACHED
$STATE,16199,begin surface coast
$FINISH,1.3,1.007153
$STATE,16222,end surface coast,CONTROL_FINISHED_OK
$STATE,16223,begin surface
$SM_CCo,16300,0.00,0.000,0,0,1529,433.69
$SM_GC,2.48,6.68,0.00,0.00,0.043,0.000,0.000,200,2423,1529,-6.85,0.68,433.69
$IRIDIUM_FIX,2230.01,12622.76,021110,070706
$TT8_MAMPS,0.025466
$HUMID,50.19
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.6,46.780
$10V_AH,9.9,54.583
$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,19.050,139.475,469.400,0.000,0.000,31.553,17.325,162.928,0.000,0.000,25.975,3008.025,10460.167,542.377,2328.022,326.587,0.000,1706.010,0.000,2086.231,0.000,0.542,0.000
$DEVICE_MAMPS,230.265,45.135,1144.440,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,786.451,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331448
$DATA_FILE_SIZE,70180,1159
$CAP_FILE_SIZE,164628,0
$CFSIZE,260165632,224079872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.185,334.2,1
$GPS,021110,165931,2235.229,12557.596,41,1.0,41,-3.2