version: 66.08
glider: 181
mission: 4
dive: 298
start: 10 24 110 2 46 15
data:
$ID,181
$MISSION,4
$DIVE,298
$N_DIVES,307
$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,-38224.723
$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,47
$R_STBD_OVSHOOT,51
$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
$GPS1,241010,023936,2327.008,12607.565,35,0.9,35,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-72.6
$GPS2,241010,024550,2327.081,12607.526,12,1.6,12,-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,187.1,232646,-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,-136.3,0.0,0.0,0,61,0.00,0.00,-43.22,0.000,2,0.000,0.000,200,2426,2510,0,0,0,0,0,0
$GC,64,-0.79,-136.3,3.2,-4.3,7,114,7.97,0.00,-34.80,0.000,6,0.226,0.000,2164,2427,3856,0,0,0,0,0,0
$GC,451,-0.72,-136.3,117.8,-18.4,75,458,0.00,2.08,0.00,0.000,4,0.000,0.041,2155,3771,3858,0,0,0,0,0,0
$GC,482,-0.64,-136.3,124.7,-21.7,80,490,0.22,2.05,0.00,0.000,6,0.142,0.025,2219,2386,3858,0,0,0,0,0,0
$GC,818,-0.64,-136.3,174.4,-15.9,126,821,0.00,2.05,0.00,0.000,4,0.000,0.031,2219,985,3860,0,0,0,0,0,0
$GC,847,-0.65,-136.3,179.2,-17.1,128,851,0.00,2.12,0.00,0.000,6,0.000,0.034,2218,2395,3860,0,0,0,0,0,0
$GC,1173,-0.68,-136.3,222.8,-12.7,158,1176,0.00,2.08,0.00,0.000,4,0.000,0.030,2218,986,3860,0,0,0,0,0,0
$GC,1240,-0.75,-136.3,230.8,-10.9,163,1246,0.00,2.12,0.00,0.000,6,0.000,0.033,2218,2399,3860,0,0,0,0,0,0
$GC,1565,-0.78,-136.3,266.3,-10.8,194,1570,0.15,2.12,0.00,0.000,4,0.072,0.043,2130,3775,3860,0,0,0,0,0,0
$GC,1650,-0.76,-136.3,280.1,-16.6,201,1655,0.17,2.03,0.00,0.000,6,0.151,0.024,2178,2388,3859,0,0,0,0,0,0
$GC,1976,-0.76,-136.3,329.4,-14.5,231,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2385,3858,0,0,0,0,0,0
$GC,2295,-0.76,-136.3,374.1,-12.3,261,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2385,3858,0,0,0,0,0,0
$GC,2615,-0.77,-136.3,413.1,-13.0,291,2619,0.00,2.05,0.00,0.000,4,0.000,0.031,2178,1007,3855,0,0,0,0,0,0
$GC,2665,-0.80,-136.3,419.7,-11.0,295,2672,0.00,2.10,0.00,0.000,6,0.000,0.034,2177,2400,3855,0,0,0,0,0,0
$GC,2991,-0.82,-136.3,462.0,-13.7,326,2995,0.00,2.15,0.00,0.000,4,0.000,0.044,2166,3784,3854,0,0,0,0,0,0
$GC,3020,-0.84,-136.3,466.1,-13.7,328,3024,0.00,2.03,0.00,0.000,6,0.000,0.026,2166,2403,3853,0,0,0,0,0,0
$GC,3360,-0.85,-136.3,512.4,-13.5,356,3363,0.00,2.08,0.00,0.000,4,0.000,0.032,2166,993,3851,0,0,0,0,0,0
$GC,3404,-0.88,-136.3,518.3,-12.4,358,3408,0.00,2.12,0.00,0.000,6,0.000,0.034,2164,2400,3852,0,0,0,0,0,0
$GC,3726,-0.90,-136.3,556.8,-12.2,374,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2400,3849,0,0,0,0,0,0
$GC,4036,-0.92,-136.3,594.4,-12.0,389,4041,0.10,2.17,0.00,0.000,4,0.102,0.046,2101,3784,3846,0,0,0,0,0,0
$GC,4101,-0.89,-136.3,604.7,-15.8,392,4106,0.15,2.08,0.00,0.000,6,0.155,0.026,2141,2391,3846,0,0,0,0,0,0
$GC,4437,-0.89,-136.3,651.9,-14.2,403,4441,0.00,2.08,0.00,0.000,4,0.000,0.032,2141,1005,3843,0,0,0,0,0,0
$GC,4466,-0.89,-136.3,656.1,-14.7,403,4472,0.00,2.12,0.00,0.000,6,0.000,0.035,2138,2401,3843,0,0,0,0,0,0
$GC,4778,-0.89,-136.3,698.8,-13.4,414,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2401,3840,0,0,0,0,0,0
$GC,5084,-0.89,-136.3,738.9,-13.0,424,5088,0.00,2.15,0.00,0.000,4,0.000,0.045,2128,3780,3838,0,0,0,0,0,0
$GC,5129,-0.90,-136.3,744.9,-13.8,425,5133,0.00,2.05,0.00,0.000,6,0.000,0.028,2127,2397,3837,0,0,0,0,0,0
$GC,5447,-0.90,-136.3,786.6,-13.3,436,5451,0.00,2.08,0.00,0.000,4,0.000,0.034,2127,1006,3834,0,0,0,0,0,0
$GC,5516,-0.91,-136.3,795.9,-12.8,438,5520,0.00,2.15,0.00,0.000,6,0.000,0.036,2119,2407,3833,0,0,0,0,0,0
$GC,5851,-0.90,-136.3,843.9,-14.6,449,5855,0.00,2.12,0.00,0.000,4,0.000,0.046,2109,3780,3831,0,0,0,0,0,0
$GC,5920,-0.90,-136.3,854.1,-14.2,451,5924,0.00,2.05,0.00,0.000,6,0.000,0.028,2109,2401,3830,0,0,0,0,0,0
$GC,6255,-0.88,-136.3,905.1,-15.1,462,6260,0.12,2.12,0.00,0.000,4,0.168,0.035,2141,1004,3827,0,0,0,0,0,0
$GC,6298,-0.91,-136.3,911.2,-12.6,463,6303,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2399,3827,0,0,0,0,0,0
$GC,6628,-0.92,-136.3,950.6,-12.0,474,6632,0.00,2.15,0.00,0.000,4,0.000,0.047,2128,3783,3826,0,0,0,0,0,0
$GC,6668,-0.94,-136.3,955.5,-12.8,475,6671,0.00,2.10,0.00,0.000,6,0.000,0.028,2128,2393,3826,0,0,0,0,0,0
$GC,6991,-0.94,-136.3,996.8,-12.5,486,6995,0.00,2.10,0.00,0.000,4,0.000,0.036,2128,1004,3823,0,0,0,0,0,0
$STATE,7016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7016,begin apogee
$GC,7024,-0.16,0.0,1000.4,12.8,486,7134,0.77,0.00,104.07,1.145,6,0.133,0.000,2368,2014,3298,0,0,0,0,0,0
$STATE,7134,end apogee,CONTROL_FINISHED_OK
$STATE,7134,begin climb
$GC,7137,0.79,136.3,1005.0,0.0,490,7260,0.85,2.40,113.07,1.103,4,0.048,0.039,2702,600,2741,0,0,0,0,0,0
$GC,7277,0.65,149.6,1004.1,10.4,494,7295,0.28,2.25,12.32,0.975,6,0.194,0.033,2637,1997,2688,0,0,0,0,0,0
$GC,7622,0.56,149.6,959.2,13.1,506,7624,0.12,0.00,0.00,0.000,6,0.197,0.000,2607,1999,2680,0,0,0,0,0,0
$GC,7926,0.49,149.6,924.1,11.3,516,7930,0.00,2.20,0.00,0.000,4,0.000,0.044,2607,3407,2677,0,0,0,0,0,0
$GC,8023,0.40,149.6,911.5,12.8,519,8028,0.22,2.12,0.00,0.000,6,0.194,0.029,2560,2006,2675,0,0,0,0,0,0
$GC,8359,0.43,191.4,880.5,8.8,530,8399,0.00,2.28,33.55,1.063,4,0.000,0.039,2568,597,2517,0,0,0,0,0,0
$GC,8425,0.46,218.0,874.4,9.7,532,8457,0.00,2.20,23.42,0.997,6,0.000,0.032,2569,2012,2407,0,0,0,0,0,0
$GC,8765,0.47,231.4,837.9,10.4,543,8781,0.00,2.28,11.52,0.983,4,0.000,0.043,2569,3404,2354,0,0,0,0,0,0
$GC,8854,0.46,231.4,827.1,11.4,545,8861,0.00,2.15,0.00,0.000,6,0.000,0.030,2579,2000,2351,0,0,0,0,0,0
$GC,9167,0.45,231.4,790.2,11.8,556,9169,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2000,2349,0,0,0,0,0,0
$GC,9473,0.44,231.4,754.1,11.8,566,9477,0.00,2.17,0.00,0.000,4,0.000,0.041,2590,592,2348,0,0,0,0,0,0
$GC,9535,0.44,231.4,746.8,11.5,568,9540,0.00,2.15,0.00,0.000,6,0.000,0.032,2589,2003,2346,0,0,0,0,0,0
$GC,9878,0.42,231.4,705.0,12.3,579,9882,0.00,2.20,0.00,0.000,4,0.000,0.044,2590,3410,2346,0,0,0,0,0,0
$GC,9961,0.39,231.4,693.2,13.3,581,9966,0.17,2.12,0.00,0.000,6,0.174,0.030,2555,2000,2345,0,0,0,0,0,0
$GC,10276,0.43,251.0,660.8,10.0,591,10297,0.00,2.17,16.45,0.944,4,0.000,0.037,2565,589,2273,0,0,0,0,0,0
$GC,10319,0.47,267.5,656.0,10.2,592,10340,0.00,2.17,14.80,0.861,6,0.000,0.032,2564,2009,2207,0,0,0,0,0,0
$GC,10678,0.51,283.9,619.2,10.2,604,10697,0.00,2.22,14.60,0.897,4,0.000,0.044,2564,3415,2139,0,0,0,0,0,0
$GC,10736,0.53,283.9,612.4,11.3,605,10743,0.00,2.20,0.00,0.000,6,0.000,0.030,2575,1995,2138,0,0,0,0,0,0
$GC,11053,0.59,318.0,581.8,9.2,619,11084,0.12,0.00,28.80,0.885,6,0.093,0.000,2634,1993,2001,0,0,0,0,0,0
$GC,11381,0.57,318.0,535.5,15.4,635,11382,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1993,1994,0,0,0,0,0,0
$GC,11691,0.54,318.0,489.5,14.1,653,11696,0.12,2.17,0.00,0.000,4,0.169,0.040,2612,595,1992,0,0,0,0,0,0
$GC,11749,0.56,318.0,482.3,11.5,657,11755,0.00,2.15,0.00,0.000,6,0.000,0.031,2612,2004,1992,0,0,0,0,0,0
$GC,12074,0.56,318.0,442.0,12.8,688,12078,0.00,2.17,0.00,0.000,4,0.000,0.043,2612,3403,1992,0,0,0,0,0,0
$GC,12097,0.56,318.0,438.9,13.0,690,12101,0.00,2.12,0.00,0.000,6,0.000,0.030,2622,1997,1991,0,0,0,0,0,0
$GC,12422,0.56,318.0,394.6,13.8,720,12426,0.00,2.15,0.00,0.000,4,0.000,0.041,2632,597,1990,0,0,0,0,0,0
$GC,12500,0.56,318.0,384.2,13.2,726,12508,0.00,2.12,0.00,0.000,6,0.000,0.031,2632,2003,1991,0,0,0,0,0,0
$GC,12825,0.54,318.0,342.3,12.8,757,12827,0.12,0.00,0.00,0.000,6,0.168,0.000,2600,2006,1990,0,0,0,0,0,0
$GC,13145,0.58,329.4,310.1,10.5,787,13156,0.00,0.00,9.07,0.708,6,0.000,0.000,2600,2005,1954,0,0,0,0,0,0
$GC,13473,0.62,329.4,273.3,11.4,818,13475,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2006,1953,0,0,0,0,0,0
$GC,13793,0.66,339.1,238.8,10.6,848,13809,0.12,2.22,9.70,0.658,4,0.086,0.042,2659,3407,1915,0,0,0,0,0,0
$GC,13874,0.65,339.1,226.7,16.0,855,13879,0.15,2.12,0.00,0.000,6,0.162,0.029,2631,1993,1914,0,0,0,0,0,0
$GC,14200,0.70,372.5,191.4,9.3,885,14235,0.00,2.15,27.70,0.691,4,0.000,0.037,2640,593,1778,0,0,0,0,0,0
$GC,14295,0.78,406.8,182.7,9.2,893,14330,0.10,2.15,27.88,0.641,6,0.097,0.030,2691,2012,1638,0,0,0,0,0,0
$GC,14655,0.78,406.8,123.8,16.3,939,14661,0.00,2.17,0.00,0.000,4,0.000,0.039,2691,3411,1632,0,0,0,0,0,0
$GC,14792,0.78,406.8,100.1,15.5,963,14799,0.00,2.15,0.00,0.000,6,0.000,0.028,2702,1994,1632,0,0,0,0,0,0
$GC,15137,0.85,442.7,57.2,9.1,1024,15173,0.00,2.17,27.90,0.572,4,0.000,0.037,2712,605,1492,0,0,0,0,0,0
$GC,15274,0.94,485.2,45.1,8.8,1048,15317,0.00,2.12,33.65,0.561,6,0.000,0.029,2713,2013,1319,0,0,0,0,0,0
$GC,15655,1.00,497.2,5.7,10.5,1115,15674,0.10,2.22,10.45,0.473,4,0.095,0.037,2776,596,1268,0,0,0,0,0,0
$STATE,15680,end climb,SURFACE_DEPTH_REACHED
$STATE,15680,begin surface coast
$FINISH,1.2,1.002246
$STATE,15703,end surface coast,CONTROL_FINISHED_OK
$STATE,15703,begin surface
$SM_CCo,15783,0.00,0.000,0,0,1266,498.45
$SM_GC,2.08,6.78,0.00,0.00,0.040,0.000,0.000,195,2394,1266,-6.86,-0.17,498.45
$IRIDIUM_FIX,2316.83,12601.47,231010,222245
$TT8_MAMPS,0.026215
$HUMID,49.05
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.60
$XPDR_PINGS,1
$24V_AH,23.9,39.890
$10V_AH,10.0,50.830
$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,18.950,132.950,518.975,0.000,0.000,29.638,48.173,152.171,0.250,0.000,14.958,2895.374,10094.335,597.197,2259.909,303.864,0.000,1723.492,0.000,2012.710,0.000,0.541,0.000
$DEVICE_MAMPS,225.675,47.430,1145.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,759.912,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331344
$DATA_FILE_SIZE,66957,1123
$CAP_FILE_SIZE,158327,0
$CFSIZE,260165632,227790848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089, 14.8,1
$GPS,241010,071036,2325.569,12607.664,40,1.1,40,-3.4