version: 66.08
glider: 181
mission: 4
dive: 317
start: 10 27 110 16 5 56
data:
$ID,181
$MISSION,4
$DIVE,317
$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,-38247.363
$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,46
$R_STBD_OVSHOOT,37
$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
$GPS1,271010,155931,2313.724,12603.614,78,1.5,78,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-48.9
$GPS2,271010,160531,2313.682,12603.512,19,1.6,30,-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,183.8,207613,-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,-136.3,0.0,0.0,0,66,0.00,0.00,-48.40,0.000,2,0.000,0.000,204,2400,2544,0,0,0,0,0,0
$GC,69,-0.79,-136.3,3.2,-4.8,8,120,8.07,2.10,-34.35,0.000,4,0.229,0.038,2158,975,3854,0,0,0,0,0,0
$GC,278,-0.68,-136.3,51.7,-29.5,44,286,0.20,2.17,0.00,0.000,6,0.164,0.035,2201,2398,3855,0,0,0,0,0,0
$GC,622,-0.64,-136.3,127.0,-20.8,105,629,0.00,2.12,0.00,0.000,4,0.000,0.031,2201,985,3856,0,0,0,0,0,0
$GC,776,-0.67,-136.3,151.9,-13.7,131,783,0.00,2.15,0.00,0.000,6,0.000,0.032,2193,2405,3856,0,0,0,0,0,0
$GC,1101,-0.67,-136.3,201.9,-15.7,162,1105,0.00,2.10,0.00,0.000,4,0.000,0.031,2193,985,3857,0,0,0,0,0,0
$GC,1130,-0.67,-136.3,206.3,-15.5,164,1134,0.00,2.12,0.00,0.000,6,0.000,0.034,2185,2399,3858,0,0,0,0,0,0
$GC,1455,-0.67,-136.3,255.6,-15.8,194,1459,0.00,2.12,0.00,0.000,4,0.000,0.042,2174,3778,3857,0,0,0,0,0,0
$GC,1541,-0.69,-136.3,268.6,-13.8,201,1545,0.00,2.05,0.00,0.000,6,0.000,0.024,2175,2391,3857,0,0,0,0,0,0
$GC,1871,-0.69,-136.3,317.8,-14.6,232,1875,0.00,2.05,0.00,0.000,4,0.000,0.030,2175,1004,3857,0,0,0,0,0,0
$GC,1951,-0.72,-136.3,328.6,-13.0,239,1954,0.00,2.10,0.00,0.000,6,0.000,0.032,2165,2401,3857,0,0,0,0,0,0
$GC,2276,-0.72,-136.3,373.9,-14.3,269,2280,0.00,2.12,0.00,0.000,4,0.000,0.042,2154,3783,3855,0,0,0,0,0,0
$GC,2319,-0.72,-136.3,380.4,-14.4,272,2328,0.10,2.08,0.00,0.000,6,0.122,0.024,2189,2391,3855,0,0,0,0,0,0
$GC,2645,-0.75,-136.3,418.7,-12.5,303,2649,0.00,2.05,0.00,0.000,4,0.000,0.031,2189,1012,3854,0,0,0,0,0,0
$GC,2695,-0.80,-136.3,424.5,-10.8,307,2701,0.00,2.12,0.00,0.000,6,0.000,0.033,2182,2409,3854,0,0,0,0,0,0
$GC,3020,-0.83,-136.3,461.2,-10.9,338,3024,0.00,2.12,0.00,0.000,4,0.000,0.044,2174,3777,3852,0,0,0,0,0,0
$GC,3050,-0.87,-136.3,464.3,-10.4,340,3054,0.00,2.03,0.00,0.000,6,0.000,0.026,2174,2395,3851,0,0,0,0,0,0
$GC,3380,-0.89,-136.3,502.7,-12.1,370,3385,0.12,2.08,0.00,0.000,4,0.087,0.032,2110,998,3849,0,0,0,0,0,0
$GC,3430,-0.87,-136.3,510.9,-17.4,372,3434,0.15,2.15,0.00,0.000,6,0.162,0.034,2138,2406,3849,0,0,0,0,0,0
$GC,3746,-0.87,-136.3,559.3,-15.5,387,3750,0.00,2.12,0.00,0.000,4,0.000,0.044,2129,3776,3846,0,0,0,0,0,0
$GC,3829,-0.87,-136.3,572.3,-14.3,391,3833,0.00,2.03,0.00,0.000,6,0.000,0.027,2129,2398,3846,0,0,0,0,0,0
$GC,4171,-0.86,-136.3,624.2,-14.9,405,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2395,3843,0,0,0,0,0,0
$GC,4476,-0.85,-136.3,669.4,-14.7,415,4480,0.00,2.08,0.00,0.000,4,0.000,0.033,2129,1000,3840,0,0,0,0,0,0
$GC,4498,-0.85,-136.3,672.9,-14.3,415,4505,0.00,2.17,0.00,0.000,6,0.000,0.036,2121,2400,3840,0,0,0,0,0,0
$GC,4812,-0.83,-136.3,717.6,-14.3,426,4817,0.12,2.17,0.00,0.000,4,0.185,0.045,2143,3777,3838,0,0,0,0,0,0
$GC,4867,-0.86,-136.3,724.5,-11.3,427,4874,0.00,2.05,0.00,0.000,6,0.000,0.026,2143,2402,3837,0,0,0,0,0,0
$GC,5180,-0.86,-136.3,760.5,-11.4,438,5184,0.00,2.15,0.00,0.000,4,0.000,0.046,2133,3778,3834,0,0,0,0,0,0
$GC,5202,-0.87,-136.3,763.0,-11.3,438,5206,0.00,2.08,0.00,0.000,6,0.000,0.027,2133,2397,3834,0,0,0,0,0,0
$GC,5514,-0.87,-136.3,799.0,-11.6,448,5518,0.00,2.10,0.00,0.000,4,0.000,0.034,2133,999,3832,0,0,0,0,0,0
$GC,5558,-0.89,-136.3,804.2,-11.3,449,5562,0.00,2.17,0.00,0.000,6,0.000,0.036,2124,2412,3831,0,0,0,0,0,0
$GC,5883,-0.89,-136.3,843.6,-12.5,460,5887,0.00,2.15,0.00,0.000,4,0.000,0.047,2113,3785,3828,0,0,0,0,0,0
$GC,5945,-0.89,-136.3,851.6,-12.0,462,5948,0.00,2.10,0.00,0.000,6,0.000,0.028,2113,2392,3827,0,0,0,0,0,0
$GC,6281,-0.87,-136.3,898.4,-14.4,473,6285,0.12,2.10,0.00,0.000,4,0.169,0.034,2145,998,3826,0,0,0,0,0,0
$GC,6296,-0.87,-136.3,901.0,-14.3,473,6300,0.00,2.15,0.00,0.000,6,0.000,0.036,2138,2406,3826,0,0,0,0,0,0
$GC,6609,-0.89,-136.3,938.4,-11.8,483,6610,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2406,3823,0,0,0,0,0,0
$GC,6916,-0.91,-136.3,973.2,-11.1,493,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2406,3820,0,0,0,0,0,0
$STATE,7189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7189,begin apogee
$GC,7195,-0.16,0.0,1001.8,10.2,502,7305,0.73,0.00,103.72,1.154,6,0.126,0.000,2371,1980,3298,0,0,0,0,0,0
$STATE,7306,end apogee,CONTROL_FINISHED_OK
$STATE,7306,begin climb
$GC,7308,0.79,136.3,1005.6,0.0,505,7430,0.85,2.28,112.95,1.107,4,0.044,0.039,2706,613,2742,0,0,0,0,0,0
$GC,7589,0.64,136.3,982.8,17.1,514,7595,0.30,2.20,0.00,0.000,6,0.194,0.034,2632,2009,2735,0,0,0,0,0,0
$GC,7920,0.55,139.6,943.4,10.9,525,7924,0.00,2.20,0.00,0.000,4,0.000,0.044,2632,3413,2731,0,0,0,0,0,0
$GC,7969,0.43,139.6,937.2,12.1,526,7974,0.30,2.12,0.00,0.000,6,0.193,0.030,2565,2011,2730,0,0,0,0,0,0
$GC,8283,0.49,212.0,913.8,7.1,536,8350,0.00,2.33,61.08,1.077,4,0.000,0.042,2565,3397,2432,0,0,0,0,0,0
$GC,8374,0.50,229.2,906.1,10.2,538,8395,0.00,2.22,15.55,0.972,6,0.000,0.030,2574,1999,2363,0,0,0,0,0,0
$GC,8720,0.51,236.2,869.5,10.7,550,8730,0.00,2.20,5.88,0.893,4,0.000,0.039,2584,586,2335,0,0,0,0,0,0
$GC,8764,0.53,254.9,864.4,10.1,551,8788,0.00,2.17,17.73,0.998,6,0.000,0.033,2585,2003,2258,0,0,0,0,0,0
$GC,9119,0.53,254.9,822.2,12.0,563,9123,0.00,2.20,0.00,0.000,4,0.000,0.043,2585,3412,2251,0,0,0,0,0,0
$GC,9174,0.51,254.9,815.0,13.0,564,9182,0.00,2.17,0.00,0.000,6,0.000,0.030,2595,1999,2250,0,0,0,0,0,0
$GC,9487,0.50,254.9,775.1,12.9,575,9491,0.00,2.15,0.00,0.000,4,0.000,0.041,2606,595,2249,0,0,0,0,0,0
$GC,9565,0.50,254.9,764.5,13.1,577,9569,0.00,2.20,0.00,0.000,6,0.000,0.032,2606,2009,2249,0,0,0,0,0,0
$GC,9895,0.48,254.9,718.1,13.9,588,9899,0.00,2.17,0.00,0.000,4,0.000,0.043,2606,3414,2248,0,0,0,0,0,0
$GC,9959,0.44,254.9,708.4,15.7,590,9964,0.17,2.15,0.00,0.000,6,0.173,0.030,2572,1994,2247,0,0,0,0,0,0
$GC,10296,0.48,272.9,672.0,10.1,601,10315,0.00,2.17,14.52,0.944,4,0.000,0.041,2580,597,2185,0,0,0,0,0,0
$GC,10350,0.51,279.9,666.1,10.7,602,10363,0.00,2.15,7.65,0.781,6,0.000,0.032,2580,2006,2156,0,0,0,0,0,0
$GC,10669,0.54,289.9,632.6,10.6,613,10683,0.00,2.20,9.38,0.871,4,0.000,0.044,2580,3406,2115,0,0,0,0,0,0
$GC,10706,0.55,289.9,627.9,12.0,614,10710,0.00,2.15,0.00,0.000,6,0.000,0.031,2591,2001,2115,0,0,0,0,0,0
$GC,11028,0.56,289.9,590.1,12.1,626,11031,0.00,2.17,0.00,0.000,4,0.000,0.041,2601,596,2113,0,0,0,0,0,0
$GC,11094,0.57,289.9,581.4,11.7,629,11098,0.00,2.15,0.00,0.000,6,0.000,0.031,2602,2012,2113,0,0,0,0,0,0
$GC,11423,0.57,289.9,540.6,12.5,645,11426,0.00,2.15,0.00,0.000,4,0.000,0.042,2601,3408,2111,0,0,0,0,0,0
$GC,11494,0.57,289.9,531.1,12.6,648,11499,0.00,2.17,0.00,0.000,6,0.000,0.031,2612,2002,2110,0,0,0,0,0,0
$GC,11818,0.58,292.7,493.6,11.0,666,11822,0.00,2.17,0.00,0.000,4,0.000,0.041,2623,590,2110,0,0,0,0,0,0
$GC,11926,0.59,299.9,481.5,10.7,675,11941,0.00,2.15,9.40,0.840,6,0.000,0.032,2623,2000,2074,0,0,0,0,0,0
$GC,12267,0.59,299.9,440.9,12.0,707,12268,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2000,2072,0,0,0,0,0,0
$GC,12587,0.59,299.9,399.7,12.9,737,12589,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2000,2072,0,0,0,0,0,0
$GC,12906,0.59,299.9,360.3,12.5,767,12910,0.00,2.20,0.00,0.000,4,0.000,0.041,2624,3414,2072,0,0,0,0,0,0
$GC,12971,0.59,299.9,351.6,13.3,772,12979,0.00,2.17,0.00,0.000,6,0.000,0.029,2633,1999,2071,0,0,0,0,0,0
$GC,13297,0.57,299.9,311.4,12.0,803,13301,0.00,2.15,0.00,0.000,4,0.000,0.040,2644,596,2072,0,0,0,0,0,0
$GC,13443,0.57,299.9,293.4,11.5,815,13451,0.12,2.12,0.00,0.000,6,0.159,0.031,2611,2011,2072,0,0,0,0,0,0
$GC,13769,0.61,314.7,260.4,10.3,846,13792,0.00,2.22,13.25,0.701,4,0.000,0.041,2611,3411,2016,0,0,0,0,0,0
$GC,13838,0.64,314.7,252.5,11.9,852,13842,0.00,2.15,0.00,0.000,6,0.000,0.029,2619,1993,2014,0,0,0,0,0,0
$GC,14169,0.66,314.7,215.1,11.4,883,14173,0.00,2.12,0.00,0.000,4,0.000,0.039,2630,589,2013,0,0,0,0,0,0
$GC,14276,0.69,314.7,203.1,11.2,892,14283,0.00,2.12,0.00,0.000,6,0.000,0.030,2630,2007,2013,0,0,0,0,0,0
$GC,14602,0.77,357.5,169.9,8.8,923,14648,0.12,2.25,35.15,0.669,4,0.092,0.040,2687,3410,1839,0,0,0,0,0,0
$GC,14767,0.75,357.5,148.8,14.4,938,14774,0.12,2.15,0.00,0.000,6,0.171,0.028,2668,1998,1835,0,0,0,0,0,0
$GC,15113,0.82,394.9,111.1,9.1,999,15151,0.00,2.17,29.30,0.614,4,0.000,0.037,2676,598,1687,0,0,0,0,0,0
$GC,15325,0.92,434.5,90.0,8.9,1036,15364,0.12,2.12,31.65,0.588,6,0.084,0.028,2737,2004,1526,0,0,0,0,0,0
$GC,15700,0.91,434.5,52.3,11.8,1102,15707,0.00,2.17,0.00,0.000,4,0.000,0.040,2748,600,1520,0,0,0,0,0,0
$GC,15748,0.91,434.5,45.6,14.0,1110,15755,0.00,2.10,0.00,0.000,6,0.000,0.028,2748,2002,1521,0,0,0,0,0,0
$STATE,16020,end climb,SURFACE_DEPTH_REACHED
$STATE,16020,begin surface coast
$FINISH,1.3,1.021968
$STATE,16049,end surface coast,CONTROL_FINISHED_OK
$STATE,16049,begin surface
$SM_CCo,16125,0.00,0.000,0,0,1518,436.63
$SM_GC,3.45,6.70,0.00,0.00,0.044,0.000,0.000,201,2420,1518,-6.85,0.57,436.63
$IRIDIUM_FIX,2302.75,12609.05,271010,111146
$TT8_MAMPS,0.025466
$HUMID,50.19
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.8,42.479
$10V_AH,9.9,52.251
$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,18.450,151.350,467.200,0.000,0.000,30.520,14.635,148.092,0.000,0.000,33.392,3018.248,10191.417,561.024,2398.631,308.411,0.000,1762.526,0.000,2159.490,0.000,0.541,0.000
$DEVICE_MAMPS,228.735,46.665,1153.620,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,788.128,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70229,1164
$CAP_FILE_SIZE,164961,0
$CFSIZE,260165632,226390016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130, 43.3,1
$GPS,271010,203630,2312.264,12604.405,71,1.1,71,-3.4