version: 66.08
glider: 181
mission: 4
dive: 251
start: 10 15 110 4 10 25
data:
$ID,181
$MISSION,4
$DIVE,251
$N_DIVES,262
$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,160
$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,-38161.812
$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,41
$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,1
$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,3.0
$TM_XMITPROFILE,3.0
$TM_UPLOADMAX,40000.0
$TM_STARTS,500.0
$TM_NFFT,512.0
$TM_NAVG,4.0
$TM_PSD,10.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,0.0
$LA_XMITPROFILE,0.0
$LA_UPLOADMAX,25000.0
$LA_STARTS,4.0
$GPS1,151010,040037,2417.600,12608.860,38,1.2,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-67.8
$GPS2,151010,040955,2417.507,12608.951,18,1.3,18,-3.7
$SPEED_LIMITS,0.192,0.277
$TGT_NAME,NWALL_S
$TGT_LATLONG,2340.000,12609.000
$TGT_RADIUS,1000.000
$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,211.1,69463,-18.6,-11.111
$D_GRID,1528
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.77,-155.7,0.0,0.0,0,76,0.00,0.00,-52.58,0.000,2,0.000,0.000,196,2416,2547,0,0,0,0,0,0
$GC,79,-0.77,-155.7,3.0,-4.2,7,128,7.88,2.12,-34.97,0.000,4,0.223,0.056,2161,3775,3935,0,0,0,0,0,0
$GC,278,-0.64,-155.7,57.0,-32.7,40,287,0.17,2.10,0.00,0.000,6,0.152,0.026,2212,2387,3937,0,0,0,0,0,0
$GC,630,-0.59,-155.7,140.8,-20.3,101,639,0.00,2.17,0.00,0.000,4,0.000,0.042,2203,3770,3938,0,0,0,0,0,0
$GC,733,-0.59,-155.7,157.9,-14.5,119,741,0.00,2.03,0.00,0.000,6,0.000,0.026,2203,2395,3938,0,0,0,0,0,0
$GC,1080,-0.58,-155.7,213.4,-14.6,180,1089,0.12,2.10,0.00,0.000,4,0.151,0.032,2239,1005,3939,0,0,0,0,0,0
$GC,1125,-0.63,-155.7,218.9,-11.3,187,1134,0.00,2.10,0.00,0.000,6,0.000,0.034,2233,2401,3939,0,0,0,0,0,0
$GC,1458,-0.66,-155.7,262.6,-13.1,248,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2401,3938,0,0,0,0,0,0
$GC,1791,-0.70,-155.7,298.3,-10.5,309,1799,0.10,2.10,0.00,0.000,4,0.093,0.032,2173,1000,3938,0,0,0,0,0,0
$GC,1819,-0.72,-155.7,301.7,-12.6,313,1826,0.00,2.12,0.00,0.000,6,0.000,0.035,2164,2406,3937,0,0,0,0,0,0
$GC,2148,-0.67,-155.7,362.4,-18.9,374,2157,0.17,2.15,0.00,0.000,4,0.155,0.044,2202,3777,3936,0,0,0,0,0,0
$GC,2229,-0.72,-155.7,373.6,-11.6,388,2237,0.00,2.05,0.00,0.000,6,0.000,0.028,2203,2405,3938,0,0,0,0,0,0
$GC,2564,-0.74,-155.7,411.1,-10.2,449,2571,0.00,2.08,0.00,0.000,4,0.000,0.033,2203,1000,3933,0,0,0,0,0,0
$GC,2678,-0.79,-155.7,421.9,-9.2,469,2685,0.00,2.12,0.00,0.000,6,0.000,0.034,2195,2412,3933,0,0,0,0,0,0
$GC,3009,-0.81,-155.7,457.6,-12.0,530,3017,0.00,2.12,0.00,0.000,4,0.000,0.045,2186,3775,3931,0,0,0,0,0,0
$GC,3035,-0.84,-155.7,460.9,-12.5,534,3043,0.00,2.08,0.00,0.000,6,0.000,0.028,2186,2392,3931,0,0,0,0,0,0
$GC,3371,-0.85,-155.7,503.1,-12.1,594,3375,0.10,2.17,0.00,0.000,4,0.096,0.044,2122,3778,3928,0,0,0,0,0,0
$GC,3392,-0.84,-155.7,506.4,-14.2,595,3401,0.05,2.08,0.00,0.000,6,0.125,0.028,2151,2397,3928,0,0,0,0,0,0
$GC,3717,-0.82,-155.7,556.5,-15.0,626,3721,0.00,2.05,0.00,0.000,4,0.000,0.033,2151,1008,3926,0,0,0,0,0,0
$GC,3774,-0.82,-155.7,564.9,-13.8,631,3778,0.00,2.12,0.00,0.000,6,0.000,0.037,2149,2399,3925,0,0,0,0,0,0
$GC,4108,-0.80,-155.7,609.1,-12.7,659,4112,0.00,2.15,0.00,0.000,4,0.000,0.046,2138,3784,3922,0,0,0,0,0,0
$GC,4158,-0.80,-155.7,615.9,-13.2,661,4162,0.00,2.08,0.00,0.000,6,0.000,0.028,2138,2410,3925,0,0,0,0,0,0
$GC,4480,-0.78,-155.7,664.2,-16.5,677,4482,0.12,0.00,0.00,0.000,6,0.163,0.000,2171,2407,3919,0,0,0,0,0,0
$GC,4790,-0.80,-155.7,705.1,-12.6,692,4794,0.00,2.10,0.00,0.000,4,0.000,0.035,2171,993,3917,0,0,0,0,0,0
$GC,4817,-0.83,-155.7,708.9,-12.6,693,4822,0.00,2.17,0.00,0.000,6,0.000,0.037,2165,2397,3917,0,0,0,0,0,0
$GC,5140,-0.84,-155.7,747.8,-11.8,709,5144,0.00,2.17,0.00,0.000,4,0.000,0.047,2155,3790,3914,0,0,0,0,0,0
$GC,5196,-0.87,-155.7,754.3,-11.2,711,5204,0.00,2.10,0.00,0.000,6,0.000,0.030,2155,2388,3913,0,0,0,0,0,0
$GC,5513,-0.87,-155.7,789.7,-10.9,727,5517,0.00,2.08,0.00,0.000,4,0.000,0.035,2154,994,3911,0,0,0,0,0,0
$GC,5582,-0.90,-155.7,796.9,-9.9,730,5585,0.00,2.17,0.00,0.000,6,0.000,0.038,2152,2402,3910,0,0,0,0,0,0
$GC,5908,-0.90,-155.7,834.4,-11.9,746,5912,0.00,2.15,0.00,0.000,4,0.000,0.048,2141,3780,3907,0,0,0,0,0,0
$GC,5931,-0.91,-155.7,837.2,-11.7,747,5935,0.00,2.08,0.00,0.000,6,0.000,0.030,2141,2400,3907,0,0,0,0,0,0
$GC,6252,-0.91,-155.7,877.8,-13.1,763,6253,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2397,3905,0,0,0,0,0,0
$GC,6561,-0.91,-155.7,917.3,-13.0,778,6565,0.00,2.10,0.00,0.000,4,0.000,0.037,2142,995,3903,0,0,0,0,0,0
$GC,6589,-0.91,-155.7,921.3,-14.2,779,6593,0.00,2.20,0.00,0.000,6,0.000,0.040,2138,2411,3902,0,0,0,0,0,0
$GC,6905,-0.91,-155.7,957.8,-11.0,794,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2416,3900,0,0,0,0,0,0
$GC,7215,-0.91,-155.7,990.5,-10.1,809,7216,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2411,3898,0,0,0,0,0,0
$STATE,7315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7315,begin apogee
$GC,7320,-0.16,0.0,1001.6,10.8,814,7449,0.70,0.00,117.85,1.157,6,0.124,0.000,2366,1992,3298,0,0,0,0,0,0
$STATE,7450,end apogee,CONTROL_FINISHED_OK
$STATE,7450,begin climb
$GC,7452,0.77,155.7,1006.3,0.0,820,7591,0.82,2.30,127.78,1.113,4,0.049,0.041,2692,606,2662,0,0,0,0,0,0
$GC,7681,0.62,155.7,990.7,17.1,830,7686,0.25,2.25,0.00,0.000,6,0.192,0.037,2631,2008,2656,0,0,0,0,0,0
$GC,7997,0.50,155.7,946.3,14.1,845,7999,0.15,0.00,0.00,0.000,6,0.198,0.000,2595,2010,2652,0,0,0,0,0,0
$GC,8307,0.43,155.7,908.8,12.6,860,8308,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2010,2650,0,0,0,0,0,0
$GC,8615,0.36,155.7,863.8,15.2,875,8620,0.20,2.20,0.00,0.000,4,0.185,0.047,2534,3411,2648,0,0,0,0,0,0
$GC,8677,0.33,155.7,855.8,12.1,878,8681,0.00,2.15,0.00,0.000,6,0.000,0.033,2543,2003,2647,0,0,0,0,0,0
$GC,9010,0.36,200.9,822.9,8.9,894,9054,0.00,2.30,34.88,1.043,4,0.000,0.047,2543,3397,2478,0,0,0,0,0,0
$GC,9178,0.34,200.9,804.4,11.6,901,9182,0.00,2.17,0.00,0.000,6,0.000,0.033,2553,1998,2475,0,0,0,0,0,0
$GC,9495,0.34,210.7,770.6,10.6,916,9505,0.00,0.00,8.70,0.952,6,0.000,0.000,2553,1997,2439,0,0,0,0,0,0
$GC,9804,0.34,221.5,736.5,10.6,931,9818,0.00,2.20,9.95,0.934,4,0.000,0.044,2564,594,2396,0,0,0,0,0,0
$GC,9843,0.37,248.4,732.4,9.8,932,9873,0.00,2.20,23.70,0.941,6,0.000,0.034,2564,2013,2284,0,0,0,0,0,0
$GC,10195,0.40,271.9,694.9,10.0,949,10221,0.00,2.28,19.40,0.944,4,0.000,0.046,2564,3405,2191,0,0,0,0,0,0
$GC,10255,0.41,275.5,688.5,10.9,951,10267,0.00,2.20,4.78,0.672,6,0.000,0.033,2574,1993,2174,0,0,0,0,0,0
$GC,10596,0.41,281.7,652.5,10.8,968,10607,0.00,2.20,6.30,0.843,4,0.000,0.043,2585,588,2149,0,0,0,0,0,0
$GC,10651,0.41,281.7,646.0,11.4,970,10659,0.00,2.20,0.00,0.000,6,0.000,0.034,2585,2011,2149,0,0,0,0,0,0
$GC,10968,0.40,281.7,603.5,13.9,986,10972,0.00,2.20,0.00,0.000,4,0.000,0.045,2585,3411,2147,0,0,0,0,0,0
$GC,11091,0.39,281.7,585.5,13.8,995,11099,0.17,2.17,0.00,0.000,6,0.163,0.033,2550,1990,2146,0,0,0,0,0,0
$GC,11417,0.48,335.7,553.6,8.5,1026,11466,0.00,2.22,43.97,0.877,4,0.000,0.044,2559,589,1928,0,0,0,0,0,0
$GC,11523,0.59,380.7,544.4,9.0,1035,11570,0.17,2.20,37.22,0.834,6,0.076,0.034,2629,2005,1744,0,0,0,0,0,0
$GC,11889,0.56,380.7,485.1,16.4,1077,11896,0.00,2.22,0.00,0.000,4,0.000,0.044,2639,596,1737,0,0,0,0,0,0
$GC,11984,0.55,380.7,470.6,14.1,1094,11993,0.10,2.20,0.00,0.000,6,0.142,0.034,2608,2001,1733,0,0,0,0,0,0
$GC,12315,0.55,380.7,425.5,14.1,1155,12323,0.00,2.20,0.00,0.000,4,0.000,0.045,2617,596,1731,0,0,0,0,0,0
$GC,12352,0.55,380.7,419.4,16.2,1161,12359,0.00,2.15,0.00,0.000,6,0.000,0.034,2618,2003,1731,0,0,0,0,0,0
$GC,12684,0.55,380.7,370.0,12.6,1222,12692,0.00,2.22,0.00,0.000,4,0.000,0.045,2627,597,1731,0,0,0,0,0,0
$GC,12718,0.55,380.7,366.0,12.7,1227,12726,0.00,2.15,0.00,0.000,6,0.000,0.034,2627,2009,1731,0,0,0,0,0,0
$GC,13048,0.54,380.7,320.3,12.4,1288,13057,0.00,2.22,0.00,0.000,4,0.000,0.044,2637,597,1731,0,0,0,0,0,0
$GC,13070,0.53,380.7,317.1,13.8,1291,13079,0.15,2.12,0.00,0.000,6,0.151,0.033,2596,2001,1731,0,0,0,0,0,0
$GC,13406,0.57,386.7,277.9,10.8,1352,13415,0.00,2.22,3.75,0.480,4,0.000,0.043,2605,595,1721,0,0,0,0,0,0
$GC,13444,0.62,400.3,273.3,10.5,1358,13467,0.00,2.17,12.85,0.727,6,0.000,0.034,2605,2012,1666,0,0,0,0,0,0
$GC,13789,0.69,428.9,231.0,9.7,1421,13819,0.12,2.28,23.85,0.724,4,0.088,0.043,2676,596,1549,0,0,0,0,0,0
$GC,13865,0.66,428.9,219.9,15.4,1433,13873,0.15,2.15,0.00,0.000,6,0.148,0.032,2631,2001,1546,0,0,0,0,0,0
$GC,14204,0.68,428.9,172.5,12.7,1494,14213,0.00,2.20,0.00,0.000,4,0.000,0.043,2635,3398,1545,0,0,0,0,0,0
$GC,14230,0.69,428.9,169.1,13.2,1498,14238,0.00,2.17,0.00,0.000,6,0.000,0.032,2644,1993,1545,0,0,0,0,0,0
$GC,14568,0.71,428.9,128.8,13.0,1559,14577,0.00,2.17,0.00,0.000,4,0.000,0.042,2654,592,1544,0,0,0,0,0,0
$GC,14624,0.73,428.9,121.1,14.2,1568,14633,0.00,2.15,0.00,0.000,6,0.000,0.031,2654,1995,1544,0,0,0,0,0,0
$GC,14959,0.79,464.0,80.5,9.4,1629,14992,0.00,2.20,27.48,0.604,4,0.000,0.041,2661,583,1407,0,0,0,0,0,0
$GC,15051,0.89,496.6,72.2,9.5,1643,15085,0.10,2.20,26.27,0.588,6,0.049,0.032,2729,2007,1278,0,0,0,0,0,0
$GC,15413,0.89,496.6,18.3,15.0,1707,15421,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2009,1269,0,0,0,0,0,0
$STATE,15536,end climb,SURFACE_DEPTH_REACHED
$STATE,15536,begin surface coast
$FINISH,0.9,1.010696
$STATE,15566,end surface coast,CONTROL_FINISHED_OK
$STATE,15566,begin surface
$SM_CCo,15656,0.00,0.000,0,0,1268,497.47
$SM_GC,1.64,6.65,0.00,0.00,0.044,0.000,0.000,196,2421,1268,-6.86,0.59,497.47
$IRIDIUM_FIX,2408.65,12612.94,141010,232310
$TT8_MAMPS,0.028462
$HUMID,48.70
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.0,32.812
$10V_AH,10.0,41.620
$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,18.475,139.500,528.725,0.000,0.000,26.305,37.857,271.720,0.000,0.000,20.847,4305.756,6429.680,642.541,4412.509,407.229,0.000,2161.561,0.000,2749.815,0.000,0.541,0.000
$DEVICE_MAMPS,223.380,55.845,1157.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1184.527,2655.956,2222.965,0.000,0.000,0.000,2618.270,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331288
$DATA_FILE_SIZE,120214,1734
$CAP_FILE_SIZE,189940,0
$CFSIZE,260165632,232497152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,140.3,1
$GPS,151010,083237,2414.755,12608.399,39,1.1,39,-3.6