version: 66.08
glider: 181
mission: 4
dive: 253
start: 10 15 110 13 20 39
data:
$ID,181
$MISSION,4
$DIVE,253
$N_DIVES,265
$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,-38164.328
$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,40
$R_STBD_OVSHOOT,45
$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,504.0
$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
$GPS1,151010,130601,2412.154,12608.391,40,1.8,40,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-63.1
$GPS2,151010,132008,2412.168,12608.287,12,1.5,12,-3.6
$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,196.5,59587,-18.6,-11.111
$D_GRID,1602
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.77,-155.7,0.0,0.0,0,86,0.00,0.00,-64.00,0.000,2,0.000,0.000,201,2413,2871,0,0,0,0,0,0
$GC,89,-0.77,-155.7,3.8,-5.2,8,129,7.80,2.20,-21.73,0.000,4,0.223,0.047,2164,986,3936,0,0,0,0,0,0
$GC,224,-0.63,-155.7,47.6,-33.2,30,234,0.20,2.17,0.00,0.000,6,0.152,0.037,2213,2381,3936,0,0,0,0,0,0
$GC,560,-0.59,-155.7,119.8,-17.4,91,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2382,3937,0,0,0,0,0,0
$GC,897,-0.57,-155.7,180.7,-15.2,152,905,0.00,2.17,0.00,0.000,4,0.000,0.044,2204,3772,3938,0,0,0,0,0,0
$GC,919,-0.57,-155.7,183.8,-14.9,155,927,0.12,2.05,0.00,0.000,6,0.133,0.025,2241,2377,3938,0,0,0,0,0,0
$GC,1277,-0.60,-155.7,223.7,-11.4,216,1285,0.00,2.05,0.00,0.000,4,0.000,0.032,2241,1005,3939,0,0,0,0,0,0
$GC,1315,-0.66,-155.7,227.9,-11.0,222,1324,0.00,2.15,0.00,0.000,6,0.000,0.034,2234,2409,3938,0,0,0,0,0,0
$GC,1661,-0.69,-155.7,266.1,-10.4,283,1668,0.00,2.10,0.00,0.000,4,0.000,0.044,2226,3778,3937,0,0,0,0,0,0
$GC,1726,-0.76,-155.7,273.0,-9.8,294,1736,0.10,2.05,0.00,0.000,6,0.044,0.027,2155,2398,3936,0,0,0,0,0,0
$GC,2075,-0.71,-155.7,336.2,-19.4,355,2083,0.15,2.08,0.00,0.000,4,0.154,0.032,2195,1005,3934,0,0,0,0,0,0
$GC,2106,-0.69,-155.7,342.2,-17.1,360,2115,0.00,2.12,0.00,0.000,6,0.000,0.035,2191,2391,3932,0,0,0,0,0,0
$GC,2452,-0.69,-155.7,386.3,-11.2,421,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2392,3933,0,0,0,0,0,0
$GC,2793,-0.71,-155.7,428.7,-13.4,482,2802,0.00,2.15,0.00,0.000,4,0.000,0.045,2180,3772,3930,0,0,0,0,0,0
$GC,2851,-0.74,-155.7,435.5,-12.4,491,2858,0.00,2.03,0.00,0.000,6,0.000,0.027,2181,2393,3930,0,0,0,0,0,0
$GC,3194,-0.74,-155.7,481.9,-12.6,552,3202,0.00,2.08,0.00,0.000,4,0.000,0.034,2181,1008,3927,0,0,0,0,0,0
$GC,3262,-0.77,-155.7,489.8,-12.0,563,3269,0.00,2.10,0.00,0.000,6,0.000,0.035,2178,2399,3927,0,0,0,0,0,0
$GC,3593,-0.78,-155.7,526.6,-10.2,601,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2400,3925,0,0,0,0,0,0
$GC,3913,-0.80,-155.7,561.0,-12.5,631,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2396,3921,0,0,0,0,0,0
$GC,4241,-0.82,-155.7,606.6,-14.2,660,4245,0.00,2.12,0.00,0.000,4,0.000,0.034,2178,995,3919,0,0,0,0,0,0
$GC,4268,-0.84,-155.7,610.9,-14.4,661,4272,0.00,2.12,0.00,0.000,6,0.000,0.037,2170,2402,3919,0,0,0,0,0,0
$GC,4596,-0.86,-155.7,649.3,-10.7,677,4600,0.00,2.15,0.00,0.000,4,0.000,0.048,2161,3780,3917,0,0,0,0,0,0
$GC,4686,-0.89,-155.7,658.9,-10.0,681,4690,0.00,2.03,0.00,0.000,6,0.000,0.028,2161,2404,3915,0,0,0,0,0,0
$GC,5013,-0.90,-155.7,696.1,-12.3,697,5017,0.00,2.08,0.00,0.000,4,0.000,0.035,2161,1002,3910,0,0,0,0,0,0
$GC,5085,-0.93,-155.7,705.0,-11.7,700,5089,0.00,2.15,0.00,0.000,6,0.000,0.037,2152,2402,3912,0,0,0,0,0,0
$GC,5403,-0.93,-155.7,744.7,-12.3,715,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2403,3911,0,0,0,0,0,0
$GC,5711,-0.93,-155.7,782.8,-12.4,730,5715,0.00,2.10,0.00,0.000,4,0.000,0.035,2153,1000,3907,0,0,0,0,0,0
$GC,5777,-0.95,-155.7,790.9,-11.3,733,5781,0.00,2.12,0.00,0.000,6,0.000,0.040,2151,2399,3906,0,0,0,0,0,0
$GC,6104,-0.95,-155.7,829.7,-11.7,749,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2399,3903,0,0,0,0,0,0
$GC,6414,-0.96,-155.7,864.5,-11.7,764,6416,0.12,0.00,0.00,0.000,6,0.093,0.000,2094,2396,3901,0,0,0,0,0,0
$GC,6724,-0.92,-155.7,915.4,-17.3,779,6728,0.12,2.17,0.00,0.000,4,0.170,0.050,2117,3775,3898,0,0,0,0,0,0
$GC,6779,-0.92,-155.7,924.0,-14.2,781,6786,0.00,2.08,0.00,0.000,6,0.000,0.031,2117,2391,3898,0,0,0,0,0,0
$GC,7095,-0.90,-155.7,968.9,-14.1,797,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2388,3895,0,0,0,0,0,0
$STATE,7340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7340,begin apogee
$GC,7346,-0.16,0.0,1002.2,13.5,809,7470,0.80,0.00,117.65,1.152,6,0.134,0.000,2370,1986,3298,0,0,0,0,0,0
$STATE,7470,end apogee,CONTROL_FINISHED_OK
$STATE,7470,begin climb
$GC,7472,0.77,155.7,1007.0,0.0,814,7610,0.82,2.25,128.10,1.106,4,0.050,0.041,2690,616,2662,0,0,0,0,0,0
$GC,7824,0.62,155.7,968.5,18.1,830,7829,0.25,2.17,0.00,0.000,6,0.192,0.037,2629,2012,2654,0,0,0,0,0,0
$GC,8153,0.51,155.7,922.5,13.4,846,8158,0.15,2.20,0.00,0.000,4,0.192,0.045,2592,3402,2651,0,0,0,0,0,0
$GC,8241,0.43,155.7,910.7,12.1,850,8246,0.15,2.10,0.00,0.000,6,0.204,0.031,2566,2015,2649,0,0,0,0,0,0
$GC,8571,0.45,214.6,881.1,8.3,866,8623,0.00,2.28,46.75,1.061,4,0.000,0.046,2566,3402,2422,0,0,0,0,0,0
$GC,8691,0.42,214.6,867.9,11.9,871,8695,0.00,2.20,0.00,0.000,6,0.000,0.033,2574,1996,2418,0,0,0,0,0,0
$GC,9014,0.38,214.6,830.9,11.7,887,9018,0.00,2.20,0.00,0.000,4,0.000,0.044,2585,586,2415,0,0,0,0,0,0
$GC,9041,0.35,214.6,827.4,11.4,888,9045,0.17,2.17,0.00,0.000,6,0.164,0.035,2540,2000,2414,0,0,0,0,0,0
$GC,9364,0.42,272.1,798.2,8.4,904,9415,0.00,2.30,46.62,1.014,4,0.000,0.044,2541,3411,2188,0,0,0,0,0,0
$GC,9455,0.49,311.5,790.2,9.2,908,9493,0.00,2.22,32.47,0.966,6,0.000,0.033,2549,1994,2031,0,0,0,0,0,0
$GC,9815,0.55,339.3,757.1,9.8,926,9844,0.15,2.22,23.20,0.971,4,0.083,0.042,2623,593,1915,0,0,0,0,0,0
$GC,9946,0.53,339.3,737.0,16.3,932,9950,0.00,2.17,0.00,0.000,6,0.000,0.034,2623,1999,1911,0,0,0,0,0,0
$GC,10274,0.49,339.3,679.7,17.6,948,10279,0.15,2.20,0.00,0.000,4,0.171,0.045,2582,3404,1908,0,0,0,0,0,0
$GC,10296,0.47,339.3,675.7,17.0,949,10300,0.00,2.15,0.00,0.000,6,0.000,0.033,2593,1998,1908,0,0,0,0,0,0
$GC,10623,0.46,339.3,631.2,12.8,965,10627,0.00,2.17,0.00,0.000,4,0.000,0.044,2604,593,1906,0,0,0,0,0,0
$GC,10655,0.46,339.3,626.9,12.7,966,10660,0.10,2.17,0.00,0.000,6,0.143,0.034,2573,1994,1906,0,0,0,0,0,0
$GC,10981,0.48,351.2,592.6,10.5,985,10996,0.00,2.25,10.00,0.901,4,0.000,0.046,2573,3402,1866,0,0,0,0,0,0
$GC,11041,0.50,351.2,585.7,11.3,990,11049,0.00,2.15,0.00,0.000,6,0.000,0.033,2581,2008,1864,0,0,0,0,0,0
$GC,11366,0.52,351.2,548.1,11.9,1021,11370,0.00,2.20,0.00,0.000,4,0.000,0.044,2592,582,1863,0,0,0,0,0,0
$GC,11463,0.54,351.2,536.3,12.1,1029,11467,0.00,2.15,0.00,0.000,6,0.000,0.034,2592,2002,1865,0,0,0,0,0,0
$GC,11790,0.54,351.2,491.9,13.0,1064,11798,0.00,2.22,0.00,0.000,4,0.000,0.044,2605,586,1862,0,0,0,0,0,0
$GC,11858,0.55,351.2,484.0,12.1,1075,11865,0.00,2.15,0.00,0.000,6,0.000,0.034,2603,1998,1862,0,0,0,0,0,0
$GC,12199,0.55,351.2,440.7,12.6,1136,12207,0.00,2.20,0.00,0.000,4,0.000,0.045,2600,3396,1861,0,0,0,0,0,0
$GC,12236,0.55,351.2,435.8,13.5,1142,12246,0.00,2.17,0.00,0.000,6,0.000,0.033,2613,1986,1861,0,0,0,0,0,0
$GC,12582,0.55,351.2,389.2,13.1,1203,12589,0.00,2.12,0.00,0.000,4,0.000,0.044,2624,596,1861,0,0,0,0,0,0
$GC,12663,0.55,351.2,378.4,12.0,1217,12670,0.00,2.12,0.00,0.000,6,0.000,0.033,2624,2009,1861,0,0,0,0,0,0
$GC,13005,0.54,351.2,333.2,13.0,1278,13014,0.00,2.20,0.00,0.000,4,0.000,0.043,2634,598,1861,0,0,0,0,0,0
$GC,13052,0.54,351.2,326.4,14.3,1286,13062,0.10,2.15,0.00,0.000,6,0.138,0.033,2597,1999,1861,0,0,0,0,0,0
$GC,13400,0.59,381.7,287.6,9.6,1347,13428,0.00,0.00,25.08,0.774,6,0.000,0.000,2601,1999,1741,0,0,0,0,0,0
$GC,13767,0.62,382.8,248.9,11.1,1411,13773,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1999,1738,0,0,0,0,0,0
$GC,14107,0.66,391.5,209.9,10.7,1472,14122,0.12,0.00,8.95,0.630,6,0.088,0.000,2658,2000,1701,0,0,0,0,0,0
$GC,14466,0.64,391.5,152.6,16.1,1534,14476,0.00,2.20,0.00,0.000,4,0.000,0.042,2672,601,1700,0,0,0,0,0,0
$GC,14543,0.64,391.5,141.9,13.0,1547,14552,0.10,2.15,0.00,0.000,6,0.132,0.032,2638,2004,1699,0,0,0,0,0,0
$GC,14881,0.66,391.5,100.8,11.7,1608,14889,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2004,1700,0,0,0,0,0,0
$GC,15215,0.75,433.2,64.9,9.1,1669,15254,0.00,2.20,33.22,0.591,4,0.000,0.042,2638,3409,1531,0,0,0,0,0,0
$GC,15296,0.90,503.0,57.8,7.8,1681,15360,0.15,2.17,53.80,0.582,6,0.046,0.028,2732,1992,1247,0,0,0,0,0,0
$GC,15688,0.90,503.0,8.0,16.7,1749,15696,0.00,2.17,0.00,0.000,4,0.000,0.041,2743,595,1240,0,0,0,0,0,0
$STATE,15720,end climb,SURFACE_DEPTH_REACHED
$STATE,15720,begin surface coast
$FINISH,0.9,1.021877
$STATE,15738,end surface coast,CONTROL_FINISHED_OK
$STATE,15738,begin surface
$SM_CCo,15831,0.00,0.000,0,0,1237,505.56
$SM_GC,1.80,6.65,0.00,0.00,0.041,0.000,0.000,210,2403,1237,-6.84,0.08,505.56
$IRIDIUM_FIX,2401.56,12613.45,151010,131329
$TT8_MAMPS,0.027713
$HUMID,47.32
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.0,33.154
$10V_AH,10.0,42.109
$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,18.500,126.225,525.850,0.000,0.000,59.409,54.067,412.722,0.000,0.000,14.853,4357.592,6556.854,607.702,4701.293,438.898,0.000,2152.363,0.000,2816.326,0.000,0.541,0.000
$DEVICE_MAMPS,222.615,49.725,1152.090,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1200.887,2674.371,2262.195,0.000,0.000,0.000,2704.683,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331276
$DATA_FILE_SIZE,123823,1757
$CAP_FILE_SIZE,188725,0
$CFSIZE,260165632,232255488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108,110.3,1
$GPS,151010,174536,2409.631,12608.521,28,1.2,28,-3.6