version: 66.08
glider: 181
mission: 4
dive: 260
start: 10 16 110 21 49 51
data:
$ID,181
$MISSION,4
$DIVE,260
$N_DIVES,269
$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,-38174.352
$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,37
$R_STBD_OVSHOOT,31
$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,518.0
$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
$GPS1,161010,213936,2355.544,12607.884,24,1.6,25,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-58.4
$GPS2,161010,214920,2355.552,12607.882,12,2.0,12,-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,184.1,28865,-18.6,-11.111
$D_GRID,2011
$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,-155.7,0.0,0.0,0,78,0.00,0.00,-55.28,0.000,2,0.000,0.000,204,2400,2680,0,0,0,0,0,0
$GC,80,-0.77,-155.7,3.2,-3.3,7,128,7.93,2.20,-28.52,0.000,4,0.226,0.047,2169,978,3938,0,0,0,0,0,0
$GC,210,-0.67,-155.7,36.3,-27.5,27,218,0.15,2.22,0.00,0.000,6,0.148,0.035,2205,2406,3935,0,0,0,0,0,0
$GC,545,-0.60,-155.7,128.2,-23.4,88,553,0.00,2.15,0.00,0.000,4,0.000,0.043,2197,3784,3936,0,0,0,0,0,0
$GC,583,-0.55,-155.7,136.8,-20.5,94,592,0.12,2.10,0.00,0.000,6,0.122,0.026,2239,2384,3937,0,0,0,0,0,0
$GC,919,-0.57,-155.7,176.6,-12.5,155,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2386,3938,0,0,0,0,0,0
$GC,1262,-0.59,-155.7,222.6,-14.2,216,1270,0.00,2.08,0.00,0.000,4,0.000,0.034,2240,1000,3938,0,0,0,0,0,0
$GC,1342,-0.64,-155.7,232.0,-11.0,230,1350,0.00,2.15,0.00,0.000,6,0.000,0.034,2232,2401,3938,0,0,0,0,0,0
$GC,1675,-0.67,-155.7,271.1,-9.7,291,1682,0.00,2.10,0.00,0.000,4,0.000,0.044,2222,3778,3937,0,0,0,0,0,0
$GC,1723,-0.72,-155.7,275.9,-9.5,299,1730,0.00,2.05,0.00,0.000,6,0.000,0.025,2222,2398,3937,0,0,0,0,0,0
$GC,2056,-0.75,-155.7,316.2,-13.9,360,2065,0.12,2.10,0.00,0.000,4,0.083,0.032,2155,1002,3936,0,0,0,0,0,0
$GC,2133,-0.72,-155.7,329.2,-18.9,373,2141,0.17,2.12,0.00,0.000,6,0.143,0.035,2194,2414,3935,0,0,0,0,0,0
$GC,2463,-0.72,-155.7,378.9,-12.2,434,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2413,3934,0,0,0,0,0,0
$GC,2797,-0.73,-155.7,416.0,-10.5,495,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2413,3933,0,0,0,0,0,0
$GC,3122,-0.75,-155.7,456.6,-13.6,556,3131,0.00,2.12,0.00,0.000,4,0.000,0.044,2186,3778,3931,0,0,0,0,0,0
$GC,3148,-0.77,-155.7,460.2,-13.2,560,3156,0.00,2.05,0.00,0.000,6,0.000,0.026,2186,2404,3930,0,0,0,0,0,0
$GC,3482,-0.79,-155.7,501.7,-11.2,621,3486,0.00,2.08,0.00,0.000,4,0.000,0.032,2192,996,3929,0,0,0,0,0,0
$GC,3568,-0.83,-155.7,510.7,-10.3,628,3574,0.00,2.12,0.00,0.000,6,0.000,0.034,2179,2407,3928,0,0,0,0,0,0
$GC,3893,-0.85,-155.7,548.3,-11.0,659,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2407,3926,0,0,0,0,0,0
$GC,4215,-0.87,-155.7,580.6,-10.2,689,4219,0.00,2.10,0.00,0.000,4,0.000,0.034,2179,1005,3923,0,0,0,0,0,0
$GC,4245,-0.89,-155.7,584.1,-10.6,691,4250,0.12,2.12,0.00,0.000,6,0.084,0.037,2118,2401,3923,0,0,0,0,0,0
$GC,4581,-0.84,-155.7,637.6,-15.9,712,4585,0.12,2.15,0.00,0.000,4,0.176,0.046,2140,3780,3920,0,0,0,0,0,0
$GC,4621,-0.84,-155.7,643.6,-13.9,714,4624,0.00,2.03,0.00,0.000,6,0.000,0.027,2140,2396,3920,0,0,0,0,0,0
$GC,4954,-0.83,-155.7,688.8,-14.0,730,4958,0.00,2.05,0.00,0.000,4,0.000,0.034,2140,1007,3917,0,0,0,0,0,0
$GC,5009,-0.83,-155.7,696.4,-12.5,732,5013,0.00,2.12,0.00,0.000,6,0.000,0.037,2132,2405,3917,0,0,0,0,0,0
$GC,5330,-0.81,-155.7,739.0,-13.3,748,5332,0.12,0.00,0.00,0.000,6,0.174,0.000,2163,2405,3914,0,0,0,0,0,0
$GC,5641,-0.82,-155.7,772.2,-10.8,763,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2405,3912,0,0,0,0,0,0
$GC,5950,-0.85,-155.7,807.0,-11.5,778,5954,0.00,2.12,0.00,0.000,4,0.000,0.034,2164,996,3909,0,0,0,0,0,0
$GC,6028,-0.89,-155.7,815.7,-10.3,781,6036,0.00,2.12,0.00,0.000,6,0.000,0.037,2163,2398,3908,0,0,0,0,0,0
$GC,6345,-0.91,-155.7,847.5,-9.3,797,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2397,3905,0,0,0,0,0,0
$GC,6654,-0.94,-155.7,877.2,-9.6,812,6659,0.12,2.12,0.00,0.000,4,0.090,0.035,2105,995,3903,0,0,0,0,0,0
$GC,6681,-0.94,-155.7,880.7,-13.2,813,6685,0.00,2.15,0.00,0.000,6,0.000,0.038,2095,2406,3903,0,0,0,0,0,0
$GC,7008,-0.89,-155.7,928.5,-15.3,829,7013,0.15,2.17,0.00,0.000,4,0.176,0.048,2126,3787,3901,0,0,0,0,0,0
$GC,7047,-0.89,-155.7,933.8,-13.1,831,7051,0.00,2.05,0.00,0.000,6,0.000,0.030,2126,2405,3900,0,0,0,0,0,0
$GC,7375,-0.88,-155.7,973.6,-12.3,847,7379,0.00,2.10,0.00,0.000,4,0.000,0.037,2126,999,3898,0,0,0,0,0,0
$GC,7393,-0.87,-155.7,976.1,-12.5,848,7397,0.00,2.17,0.00,0.000,6,0.000,0.040,2129,2406,3898,0,0,0,0,0,0
$STATE,7594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7594,begin apogee
$GC,7600,-0.16,0.0,1001.4,12.4,858,7724,0.75,0.00,118.30,1.149,6,0.132,0.000,2363,1979,3298,0,0,0,0,0,0
$STATE,7725,end apogee,CONTROL_FINISHED_OK
$STATE,7725,begin climb
$GC,7727,0.77,155.7,1006.9,0.0,863,7865,0.85,2.45,128.23,1.108,4,0.047,0.044,2687,3409,2663,0,0,0,0,0,0
$GC,8113,0.59,155.7,959.9,19.4,880,8118,0.32,2.17,0.00,0.000,6,0.204,0.031,2619,2009,2651,0,0,0,0,0,0
$GC,8429,0.50,155.7,917.1,12.6,895,8431,0.12,0.00,0.00,0.000,6,0.201,0.000,2589,2008,2654,0,0,0,0,0,0
$GC,8739,0.44,159.1,882.2,10.9,910,8743,0.00,2.20,0.00,0.000,4,0.000,0.044,2589,3418,2649,0,0,0,0,0,0
$GC,8806,0.35,159.1,873.6,12.7,913,8811,0.15,2.20,0.00,0.000,6,0.177,0.031,2543,1998,2649,0,0,0,0,0,0
$GC,9135,0.36,176.9,841.4,10.3,929,9158,0.00,2.25,16.40,1.037,4,0.000,0.041,2543,3415,2575,0,0,0,0,0,0
$GC,9231,0.33,176.9,829.7,12.7,933,9235,0.00,2.15,0.00,0.000,6,0.000,0.030,2551,1996,2572,0,0,0,0,0,0
$GC,9560,0.35,205.4,795.4,9.7,949,9591,0.00,2.25,23.77,1.007,4,0.000,0.042,2568,598,2461,0,0,0,0,0,0
$GC,9635,0.37,228.5,787.9,10.0,952,9661,0.00,2.22,20.08,0.956,6,0.000,0.033,2562,2010,2367,0,0,0,0,0,0
$GC,9981,0.41,263.4,754.7,9.4,969,10012,0.00,0.00,29.55,0.976,6,0.000,0.000,2562,2010,2221,0,0,0,0,0,0
$GC,10308,0.45,296.1,723.0,9.5,985,10340,0.00,2.25,27.35,0.959,4,0.000,0.041,2562,3410,2090,0,0,0,0,0,0
$GC,10370,0.45,296.1,716.3,11.6,988,10374,0.00,2.20,0.00,0.000,6,0.000,0.031,2573,2002,2087,0,0,0,0,0,0
$GC,10696,0.45,296.1,679.8,11.7,1004,10700,0.00,2.17,0.00,0.000,4,0.000,0.041,2583,587,2081,0,0,0,0,0,0
$GC,10730,0.45,296.1,675.6,12.7,1005,10738,0.00,2.15,0.00,0.000,6,0.000,0.031,2583,2004,2083,0,0,0,0,0,0
$GC,11046,0.45,296.1,634.4,12.1,1021,11050,0.00,2.20,0.00,0.000,4,0.000,0.043,2583,3411,2081,0,0,0,0,0,0
$GC,11158,0.45,296.1,620.0,11.8,1026,11162,0.00,2.17,0.00,0.000,6,0.000,0.031,2594,1999,2080,0,0,0,0,0,0
$GC,11481,0.43,296.1,581.6,13.0,1048,11485,0.00,2.17,0.00,0.000,4,0.000,0.041,2605,589,2079,0,0,0,0,0,0
$GC,11557,0.43,296.1,570.6,14.4,1054,11565,0.10,2.17,0.00,0.000,6,0.148,0.032,2573,2006,2077,0,0,0,0,0,0
$GC,11885,0.44,296.1,530.9,11.4,1085,11889,0.00,2.15,0.00,0.000,4,0.000,0.044,2572,3406,2079,0,0,0,0,0,0
$GC,11951,0.46,296.1,522.4,12.2,1090,11958,0.00,2.12,0.00,0.000,6,0.000,0.030,2581,1998,2078,0,0,0,0,0,0
$GC,12280,0.48,315.7,486.2,10.2,1133,12301,0.00,2.17,15.25,0.861,4,0.000,0.040,2592,589,2009,0,0,0,0,0,0
$GC,12421,0.49,315.7,471.2,11.8,1157,12429,0.00,2.15,0.00,0.000,6,0.000,0.032,2592,2003,2009,0,0,0,0,0,0
$GC,12753,0.49,315.7,430.9,11.6,1218,12761,0.00,2.20,0.00,0.000,4,0.000,0.043,2592,3405,2009,0,0,0,0,0,0
$GC,12840,0.49,315.7,420.2,13.0,1233,12847,0.00,2.15,0.00,0.000,6,0.000,0.031,2603,1987,2009,0,0,0,0,0,0
$GC,13168,0.49,315.7,378.5,12.8,1294,13176,0.00,2.15,0.00,0.000,4,0.000,0.041,2613,597,2008,0,0,0,0,0,0
$GC,13237,0.49,315.7,370.3,11.5,1306,13245,0.00,2.15,0.00,0.000,6,0.000,0.032,2613,2001,2008,0,0,0,0,0,0
$GC,13568,0.49,315.7,330.3,12.9,1367,13576,0.00,2.15,0.00,0.000,4,0.000,0.041,2613,3402,2008,0,0,0,0,0,0
$GC,13598,0.48,315.7,326.1,13.5,1372,13607,0.12,2.15,0.00,0.000,6,0.143,0.031,2584,1996,2008,0,0,0,0,0,0
$GC,13932,0.52,324.6,290.9,10.7,1433,13947,0.00,0.00,8.48,0.689,6,0.000,0.000,2584,1996,1974,0,0,0,0,0,0
$GC,14271,0.58,342.8,256.3,10.2,1495,14292,0.00,0.00,16.38,0.724,6,0.000,0.000,2584,1996,1900,0,0,0,0,0,0
$GC,14619,0.72,416.2,224.1,7.6,1558,14684,0.20,2.28,57.60,0.668,4,0.067,0.039,2683,588,1601,0,0,0,0,0,0
$GC,14724,0.69,416.2,208.4,16.2,1574,14733,0.10,2.20,0.00,0.000,6,0.132,0.030,2652,1994,1597,0,0,0,0,0,0
$GC,15066,0.69,416.2,158.8,11.9,1635,15073,0.00,2.15,0.00,0.000,4,0.000,0.038,2660,593,1594,0,0,0,0,0,0
$GC,15126,0.72,439.9,152.6,10.0,1645,15155,0.00,2.15,18.27,0.643,6,0.000,0.030,2660,2012,1505,0,0,0,0,0,0
$GC,15483,0.72,439.9,108.0,12.7,1709,15492,0.00,2.20,0.00,0.000,4,0.000,0.038,2671,596,1502,0,0,0,0,0,0
$GC,15554,0.76,454.9,99.9,10.4,1721,15572,0.00,2.15,12.68,0.585,6,0.000,0.030,2670,1998,1447,0,0,0,0,0,0
$GC,15901,0.81,470.9,60.9,10.3,1783,15926,0.00,2.22,13.98,0.563,4,0.000,0.041,2671,3404,1377,0,0,0,0,0,0
$GC,15957,0.92,517.9,55.3,8.9,1791,16003,0.08,2.15,37.45,0.582,6,0.053,0.028,2736,2005,1184,0,0,0,0,0,0
$STATE,16329,end climb,SURFACE_DEPTH_REACHED
$STATE,16329,begin surface coast
$FINISH,1.0,1.005426
$STATE,16358,end surface coast,CONTROL_FINISHED_OK
$STATE,16358,begin surface
$SM_CCo,16448,0.00,0.000,0,0,1176,520.53
$SM_GC,1.72,6.72,0.00,0.00,0.047,0.000,0.000,200,2407,1176,-6.85,0.20,520.53
$IRIDIUM_FIX,2345.05,12559.39,161010,171704
$TT8_MAMPS,0.027713
$HUMID,47.48
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.9,34.308
$10V_AH,9.9,43.829
$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,18.675,134.925,543.750,0.000,0.000,28.001,39.647,290.170,0.000,0.000,15.594,4611.536,6648.012,644.876,4670.564,440.734,0.000,2255.857,0.000,2956.874,0.000,0.543,0.000
$DEVICE_MAMPS,225.675,48.195,1149.030,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1271.289,2462.658,2365.356,0.000,0.000,0.000,2756.932,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331292
$DATA_FILE_SIZE,130407,1862
$CAP_FILE_SIZE,196880,0
$CFSIZE,260165632,231403520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066, 97.4,1
$GPS,171010,022506,2353.103,12608.518,29,1.0,30,-3.6