version: 66.08
glider: 181
mission: 4
dive: 280
start: 10 20 110 17 25 13
data:
$ID,181
$MISSION,4
$DIVE,280
$N_DIVES,289
$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,-38202.082
$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,42
$R_STBD_OVSHOOT,46
$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,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,40000.0
$TM_STARTS,554.0
$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
$GPS1,201010,171601,2347.830,12608.987,38,1.3,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-70.3
$GPS2,201010,172444,2347.846,12609.023,12,1.2,12,-3.5
$SPEED_LIMITS,0.192,0.260
$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,191.6,14530,-20.0,-11.111
$D_GRID,4147
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.79,-136.3,0.0,0.0,0,65,0.00,0.00,-46.33,0.000,2,0.000,0.000,199,2415,2708,0,0,0,0,0,0
$GC,68,-0.79,-136.3,3.4,-4.3,6,108,7.90,2.22,-25.95,0.000,4,0.222,0.044,2162,984,3855,0,0,0,0,0,0
$GC,128,-0.63,-136.3,18.2,-30.1,14,136,0.20,2.20,0.00,0.000,6,0.155,0.034,2211,2392,3857,0,0,0,0,0,0
$GC,457,-0.60,-136.3,103.7,-18.0,75,465,0.00,2.17,0.00,0.000,4,0.000,0.042,2202,3778,3858,0,0,0,0,0,0
$GC,706,-0.61,-136.3,141.1,-13.2,121,715,0.00,2.08,0.00,0.000,6,0.000,0.024,2202,2391,3860,0,0,0,0,0,0
$GC,1039,-0.60,-136.3,193.7,-15.7,182,1047,0.10,0.00,0.00,0.000,6,0.166,0.000,2229,2390,3860,0,0,0,0,0,0
$GC,1377,-0.64,-136.3,234.0,-11.0,243,1383,0.00,2.05,0.00,0.000,4,0.000,0.031,2229,995,3860,0,0,0,0,0,0
$GC,1418,-0.69,-136.3,238.3,-10.5,250,1426,0.00,2.15,0.00,0.000,6,0.000,0.033,2222,2399,3860,0,0,0,0,0,0
$GC,1750,-0.73,-136.3,277.3,-11.8,311,1757,0.00,2.15,0.00,0.000,4,0.000,0.044,2218,3787,3859,0,0,0,0,0,0
$GC,1803,-0.80,-136.3,283.2,-10.3,320,1812,0.12,2.08,0.00,0.000,6,0.041,0.025,2136,2392,3859,0,0,0,0,0,0
$GC,2145,-0.75,-136.3,348.5,-19.0,381,2152,0.17,0.00,0.00,0.000,6,0.155,0.000,2184,2392,3858,0,0,0,0,0,0
$GC,2490,-0.77,-136.3,396.3,-12.6,442,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2392,3855,0,0,0,0,0,0
$GC,2834,-0.79,-136.3,434.0,-11.1,503,2840,0.00,2.03,0.00,0.000,4,0.000,0.031,2184,1007,3855,0,0,0,0,0,0
$GC,2854,-0.81,-136.3,436.2,-10.7,506,2861,0.00,2.10,0.00,0.000,6,0.000,0.033,2178,2401,3854,0,0,0,0,0,0
$GC,3198,-0.83,-136.3,477.0,-12.5,567,3204,0.00,2.12,0.00,0.000,4,0.000,0.044,2168,3777,3853,0,0,0,0,0,0
$GC,3228,-0.86,-136.3,480.9,-12.7,572,3235,0.00,2.03,0.00,0.000,6,0.000,0.026,2168,2405,3853,0,0,0,0,0,0
$GC,3568,-0.87,-136.3,524.0,-13.5,617,3572,0.00,2.08,0.00,0.000,4,0.000,0.031,2168,991,3851,0,0,0,0,0,0
$GC,3596,-0.90,-136.3,527.8,-13.9,619,3600,0.00,2.12,0.00,0.000,6,0.000,0.034,2164,2402,3851,0,0,0,0,0,0
$GC,3922,-0.91,-136.3,568.6,-12.5,649,3926,0.00,2.12,0.00,0.000,4,0.000,0.044,2154,3790,3847,0,0,0,0,0,0
$GC,3971,-0.94,-136.3,575.0,-12.5,653,3979,0.00,2.05,0.00,0.000,6,0.000,0.026,2154,2391,3847,0,0,0,0,0,0
$GC,4295,-0.95,-136.3,616.2,-12.7,678,4300,0.10,2.05,0.00,0.000,4,0.100,0.033,2100,1005,3844,0,0,0,0,0,0
$GC,4322,-0.93,-136.3,620.8,-16.5,679,4327,0.12,2.10,0.00,0.000,6,0.163,0.034,2125,2401,3844,0,0,0,0,0,0
$GC,4645,-0.92,-136.3,667.9,-14.9,695,4649,0.00,2.12,0.00,0.000,4,0.000,0.044,2115,3777,3841,0,0,0,0,0,0
$GC,4739,-0.91,-136.3,682.7,-14.9,699,4744,0.00,2.08,0.00,0.000,6,0.000,0.027,2115,2404,3841,0,0,0,0,0,0
$GC,5067,-0.89,-136.3,736.1,-16.2,715,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2400,3839,0,0,0,0,0,0
$GC,5378,-0.87,-136.3,785.5,-15.7,730,5382,0.10,2.10,0.00,0.000,4,0.172,0.034,2141,1003,3835,0,0,0,0,0,0
$GC,5433,-0.91,-136.3,793.6,-12.9,732,5440,0.00,2.12,0.00,0.000,6,0.000,0.036,2137,2399,3835,0,0,0,0,0,0
$GC,5749,-0.91,-136.3,832.2,-12.2,748,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2399,3832,0,0,0,0,0,0
$GC,6058,-0.92,-136.3,870.3,-12.5,763,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2399,3829,0,0,0,0,0,0
$GC,6368,-0.93,-136.3,908.8,-12.3,778,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2399,3828,0,0,0,0,0,0
$GC,6677,-0.95,-136.3,945.4,-11.8,793,6681,0.00,2.17,0.00,0.000,4,0.000,0.047,2127,3786,3825,0,0,0,0,0,0
$GC,6721,-0.97,-136.3,950.9,-11.8,795,6724,0.00,2.08,0.00,0.000,6,0.000,0.028,2127,2399,3825,0,0,0,0,0,0
$GC,7048,-0.97,-136.3,988.0,-11.4,811,7052,0.00,2.17,0.00,0.000,4,0.000,0.047,2117,3774,3820,0,0,0,0,0,0
$GC,7089,-0.97,-136.3,992.9,-12.8,813,7093,0.00,2.05,0.00,0.000,6,0.000,0.028,2113,2395,3821,0,0,0,0,0,0
$STATE,7146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7146,begin apogee
$GC,7151,-0.16,0.0,1000.1,12.7,816,7262,0.80,0.00,103.62,1.148,6,0.133,0.000,2370,1973,3297,0,0,0,0,0,0
$STATE,7263,end apogee,CONTROL_FINISHED_OK
$STATE,7263,begin climb
$GC,7265,0.79,136.3,1004.2,0.0,821,7386,0.85,2.40,112.18,1.105,4,0.048,0.043,2695,3408,2743,0,0,0,0,0,0
$GC,7459,0.62,136.3,995.8,15.4,829,7464,0.32,2.17,0.00,0.000,6,0.207,0.029,2628,2019,2737,0,0,0,0,0,0
$GC,7782,0.52,136.3,958.5,11.2,845,7787,0.15,2.22,0.00,0.000,4,0.196,0.042,2588,3412,2733,0,0,0,0,0,0
$GC,7912,0.46,152.2,944.6,10.2,850,7931,0.00,2.17,12.68,1.059,6,0.000,0.030,2602,1995,2678,0,0,0,0,0,0
$GC,8251,0.39,154.1,909.4,11.0,867,8261,0.20,2.28,3.05,0.554,4,0.186,0.042,2552,3410,2669,0,0,0,0,0,0
$GC,8307,0.37,158.3,902.8,10.9,869,8320,0.00,2.17,5.05,0.857,6,0.000,0.029,2560,1989,2653,0,0,0,0,0,0
$GC,8629,0.36,171.5,869.6,10.4,885,8653,0.00,2.22,12.75,1.034,4,0.000,0.039,2570,594,2598,0,0,0,0,0,0
$GC,8723,0.34,172.2,859.3,11.1,889,8727,0.12,2.17,0.00,0.000,6,0.171,0.031,2541,2007,2597,0,0,0,0,0,0
$GC,9050,0.39,206.8,827.6,9.2,905,9087,0.00,2.28,29.45,1.024,4,0.000,0.043,2540,3399,2456,0,0,0,0,0,0
$GC,9155,0.39,206.8,816.4,11.7,909,9163,0.00,2.17,0.00,0.000,6,0.000,0.030,2549,2000,2451,0,0,0,0,0,0
$GC,9472,0.43,232.7,784.6,9.7,925,9498,0.00,2.22,21.70,0.995,4,0.000,0.039,2560,594,2350,0,0,0,0,0,0
$GC,9544,0.46,242.2,777.1,10.6,928,9558,0.00,2.20,9.65,0.873,6,0.000,0.031,2560,2008,2310,0,0,0,0,0,0
$GC,9888,0.48,242.2,739.0,11.1,945,9890,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2007,2305,0,0,0,0,0,0
$GC,10197,0.52,268.0,706.2,9.7,960,10222,0.10,0.00,21.80,0.956,6,0.109,0.000,2605,2008,2206,0,0,0,0,0,0
$GC,10526,0.50,268.0,663.6,13.6,976,10530,0.00,2.17,0.00,0.000,4,0.000,0.042,2605,3408,2199,0,0,0,0,0,0
$GC,10570,0.48,268.0,657.0,15.2,978,10575,0.15,2.15,0.00,0.000,6,0.180,0.029,2578,1994,2199,0,0,0,0,0,0
$GC,10894,0.50,277.5,620.6,10.6,994,10908,0.00,2.20,8.27,0.887,4,0.000,0.041,2592,600,2167,0,0,0,0,0,0
$GC,10963,0.54,290.9,613.0,10.4,997,10986,0.00,2.15,12.82,0.833,6,0.000,0.031,2587,2002,2112,0,0,0,0,0,0
$GC,11300,0.55,290.9,571.7,13.0,1023,11304,0.00,2.20,0.00,0.000,4,0.000,0.043,2587,3401,2104,0,0,0,0,0,0
$GC,11330,0.55,290.9,567.9,14.4,1025,11334,0.00,2.12,0.00,0.000,6,0.000,0.031,2597,2000,2109,0,0,0,0,0,0
$GC,11654,0.55,290.9,521.9,14.2,1055,11658,0.00,2.17,0.00,0.000,4,0.000,0.041,2609,588,2106,0,0,0,0,0,0
$GC,11732,0.55,290.9,511.5,12.3,1061,11740,0.00,2.15,0.00,0.000,6,0.000,0.031,2609,1998,2106,0,0,0,0,0,0
$GC,12070,0.55,290.9,468.7,12.0,1114,12077,0.00,2.15,0.00,0.000,4,0.000,0.040,2619,596,2105,0,0,0,0,0,0
$GC,12095,0.55,290.9,465.8,11.8,1118,12102,0.00,2.12,0.00,0.000,6,0.000,0.030,2619,2001,2105,0,0,0,0,0,0
$GC,12440,0.54,290.9,420.0,13.4,1179,12447,0.00,2.15,0.00,0.000,4,0.000,0.042,2619,3402,2105,0,0,0,0,0,0
$GC,12521,0.52,290.9,407.6,15.3,1193,12529,0.15,2.15,0.00,0.000,6,0.169,0.031,2590,1988,2104,0,0,0,0,0,0
$GC,12869,0.59,329.7,370.0,9.0,1254,12906,0.00,2.22,31.08,0.776,4,0.000,0.041,2600,595,1953,0,0,0,0,0,0
$GC,12981,0.66,353.8,358.9,9.8,1273,13007,0.12,2.17,20.55,0.704,6,0.090,0.030,2655,2012,1855,0,0,0,0,0,0
$GC,13345,0.64,353.8,301.8,15.7,1337,13351,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2013,1847,0,0,0,0,0,0
$GC,13679,0.63,353.8,249.7,14.0,1398,13687,0.00,2.22,0.00,0.000,4,0.000,0.039,2665,594,1847,0,0,0,0,0,0
$GC,13726,0.63,353.8,242.2,14.8,1406,13735,0.10,2.17,0.00,0.000,6,0.131,0.031,2632,2003,1847,0,0,0,0,0,0
$GC,14068,0.64,353.8,198.0,12.0,1467,14075,0.00,2.17,0.00,0.000,4,0.000,0.041,2632,3411,1847,0,0,0,0,0,0
$GC,14105,0.66,353.8,192.9,13.9,1473,14114,0.00,2.15,0.00,0.000,6,0.000,0.029,2641,1988,1847,0,0,0,0,0,0
$GC,14445,0.68,353.8,151.4,12.2,1534,14454,0.00,2.15,0.00,0.000,4,0.000,0.040,2651,595,1847,0,0,0,0,0,0
$GC,14512,0.71,353.8,143.1,11.4,1545,14521,0.00,2.15,0.00,0.000,6,0.000,0.029,2651,1999,1847,0,0,0,0,0,0
$GC,14853,0.78,386.1,104.7,9.3,1606,14885,0.00,2.20,25.33,0.620,4,0.000,0.040,2651,3410,1723,0,0,0,0,0,0
$GC,14923,0.82,387.3,97.3,11.0,1616,14931,0.00,2.17,0.00,0.000,6,0.000,0.028,2662,1998,1721,0,0,0,0,0,0
$GC,15259,0.97,462.7,65.7,7.0,1677,15330,0.20,2.22,58.80,0.595,4,0.063,0.038,2767,598,1410,0,0,0,0,0,0
$GC,15358,0.94,462.7,53.4,14.6,1690,15366,0.10,2.20,0.00,0.000,6,0.138,0.028,2735,2011,1409,0,0,0,0,0,0
$GC,15696,0.96,462.7,12.3,12.3,1751,15703,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2014,1404,0,0,0,0,0,0
$STATE,15765,end climb,SURFACE_DEPTH_REACHED
$STATE,15765,begin surface coast
$FINISH,1.2,1.021794
$STATE,15790,end surface coast,CONTROL_FINISHED_OK
$STATE,15790,begin surface
$SM_CCo,15908,0.00,0.000,0,0,1403,464.84
$SM_GC,1.95,6.47,0.00,0.00,0.028,0.000,0.000,196,2412,1403,-6.85,0.34,464.84
$IRIDIUM_FIX,2337.99,12608.39,201010,121244
$TT8_MAMPS,0.027713
$HUMID,45.86
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.9,37.397
$10V_AH,9.9,49.468
$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,18.675,134.775,488.775,0.000,0.000,30.098,43.579,263.786,0.000,0.000,14.990,4385.972,6940.291,614.508,4057.514,416.216,0.000,2129.020,0.000,2798.276,0.000,0.542,0.000
$DEVICE_MAMPS,221.850,47.430,1148.265,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1204.856,1809.426,1573.122,0.000,0.000,0.000,15865.202,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331376
$DATA_FILE_SIZE,120728,1767
$CAP_FILE_SIZE,190863,0
$CFSIZE,260165632,229101568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.025,311.4,1
$GPS,201010,215136,2345.807,12608.352,37,0.9,38,-3.5