version: 66.08
glider: 181
mission: 4
dive: 277
start: 10 20 110 3 33 47
data:
$ID,181
$MISSION,4
$DIVE,277
$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,-38198.309
$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,56
$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,551.0
$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
$GPS1,201010,031524,2353.377,12610.044,40,1.6,41,-3.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-67.3
$GPS2,201010,033319,2353.696,12610.032,12,2.0,12,-3.6
$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,203.0,25425,-20.0,-11.111
$D_GRID,2893
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.79,-136.3,0.0,0.0,0,72,0.00,0.00,-53.08,0.000,2,0.000,0.000,199,2428,2632,0,0,0,0,0,0
$GC,75,-0.79,-136.3,3.4,-4.3,7,122,7.95,2.22,-29.67,0.000,4,0.225,0.044,2161,985,3855,0,0,0,0,0,0
$GC,147,-0.65,-136.3,19.8,-33.0,17,157,0.20,2.15,0.00,0.000,6,0.151,0.032,2211,2377,3855,0,0,0,0,0,0
$GC,476,-0.61,-136.3,99.4,-20.3,78,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2377,3859,0,0,0,0,0,0
$GC,804,-0.60,-136.3,158.4,-16.9,139,811,0.00,2.15,0.00,0.000,4,0.000,0.041,2202,3786,3857,0,0,0,0,0,0
$GC,931,-0.62,-136.3,177.1,-13.5,162,940,0.00,2.10,0.00,0.000,6,0.000,0.025,2202,2383,3857,0,0,0,0,0,0
$GC,1263,-0.62,-136.3,225.1,-14.6,223,1270,0.00,2.03,0.00,0.000,4,0.000,0.030,2202,997,3857,0,0,0,0,0,0
$GC,1289,-0.62,-136.3,228.8,-14.6,227,1296,0.12,2.12,0.00,0.000,6,0.146,0.032,2230,2409,3857,0,0,0,0,0,0
$GC,1622,-0.66,-136.3,265.8,-9.9,288,1630,0.00,2.12,0.00,0.000,4,0.000,0.042,2218,3775,3856,0,0,0,0,0,0
$GC,1680,-0.72,-136.3,271.8,-9.4,298,1689,0.00,2.05,0.00,0.000,6,0.000,0.025,2218,2394,3855,0,0,0,0,0,0
$GC,2015,-0.76,-136.3,308.8,-10.3,359,2022,0.12,2.05,0.00,0.000,4,0.082,0.031,2149,1004,3854,0,0,0,0,0,0
$GC,2052,-0.75,-136.3,314.4,-16.3,365,2060,0.15,2.12,0.00,0.000,6,0.149,0.034,2179,2403,3854,0,0,0,0,0,0
$GC,2398,-0.75,-136.3,365.1,-14.2,426,2405,0.00,2.10,0.00,0.000,4,0.000,0.043,2170,3781,3852,0,0,0,0,0,0
$GC,2523,-0.78,-136.3,381.3,-12.2,448,2530,0.00,2.03,0.00,0.000,6,0.000,0.025,2170,2402,3852,0,0,0,0,0,0
$GC,2868,-0.78,-136.3,427.2,-12.0,509,2875,0.00,2.05,0.00,0.000,4,0.000,0.031,2170,994,3850,0,0,0,0,0,0
$GC,2910,-0.79,-136.3,432.3,-11.4,516,2917,0.00,2.12,0.00,0.000,6,0.000,0.034,2163,2405,3850,0,0,0,0,0,0
$GC,3252,-0.79,-136.3,476.2,-13.9,577,3260,0.00,2.10,0.00,0.000,4,0.000,0.043,2153,3775,3847,0,0,0,0,0,0
$GC,3375,-0.81,-136.3,492.8,-12.7,598,3382,0.00,2.03,0.00,0.000,6,0.000,0.024,2153,2397,3846,0,0,0,0,0,0
$GC,3703,-0.81,-136.3,538.5,-13.5,633,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2394,3843,0,0,0,0,0,0
$GC,4023,-0.81,-136.3,577.7,-12.8,663,4026,0.00,2.05,0.00,0.000,4,0.000,0.032,2153,1004,3840,0,0,0,0,0,0
$GC,4091,-0.84,-136.3,586.4,-12.3,669,4095,0.00,2.12,0.00,0.000,6,0.000,0.034,2152,2400,3841,0,0,0,0,0,0
$GC,4410,-0.84,-136.3,627.9,-13.2,689,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2400,3838,0,0,0,0,0,0
$GC,4719,-0.85,-136.3,667.6,-12.2,704,4723,0.00,2.17,0.00,0.000,4,0.000,0.045,2141,3788,3834,0,0,0,0,0,0
$GC,4763,-0.87,-136.3,673.1,-12.0,706,4767,0.00,2.03,0.00,0.000,6,0.000,0.027,2142,2402,3834,0,0,0,0,0,0
$GC,5091,-0.87,-136.3,713.4,-12.6,722,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2398,3831,0,0,0,0,0,0
$GC,5399,-0.87,-136.3,753.2,-13.2,737,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2397,3828,0,0,0,0,0,0
$GC,5709,-0.87,-136.3,793.7,-12.7,752,5713,0.00,2.17,0.00,0.000,4,0.000,0.047,2133,3775,3826,0,0,0,0,0,0
$GC,5742,-0.88,-136.3,798.3,-12.8,753,5750,0.00,2.05,0.00,0.000,6,0.000,0.028,2133,2401,3826,0,0,0,0,0,0
$GC,6058,-0.88,-136.3,840.0,-13.1,769,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2398,3826,0,0,0,0,0,0
$GC,6368,-0.88,-136.3,878.0,-11.7,784,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2398,3820,0,0,0,0,0,0
$GC,6677,-0.89,-136.3,912.6,-11.1,799,6681,0.00,2.08,0.00,0.000,4,0.000,0.034,2133,1002,3818,0,0,0,0,0,0
$GC,6732,-0.92,-136.3,918.9,-10.8,801,6741,0.00,2.15,0.00,0.000,6,0.000,0.036,2126,2411,3817,0,0,0,0,0,0
$GC,7049,-0.92,-136.3,956.7,-12.3,817,7053,0.00,2.10,0.00,0.000,4,0.000,0.033,2124,1004,3815,0,0,0,0,0,0
$GC,7075,-0.92,-136.3,960.6,-14.5,818,7080,0.00,2.15,0.00,0.000,6,0.000,0.037,2116,2388,3815,0,0,0,0,0,0
$STATE,7396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7396,begin apogee
$GC,7402,-0.16,0.0,1001.3,12.7,834,7512,0.80,0.00,101.12,1.154,6,0.132,0.000,2369,1972,3298,0,0,0,0,0,0
$STATE,7512,end apogee,CONTROL_FINISHED_OK
$STATE,7513,begin climb
$GC,7515,0.79,136.3,1005.9,0.0,839,7638,0.85,2.28,112.12,1.108,4,0.047,0.038,2702,617,2744,0,0,0,0,0,0
$GC,7868,0.63,136.3,970.7,17.4,855,7873,0.28,2.17,0.00,0.000,6,0.195,0.034,2634,2009,2736,0,0,0,0,0,0
$GC,8198,0.53,136.3,927.0,13.1,871,8202,0.15,2.17,0.00,0.000,4,0.194,0.038,2606,606,2732,0,0,0,0,0,0
$GC,8261,0.46,136.3,919.0,12.5,874,8265,0.00,2.12,0.00,0.000,6,0.000,0.032,2605,1998,2735,0,0,0,0,0,0
$GC,8589,0.40,143.8,883.3,10.7,890,8598,0.20,0.00,5.78,0.918,6,0.184,0.000,2554,2002,2712,0,0,0,0,0,0
$GC,8898,0.45,198.4,857.3,8.1,905,8949,0.00,2.25,45.30,1.050,4,0.000,0.041,2562,617,2491,0,0,0,0,0,0
$GC,8978,0.47,213.9,850.1,10.3,908,8999,0.00,2.17,13.82,0.942,6,0.000,0.032,2562,2002,2428,0,0,0,0,0,0
$GC,9318,0.48,224.8,814.6,10.5,925,9330,0.00,0.00,10.30,0.971,6,0.000,0.000,2562,2002,2381,0,0,0,0,0,0
$GC,9626,0.51,248.5,783.2,9.8,940,9651,0.00,2.25,20.33,0.991,4,0.000,0.044,2562,3412,2284,0,0,0,0,0,0
$GC,9732,0.51,248.5,771.5,11.3,945,9736,0.00,2.17,0.00,0.000,6,0.000,0.030,2572,2016,2281,0,0,0,0,0,0
$GC,10060,0.51,248.5,736.2,11.1,961,10061,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2013,2279,0,0,0,0,0,0
$GC,10369,0.51,248.5,697.9,12.8,976,10373,0.00,2.20,0.00,0.000,4,0.000,0.042,2572,3412,2276,0,0,0,0,0,0
$GC,10401,0.51,248.5,693.2,14.2,977,10409,0.00,2.20,0.00,0.000,6,0.000,0.030,2582,1992,2276,0,0,0,0,0,0
$GC,10718,0.51,248.5,651.7,12.6,993,10722,0.00,2.20,0.00,0.000,4,0.000,0.043,2579,3406,2279,0,0,0,0,0,0
$GC,10739,0.51,248.5,648.8,12.4,994,10743,0.00,2.12,0.00,0.000,6,0.000,0.031,2593,2003,2276,0,0,0,0,0,0
$GC,11067,0.51,248.5,607.5,12.4,1010,11071,0.00,2.17,0.00,0.000,4,0.000,0.041,2605,592,2275,0,0,0,0,0,0
$GC,11111,0.51,248.5,601.5,13.0,1012,11115,0.00,2.17,0.00,0.000,6,0.000,0.031,2604,2003,2275,0,0,0,0,0,0
$GC,11440,0.49,248.5,559.4,12.5,1042,11446,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2003,2277,0,0,0,0,0,0
$GC,11767,0.48,248.5,518.5,12.3,1073,11768,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2003,2274,0,0,0,0,0,0
$GC,12092,0.46,248.5,480.7,11.1,1118,12099,0.00,2.17,0.00,0.000,4,0.000,0.044,2604,3406,2274,0,0,0,0,0,0
$GC,12118,0.44,248.5,477.6,11.6,1122,12125,0.17,2.12,0.00,0.000,6,0.169,0.031,2569,1999,2273,0,0,0,0,0,0
$GC,12462,0.51,284.8,445.3,9.1,1183,12499,0.00,2.28,28.35,0.828,4,0.000,0.043,2569,3408,2138,0,0,0,0,0,0
$GC,12576,0.55,284.8,433.6,11.2,1202,12583,0.00,2.17,0.00,0.000,6,0.000,0.030,2577,1987,2135,0,0,0,0,0,0
$GC,12922,0.64,332.5,398.6,8.5,1263,12968,0.17,2.25,38.40,0.770,4,0.075,0.040,2663,595,1943,0,0,0,0,0,0
$GC,13031,0.61,332.5,384.0,13.3,1281,13039,0.15,2.17,0.00,0.000,6,0.156,0.030,2625,2001,1939,0,0,0,0,0,0
$GC,13378,0.62,341.7,345.3,10.6,1342,13390,0.00,0.00,8.18,0.713,6,0.000,0.000,2625,2002,1905,0,0,0,0,0,0
$GC,13727,0.62,341.7,301.9,13.5,1404,13734,0.00,2.17,0.00,0.000,4,0.000,0.041,2624,3405,1903,0,0,0,0,0,0
$GC,13774,0.64,341.7,295.2,14.9,1412,13782,0.00,2.17,0.00,0.000,6,0.000,0.030,2634,1998,1901,0,0,0,0,0,0
$GC,14105,0.64,341.7,252.0,12.3,1473,14113,0.00,2.15,0.00,0.000,4,0.000,0.039,2644,586,1902,0,0,0,0,0,0
$GC,14207,0.64,341.7,239.5,11.9,1491,14214,0.00,2.15,0.00,0.000,6,0.000,0.030,2644,2011,1902,0,0,0,0,0,0
$GC,14542,0.64,341.7,194.8,13.2,1552,14551,0.00,2.20,0.00,0.000,4,0.000,0.038,2654,594,1902,0,0,0,0,0,0
$GC,14633,0.64,341.7,182.7,12.0,1568,14642,0.00,2.15,0.00,0.000,6,0.000,0.030,2651,1997,1900,0,0,0,0,0,0
$GC,14966,0.65,347.4,142.5,10.8,1629,14976,0.00,0.00,6.18,0.532,6,0.000,0.000,2654,1998,1881,0,0,0,0,0,0
$GC,15305,0.69,369.6,107.2,9.9,1690,15328,0.00,0.00,18.60,0.614,6,0.000,0.000,2657,1998,1791,0,0,0,0,0,0
$GC,15656,0.76,397.0,73.1,9.6,1753,15680,0.00,0.00,22.12,0.587,6,0.000,0.000,2655,1998,1679,0,0,0,0,0,0
$GC,16009,0.94,487.6,44.6,6.1,1816,16088,0.20,2.20,68.65,0.571,4,0.063,0.037,2761,595,1310,0,0,0,0,0,0
$GC,16265,0.95,487.6,11.2,15.3,1858,16273,0.00,2.17,0.00,0.000,6,0.000,0.030,2762,2001,1305,0,0,0,0,0,0
$STATE,16317,end climb,SURFACE_DEPTH_REACHED
$STATE,16317,begin surface coast
$FINISH,1.0,1.019646
$STATE,16337,end surface coast,CONTROL_FINISHED_OK
$STATE,16337,begin surface
$SM_CCo,16455,0.00,0.000,0,0,1303,489.37
$SM_GC,2.05,6.70,0.00,0.00,0.039,0.000,0.000,205,2408,1303,-6.83,0.23,489.37
$IRIDIUM_FIX,2347.41,12609.27,201010,030344
$TT8_MAMPS,0.028462
$HUMID,45.51
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.0,36.947
$10V_AH,10.0,48.291
$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,18.225,117.025,499.250,0.000,0.000,104.591,150.588,410.175,0.000,0.000,15.011,4565.208,7376.294,602.367,4543.313,424.870,0.000,2147.868,0.000,2886.662,0.000,0.543,0.000
$DEVICE_MAMPS,224.910,46.665,1153.620,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1274.699,1915.804,1665.198,0.000,0.000,0.000,16411.059,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331384
$DATA_FILE_SIZE,126872,1870
$CAP_FILE_SIZE,189191,0
$CFSIZE,260165632,229421056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042, 38.3,1
$GPS,201010,080906,2351.886,12609.268,26,1.4,27,-3.5