version: 66.08
glider: 181
mission: 4
dive: 285
start: 10 21 110 15 39 47
data:
$ID,181
$MISSION,4
$DIVE,285
$N_DIVES,294
$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,-38208.371
$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,56
$R_STBD_OVSHOOT,43
$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,0
$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,555.0
$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
$GPS1,211010,153330,2339.752,12609.829,60,1.3,60,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-73.5
$GPS2,211010,153920,2339.801,12609.862,13,2.0,13,-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,261.8,1509,-27.4,-11.111
$D_GRID,1000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.95,-73.7,0.0,0.0,0,49,0.00,0.00,-30.70,0.000,2,0.000,0.000,196,2381,2583,0,0,0,0,0,0
$GC,51,-1.02,-133.6,3.4,-5.1,5,96,7.65,2.05,-30.20,0.000,4,0.224,0.041,2092,1000,3843,0,0,0,0,0,0
$GC,160,-0.92,-133.6,37.3,-39.3,23,168,0.15,2.12,0.00,0.000,6,0.181,0.035,2120,2395,3845,0,0,0,0,0,0
$GC,504,-0.87,-133.6,146.1,-26.8,84,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2396,3847,0,0,0,0,0,0
$GC,832,-0.85,-133.6,228.4,-22.9,116,837,0.12,2.15,0.00,0.000,4,0.192,0.042,2142,3782,3849,0,0,0,0,0,0
$GC,956,-0.89,-133.6,253.7,-18.9,126,964,0.00,2.03,0.00,0.000,6,0.000,0.025,2142,2395,3849,0,0,0,0,0,0
$GC,1281,-0.92,-133.6,316.8,-18.3,157,1285,0.00,2.08,0.00,0.000,4,0.000,0.031,2142,989,3849,0,0,0,0,0,0
$GC,1316,-0.95,-133.6,322.8,-17.3,159,1322,0.00,2.15,0.00,0.000,6,0.000,0.034,2132,2405,3849,0,0,0,0,0,0
$GC,1641,-0.97,-133.6,383.4,-18.1,190,1645,0.00,2.12,0.00,0.000,4,0.000,0.043,2121,3787,3849,0,0,0,0,0,0
$GC,1765,-1.01,-133.6,404.9,-16.6,200,1772,0.00,2.05,0.00,0.000,6,0.000,0.026,2121,2400,3848,0,0,0,0,0,0
$GC,2091,-1.04,-133.6,462.6,-16.9,231,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2397,3847,0,0,0,0,0,0
$GC,2418,-1.08,-133.6,517.5,-16.0,257,2422,0.12,2.17,0.00,0.000,4,0.086,0.044,2052,3775,3845,0,0,0,0,0,0
$GC,2472,-1.08,-133.6,528.2,-19.4,259,2479,0.00,2.08,0.00,0.000,6,0.000,0.026,2052,2395,3844,0,0,0,0,0,0
$GC,2789,-1.06,-133.6,593.3,-20.7,275,2794,0.12,2.08,0.00,0.000,4,0.186,0.032,2082,997,3841,0,0,0,0,0,0
$GC,2804,-1.06,-133.6,597.0,-20.0,275,2812,0.00,2.15,0.00,0.000,6,0.000,0.034,2073,2398,3841,0,0,0,0,0,0
$GC,3139,-1.06,-133.6,662.1,-20.1,287,3143,0.00,2.15,0.00,0.000,4,0.000,0.045,2062,3788,3839,0,0,0,0,0,0
$GC,3228,-1.07,-133.6,680.0,-19.2,289,3232,0.00,2.08,0.00,0.000,6,0.000,0.027,2062,2399,3838,0,0,0,0,0,0
$GC,3541,-1.07,-133.6,740.3,-19.0,299,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2396,3835,0,0,0,0,0,0
$GC,3848,-1.07,-133.6,796.5,-18.3,309,3852,0.00,2.15,0.00,0.000,4,0.000,0.045,2052,3784,3832,0,0,0,0,0,0
$GC,3882,-1.07,-133.6,802.9,-18.9,310,3886,0.00,2.05,0.00,0.000,6,0.000,0.027,2052,2398,3831,0,0,0,0,0,0
$GC,4217,-1.07,-133.6,864.3,-18.2,321,4221,0.00,2.15,0.00,0.000,4,0.000,0.047,2041,3774,3829,0,0,0,0,0,0
$GC,4249,-1.07,-133.6,870.9,-20.2,322,4254,0.10,2.10,0.00,0.000,6,0.161,0.028,2070,2391,3828,0,0,0,0,0,0
$GC,4585,-1.10,-133.6,923.5,-15.3,333,4589,0.00,2.10,0.00,0.000,4,0.000,0.035,2071,996,3826,0,0,0,0,0,0
$GC,4624,-1.14,-133.6,929.7,-14.6,334,4628,0.00,2.15,0.00,0.000,6,0.000,0.037,2063,2407,3825,0,0,0,0,0,0
$GC,4960,-1.16,-133.6,980.5,-14.8,345,4964,0.00,2.15,0.00,0.000,4,0.000,0.048,2052,3776,3822,0,0,0,0,0,0
$GC,5032,-1.18,-133.6,992.0,-14.5,347,5036,0.00,2.10,0.00,0.000,6,0.000,0.029,2052,2406,3821,0,0,0,0,0,0
$STATE,5083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5083,begin apogee
$GC,5089,-0.16,0.0,1000.1,15.6,349,5198,1.02,0.00,102.82,1.141,6,0.149,0.000,2365,1968,3298,0,0,0,0,0,0
$STATE,5199,end apogee,CONTROL_FINISHED_OK
$STATE,5199,begin climb
$GC,5201,1.02,133.6,1003.3,0.0,352,5320,1.05,2.22,110.07,1.098,4,0.041,0.038,2780,607,2752,0,0,0,0,0,0
$GC,5393,0.88,133.6,989.1,19.8,358,5398,0.30,2.25,0.00,0.000,6,0.209,0.034,2711,2014,2748,0,0,0,0,0,0
$GC,5711,0.80,133.6,937.0,15.4,369,5715,0.00,2.17,0.00,0.000,4,0.000,0.044,2710,3405,2742,0,0,0,0,0,0
$GC,5734,0.70,133.6,933.4,15.1,369,5741,0.28,2.12,0.00,0.000,6,0.210,0.031,2654,2016,2742,0,0,0,0,0,0
$GC,6046,0.65,133.6,893.9,12.5,380,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2016,2739,0,0,0,0,0,0
$GC,6353,0.61,133.6,855.9,12.7,390,6355,0.12,0.00,0.00,0.000,6,0.204,0.000,2623,2016,2737,0,0,0,0,0,0
$GC,6659,0.60,138.0,822.9,10.7,400,6660,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2015,2736,0,0,0,0,0,0
$GC,6965,0.60,153.1,792.5,9.6,410,6985,0.00,2.25,14.15,1.003,4,0.000,0.044,2623,3410,2672,0,0,0,0,0,0
$GC,7071,0.57,153.1,780.5,12.2,413,7075,0.00,2.17,0.00,0.000,6,0.000,0.031,2632,1995,2670,0,0,0,0,0,0
$GC,7401,0.56,153.1,743.2,11.5,424,7405,0.00,2.20,0.00,0.000,4,0.000,0.043,2632,3408,2668,0,0,0,0,0,0
$GC,7479,0.53,153.1,733.2,12.7,426,7484,0.17,2.15,0.00,0.000,6,0.200,0.031,2602,1999,2667,0,0,0,0,0,0
$GC,7797,0.55,157.1,699.4,10.7,437,7806,0.00,2.25,3.90,0.684,4,0.000,0.042,2601,3406,2657,0,0,0,0,0,0
$GC,7926,0.55,157.1,684.4,12.6,440,7932,0.00,2.15,0.00,0.000,6,0.000,0.031,2610,1998,2655,0,0,0,0,0,0
$GC,8239,0.56,159.2,649.9,10.9,451,8243,0.00,2.12,0.00,0.000,4,0.000,0.039,2621,594,2655,0,0,0,0,0,0
$GC,8268,0.56,159.2,646.5,11.6,452,8272,0.00,2.15,0.00,0.000,6,0.000,0.032,2621,2005,2655,0,0,0,0,0,0
$GC,8604,0.57,164.9,609.2,10.5,463,8618,0.00,2.22,7.88,0.894,4,0.000,0.044,2621,3404,2625,0,0,0,0,0,0
$GC,8726,0.55,164.9,595.6,11.4,467,8730,0.00,2.12,0.00,0.000,6,0.000,0.031,2631,2002,2623,0,0,0,0,0,0
$GC,9048,0.56,167.2,562.3,10.9,483,9052,0.00,2.20,0.00,0.000,4,0.000,0.042,2631,3408,2623,0,0,0,0,0,0
$GC,9097,0.54,167.2,556.1,12.1,485,9102,0.17,2.12,0.00,0.000,6,0.187,0.031,2599,1998,2622,0,0,0,0,0,0
$GC,9421,0.59,181.3,526.0,9.7,501,9443,0.00,2.17,14.43,0.887,4,0.000,0.040,2608,597,2558,0,0,0,0,0,0
$GC,9512,0.63,188.5,516.7,10.4,505,9526,0.00,2.15,7.50,0.724,6,0.000,0.031,2608,2000,2529,0,0,0,0,0,0
$GC,9848,0.69,206.6,482.3,9.3,529,9873,0.12,2.20,15.90,0.818,4,0.097,0.041,2661,3405,2455,0,0,0,0,0,0
$GC,9943,0.67,206.6,470.0,13.7,537,9948,0.12,2.17,0.00,0.000,6,0.191,0.031,2643,1997,2453,0,0,0,0,0,0
$GC,10269,0.68,211.8,432.3,10.6,567,10281,0.00,2.20,5.55,0.691,4,0.000,0.041,2643,3404,2434,0,0,0,0,0,0
$GC,10375,0.68,211.8,418.0,13.6,576,10383,0.00,2.17,0.00,0.000,6,0.000,0.031,2652,2003,2433,0,0,0,0,0,0
$GC,10702,0.69,219.3,382.0,10.4,607,10712,0.00,0.00,7.70,0.736,6,0.000,0.000,2652,2000,2403,0,0,0,0,0,0
$GC,11030,0.71,219.3,343.2,13.3,638,11034,0.00,2.17,0.00,0.000,4,0.000,0.038,2663,582,2401,0,0,0,0,0,0
$GC,11119,0.72,219.3,330.9,13.4,645,11126,0.00,2.17,0.00,0.000,6,0.000,0.031,2663,2007,2401,0,0,0,0,0,0
$GC,11444,0.72,219.3,287.4,11.8,676,11445,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2007,2401,0,0,0,0,0,0
$GC,11765,0.74,221.6,252.0,10.9,706,11768,0.00,2.17,0.00,0.000,4,0.000,0.037,2674,583,2401,0,0,0,0,0,0
$GC,11798,0.74,224.1,248.2,10.9,708,11808,0.00,2.15,5.30,0.568,6,0.000,0.031,2674,2000,2384,0,0,0,0,0,0
$GC,12134,0.76,228.9,210.5,10.6,740,12144,0.00,0.00,6.15,0.575,6,0.000,0.000,2674,2001,2363,0,0,0,0,0,0
$GC,12464,0.78,235.2,176.8,10.5,771,12476,0.00,2.22,6.70,0.567,4,0.000,0.037,2684,582,2338,0,0,0,0,0,0
$GC,12489,0.81,241.2,173.8,10.5,773,12502,0.00,2.15,6.70,0.562,6,0.000,0.031,2684,2001,2314,0,0,0,0,0,0
$GC,12826,0.85,260.1,137.6,9.2,814,12851,0.00,2.22,16.25,0.629,4,0.000,0.037,2695,585,2236,0,0,0,0,0,0
$GC,12859,0.87,260.1,133.9,11.1,819,12866,0.00,2.15,0.00,0.000,6,0.000,0.031,2694,2000,2236,0,0,0,0,0,0
$GC,13202,0.90,265.9,96.5,10.5,880,13215,0.00,2.15,5.95,0.493,4,0.000,0.040,2695,3404,2213,0,0,0,0,0,0
$GC,13408,0.95,292.1,77.3,8.5,916,13435,0.00,2.12,21.85,0.591,6,0.000,0.029,2705,1982,2107,0,0,0,0,0,0
$GC,13774,1.08,349.5,48.4,5.3,980,13825,0.17,2.20,44.33,0.575,4,0.072,0.035,2794,593,1872,0,0,0,0,0,0
$GC,13955,1.08,349.5,28.9,12.2,1011,13962,0.00,2.15,0.00,0.000,6,0.000,0.028,2794,2004,1868,0,0,0,0,0,0
$STATE,14146,end climb,SURFACE_DEPTH_REACHED
$STATE,14146,begin surface coast
$FINISH,1.0,1.010406
$STATE,14163,end surface coast,CONTROL_FINISHED_OK
$STATE,14164,begin surface
$SM_CCo,14179,11.43,0.061,0,0,1769,375.06
$SM_GC,3.77,0.00,0.00,11.43,0.000,0.000,0.061,201,2421,1769,-6.95,0.59,375.06
$IRIDIUM_FIX,2328.57,12608.91,211010,111126
$TT8_MAMPS,0.026215
$HUMID,50.03
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,24.0,38.040
$10V_AH,10.0,49.833
$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,18.525,121.600,403.125,11.425,0.000,27.200,37.042,147.130,0.000,0.000,15.827,2709.582,8919.681,500.064,2134.112,278.921,0.000,1550.352,0.000,1905.183,0.000,0.542,0.000
$DEVICE_MAMPS,224.145,48.195,1140.615,61.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,708.796,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331348
$DATA_FILE_SIZE,63578,1048
$CAP_FILE_SIZE,146933,0
$CFSIZE,260165632,228802560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,349.3,1
$GPS,211010,193801,2340.130,12607.882,60,1.3,60,-3.5