version: 66.08
glider: 181
mission: 4
dive: 250
start: 10 14 110 23 37 20
data:
$ID,181
$MISSION,4
$DIVE,250
$N_DIVES,262
$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,-38160.555
$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,44
$R_STBD_OVSHOOT,50
$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,498.0
$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
$GPS1,141010,232928,2419.559,12609.673,12,2.3,31,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-71.9
$GPS2,141010,233650,2419.554,12609.729,10,1.3,10,-3.7
$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,229.7,73265,-18.6,-11.111
$D_GRID,1623
$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,-155.7,0.0,0.0,0,76,0.00,0.00,-53.70,0.000,2,0.000,0.000,199,2409,2808,0,0,0,0,0,0
$GC,79,-0.77,-155.7,3.5,-5.7,7,118,7.75,0.00,-24.85,0.000,6,0.223,0.000,2167,2410,3935,0,0,0,0,0,0
$GC,446,-0.67,-155.7,118.9,-21.4,72,455,0.15,2.10,0.00,0.000,4,0.175,0.041,2198,3759,3937,0,0,0,0,0,0
$GC,549,-0.67,-155.7,137.1,-12.1,90,557,0.00,2.05,0.00,0.000,6,0.000,0.026,2198,2387,3936,0,0,0,0,0,0
$GC,891,-0.64,-155.7,194.8,-17.8,151,898,0.00,2.08,0.00,0.000,4,0.000,0.032,2198,972,3939,0,0,0,0,0,0
$GC,940,-0.63,-155.7,202.7,-16.3,157,947,0.12,2.12,0.00,0.000,6,0.159,0.034,2225,2391,3939,0,0,0,0,0,0
$GC,1280,-0.63,-155.7,248.9,-13.9,218,1288,0.00,2.12,0.00,0.000,4,0.000,0.043,2213,3770,3938,0,0,0,0,0,0
$GC,1380,-0.67,-155.7,261.6,-12.8,235,1387,0.00,2.05,0.00,0.000,6,0.000,0.026,2213,2388,3938,0,0,0,0,0,0
$GC,1722,-0.68,-155.7,306.0,-11.2,296,1731,0.00,2.05,0.00,0.000,4,0.000,0.033,2213,1010,3940,0,0,0,0,0,0
$GC,1779,-0.72,-155.7,312.2,-11.0,305,1786,0.00,2.08,0.00,0.000,6,0.000,0.034,2205,2399,3937,0,0,0,0,0,0
$GC,2120,-0.73,-155.7,353.1,-11.4,366,2128,0.00,2.12,0.00,0.000,4,0.000,0.044,2195,3771,3936,0,0,0,0,0,0
$GC,2155,-0.75,-155.7,356.9,-12.0,371,2161,0.00,2.00,0.00,0.000,6,0.000,0.026,2195,2404,3936,0,0,0,0,0,0
$GC,2497,-0.76,-155.7,403.8,-13.7,432,2506,0.00,2.10,0.00,0.000,4,0.000,0.033,2194,1001,3934,0,0,0,0,0,0
$GC,2524,-0.78,-155.7,407.4,-14.2,436,2533,0.00,2.15,0.00,0.000,6,0.000,0.036,2191,2402,3934,0,0,0,0,0,0
$GC,2869,-0.79,-155.7,447.7,-10.5,497,2876,0.00,2.10,0.00,0.000,4,0.000,0.044,2181,3780,3932,0,0,0,0,0,0
$GC,2933,-0.83,-155.7,454.4,-9.3,508,2942,0.00,2.05,0.00,0.000,6,0.000,0.028,2181,2403,3932,0,0,0,0,0,0
$GC,3278,-0.83,-155.7,496.2,-13.7,569,3285,0.00,2.12,0.00,0.000,4,0.000,0.044,2172,3787,3930,0,0,0,0,0,0
$GC,3314,-0.84,-155.7,501.0,-12.9,575,3318,0.00,2.05,0.00,0.000,6,0.000,0.028,2172,2400,3930,0,0,0,0,0,0
$GC,3645,-0.84,-155.7,543.0,-10.9,606,3649,0.00,2.05,0.00,0.000,4,0.000,0.034,2172,1001,3927,0,0,0,0,0,0
$GC,3689,-0.86,-155.7,547.8,-10.3,609,3696,0.00,2.12,0.00,0.000,6,0.000,0.035,2164,2408,3929,0,0,0,0,0,0
$GC,4015,-0.86,-155.7,589.6,-14.1,640,4019,0.00,2.12,0.00,0.000,4,0.000,0.045,2153,3784,3924,0,0,0,0,0,0
$GC,4067,-0.88,-155.7,596.8,-12.7,644,4071,0.00,2.08,0.00,0.000,6,0.000,0.028,2153,2392,3924,0,0,0,0,0,0
$GC,4384,-0.88,-155.7,643.9,-15.4,660,4387,0.00,2.05,0.00,0.000,4,0.000,0.034,2153,1003,3922,0,0,0,0,0,0
$GC,4462,-0.90,-155.7,655.6,-14.5,663,4466,0.00,2.15,0.00,0.000,6,0.000,0.037,2151,2407,3921,0,0,0,0,0,0
$GC,4778,-0.90,-155.7,706.2,-15.8,678,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2408,3919,0,0,0,0,0,0
$GC,5087,-0.90,-155.7,749.9,-13.3,693,5091,0.00,2.10,0.00,0.000,4,0.000,0.047,2141,3777,3916,0,0,0,0,0,0
$GC,5130,-0.90,-155.7,755.8,-12.9,695,5134,0.00,2.08,0.00,0.000,6,0.000,0.029,2141,2407,3916,0,0,0,0,0,0
$GC,5459,-0.89,-155.7,799.0,-13.7,711,5462,0.00,2.15,0.00,0.000,4,0.000,0.047,2132,3775,3913,0,0,0,0,0,0
$GC,5490,-0.89,-155.7,803.6,-13.8,712,5499,0.00,2.10,0.00,0.000,6,0.000,0.029,2131,2394,3912,0,0,0,0,0,0
$GC,5807,-0.87,-155.7,848.1,-13.9,728,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2392,3911,0,0,0,0,0,0
$GC,6117,-0.86,-155.7,889.0,-13.3,743,6121,0.00,2.08,0.00,0.000,4,0.000,0.037,2132,1001,3908,0,0,0,0,0,0
$GC,6165,-0.86,-155.7,895.8,-12.6,745,6170,0.00,2.17,0.00,0.000,6,0.000,0.039,2125,2396,3908,0,0,0,0,0,0
$GC,6489,-0.84,-155.7,939.9,-13.6,761,6493,0.00,2.17,0.00,0.000,4,0.000,0.050,2114,3784,3905,0,0,0,0,0,0
$GC,6551,-0.84,-155.7,948.3,-13.4,764,6556,0.15,2.10,0.00,0.000,6,0.150,0.031,2155,2389,3904,0,0,0,0,0,0
$GC,6880,-0.87,-155.7,983.5,-10.7,780,6883,0.00,2.10,0.00,0.000,4,0.000,0.037,2155,994,3902,0,0,0,0,0,0
$GC,6920,-0.90,-155.7,987.9,-10.0,782,6924,0.00,2.17,0.00,0.000,6,0.000,0.039,2152,2401,3902,0,0,0,0,0,0
$STATE,7041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7041,begin apogee
$GC,7046,-0.16,0.0,1001.0,11.2,788,7175,0.65,0.00,117.93,1.159,6,0.119,0.000,2366,1977,3298,0,0,0,0,0,0
$STATE,7176,end apogee,CONTROL_FINISHED_OK
$STATE,7176,begin climb
$GC,7178,0.77,155.7,1006.9,0.0,794,7313,0.82,2.38,127.32,1.122,4,0.043,0.044,2690,3408,2663,0,0,0,0,0,0
$GC,7336,0.59,155.7,1003.4,15.8,801,7343,0.32,2.22,0.00,0.000,6,0.204,0.032,2622,2013,2658,0,0,0,0,0,0
$GC,7652,0.49,155.7,960.3,13.7,817,7657,0.15,2.20,0.00,0.000,4,0.200,0.042,2596,595,2653,0,0,0,0,0,0
$GC,7680,0.41,155.7,956.6,12.5,818,7685,0.12,2.20,0.00,0.000,6,0.181,0.036,2561,2012,2652,0,0,0,0,0,0
$GC,7998,0.39,178.1,923.8,10.0,833,8021,0.00,2.28,17.60,1.073,4,0.000,0.046,2561,3408,2571,0,0,0,0,0,0
$GC,8113,0.35,186.7,911.5,10.7,838,8128,0.12,2.17,8.40,0.937,6,0.195,0.032,2542,1998,2536,0,0,0,0,0,0
$GC,8446,0.38,221.0,880.2,9.5,854,8481,0.00,2.28,28.55,1.056,4,0.000,0.044,2551,592,2397,0,0,0,0,0,0
$GC,8512,0.40,238.2,873.6,10.3,857,8535,0.00,2.22,15.82,0.981,6,0.000,0.034,2550,2010,2326,0,0,0,0,0,0
$GC,8844,0.43,262.4,839.0,9.9,873,8870,0.00,2.25,20.33,1.021,4,0.000,0.046,2551,3407,2228,0,0,0,0,0,0
$GC,8898,0.43,265.6,832.9,11.0,875,8911,0.00,2.20,4.03,0.640,6,0.000,0.032,2560,1996,2216,0,0,0,0,0,0
$GC,9219,0.43,265.6,797.1,11.1,891,9220,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1996,2213,0,0,0,0,0,0
$GC,9529,0.44,268.1,761.9,11.0,906,9533,0.00,2.22,0.00,0.000,4,0.000,0.044,2561,3411,2211,0,0,0,0,0,0
$GC,9556,0.42,268.1,758.6,12.0,907,9560,0.00,2.17,0.00,0.000,6,0.000,0.033,2571,1993,2209,0,0,0,0,0,0
$GC,9872,0.41,268.1,722.5,11.3,922,9876,0.00,2.20,0.00,0.000,4,0.000,0.044,2571,3412,2209,0,0,0,0,0,0
$GC,9945,0.40,268.1,713.3,12.8,925,9949,0.00,2.17,0.00,0.000,6,0.000,0.033,2581,1987,2208,0,0,0,0,0,0
$GC,10266,0.38,268.1,672.7,11.9,941,10268,0.12,0.00,0.00,0.000,6,0.171,0.000,2551,1985,2208,0,0,0,0,0,0
$GC,10576,0.45,308.5,644.3,9.2,956,10620,0.00,2.22,34.65,0.938,4,0.000,0.044,2559,601,2039,0,0,0,0,0,0
$GC,10650,0.51,330.4,637.5,10.1,959,10675,0.00,2.17,18.70,0.873,6,0.000,0.034,2560,2002,1951,0,0,0,0,0,0
$GC,10999,0.53,330.4,601.7,11.3,976,11004,0.12,2.20,0.00,0.000,4,0.093,0.043,2625,588,1944,0,0,0,0,0,0
$GC,11065,0.52,330.4,591.6,15.2,981,11073,0.12,2.17,0.00,0.000,6,0.165,0.034,2594,2003,1943,0,0,0,0,0,0
$GC,11391,0.52,330.4,543.7,15.7,1012,11392,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2001,1942,0,0,0,0,0,0
$GC,11712,0.52,330.4,500.4,11.9,1042,11716,0.00,2.17,0.00,0.000,4,0.000,0.044,2602,594,1941,0,0,0,0,0,0
$GC,11747,0.52,330.4,496.1,12.3,1047,11754,0.00,2.15,0.00,0.000,6,0.000,0.034,2602,2011,1941,0,0,0,0,0,0
$GC,12087,0.52,330.4,455.0,13.5,1108,12096,0.00,2.17,0.00,0.000,4,0.000,0.045,2602,3388,1941,0,0,0,0,0,0
$GC,12166,0.52,330.4,443.6,14.5,1121,12173,0.00,2.12,0.00,0.000,6,0.000,0.033,2613,1988,1940,0,0,0,0,0,0
$GC,12509,0.50,330.4,390.2,14.1,1182,12517,0.00,2.17,0.00,0.000,4,0.000,0.044,2624,596,1940,0,0,0,0,0,0
$GC,12564,0.50,330.4,382.6,13.6,1191,12571,0.15,2.12,0.00,0.000,6,0.155,0.034,2583,2001,1940,0,0,0,0,0,0
$GC,12908,0.54,352.3,344.7,10.1,1252,12931,0.00,2.25,17.38,0.807,4,0.000,0.044,2583,3404,1861,0,0,0,0,0,0
$GC,12957,0.57,352.3,339.4,11.3,1259,12963,0.00,2.15,0.00,0.000,6,0.000,0.032,2591,1994,1860,0,0,0,0,0,0
$GC,13299,0.59,352.6,301.0,11.1,1320,13309,0.00,2.17,0.00,0.000,4,0.000,0.043,2602,596,1859,0,0,0,0,0,0
$GC,13400,0.62,352.6,289.2,11.8,1337,13407,0.00,2.12,0.00,0.000,6,0.000,0.033,2602,2003,1859,0,0,0,0,0,0
$GC,13744,0.63,352.6,250.2,11.4,1398,13751,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2003,1859,0,0,0,0,0,0
$GC,14089,0.72,407.7,212.7,8.5,1459,14140,0.15,2.28,43.78,0.696,4,0.079,0.041,2683,594,1636,0,0,0,0,0,0
$GC,14214,0.70,407.7,194.4,16.3,1478,14222,0.10,2.20,0.00,0.000,6,0.128,0.033,2651,2004,1634,0,0,0,0,0,0
$GC,14561,0.70,407.7,148.6,11.3,1539,14568,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2005,1630,0,0,0,0,0,0
$GC,14896,0.80,470.9,110.9,8.1,1600,14952,0.00,2.20,48.58,0.629,4,0.000,0.038,2659,594,1377,0,0,0,0,0,0
$GC,15001,0.91,531.3,102.8,8.2,1615,15057,0.12,2.20,46.85,0.610,6,0.045,0.031,2731,2009,1131,0,0,0,0,0,0
$GC,15385,0.91,531.3,39.6,13.3,1682,15393,0.00,2.20,0.00,0.000,4,0.000,0.041,2731,3408,1125,0,0,0,0,0,0
$GC,15412,0.91,531.3,35.3,14.8,1686,15420,0.00,2.17,0.00,0.000,6,0.000,0.031,2741,2000,1124,0,0,0,0,0,0
$STATE,15609,end climb,SURFACE_DEPTH_REACHED
$STATE,15609,begin surface coast
$FINISH,0.8,1.021409
$STATE,15629,end surface coast,CONTROL_FINISHED_OK
$STATE,15629,begin surface
$SM_CCo,15721,0.00,0.000,0,0,1122,533.77
$SM_GC,1.67,6.62,0.00,0.00,0.039,0.000,0.000,196,2414,1122,-6.85,0.40,533.77
$IRIDIUM_FIX,2411.01,12612.94,141010,212132
$TT8_MAMPS,0.027713
$HUMID,50.39
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.1,32.648
$10V_AH,10.0,41.381
$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,17.900,143.200,549.900,0.000,0.000,29.679,39.353,197.150,0.000,0.000,13.517,4277.382,6587.713,651.296,4272.887,377.026,0.000,2162.195,0.000,2716.973,0.000,0.542,0.000
$DEVICE_MAMPS,222.615,49.725,1158.975,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1178.128,2624.705,2164.577,0.000,0.000,0.000,2441.176,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331396
$DATA_FILE_SIZE,120259,1725
$CAP_FILE_SIZE,186207,0
$CFSIZE,260165632,232615936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.136,110.4,1
$GPS,151010,040037,2417.600,12608.860,38,1.2,38,-3.7