version: 66.08
glider: 181
mission: 4
dive: 252
start: 10 15 110 8 42 20
data:
$ID,181
$MISSION,4
$DIVE,252
$N_DIVES,265
$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,-38163.07
$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,40
$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,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,502.0
$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
$GPS1,151010,083237,2414.755,12608.399,39,1.1,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-64.4
$GPS2,151010,084150,2414.591,12608.294,13,1.3,13,-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,195.9,64073,-18.6,-11.111
$D_GRID,1525
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.77,-155.7,0.0,0.0,0,73,0.00,0.00,-48.65,0.000,2,0.000,0.000,200,2427,2575,0,0,0,0,0,0
$GC,76,-0.77,-155.7,3.1,-3.9,6,124,7.90,2.20,-32.62,0.000,4,0.225,0.044,2168,979,3935,0,0,0,0,0,0
$GC,259,-0.66,-155.7,53.4,-35.9,36,268,0.15,2.22,0.00,0.000,6,0.148,0.039,2204,2393,3934,0,0,0,0,0,0
$GC,595,-0.60,-155.7,130.6,-18.9,97,603,0.00,2.12,0.00,0.000,4,0.000,0.033,2204,994,3936,0,0,0,0,0,0
$GC,644,-0.59,-155.7,140.0,-17.6,105,652,0.10,2.17,0.00,0.000,6,0.137,0.036,2229,2399,3936,0,0,0,0,0,0
$GC,988,-0.60,-155.7,187.1,-11.9,166,997,0.00,2.17,0.00,0.000,4,0.000,0.044,2220,3778,3938,0,0,0,0,0,0
$GC,1128,-0.64,-155.7,202.4,-10.9,187,1134,0.00,2.08,0.00,0.000,6,0.000,0.027,2220,2369,3937,0,0,0,0,0,0
$GC,1469,-0.65,-155.7,248.2,-12.8,248,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2367,3936,0,0,0,0,0,0
$GC,1814,-0.68,-155.7,291.7,-12.2,309,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2367,3936,0,0,0,0,0,0
$GC,2155,-0.71,-155.7,331.6,-12.0,370,2164,0.00,2.22,0.00,0.000,4,0.000,0.045,2215,3781,3934,0,0,0,0,0,0
$GC,2190,-0.75,-155.7,335.5,-12.1,375,2197,0.00,2.03,0.00,0.000,6,0.000,0.028,2215,2407,3934,0,0,0,0,0,0
$GC,2536,-0.78,-155.7,372.4,-10.3,436,2544,0.12,2.12,0.00,0.000,4,0.083,0.034,2148,1004,3932,0,0,0,0,0,0
$GC,2585,-0.76,-155.7,379.0,-13.5,444,2593,0.12,2.15,0.00,0.000,6,0.135,0.036,2178,2401,3930,0,0,0,0,0,0
$GC,2928,-0.76,-155.7,425.6,-13.5,505,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2401,3930,0,0,0,0,0,0
$GC,3267,-0.76,-155.7,471.8,-14.5,566,3276,0.00,2.12,0.00,0.000,4,0.000,0.034,2179,1000,3928,0,0,0,0,0,0
$GC,3305,-0.78,-155.7,477.2,-14.0,572,3314,0.00,2.15,0.00,0.000,6,0.000,0.037,2174,2397,3928,0,0,0,0,0,0
$GC,3645,-0.78,-155.7,524.8,-12.0,617,3649,0.00,2.15,0.00,0.000,4,0.000,0.047,2164,3784,3926,0,0,0,0,0,0
$GC,3684,-0.79,-155.7,529.3,-11.5,620,3688,0.00,2.08,0.00,0.000,6,0.000,0.028,2164,2391,3926,0,0,0,0,0,0
$GC,4011,-0.79,-155.7,571.0,-13.2,650,4014,0.00,2.08,0.00,0.000,4,0.000,0.034,2164,1003,3923,0,0,0,0,0,0
$GC,4072,-0.81,-155.7,579.2,-12.5,655,4079,0.00,2.15,0.00,0.000,6,0.000,0.037,2156,2393,3922,0,0,0,0,0,0
$GC,4393,-0.81,-155.7,627.4,-16.3,678,4396,0.00,2.15,0.00,0.000,4,0.000,0.047,2146,3780,3920,0,0,0,0,0,0
$GC,4453,-0.81,-155.7,637.0,-14.9,680,4461,0.00,2.08,0.00,0.000,6,0.000,0.028,2147,2401,3920,0,0,0,0,0,0
$GC,4770,-0.81,-155.7,680.9,-13.1,696,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2398,3918,0,0,0,0,0,0
$GC,5080,-0.81,-155.7,715.7,-10.8,711,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2398,3915,0,0,0,0,0,0
$GC,5388,-0.81,-155.7,754.2,-13.9,726,5392,0.00,2.10,0.00,0.000,4,0.000,0.037,2146,992,3912,0,0,0,0,0,0
$GC,5483,-0.83,-155.7,767.4,-12.8,730,5487,0.00,2.15,0.00,0.000,6,0.000,0.039,2138,2400,3909,0,0,0,0,0,0
$GC,5799,-0.83,-155.7,815.4,-15.5,745,5803,0.00,2.10,0.00,0.000,4,0.000,0.036,2139,1001,3910,0,0,0,0,0,0
$GC,5820,-0.83,-155.7,819.1,-16.1,746,5825,0.00,2.20,0.00,0.000,6,0.000,0.040,2131,2406,3910,0,0,0,0,0,0
$GC,6149,-0.82,-155.7,865.6,-13.6,762,6151,0.12,0.00,0.00,0.000,6,0.174,0.000,2162,2406,3906,0,0,0,0,0,0
$GC,6458,-0.84,-155.7,898.2,-10.3,777,6462,0.00,2.15,0.00,0.000,4,0.000,0.051,2154,3778,3903,0,0,0,0,0,0
$GC,6503,-0.88,-155.7,902.8,-9.9,779,6507,0.00,2.05,0.00,0.000,6,0.000,0.031,2154,2405,3903,0,0,0,0,0,0
$GC,6826,-0.90,-155.7,936.5,-11.0,795,6830,0.00,2.12,0.00,0.000,4,0.000,0.037,2154,1000,3901,0,0,0,0,0,0
$GC,6898,-0.94,-155.7,944.7,-11.2,798,6902,0.00,2.15,0.00,0.000,6,0.000,0.041,2152,2403,3901,0,0,0,0,0,0
$GC,7220,-0.96,-155.7,981.0,-11.6,814,7225,0.12,2.20,0.00,0.000,4,0.095,0.052,2086,3783,3898,0,0,0,0,0,0
$GC,7263,-0.92,-155.7,987.7,-16.5,816,7268,0.15,2.08,0.00,0.000,6,0.164,0.031,2125,2388,3896,0,0,0,0,0,0
$STATE,7361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7361,begin apogee
$GC,7367,-0.16,0.0,1001.6,14.0,821,7496,0.75,0.00,117.78,1.156,6,0.131,0.000,2367,1990,3298,0,0,0,0,0,0
$STATE,7497,end apogee,CONTROL_FINISHED_OK
$STATE,7497,begin climb
$GC,7499,0.77,155.7,1008.9,0.0,827,7638,0.85,2.45,128.00,1.113,4,0.049,0.046,2688,3407,2662,0,0,0,0,0,0
$GC,7890,0.59,155.7,966.1,19.0,844,7898,0.32,2.15,0.00,0.000,6,0.206,0.033,2619,2016,2653,0,0,0,0,0,0
$GC,8206,0.49,155.7,924.2,13.8,860,8211,0.12,2.22,0.00,0.000,4,0.205,0.046,2588,3412,2650,0,0,0,0,0,0
$GC,8294,0.41,155.7,911.5,13.9,864,8299,0.15,2.17,0.00,0.000,6,0.203,0.033,2562,2000,2649,0,0,0,0,0,0
$GC,8617,0.40,188.2,877.1,9.5,880,8648,0.00,2.28,25.40,1.061,4,0.000,0.046,2562,3414,2531,0,0,0,0,0,0
$GC,8678,0.36,188.2,870.5,11.9,883,8682,0.00,2.20,0.00,0.000,6,0.000,0.033,2570,1992,2528,0,0,0,0,0,0
$GC,9007,0.36,220.2,837.5,9.6,899,9038,0.00,2.20,26.80,1.031,4,0.000,0.043,2581,597,2400,0,0,0,0,0,0
$GC,9072,0.33,220.2,830.4,11.2,902,9077,0.17,2.22,0.00,0.000,6,0.164,0.034,2538,2009,2398,0,0,0,0,0,0
$GC,9393,0.38,263.0,802.1,9.1,918,9435,0.00,0.00,35.95,1.012,6,0.000,0.000,2537,2009,2224,0,0,0,0,0,0
$GC,9747,0.44,290.1,768.4,9.8,935,9776,0.00,2.33,22.48,0.980,4,0.000,0.045,2545,598,2115,0,0,0,0,0,0
$GC,9799,0.50,314.5,762.8,9.9,937,9826,0.12,2.20,21.20,0.937,6,0.090,0.036,2595,2005,2016,0,0,0,0,0,0
$GC,10136,0.48,314.5,709.2,16.8,953,10140,0.00,2.22,0.00,0.000,4,0.000,0.045,2606,597,2009,0,0,0,0,0,0
$GC,10168,0.46,314.5,703.4,16.6,954,10177,0.12,2.17,0.00,0.000,6,0.169,0.035,2576,2001,2008,0,0,0,0,0,0
$GC,10485,0.46,314.5,660.5,13.0,970,10489,0.00,2.20,0.00,0.000,4,0.000,0.047,2575,3408,2007,0,0,0,0,0,0
$GC,10529,0.46,314.5,654.5,12.6,972,10533,0.00,2.20,0.00,0.000,6,0.000,0.034,2584,1994,2006,0,0,0,0,0,0
$GC,10857,0.46,314.5,614.1,12.6,988,10861,0.00,2.22,0.00,0.000,4,0.000,0.046,2584,3412,2005,0,0,0,0,0,0
$GC,10885,0.46,314.5,609.9,14.8,989,10889,0.00,2.15,0.00,0.000,6,0.000,0.034,2594,1999,2004,0,0,0,0,0,0
$GC,11210,0.45,314.5,558.3,16.3,1016,11214,0.00,2.17,0.00,0.000,4,0.000,0.044,2605,595,2004,0,0,0,0,0,0
$GC,11273,0.45,314.5,548.0,15.3,1021,11278,0.15,2.15,0.00,0.000,6,0.158,0.034,2566,2003,2003,0,0,0,0,0,0
$GC,11601,0.49,337.9,509.7,10.0,1051,11624,0.00,2.28,18.42,0.868,4,0.000,0.046,2566,3406,1917,0,0,0,0,0,0
$GC,11653,0.54,354.8,504.2,10.3,1055,11674,0.00,2.17,15.00,0.778,6,0.000,0.033,2574,1993,1851,0,0,0,0,0,0
$GC,12011,0.58,368.3,467.6,10.5,1115,12033,0.12,2.22,11.57,0.815,4,0.093,0.044,2642,594,1796,0,0,0,0,0,0
$GC,12102,0.56,368.3,454.0,15.6,1130,12112,0.10,2.20,0.00,0.000,6,0.143,0.034,2610,2002,1794,0,0,0,0,0,0
$GC,12449,0.56,368.3,401.3,13.0,1191,12456,0.00,2.20,0.00,0.000,4,0.000,0.044,2610,3410,1792,0,0,0,0,0,0
$GC,12487,0.56,368.3,395.6,15.1,1197,12494,0.00,2.17,0.00,0.000,6,0.000,0.033,2619,1991,1792,0,0,0,0,0,0
$GC,12831,0.55,368.3,344.6,14.1,1258,12839,0.00,2.17,0.00,0.000,4,0.000,0.044,2630,598,1791,0,0,0,0,0,0
$GC,12976,0.55,368.3,325.5,12.2,1283,12984,0.12,2.15,0.00,0.000,6,0.158,0.034,2597,2008,1791,0,0,0,0,0,0
$GC,13319,0.56,368.3,286.2,13.1,1344,13326,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2008,1791,0,0,0,0,0,0
$GC,13663,0.59,368.3,245.3,11.3,1405,13670,0.00,2.15,0.00,0.000,4,0.000,0.044,2597,3405,1793,0,0,0,0,0,0
$GC,13706,0.62,368.3,240.2,11.8,1412,13714,0.00,2.15,0.00,0.000,6,0.000,0.032,2606,2003,1791,0,0,0,0,0,0
$GC,14050,0.64,373.6,200.4,10.9,1473,14065,0.00,2.12,5.10,0.532,4,0.000,0.044,2617,595,1774,0,0,0,0,0,0
$GC,14142,0.70,396.1,190.2,10.0,1487,14172,0.10,2.12,18.85,0.680,6,0.102,0.033,2667,2003,1685,0,0,0,0,0,0
$GC,14508,0.68,396.1,136.3,15.0,1551,14516,0.00,2.20,0.00,0.000,4,0.000,0.041,2678,593,1682,0,0,0,0,0,0
$GC,14553,0.67,396.1,129.6,16.0,1558,14563,0.10,2.15,0.00,0.000,6,0.125,0.033,2644,1990,1680,0,0,0,0,0,0
$GC,14891,0.70,406.6,92.5,10.6,1619,14907,0.00,2.15,9.80,0.560,4,0.000,0.039,2652,596,1640,0,0,0,0,0,0
$GC,14955,0.76,422.8,85.6,10.3,1629,14980,0.00,2.15,14.35,0.581,6,0.000,0.032,2652,1997,1573,0,0,0,0,0,0
$GC,15309,0.98,538.8,53.8,5.5,1692,15404,0.25,2.25,87.45,0.580,4,0.057,0.040,2783,588,1101,0,0,0,0,0,0
$GC,15432,0.93,538.8,33.9,19.6,1708,15441,0.17,2.22,0.00,0.000,6,0.132,0.032,2729,2000,1098,0,0,0,0,0,0
$STATE,15630,end climb,SURFACE_DEPTH_REACHED
$STATE,15631,begin surface coast
$FINISH,0.9,1.009468
$STATE,15655,end surface coast,CONTROL_FINISHED_OK
$STATE,15655,begin surface
$SM_CCo,15744,0.00,0.000,0,0,1093,540.89
$SM_GC,1.78,6.65,0.00,0.00,0.040,0.000,0.000,205,2412,1093,-6.85,0.34,540.89
$IRIDIUM_FIX,2411.01,12609.64,151010,040453
$TT8_MAMPS,0.028462
$HUMID,47.44
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,23.9,32.980
$10V_AH,10.0,41.864
$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,19.200,140.075,558.150,0.000,0.000,25.376,15.232,288.049,0.000,0.000,16.191,4348.380,6394.055,649.133,4468.926,419.600,0.000,2207.841,0.000,2801.364,0.000,0.541,0.000
$DEVICE_MAMPS,224.910,52.020,1155.915,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1193.706,2661.927,2256.625,0.000,0.000,0.000,2774.354,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331276
$DATA_FILE_SIZE,123654,1748
$CAP_FILE_SIZE,191047,0
$CFSIZE,260165632,232374272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,106.5,1
$GPS,151010,130601,2412.154,12608.391,40,1.8,40,-3.6