version: 66.08
glider: 181
mission: 4
dive: 271
start: 10 18 110 23 26 2
data:
$ID,181
$MISSION,4
$DIVE,271
$N_DIVES,290
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,-38189.434
$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,39
$R_STBD_OVSHOOT,37
$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,540.0
$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
$GPS1,181010,231537,2342.844,12608.837,31,1.2,32,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-63.3
$GPS2,181010,232532,2342.928,12608.812,10,1.4,10,-3.5
$SPEED_LIMITS,0.191,0.276
$TGT_NAME,NWALL_N
$TGT_LATLONG,2420.000,12609.000
$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,4.5,68658,-18.4,-11.000
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.77,-155.7,0.0,0.0,0,63,0.00,0.00,-39.80,0.000,2,0.000,0.000,197,2399,2504,0,0,0,0,0,0
$GC,66,-0.77,-155.7,3.0,-3.1,5,123,8.00,2.20,-37.38,0.000,4,0.226,0.053,2164,3781,3936,0,0,0,0,0,0
$GC,208,-0.66,-155.7,37.2,-32.4,27,217,0.12,2.12,0.00,0.000,6,0.142,0.027,2203,2390,3938,0,0,0,0,0,0
$GC,543,-0.61,-155.7,122.8,-20.7,88,551,0.00,2.10,0.00,0.000,4,0.000,0.031,2204,994,3938,0,0,0,0,0,0
$GC,582,-0.58,-155.7,130.7,-18.4,94,591,0.10,2.15,0.00,0.000,6,0.125,0.033,2229,2399,3938,0,0,0,0,0,0
$GC,916,-0.58,-155.7,179.2,-13.3,155,923,0.00,2.12,0.00,0.000,4,0.000,0.041,2219,3790,3939,0,0,0,0,0,0
$GC,985,-0.62,-155.7,187.7,-11.2,167,992,0.00,2.08,0.00,0.000,6,0.000,0.024,2219,2381,3940,0,0,0,0,0,0
$GC,1328,-0.62,-155.7,232.5,-13.8,228,1336,0.00,2.05,0.00,0.000,4,0.000,0.031,2219,1005,3937,0,0,0,0,0,0
$GC,1391,-0.66,-155.7,240.6,-13.0,239,1398,0.00,2.10,0.00,0.000,6,0.000,0.034,2218,2401,3939,0,0,0,0,0,0
$GC,1720,-0.68,-155.7,283.0,-13.8,300,1728,0.00,2.10,0.00,0.000,4,0.000,0.031,2218,1005,3939,0,0,0,0,0,0
$GC,1746,-0.70,-155.7,286.4,-13.1,304,1754,0.00,2.15,0.00,0.000,6,0.000,0.034,2218,2406,3938,0,0,0,0,0,0
$GC,2079,-0.73,-155.7,326.7,-11.7,365,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2406,3937,0,0,0,0,0,0
$GC,2410,-0.76,-155.7,366.5,-12.6,426,2419,0.12,2.12,0.00,0.000,4,0.083,0.032,2151,1011,3935,0,0,0,0,0,0
$GC,2443,-0.75,-155.7,371.6,-16.4,431,2450,0.15,2.10,0.00,0.000,6,0.146,0.035,2183,2399,3935,0,0,0,0,0,0
$GC,2772,-0.75,-155.7,417.5,-12.0,492,2780,0.00,2.15,0.00,0.000,4,0.000,0.044,2175,3779,3932,0,0,0,0,0,0
$GC,2826,-0.77,-155.7,424.3,-12.1,501,2834,0.00,2.03,0.00,0.000,6,0.000,0.025,2174,2398,3933,0,0,0,0,0,0
$GC,3156,-0.77,-155.7,466.8,-13.5,562,3164,0.00,2.08,0.00,0.000,4,0.000,0.031,2174,1009,3931,0,0,0,0,0,0
$GC,3243,-0.80,-155.7,476.6,-11.6,577,3251,0.00,2.10,0.00,0.000,6,0.000,0.033,2166,2403,3931,0,0,0,0,0,0
$GC,3571,-0.80,-155.7,519.3,-13.7,625,3575,0.00,2.10,0.00,0.000,4,0.000,0.043,2156,3783,3929,0,0,0,0,0,0
$GC,3637,-0.82,-155.7,528.4,-12.4,630,3644,0.00,2.05,0.00,0.000,6,0.000,0.025,2156,2391,3929,0,0,0,0,0,0
$GC,3962,-0.82,-155.7,575.1,-14.1,661,3966,0.00,2.05,0.00,0.000,4,0.000,0.031,2156,1004,3926,0,0,0,0,0,0
$GC,4012,-0.84,-155.7,582.3,-13.9,665,4020,0.00,2.10,0.00,0.000,6,0.000,0.035,2151,2397,3926,0,0,0,0,0,0
$GC,4332,-0.84,-155.7,626.1,-13.9,687,4336,0.00,2.12,0.00,0.000,4,0.000,0.044,2141,3785,3922,0,0,0,0,0,0
$GC,4365,-0.84,-155.7,630.9,-14.6,688,4372,0.00,2.05,0.00,0.000,6,0.000,0.026,2141,2398,3922,0,0,0,0,0,0
$GC,4681,-0.84,-155.7,673.8,-12.9,704,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2395,3920,0,0,0,0,0,0
$GC,4990,-0.84,-155.7,712.2,-12.2,719,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2395,3918,0,0,0,0,0,0
$GC,5300,-0.84,-155.7,749.5,-12.2,734,5304,0.00,2.08,0.00,0.000,4,0.000,0.033,2140,995,3915,0,0,0,0,0,0
$GC,5344,-0.85,-155.7,755.4,-12.1,736,5348,0.00,2.12,0.00,0.000,6,0.000,0.036,2138,2399,3915,0,0,0,0,0,0
$GC,5672,-0.85,-155.7,795.9,-12.6,752,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2399,3912,0,0,0,0,0,0
$GC,5981,-0.85,-155.7,836.2,-13.1,767,5985,0.00,2.15,0.00,0.000,4,0.000,0.047,2128,3777,3910,0,0,0,0,0,0
$GC,6037,-0.87,-155.7,843.8,-12.9,769,6045,0.00,2.03,0.00,0.000,6,0.000,0.028,2128,2405,3909,0,0,0,0,0,0
$GC,6353,-0.87,-155.7,885.0,-12.6,785,6357,0.00,2.10,0.00,0.000,4,0.000,0.034,2128,1001,3906,0,0,0,0,0,0
$GC,6391,-0.87,-155.7,889.9,-12.6,786,6399,0.00,2.17,0.00,0.000,6,0.000,0.037,2124,2397,3906,0,0,0,0,0,0
$GC,6708,-0.87,-155.7,928.6,-12.5,802,6712,0.00,2.17,0.00,0.000,4,0.000,0.048,2119,3786,3903,0,0,0,0,0,0
$GC,6796,-0.87,-155.7,940.3,-12.4,806,6801,0.08,2.10,0.00,0.000,6,0.138,0.028,2138,2399,3903,0,0,0,0,0,0
$GC,7124,-0.87,-155.7,980.4,-12.2,822,7128,0.00,2.10,0.00,0.000,4,0.000,0.034,2139,989,3900,0,0,0,0,0,0
$GC,7157,-0.89,-155.7,984.9,-12.9,823,7164,0.00,2.17,0.00,0.000,6,0.000,0.038,2138,2410,3900,0,0,0,0,0,0
$STATE,7203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7203,begin apogee
$GC,7210,-0.16,0.0,990.3,11.8,826,7334,0.70,0.00,118.60,1.137,6,0.121,0.000,2367,1978,3298,0,0,0,0,0,0
$STATE,7335,end apogee,CONTROL_FINISHED_OK
$STATE,7335,begin climb
$GC,7337,0.77,155.7,996.6,0.0,831,7471,0.82,0.00,127.85,1.099,6,0.047,0.000,2687,1978,2663,0,0,0,0,0,0
$GC,7775,0.61,155.7,945.2,17.4,852,7780,0.25,2.28,0.00,0.000,4,0.193,0.041,2620,3413,2653,0,0,0,0,0,0
$GC,7802,0.49,155.7,940.6,15.8,853,7807,0.17,2.15,0.00,0.000,6,0.195,0.029,2588,2005,2652,0,0,0,0,0,0
$GC,8119,0.42,155.7,901.5,12.2,868,8123,0.00,2.20,0.00,0.000,4,0.000,0.042,2588,3409,2650,0,0,0,0,0,0
$GC,8146,0.35,155.7,897.4,14.0,869,8151,0.22,2.12,0.00,0.000,6,0.188,0.028,2540,2002,2649,0,0,0,0,0,0
$GC,8470,0.35,168.8,863.0,10.4,885,8484,0.00,2.22,9.77,1.023,4,0.000,0.044,2539,3419,2609,0,0,0,0,0,0
$GC,8512,0.32,168.8,858.0,11.4,886,8516,0.00,2.15,0.00,0.000,6,0.000,0.030,2549,1998,2609,0,0,0,0,0,0
$GC,8842,0.34,206.0,825.7,9.2,902,8878,0.00,2.22,31.35,1.022,4,0.000,0.041,2559,599,2458,0,0,0,0,0,0
$GC,8917,0.36,218.1,817.8,10.4,904,8933,0.00,2.20,11.30,0.910,6,0.000,0.032,2560,2012,2409,0,0,0,0,0,0
$GC,9251,0.41,258.5,786.4,9.1,921,9296,0.00,2.28,33.92,0.996,4,0.000,0.043,2559,3398,2241,0,0,0,0,0,0
$GC,9335,0.42,267.0,777.7,10.6,924,9350,0.00,2.20,8.18,0.840,6,0.000,0.030,2569,2006,2208,0,0,0,0,0,0
$GC,9674,0.42,267.0,738.3,12.3,941,9678,0.00,2.17,0.00,0.000,4,0.000,0.041,2580,595,2204,0,0,0,0,0,0
$GC,9806,0.42,267.0,720.8,13.3,947,9811,0.00,2.17,0.00,0.000,6,0.000,0.031,2580,1996,2201,0,0,0,0,0,0
$GC,10135,0.42,267.0,678.5,12.4,963,10139,0.00,2.17,0.00,0.000,4,0.000,0.042,2580,3402,2200,0,0,0,0,0,0
$GC,10168,0.40,267.0,673.8,13.7,964,10176,0.15,2.15,0.00,0.000,6,0.167,0.030,2552,1983,2199,0,0,0,0,0,0
$GC,10486,0.51,335.1,647.6,7.8,980,10552,0.12,2.25,54.55,0.928,4,0.093,0.041,2616,601,1930,0,0,0,0,0,0
$GC,10559,0.49,335.1,639.1,12.7,983,10564,0.12,2.17,0.00,0.000,6,0.158,0.031,2585,1999,1929,0,0,0,0,0,0
$GC,10882,0.50,335.1,599.0,13.2,999,10888,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1999,1922,0,0,0,0,0,0
$GC,11211,0.51,335.1,554.4,13.4,1030,11215,0.00,2.17,0.00,0.000,4,0.000,0.041,2594,595,1920,0,0,0,0,0,0
$GC,11251,0.54,335.1,548.8,13.3,1033,11255,0.00,2.12,0.00,0.000,6,0.000,0.031,2594,2000,1920,0,0,0,0,0,0
$GC,11577,0.54,335.1,509.7,11.6,1063,11581,0.00,2.17,0.00,0.000,4,0.000,0.041,2593,3408,1919,0,0,0,0,0,0
$GC,11594,0.54,338.5,507.6,10.8,1064,11598,0.00,2.15,0.00,0.000,6,0.000,0.030,2604,2001,1918,0,0,0,0,0,0
$GC,11932,0.54,338.5,467.8,12.9,1118,11941,0.00,2.17,0.00,0.000,4,0.000,0.042,2615,596,1917,0,0,0,0,0,0
$GC,11992,0.54,338.5,460.1,13.2,1128,12000,0.00,2.15,0.00,0.000,6,0.000,0.033,2615,1993,1917,0,0,0,0,0,0
$GC,12336,0.53,338.5,411.3,13.1,1189,12342,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1993,1917,0,0,0,0,0,0
$GC,12677,0.53,338.5,367.2,13.0,1250,12685,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1993,1917,0,0,0,0,0,0
$GC,13020,0.53,338.5,322.1,13.2,1311,13027,0.00,2.15,0.00,0.000,4,0.000,0.039,2625,585,1919,0,0,0,0,0,0
$GC,13068,0.53,338.5,315.8,11.9,1319,13076,0.12,2.15,0.00,0.000,6,0.149,0.031,2592,2009,1916,0,0,0,0,0,0
$GC,13411,0.58,357.6,280.5,10.1,1380,13433,0.00,0.00,17.35,0.740,6,0.000,0.000,2592,2015,1840,0,0,0,0,0,0
$GC,13771,0.64,379.2,243.0,10.0,1443,13792,0.12,0.00,18.08,0.709,6,0.085,0.000,2646,2010,1753,0,0,0,0,0,0
$GC,14136,0.63,379.2,185.9,14.9,1506,14145,0.00,2.20,0.00,0.000,4,0.000,0.040,2661,598,1750,0,0,0,0,0,0
$GC,14196,0.63,379.2,178.0,12.7,1516,14205,0.10,2.15,0.00,0.000,6,0.131,0.031,2628,2001,1750,0,0,0,0,0,0
$GC,14543,0.65,379.2,140.7,11.8,1577,14551,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2001,1751,0,0,0,0,0,0
$GC,14877,0.76,429.7,108.5,8.6,1638,14926,0.12,2.20,40.17,0.630,4,0.088,0.039,2689,3404,1545,0,0,0,0,0,0
$GC,14952,0.76,429.7,98.2,15.6,1648,14961,0.08,2.20,0.00,0.000,6,0.138,0.029,2674,1987,1542,0,0,0,0,0,0
$GC,15290,0.90,504.6,61.3,7.4,1709,15354,0.12,2.20,57.00,0.587,4,0.084,0.038,2751,590,1239,0,0,0,0,0,0
$GC,15403,0.90,504.6,48.7,12.4,1725,15412,0.10,2.20,0.00,0.000,6,0.127,0.031,2718,2000,1235,0,0,0,0,0,0
$GC,15739,0.93,512.2,9.0,10.6,1786,15750,0.00,2.22,6.10,0.425,4,0.000,0.037,2727,592,1210,0,0,0,0,0,0
$STATE,15785,end climb,SURFACE_DEPTH_REACHED
$STATE,15785,begin surface coast
$FINISH,1.3,1.012435
$STATE,15814,end surface coast,CONTROL_FINISHED_OK
$STATE,15814,begin surface
$SM_CCo,15908,0.00,0.000,0,0,1207,512.68
$SM_GC,1.97,6.50,0.00,0.00,0.031,0.000,0.000,202,2396,1207,-6.84,-0.11,512.68
$IRIDIUM_FIX,2330.93,12632.43,181010,181821
$TT8_MAMPS,0.026964
$HUMID,45.51
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.9,35.969
$10V_AH,9.9,46.491
$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,18.425,138.600,534.225,0.000,0.000,27.726,40.543,297.494,0.000,0.000,13.233,4427.772,6427.020,638.182,4545.993,446.129,0.000,2198.075,0.000,2826.496,0.000,0.542,0.000
$DEVICE_MAMPS,225.675,52.785,1136.790,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1226.121,2387.272,2359.823,0.000,0.000,0.000,2932.556,0.000,0.000,0.000
$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,127209,1798
$CAP_FILE_SIZE,188345,0
$CFSIZE,260165632,230125568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073, 45.9,1
$GPS,191010,035225,2345.792,12609.559,37,2.0,38,-3.5