version: 66.08
glider: 181
mission: 4
dive: 279
start: 10 20 110 12 59 43
data:
$ID,181
$MISSION,4
$DIVE,279
$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,-38200.824
$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,45
$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,553.0
$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
$GPS1,201010,125055,2349.785,12609.198,40,1.5,41,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-68.8
$GPS2,201010,125914,2349.865,12609.274,10,1.6,10,-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,193.0,18276,-20.0,-11.111
$D_GRID,3101
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.79,-136.3,0.0,0.0,0,65,0.00,0.00,-46.80,0.000,2,0.000,0.000,191,2424,2532,0,0,0,0,0,0
$GC,69,-0.79,-136.3,3.1,-3.3,6,123,7.95,2.20,-33.92,0.000,4,0.223,0.041,2157,985,3856,0,0,0,0,0,0
$GC,132,-0.63,-136.3,14.6,-25.0,14,141,0.22,2.20,0.00,0.000,6,0.155,0.034,2214,2397,3856,0,0,0,0,0,0
$GC,460,-0.58,-136.3,104.4,-21.2,75,468,0.00,2.17,0.00,0.000,4,0.000,0.044,2205,3782,3857,0,0,0,0,0,0
$GC,628,-0.58,-136.3,132.7,-15.8,105,636,0.08,2.10,0.00,0.000,6,0.125,0.024,2231,2383,3858,0,0,0,0,0,0
$GC,967,-0.60,-136.3,182.8,-14.5,166,975,0.00,2.17,0.00,0.000,4,0.000,0.042,2222,3770,3860,0,0,0,0,0,0
$GC,1004,-0.64,-136.3,187.5,-12.6,172,1014,0.00,2.05,0.00,0.000,6,0.000,0.024,2222,2393,3859,0,0,0,0,0,0
$GC,1350,-0.67,-136.3,236.1,-13.8,233,1357,0.00,2.05,0.00,0.000,4,0.000,0.031,2221,1001,3859,0,0,0,0,0,0
$GC,1403,-0.72,-136.3,243.6,-13.3,242,1411,0.00,2.12,0.00,0.000,6,0.000,0.034,2218,2391,3860,0,0,0,0,0,0
$GC,1749,-0.75,-136.3,284.9,-10.3,303,1756,0.00,2.12,0.00,0.000,4,0.000,0.042,2208,3790,3858,0,0,0,0,0,0
$GC,1780,-0.80,-136.3,288.3,-11.0,308,1790,0.08,2.08,0.00,0.000,6,0.051,0.024,2149,2394,3858,0,0,0,0,0,0
$GC,2130,-0.77,-136.3,349.1,-18.0,369,2137,0.00,2.15,0.00,0.000,4,0.000,0.042,2138,3785,3854,0,0,0,0,0,0
$GC,2167,-0.74,-136.3,356.1,-17.4,375,2174,0.17,2.05,0.00,0.000,6,0.142,0.025,2185,2394,3857,0,0,0,0,0,0
$GC,2512,-0.76,-136.3,399.5,-10.3,436,2520,0.00,2.05,0.00,0.000,4,0.000,0.031,2187,1000,3855,0,0,0,0,0,0
$GC,2533,-0.78,-136.3,402.0,-10.8,439,2540,0.00,2.12,0.00,0.000,6,0.000,0.033,2180,2406,3856,0,0,0,0,0,0
$GC,2873,-0.80,-136.3,441.9,-12.9,500,2881,0.00,2.08,0.00,0.000,4,0.000,0.030,2179,1004,3853,0,0,0,0,0,0
$GC,2921,-0.84,-136.3,448.2,-12.3,508,2929,0.00,2.12,0.00,0.000,6,0.000,0.034,2172,2411,3851,0,0,0,0,0,0
$GC,3268,-0.85,-136.3,496.3,-14.2,569,3274,0.00,2.10,0.00,0.000,4,0.000,0.044,2162,3776,3851,0,0,0,0,0,0
$GC,3348,-0.88,-136.3,507.1,-13.0,579,3351,0.00,2.03,0.00,0.000,6,0.000,0.025,2162,2392,3851,0,0,0,0,0,0
$GC,3679,-0.88,-136.3,551.4,-13.3,610,3683,0.00,2.17,0.00,0.000,4,0.000,0.044,2152,3787,3848,0,0,0,0,0,0
$GC,3742,-0.90,-136.3,559.7,-13.0,615,3745,0.00,2.05,0.00,0.000,6,0.000,0.026,2152,2405,3847,0,0,0,0,0,0
$GC,4071,-0.90,-136.3,605.8,-13.4,644,4075,0.00,2.08,0.00,0.000,4,0.000,0.032,2152,1003,3845,0,0,0,0,0,0
$GC,4109,-0.92,-136.3,611.1,-12.2,645,4117,0.00,2.15,0.00,0.000,6,0.000,0.035,2144,2399,3845,0,0,0,0,0,0
$GC,4426,-0.92,-136.3,651.8,-12.9,661,4430,0.00,2.15,0.00,0.000,4,0.000,0.045,2133,3784,3842,0,0,0,0,0,0
$GC,4489,-0.93,-136.3,659.8,-12.6,664,4493,0.00,2.08,0.00,0.000,6,0.000,0.027,2133,2393,3841,0,0,0,0,0,0
$GC,4815,-0.93,-136.3,704.4,-14.0,680,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2391,3839,0,0,0,0,0,0
$GC,5124,-0.93,-136.3,750.6,-15.0,695,5128,0.00,2.17,0.00,0.000,4,0.000,0.045,2123,3776,3836,0,0,0,0,0,0
$GC,5180,-0.94,-136.3,759.0,-14.0,697,5187,0.00,2.05,0.00,0.000,6,0.000,0.028,2123,2392,3833,0,0,0,0,0,0
$GC,5496,-0.94,-136.3,805.0,-14.2,713,5500,0.00,2.08,0.00,0.000,4,0.000,0.033,2123,990,3833,0,0,0,0,0,0
$GC,5536,-0.94,-136.3,810.6,-13.8,715,5540,0.00,2.15,0.00,0.000,6,0.000,0.036,2119,2407,3833,0,0,0,0,0,0
$GC,5864,-0.93,-136.3,855.7,-13.2,731,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2407,3830,0,0,0,0,0,0
$GC,6172,-0.93,-136.3,896.0,-13.1,746,6176,0.00,2.15,0.00,0.000,4,0.000,0.047,2102,3771,3827,0,0,0,0,0,0
$GC,6217,-0.93,-136.3,902.0,-13.0,748,6220,0.00,2.08,0.00,0.000,6,0.000,0.028,2102,2393,3827,0,0,0,0,0,0
$GC,6544,-0.92,-136.3,947.1,-14.5,764,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2389,3825,0,0,0,0,0,0
$GC,6853,-0.90,-136.3,990.9,-14.6,779,6858,0.12,2.22,0.00,0.000,4,0.167,0.047,2122,3785,3822,0,0,0,0,0,0
$GC,6880,-0.90,-136.3,994.9,-14.6,780,6884,0.00,2.12,0.00,0.000,6,0.000,0.028,2126,2391,3821,0,0,0,0,0,0
$STATE,6931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6932,begin apogee
$GC,6937,-0.16,0.0,1001.3,12.6,783,7047,0.75,0.00,103.45,1.147,6,0.128,0.000,2367,1975,3298,0,0,0,0,0,0
$STATE,7047,end apogee,CONTROL_FINISHED_OK
$STATE,7047,begin climb
$GC,7049,0.79,136.3,1007.0,0.0,788,7171,0.85,2.22,112.70,1.105,4,0.050,0.037,2701,614,2741,0,0,0,0,0,0
$GC,7179,0.75,232.5,1010.4,5.8,794,7265,0.00,2.22,80.22,1.090,6,0.000,0.032,2697,2003,2351,0,0,0,0,0,0
$GC,7574,0.63,232.5,936.7,19.9,813,7579,0.28,2.22,0.00,0.000,4,0.187,0.041,2624,3412,2340,0,0,0,0,0,0
$GC,7675,0.57,232.5,919.8,16.0,817,7682,0.00,2.12,0.00,0.000,6,0.000,0.029,2633,2023,2339,0,0,0,0,0,0
$GC,7991,0.51,232.5,873.5,14.8,833,7993,0.15,0.00,0.00,0.000,6,0.184,0.000,2596,2021,2335,0,0,0,0,0,0
$GC,8301,0.49,232.5,833.0,13.5,848,8305,0.00,2.20,0.00,0.000,4,0.000,0.040,2606,597,2336,0,0,0,0,0,0
$GC,8350,0.47,232.5,826.0,14.1,850,8354,0.00,2.15,0.00,0.000,6,0.000,0.031,2605,2004,2338,0,0,0,0,0,0
$GC,8672,0.44,232.5,779.7,14.9,866,8674,0.15,0.00,0.00,0.000,6,0.179,0.000,2567,2007,2334,0,0,0,0,0,0
$GC,8982,0.44,232.5,739.2,13.3,881,8986,0.00,2.17,0.00,0.000,4,0.000,0.040,2576,594,2333,0,0,0,0,0,0
$GC,9008,0.44,232.5,735.2,13.1,882,9012,0.00,2.15,0.00,0.000,6,0.000,0.031,2576,1993,2333,0,0,0,0,0,0
$GC,9337,0.44,232.5,693.1,12.0,898,9341,0.00,2.17,0.00,0.000,4,0.000,0.043,2576,3405,2332,0,0,0,0,0,0
$GC,9369,0.42,232.5,688.8,13.6,899,9376,0.00,2.15,0.00,0.000,6,0.000,0.030,2586,1990,2332,0,0,0,0,0,0
$GC,9686,0.43,244.8,653.9,10.4,915,9700,0.00,2.25,8.07,0.917,4,0.000,0.042,2586,3406,2301,0,0,0,0,0,0
$GC,9757,0.42,244.8,645.7,12.6,918,9762,0.12,2.12,0.00,0.000,6,0.179,0.030,2564,2000,2299,0,0,0,0,0,0
$GC,10080,0.48,281.3,616.1,9.1,934,10116,0.00,2.22,30.83,0.904,4,0.000,0.040,2565,3408,2152,0,0,0,0,0,0
$GC,10141,0.51,287.6,610.1,10.8,936,10154,0.00,2.15,6.90,0.720,6,0.000,0.030,2573,2004,2125,0,0,0,0,0,0
$GC,10478,0.55,300.2,575.2,10.4,963,10494,0.00,2.22,10.95,0.863,4,0.000,0.041,2583,589,2075,0,0,0,0,0,0
$GC,10576,0.59,309.3,564.8,10.6,971,10591,0.10,2.15,9.27,0.783,6,0.106,0.030,2629,2002,2036,0,0,0,0,0,0
$GC,10917,0.57,309.3,511.1,15.7,1003,10921,0.00,2.17,0.00,0.000,4,0.000,0.041,2629,3406,2033,0,0,0,0,0,0
$GC,10972,0.55,309.3,501.7,16.2,1007,10979,0.15,2.15,0.00,0.000,6,0.169,0.028,2602,1987,2031,0,0,0,0,0,0
$GC,11313,0.55,309.3,454.0,13.6,1067,11319,0.00,2.15,0.00,0.000,4,0.000,0.040,2611,590,2031,0,0,0,0,0,0
$GC,11377,0.56,309.3,445.8,11.6,1078,11384,0.00,2.15,0.00,0.000,6,0.000,0.031,2611,2011,2031,0,0,0,0,0,0
$GC,11716,0.56,309.3,407.4,11.7,1139,11723,0.00,2.17,0.00,0.000,4,0.000,0.039,2621,593,2031,0,0,0,0,0,0
$GC,11797,0.57,309.3,398.4,11.3,1153,11804,0.00,2.12,0.00,0.000,6,0.000,0.031,2621,2011,2028,0,0,0,0,0,0
$GC,12141,0.57,309.3,353.6,13.1,1214,12149,0.00,2.15,0.00,0.000,4,0.000,0.042,2621,3407,2031,0,0,0,0,0,0
$GC,12172,0.57,309.3,349.3,14.4,1219,12179,0.00,2.12,0.00,0.000,6,0.000,0.029,2631,2001,2030,0,0,0,0,0,0
$GC,12514,0.56,309.3,303.5,12.7,1280,12522,0.00,2.15,0.00,0.000,4,0.000,0.039,2642,594,2030,0,0,0,0,0,0
$GC,12581,0.56,309.3,294.7,12.8,1291,12589,0.12,2.15,0.00,0.000,6,0.157,0.030,2609,2001,2030,0,0,0,0,0,0
$GC,12927,0.61,332.3,258.6,9.9,1352,12955,0.00,2.22,19.00,0.731,4,0.000,0.041,2609,3407,1942,0,0,0,0,0,0
$GC,12991,0.65,337.2,251.9,10.8,1362,13006,0.00,2.17,5.18,0.554,6,0.000,0.029,2618,1995,1925,0,0,0,0,0,0
$GC,13345,0.67,337.2,211.5,11.4,1424,13353,0.00,2.17,0.00,0.000,4,0.000,0.039,2628,593,1923,0,0,0,0,0,0
$GC,13475,0.71,342.4,197.0,10.8,1445,13490,0.00,2.15,5.97,0.554,6,0.000,0.029,2628,2017,1903,0,0,0,0,0,0
$GC,13832,0.76,365.9,158.6,9.8,1507,13861,0.12,2.22,20.17,0.652,4,0.090,0.037,2697,597,1804,0,0,0,0,0,0
$GC,13912,0.75,365.9,147.2,15.1,1519,13921,0.10,2.15,0.00,0.000,6,0.134,0.029,2665,1997,1804,0,0,0,0,0,0
$GC,14250,0.78,381.2,103.8,10.3,1580,14268,0.00,2.17,13.12,0.588,4,0.000,0.037,2674,589,1741,0,0,0,0,0,0
$GC,14309,0.82,395.9,97.2,10.3,1589,14332,0.00,2.17,12.85,0.575,6,0.000,0.029,2674,2006,1682,0,0,0,0,0,0
$GC,14661,0.92,432.0,62.7,9.1,1652,14702,0.12,2.22,28.52,0.580,4,0.083,0.041,2742,3399,1535,0,0,0,0,0,0
$GC,14808,0.92,432.0,41.0,14.8,1676,14817,0.08,2.15,0.00,0.000,6,0.147,0.028,2727,2003,1534,0,0,0,0,0,0
$GC,15146,0.96,453.7,3.3,9.9,1737,15155,0.00,0.00,7.10,0.436,2,0.000,0.000,2727,2001,1482,0,0,0,0,0,0
$STATE,15156,end climb,SURFACE_DEPTH_REACHED
$STATE,15156,begin surface coast
$FINISH,1.1,1.020992
$STATE,15184,end surface coast,CONTROL_FINISHED_OK
$STATE,15184,begin surface
$SM_CCo,15302,0.00,0.000,0,0,1480,445.96
$SM_GC,2.07,6.60,0.00,0.00,0.041,0.000,0.000,199,2413,1480,-6.85,0.37,445.96
$IRIDIUM_FIX,2345.05,12607.88,201010,080858
$TT8_MAMPS,0.027713
$HUMID,45.51
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.9,37.246
$10V_AH,10.0,49.075
$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,18.325,147.075,474.325,0.000,0.000,27.939,16.673,271.606,0.000,0.000,13.140,4311.084,6493.952,601.446,3969.852,408.443,0.000,2098.672,0.000,2729.089,0.000,0.544,0.000
$DEVICE_MAMPS,223.380,47.430,1147.500,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1187.528,1808.422,1578.715,0.000,0.000,0.000,15259.421,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331432
$DATA_FILE_SIZE,120613,1743
$CAP_FILE_SIZE,188503,0
$CFSIZE,260165632,229208064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040, 63.4,1
$GPS,201010,171601,2347.830,12608.987,38,1.3,39,-3.5