version: 66.08
glider: 181
mission: 4
dive: 282
start: 10 21 110 2 37 26
data:
$ID,181
$MISSION,4
$DIVE,282
$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,-38204.602
$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,46
$R_STBD_OVSHOOT,39
$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
$GPS1,211010,023130,2344.204,12608.811,37,1.4,37,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-69.3
$GPS2,211010,023702,2344.210,12608.797,9,1.9,9,-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,184.8,7804,-20.0,-11.111
$D_GRID,5000
$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,15,-0.79,-136.3,0.0,0.0,0,55,0.00,0.00,-37.67,0.000,2,0.000,0.000,202,2408,2594,0,0,0,0,0,0
$GC,58,-0.79,-136.3,3.5,-5.4,6,102,7.88,0.00,-30.55,0.000,6,0.223,0.000,2165,2408,3856,0,0,0,0,0,0
$GC,440,-0.71,-136.3,119.6,-20.7,73,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2408,3858,0,0,0,0,0,0
$GC,773,-0.66,-136.3,187.1,-18.9,117,778,0.17,2.15,0.00,0.000,4,0.157,0.043,2206,3782,3860,0,0,0,0,0,0
$GC,828,-0.68,-136.3,196.5,-14.1,121,835,0.00,2.08,0.00,0.000,6,0.000,0.025,2206,2381,3861,0,0,0,0,0,0
$GC,1153,-0.68,-136.3,245.2,-14.9,152,1156,0.00,2.03,0.00,0.000,4,0.000,0.031,2206,998,3861,0,0,0,0,0,0
$GC,1176,-0.68,-136.3,248.5,-14.5,154,1180,0.00,2.12,0.00,0.000,6,0.000,0.034,2197,2404,3861,0,0,0,0,0,0
$GC,1506,-0.68,-136.3,293.7,-13.4,185,1510,0.00,2.10,0.00,0.000,4,0.000,0.044,2187,3777,3860,0,0,0,0,0,0
$GC,1586,-0.71,-136.3,303.9,-11.7,192,1590,0.00,2.03,0.00,0.000,6,0.000,0.024,2187,2392,3860,0,0,0,0,0,0
$GC,1911,-0.71,-136.3,346.6,-12.6,222,1914,0.00,2.05,0.00,0.000,4,0.000,0.031,2187,1004,3859,0,0,0,0,0,0
$GC,1949,-0.73,-136.3,351.8,-12.4,225,1956,0.00,2.10,0.00,0.000,6,0.000,0.034,2178,2403,3860,0,0,0,0,0,0
$GC,2274,-0.73,-136.3,399.0,-14.6,256,2278,0.00,2.12,0.00,0.000,4,0.000,0.044,2168,3784,3858,0,0,0,0,0,0
$GC,2337,-0.76,-136.3,408.4,-14.8,261,2341,0.00,2.03,0.00,0.000,6,0.000,0.025,2168,2396,3858,0,0,0,0,0,0
$GC,2667,-0.76,-136.3,455.6,-12.6,292,2671,0.00,2.05,0.00,0.000,4,0.000,0.031,2168,994,3856,0,0,0,0,0,0
$GC,2697,-0.77,-136.3,459.0,-12.5,294,2700,0.00,2.12,0.00,0.000,6,0.000,0.034,2164,2407,3856,0,0,0,0,0,0
$GC,3022,-0.77,-136.3,501.2,-12.8,324,3026,0.00,2.12,0.00,0.000,4,0.000,0.044,2154,3784,3854,0,0,0,0,0,0
$GC,3084,-0.78,-136.3,509.4,-13.1,327,3088,0.00,2.03,0.00,0.000,6,0.000,0.026,2154,2400,3853,0,0,0,0,0,0
$GC,3411,-0.78,-136.3,553.4,-14.3,343,3415,0.00,2.05,0.00,0.000,4,0.000,0.032,2154,1007,3852,0,0,0,0,0,0
$GC,3435,-0.78,-136.3,556.5,-13.2,344,3439,0.00,2.12,0.00,0.000,6,0.000,0.035,2152,2399,3852,0,0,0,0,0,0
$GC,3762,-0.78,-136.3,599.4,-12.9,360,3766,0.00,2.12,0.00,0.000,4,0.000,0.044,2142,3775,3850,0,0,0,0,0,0
$GC,3794,-0.80,-136.3,604.1,-13.6,362,3798,0.00,2.03,0.00,0.000,6,0.000,0.025,2141,2402,3849,0,0,0,0,0,0
$GC,4130,-0.80,-136.3,652.1,-14.4,373,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2398,3847,0,0,0,0,0,0
$GC,4435,-0.80,-136.3,693.6,-13.1,383,4439,0.00,2.08,0.00,0.000,4,0.000,0.032,2141,995,3844,0,0,0,0,0,0
$GC,4474,-0.81,-136.3,698.9,-12.6,384,4478,0.00,2.12,0.00,0.000,6,0.000,0.036,2137,2398,3844,0,0,0,0,0,0
$GC,4809,-0.81,-136.3,742.1,-12.7,395,4813,0.00,2.15,0.00,0.000,4,0.000,0.047,2127,3781,3840,0,0,0,0,0,0
$GC,4853,-0.81,-136.3,748.0,-13.6,396,4858,0.10,2.10,0.00,0.000,6,0.135,0.027,2160,2392,3840,0,0,0,0,0,0
$GC,5178,-0.84,-136.3,782.8,-10.7,407,5182,0.00,2.05,0.00,0.000,4,0.000,0.033,2160,1003,3838,0,0,0,0,0,0
$GC,5213,-0.88,-136.3,786.6,-10.7,408,5217,0.00,2.12,0.00,0.000,6,0.000,0.035,2153,2405,3838,0,0,0,0,0,0
$GC,5549,-0.91,-136.3,820.3,-9.4,419,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2405,3834,0,0,0,0,0,0
$GC,5856,-0.93,-136.3,847.9,-8.9,429,5860,0.00,2.15,0.00,0.000,4,0.000,0.047,2146,3778,3832,0,0,0,0,0,0
$GC,5906,-0.97,-136.3,852.6,-9.0,430,5910,0.00,2.05,0.00,0.000,6,0.000,0.028,2146,2393,3831,0,0,0,0,0,0
$GC,6220,-0.99,-136.3,884.7,-10.8,440,6222,0.12,0.00,0.00,0.000,6,0.090,0.000,2088,2392,3828,0,0,0,0,0,0
$GC,6526,-0.96,-136.3,931.9,-15.8,450,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2391,3828,0,0,0,0,0,0
$GC,6832,-0.93,-136.3,977.4,-14.6,460,6834,0.12,0.00,0.00,0.000,6,0.168,0.000,2121,2391,3826,0,0,0,0,0,0
$STATE,7013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7013,begin apogee
$GC,7019,-0.16,0.0,1000.1,12.3,466,7130,0.77,0.00,104.25,1.150,6,0.128,0.000,2371,1983,3298,0,0,0,0,0,0
$STATE,7131,end apogee,CONTROL_FINISHED_OK
$STATE,7131,begin climb
$GC,7133,0.79,136.3,1004.2,0.0,469,7256,0.82,2.30,112.43,1.107,4,0.044,0.038,2701,612,2742,0,0,0,0,0,0
$GC,7416,0.64,136.3,983.0,15.6,478,7421,0.28,2.20,0.00,0.000,6,0.197,0.034,2634,2012,2735,0,0,0,0,0,0
$GC,7751,0.54,136.3,941.1,12.1,489,7756,0.12,2.17,0.00,0.000,4,0.199,0.043,2603,3404,2730,0,0,0,0,0,0
$GC,7773,0.45,136.3,938.2,12.9,489,7781,0.17,2.12,0.00,0.000,6,0.200,0.029,2572,2014,2730,0,0,0,0,0,0
$GC,8086,0.42,142.5,905.2,10.8,500,8092,0.00,0.00,4.20,0.769,6,0.000,0.000,2572,2014,2717,0,0,0,0,0,0
$GC,8393,0.38,142.5,871.0,11.2,510,8394,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2014,2716,0,0,0,0,0,0
$GC,8699,0.37,163.8,838.8,9.9,520,8723,0.00,2.25,18.80,1.048,4,0.000,0.044,2572,3401,2630,0,0,0,0,0,0
$GC,8809,0.32,163.8,826.7,11.3,523,8814,0.20,2.17,0.00,0.000,6,0.182,0.030,2530,1994,2627,0,0,0,0,0,0
$GC,9134,0.43,237.2,801.7,7.1,534,9199,0.00,2.33,60.22,1.013,4,0.000,0.044,2530,3403,2331,0,0,0,0,0,0
$GC,9234,0.49,265.2,793.3,9.6,537,9266,0.12,2.20,24.65,0.955,6,0.094,0.030,2589,2000,2216,0,0,0,0,0,0
$GC,9601,0.49,265.2,745.9,13.5,549,9605,0.00,2.20,0.00,0.000,4,0.000,0.041,2601,592,2206,0,0,0,0,0,0
$GC,9679,0.49,265.2,735.1,14.9,551,9684,0.00,2.17,0.00,0.000,6,0.000,0.031,2601,2002,2205,0,0,0,0,0,0
$GC,9999,0.47,265.2,688.2,14.6,562,10003,0.00,2.17,0.00,0.000,4,0.000,0.043,2601,3405,2203,0,0,0,0,0,0
$GC,10077,0.45,265.2,676.1,15.0,564,10082,0.15,2.15,0.00,0.000,6,0.178,0.031,2574,1991,2202,0,0,0,0,0,0
$GC,10395,0.47,268.4,640.0,10.9,575,10399,0.00,2.15,0.00,0.000,4,0.000,0.041,2583,596,2201,0,0,0,0,0,0
$GC,10473,0.49,268.4,631.0,11.7,577,10477,0.00,2.12,0.00,0.000,6,0.000,0.031,2583,2000,2201,0,0,0,0,0,0
$GC,10798,0.49,268.4,592.9,11.4,589,10802,0.00,2.17,0.00,0.000,4,0.000,0.042,2583,3402,2200,0,0,0,0,0,0
$GC,10837,0.49,268.4,588.2,11.7,590,10844,0.00,2.17,0.00,0.000,6,0.000,0.030,2594,1993,2199,0,0,0,0,0,0
$GC,11154,0.49,268.4,551.7,12.2,606,11158,0.00,2.15,0.00,0.000,4,0.000,0.041,2605,593,2199,0,0,0,0,0,0
$GC,11217,0.49,268.4,543.7,12.6,609,11221,0.00,2.15,0.00,0.000,6,0.000,0.031,2605,2009,2199,0,0,0,0,0,0
$GC,11550,0.48,268.4,500.5,13.0,625,11553,0.00,2.15,0.00,0.000,4,0.000,0.042,2605,3407,2199,0,0,0,0,0,0
$GC,11585,0.46,268.4,495.8,14.7,627,11590,0.15,2.12,0.00,0.000,6,0.171,0.030,2576,1992,2199,0,0,0,0,0,0
$GC,11910,0.52,294.4,463.2,9.7,657,11937,0.00,2.15,22.08,0.840,4,0.000,0.041,2585,598,2096,0,0,0,0,0,0
$GC,11971,0.55,294.4,456.4,11.3,662,11978,0.00,2.15,0.00,0.000,6,0.000,0.031,2585,1999,2095,0,0,0,0,0,0
$GC,12297,0.57,294.4,417.5,11.4,693,12301,0.00,2.22,0.00,0.000,4,0.000,0.041,2585,3409,2092,0,0,0,0,0,0
$GC,12348,0.59,294.4,411.1,12.6,697,12352,0.00,2.12,0.00,0.000,6,0.000,0.029,2595,2002,2092,0,0,0,0,0,0
$GC,12674,0.64,320.5,377.4,9.7,727,12702,0.10,2.17,21.67,0.781,4,0.104,0.037,2655,589,1991,0,0,0,0,0,0
$GC,12718,0.62,320.5,371.8,13.1,730,12726,0.12,2.15,0.00,0.000,6,0.162,0.030,2624,2000,1988,0,0,0,0,0,0
$GC,13043,0.62,320.5,330.2,12.5,761,13047,0.00,2.17,0.00,0.000,4,0.000,0.041,2624,3409,1986,0,0,0,0,0,0
$GC,13077,0.62,320.5,325.5,13.8,763,13084,0.00,2.15,0.00,0.000,6,0.000,0.029,2632,1987,1985,0,0,0,0,0,0
$GC,13403,0.62,320.5,285.9,11.7,794,13407,0.00,2.12,0.00,0.000,4,0.000,0.039,2643,599,1985,0,0,0,0,0,0
$GC,13475,0.62,320.5,276.3,13.1,800,13482,0.00,2.15,0.00,0.000,6,0.000,0.030,2643,2002,1985,0,0,0,0,0,0
$GC,13802,0.60,320.5,232.6,13.0,831,13806,0.00,2.15,0.00,0.000,4,0.000,0.041,2643,3407,1985,0,0,0,0,0,0
$GC,13879,0.59,320.5,221.7,13.7,837,13888,0.15,2.10,0.00,0.000,6,0.161,0.028,2614,2001,1985,0,0,0,0,0,0
$GC,14206,0.62,320.5,185.9,11.8,868,14210,0.00,2.15,0.00,0.000,4,0.000,0.038,2623,588,1985,0,0,0,0,0,0
$GC,14279,0.67,331.4,177.6,10.5,874,14294,0.00,2.12,9.90,0.620,6,0.000,0.029,2623,2006,1945,0,0,0,0,0,0
$GC,14621,0.74,363.0,140.8,9.4,914,14653,0.12,2.22,25.92,0.649,4,0.089,0.039,2682,3401,1817,0,0,0,0,0,0
$GC,14666,0.72,363.0,135.2,13.6,921,14674,0.15,2.15,0.00,0.000,6,0.163,0.028,2654,1994,1817,0,0,0,0,0,0
$GC,15014,0.75,373.4,94.6,10.5,982,15033,0.00,2.17,9.38,0.551,4,0.000,0.037,2663,599,1774,0,0,0,0,0,0
$GC,15096,0.84,411.5,86.1,9.0,996,15134,0.00,2.12,30.83,0.607,6,0.000,0.028,2662,2001,1619,0,0,0,0,0,0
$GC,15468,1.01,488.5,52.1,6.9,1062,15535,0.22,2.22,58.90,0.579,4,0.061,0.036,2775,593,1305,0,0,0,0,0,0
$GC,15592,1.00,488.5,34.6,15.5,1083,15599,0.00,2.15,0.00,0.000,6,0.000,0.028,2775,2006,1302,0,0,0,0,0,0
$STATE,15776,end climb,SURFACE_DEPTH_REACHED
$STATE,15776,begin surface coast
$FINISH,1.1,1.008845
$STATE,15794,end surface coast,CONTROL_FINISHED_OK
$STATE,15794,begin surface
$SM_CCo,15870,0.00,0.000,0,0,1298,490.60
$SM_GC,1.99,6.72,0.00,0.00,0.035,0.000,0.000,199,2414,1298,-6.85,0.40,490.60
$IRIDIUM_FIX,2333.28,12608.91,201010,212125
$TT8_MAMPS,0.026215
$HUMID,49.64
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.9,37.682
$10V_AH,10.0,49.622
$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,18.800,142.225,503.225,0.000,0.000,25.695,17.967,154.388,0.000,0.000,11.834,2889.138,10197.100,563.696,2253.936,290.868,0.000,1712.637,0.000,2039.900,0.000,0.541,0.000
$DEVICE_MAMPS,223.380,47.430,1149.795,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,757.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331312
$DATA_FILE_SIZE,66908,1119
$CAP_FILE_SIZE,160970,0
$CFSIZE,260165632,229003264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.014,343.5,1
$GPS,211010,070307,2342.074,12608.577,33,1.0,33,-3.5