version: 66.08
glider: 181
mission: 4
dive: 286
start: 10 21 110 19 44 29
data:
$ID,181
$MISSION,4
$DIVE,286
$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,-38209.629
$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,47
$R_STBD_OVSHOOT,56
$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
$GPS1,211010,193801,2340.130,12607.882,60,1.3,60,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-70.3
$GPS2,211010,194402,2340.199,12607.870,10,2.0,10,-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,125.3,1952,-27.4,-11.111
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.95,-73.7,0.0,0.0,0,49,0.00,0.00,-30.95,0.000,2,0.000,0.000,200,2421,2573,0,0,0,0,0,0
$GC,52,-1.02,-136.3,3.2,-4.3,5,96,7.72,2.15,-30.23,0.000,4,0.230,0.054,2080,3761,3856,0,0,0,0,0,0
$GC,197,-0.92,-136.3,54.8,-40.4,30,205,0.17,2.08,0.00,0.000,6,0.184,0.028,2123,2391,3858,0,0,0,0,0,0
$GC,544,-0.89,-136.3,161.1,-25.1,88,548,0.00,2.10,0.00,0.000,4,0.000,0.041,2115,3758,3860,0,0,0,0,0,0
$GC,610,-0.89,-136.3,177.6,-23.3,93,617,0.00,2.05,0.00,0.000,6,0.000,0.027,2115,2400,3861,0,0,0,0,0,0
$GC,936,-0.87,-136.3,254.9,-22.0,124,940,0.12,2.10,0.00,0.000,4,0.170,0.042,2138,3756,3861,0,0,0,0,0,0
$GC,1002,-0.91,-136.3,267.6,-17.6,129,1009,0.00,2.03,0.00,0.000,6,0.000,0.027,2138,2397,3862,0,0,0,0,0,0
$GC,1327,-0.93,-136.3,328.9,-18.1,160,1331,0.00,2.10,0.00,0.000,4,0.000,0.042,2127,3756,3862,0,0,0,0,0,0
$GC,1354,-0.96,-136.3,334.2,-18.8,162,1362,0.00,2.03,0.00,0.000,6,0.000,0.027,2127,2390,3861,0,0,0,0,0,0
$GC,1680,-0.98,-136.3,394.0,-18.0,193,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2387,3861,0,0,0,0,0,0
$GC,2001,-1.02,-136.3,453.4,-18.0,223,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2387,3860,0,0,0,0,0,0
$GC,2318,-1.06,-136.3,509.0,-17.0,251,2320,0.12,0.00,0.00,0.000,6,0.086,0.000,2067,2387,3858,0,0,0,0,0,0
$GC,2625,-1.06,-136.3,574.1,-21.4,266,2629,0.00,2.12,0.00,0.000,4,0.000,0.044,2057,3762,3857,0,0,0,0,0,0
$GC,2742,-1.06,-136.3,599.5,-20.4,271,2746,0.00,2.03,0.00,0.000,6,0.000,0.028,2057,2402,3856,0,0,0,0,0,0
$GC,3066,-1.06,-136.3,667.1,-20.4,282,3070,0.00,2.10,0.00,0.000,4,0.000,0.031,2056,987,3853,0,0,0,0,0,0
$GC,3076,-1.06,-136.3,669.6,-20.6,282,3081,0.15,2.12,0.00,0.000,6,0.176,0.034,2084,2382,3853,0,0,0,0,0,0
$GC,3401,-1.08,-136.3,730.4,-19.1,293,3405,0.00,2.17,0.00,0.000,4,0.000,0.046,2075,3781,3851,0,0,0,0,0,0
$GC,3469,-1.11,-136.3,743.2,-18.2,295,3473,0.00,2.08,0.00,0.000,6,0.000,0.029,2074,2402,3850,0,0,0,0,0,0
$GC,3799,-1.13,-136.3,804.0,-18.0,306,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2398,3846,0,0,0,0,0,0
$GC,4105,-1.15,-136.3,858.2,-17.3,316,4109,0.00,2.15,0.00,0.000,4,0.000,0.047,2064,3775,3843,0,0,0,0,0,0
$GC,4134,-1.17,-136.3,863.3,-17.3,317,4138,0.00,2.08,0.00,0.000,6,0.000,0.030,2064,2401,3843,0,0,0,0,0,0
$GC,4470,-1.18,-136.3,922.3,-17.6,328,4474,0.00,2.20,0.00,0.000,4,0.000,0.048,2054,3786,3840,0,0,0,0,0,0
$GC,4526,-1.21,-136.3,932.7,-17.2,329,4533,0.00,2.10,0.00,0.000,6,0.000,0.030,2053,2397,3839,0,0,0,0,0,0
$GC,4839,-1.22,-136.3,987.0,-17.5,340,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2394,3836,0,0,0,0,0,0
$STATE,4929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4929,begin apogee
$GC,4935,-0.16,0.0,1002.8,17.2,343,5048,1.02,0.00,105.85,1.141,6,0.148,0.000,2365,1979,3297,0,0,0,0,0,0
$STATE,5049,end apogee,CONTROL_FINISHED_OK
$STATE,5049,begin climb
$GC,5051,1.02,136.3,1008.0,0.0,346,5173,1.05,2.28,112.05,1.100,4,0.047,0.041,2770,607,2742,0,0,0,0,0,0
$GC,5392,0.89,136.3,967.4,19.1,357,5397,0.22,2.20,0.00,0.000,6,0.209,0.035,2717,2013,2734,0,0,0,0,0,0
$GC,5721,0.80,136.3,911.8,16.1,368,5723,0.15,0.00,0.00,0.000,6,0.216,0.000,2683,2015,2730,0,0,0,0,0,0
$GC,6028,0.73,136.3,870.0,13.4,378,6032,0.00,2.17,0.00,0.000,4,0.000,0.044,2682,3414,2727,0,0,0,0,0,0
$GC,6168,0.64,136.3,850.5,14.4,382,6173,0.22,2.15,0.00,0.000,6,0.209,0.032,2638,2017,2725,0,0,0,0,0,0
$GC,6492,0.62,136.3,815.4,11.2,393,6496,0.00,2.17,0.00,0.000,4,0.000,0.040,2647,593,2724,0,0,0,0,0,0
$GC,6531,0.59,136.3,810.8,11.9,394,6536,0.12,2.15,0.00,0.000,6,0.190,0.032,2618,2005,2725,0,0,0,0,0,0
$GC,6860,0.59,136.3,773.7,11.6,405,6864,0.00,2.15,0.00,0.000,4,0.000,0.044,2618,3403,2722,0,0,0,0,0,0
$GC,6961,0.56,136.3,760.8,12.5,408,6965,0.00,2.15,0.00,0.000,6,0.000,0.031,2626,1998,2721,0,0,0,0,0,0
$GC,7291,0.55,136.3,723.0,11.3,419,7295,0.00,2.12,0.00,0.000,4,0.000,0.040,2637,594,2720,0,0,0,0,0,0
$GC,7335,0.54,144.9,718.4,10.2,420,7345,0.15,2.12,4.72,0.786,6,0.184,0.032,2601,2001,2707,0,0,0,0,0,0
$GC,7661,0.59,171.8,689.6,8.4,431,7693,0.00,2.25,23.17,0.957,4,0.000,0.044,2601,3399,2596,0,0,0,0,0,0
$GC,7749,0.59,171.8,680.7,11.3,433,7753,0.00,2.20,0.00,0.000,6,0.000,0.031,2610,1994,2594,0,0,0,0,0,0
$GC,8069,0.62,185.6,649.8,9.7,444,8088,0.00,2.30,12.15,0.902,4,0.000,0.043,2610,3404,2541,0,0,0,0,0,0
$GC,8101,0.65,197.9,646.5,9.9,445,8120,0.00,2.15,11.95,0.826,6,0.000,0.031,2620,1998,2490,0,0,0,0,0,0
$GC,8441,0.67,197.9,607.2,12.2,456,8445,0.00,2.15,0.00,0.000,4,0.000,0.040,2631,597,2485,0,0,0,0,0,0
$GC,8526,0.69,197.9,596.2,12.5,459,8530,0.00,2.15,0.00,0.000,6,0.000,0.032,2631,1999,2484,0,0,0,0,0,0
$GC,8859,0.70,197.9,554.4,12.8,475,8863,0.00,2.17,0.00,0.000,4,0.000,0.044,2630,3401,2483,0,0,0,0,0,0
$GC,8976,0.70,197.9,538.7,13.4,480,8979,0.00,2.12,0.00,0.000,6,0.000,0.031,2641,1995,2482,0,0,0,0,0,0
$GC,9303,0.70,197.9,497.6,12.2,496,9307,0.00,2.15,0.00,0.000,4,0.000,0.039,2652,594,2482,0,0,0,0,0,0
$GC,9332,0.70,197.9,494.0,12.2,498,9336,0.00,2.15,0.00,0.000,6,0.000,0.032,2652,2004,2482,0,0,0,0,0,0
$GC,9657,0.70,197.9,454.9,11.6,528,9661,0.00,2.17,0.00,0.000,4,0.000,0.043,2652,3410,2482,0,0,0,0,0,0
$GC,9695,0.68,197.9,450.0,12.6,531,9702,0.00,2.12,0.00,0.000,6,0.000,0.031,2663,1995,2482,0,0,0,0,0,0
$GC,10020,0.67,197.9,412.9,11.2,562,10024,0.00,2.12,0.00,0.000,4,0.000,0.038,2674,593,2482,0,0,0,0,0,0
$GC,10072,0.66,197.9,406.8,12.0,566,10077,0.15,2.12,0.00,0.000,6,0.173,0.031,2636,2007,2482,0,0,0,0,0,0
$GC,10403,0.70,214.8,374.4,9.4,597,10426,0.00,2.22,13.68,0.809,4,0.000,0.043,2636,3406,2422,0,0,0,0,0,0
$GC,10555,0.72,214.8,356.4,12.8,610,10563,0.00,2.15,0.00,0.000,6,0.000,0.031,2644,1997,2420,0,0,0,0,0,0
$GC,10881,0.74,216.7,321.4,10.9,641,10885,0.00,2.17,0.00,0.000,4,0.000,0.041,2645,3404,2420,0,0,0,0,0,0
$GC,10989,0.74,216.7,309.4,11.7,650,10993,0.00,2.12,0.00,0.000,6,0.000,0.031,2655,1994,2420,0,0,0,0,0,0
$GC,11320,0.75,216.7,272.3,11.4,681,11321,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1993,2420,0,0,0,0,0,0
$GC,11640,0.77,217.5,236.2,11.0,711,11652,0.00,2.22,3.92,0.473,4,0.000,0.041,2655,3402,2411,0,0,0,0,0,0
$GC,11676,0.77,217.5,231.8,11.5,714,11680,0.00,2.12,0.00,0.000,6,0.000,0.031,2666,2000,2411,0,0,0,0,0,0
$GC,12002,0.81,234.6,201.5,9.4,744,12021,0.00,0.00,15.55,0.675,6,0.000,0.000,2666,1998,2341,0,0,0,0,0,0
$GC,12340,0.83,234.6,163.2,12.0,776,12344,0.00,2.20,0.00,0.000,4,0.000,0.040,2666,3411,2339,0,0,0,0,0,0
$GC,12394,0.85,234.6,156.2,11.7,780,12401,0.00,2.12,0.00,0.000,6,0.000,0.030,2677,1994,2339,0,0,0,0,0,0
$GC,12732,0.91,264.0,125.0,8.1,836,12764,0.12,2.12,24.38,0.639,4,0.089,0.034,2747,591,2220,0,0,0,0,0,0
$GC,13006,0.90,264.0,96.1,12.9,884,13013,0.12,2.15,0.00,0.000,6,0.177,0.030,2716,2008,2218,0,0,0,0,0,0
$GC,13352,0.95,278.6,64.2,9.6,945,13372,0.00,2.15,12.45,0.549,4,0.000,0.039,2716,3411,2161,0,0,0,0,0,0
$GC,13492,1.01,312.2,52.4,7.7,969,13524,0.00,2.15,27.00,0.571,6,0.000,0.029,2724,1987,2025,0,0,0,0,0,0
$GC,13862,1.09,337.0,25.1,8.6,1034,13889,0.15,2.28,20.02,0.529,4,0.078,0.037,2791,3411,1922,0,0,0,0,0,0
$GC,14025,1.06,337.0,3.5,15.8,1062,14033,0.15,2.15,0.00,0.000,6,0.189,0.028,2766,2000,1919,0,0,0,0,0,0
$STATE,14039,end climb,SURFACE_DEPTH_REACHED
$STATE,14039,begin surface coast
$FINISH,1.3,1.021677
$STATE,14057,end surface coast,CONTROL_FINISHED_OK
$STATE,14057,begin surface
$SM_CCo,14073,18.60,0.062,0,0,1769,375.06
$SM_GC,3.33,0.00,0.00,18.60,0.000,0.000,0.062,211,2402,1769,-6.92,0.08,375.06
$IRIDIUM_FIX,2328.57,12607.52,211010,151530
$TT8_MAMPS,0.026215
$HUMID,48.70
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,23.9,38.155
$10V_AH,10.0,49.905
$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,18.650,121.350,386.900,18.600,0.000,28.734,26.971,164.386,0.000,0.000,13.483,2768.138,8716.506,485.992,2210.337,272.409,0.000,1559.084,0.000,1962.386,0.000,0.542,0.000
$DEVICE_MAMPS,229.500,53.550,1141.380,61.965,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,722.187,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331344
$DATA_FILE_SIZE,63530,1067
$CAP_FILE_SIZE,147221,0
$CFSIZE,260165632,228728832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105,350.1,1
$GPS,211010,234040,2339.951,12609.215,36,1.3,39,-3.5