version: 66.08
glider: 181
mission: 4
dive: 283
start: 10 21 110 7 9 38
data:
$ID,181
$MISSION,4
$DIVE,283
$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,-38205.859
$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,45
$R_STBD_OVSHOOT,42
$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
$GPS1,211010,070307,2342.074,12608.577,33,1.0,33,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-70.8
$GPS2,211010,070902,2342.123,12608.510,16,1.3,16,-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,171.2,4019,-22.1,-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,-0.83,-111.7,0.0,0.0,0,67,0.00,0.00,-49.17,0.000,2,0.000,0.000,199,2416,2611,0,0,0,0,0,0
$GC,70,-0.86,-136.3,3.4,-4.3,8,115,7.78,2.17,-30.05,0.000,4,0.222,0.054,2133,3777,3855,0,0,0,0,0,0
$GC,157,-0.72,-136.3,26.4,-37.2,22,166,0.22,2.08,0.00,0.000,6,0.169,0.026,2191,2394,3857,0,0,0,0,0,0
$GC,503,-0.69,-136.3,112.6,-19.9,83,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2391,3858,0,0,0,0,0,0
$GC,839,-0.68,-136.3,178.4,-17.8,130,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2391,3859,0,0,0,0,0,0
$GC,1157,-0.68,-136.3,233.1,-17.2,160,1161,0.00,2.12,0.00,0.000,4,0.000,0.041,2182,3774,3859,0,0,0,0,0,0
$GC,1179,-0.69,-136.3,237.3,-16.7,161,1186,0.00,2.03,0.00,0.000,6,0.000,0.025,2182,2391,3859,0,0,0,0,0,0
$GC,1504,-0.69,-136.3,293.3,-17.1,192,1508,0.00,2.12,0.00,0.000,4,0.000,0.041,2172,3777,3859,0,0,0,0,0,0
$GC,1525,-0.71,-136.3,296.9,-16.1,193,1532,0.00,2.05,0.00,0.000,6,0.000,0.025,2172,2386,3859,0,0,0,0,0,0
$GC,1850,-0.71,-136.3,351.0,-16.7,224,1854,0.00,2.03,0.00,0.000,4,0.000,0.030,2172,1001,3858,0,0,0,0,0,0
$GC,1910,-0.75,-136.3,360.4,-14.4,229,1918,0.00,2.10,0.00,0.000,6,0.000,0.033,2163,2399,3858,0,0,0,0,0,0
$GC,2236,-0.76,-136.3,408.5,-13.1,260,2240,0.00,2.12,0.00,0.000,4,0.000,0.043,2153,3775,3857,0,0,0,0,0,0
$GC,2322,-0.79,-136.3,419.0,-11.7,267,2325,0.00,2.03,0.00,0.000,6,0.000,0.025,2153,2391,3856,0,0,0,0,0,0
$GC,2652,-0.81,-136.3,466.4,-15.0,298,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2389,3855,0,0,0,0,0,0
$GC,2981,-0.83,-136.3,511.5,-12.9,325,2984,0.00,2.05,0.00,0.000,4,0.000,0.031,2153,994,3853,0,0,0,0,0,0
$GC,3025,-0.87,-136.3,517.6,-12.4,327,3029,0.00,2.12,0.00,0.000,6,0.000,0.034,2149,2405,3853,0,0,0,0,0,0
$GC,3347,-0.89,-136.3,560.2,-13.4,343,3351,0.00,2.10,0.00,0.000,4,0.000,0.044,2138,3775,3850,0,0,0,0,0,0
$GC,3380,-0.91,-136.3,564.8,-13.2,344,3387,0.00,2.03,0.00,0.000,6,0.000,0.025,2138,2393,3850,0,0,0,0,0,0
$GC,3717,-0.92,-136.3,610.3,-13.5,360,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2391,3847,0,0,0,0,0,0
$GC,4023,-0.94,-136.3,649.8,-12.6,370,4026,0.00,2.05,0.00,0.000,4,0.000,0.032,2138,1009,3844,0,0,0,0,0,0
$GC,4050,-0.96,-136.3,653.3,-13.2,370,4058,0.00,2.10,0.00,0.000,6,0.000,0.034,2129,2398,3844,0,0,0,0,0,0
$GC,4364,-0.98,-136.3,692.7,-13.0,381,4368,0.00,2.15,0.00,0.000,4,0.000,0.046,2119,3775,3841,0,0,0,0,0,0
$GC,4391,-0.99,-136.3,696.7,-14.2,381,4398,0.00,2.03,0.00,0.000,6,0.000,0.027,2119,2407,3840,0,0,0,0,0,0
$GC,4704,-0.99,-136.3,740.1,-13.8,392,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2403,3839,0,0,0,0,0,0
$GC,5010,-0.99,-136.3,782.9,-13.9,402,5014,0.00,2.12,0.00,0.000,4,0.000,0.046,2108,3775,3836,0,0,0,0,0,0
$GC,5032,-1.00,-136.3,786.3,-14.7,402,5036,0.00,2.05,0.00,0.000,6,0.000,0.028,2108,2394,3835,0,0,0,0,0,0
$GC,5350,-1.00,-136.3,833.5,-15.1,413,5354,0.00,2.08,0.00,0.000,4,0.000,0.034,2108,1001,3833,0,0,0,0,0,0
$GC,5378,-1.00,-136.3,838.0,-15.7,413,5385,0.00,2.15,0.00,0.000,6,0.000,0.036,2097,2401,3832,0,0,0,0,0,0
$GC,5690,-1.00,-136.3,886.6,-15.4,424,5694,0.00,2.15,0.00,0.000,4,0.000,0.047,2087,3784,3829,0,0,0,0,0,0
$GC,5762,-1.00,-136.3,897.6,-14.8,426,5766,0.00,2.10,0.00,0.000,6,0.000,0.028,2086,2400,3829,0,0,0,0,0,0
$GC,6099,-0.99,-136.3,948.5,-15.1,437,6103,0.00,2.17,0.00,0.000,4,0.000,0.047,2077,3784,3827,0,0,0,0,0,0
$GC,6127,-0.97,-136.3,953.2,-17.2,438,6132,0.12,2.08,0.00,0.000,6,0.172,0.028,2108,2394,3827,0,0,0,0,0,0
$STATE,6465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6466,begin apogee
$GC,6471,-0.16,0.0,1002.3,14.5,449,6582,0.82,0.00,104.28,1.148,6,0.134,0.000,2370,1971,3298,0,0,0,0,0,0
$STATE,6583,end apogee,CONTROL_FINISHED_OK
$STATE,6583,begin climb
$GC,6585,0.86,136.3,1008.6,0.0,452,6708,0.90,2.45,112.62,1.110,4,0.051,0.042,2707,3409,2742,0,0,0,0,0,0
$GC,6769,0.70,136.3,1002.9,15.7,458,6775,0.28,2.20,0.00,0.000,6,0.212,0.029,2654,2013,2736,0,0,0,0,0,0
$GC,7100,0.61,136.3,963.3,11.9,469,7104,0.12,2.20,0.00,0.000,4,0.206,0.038,2634,584,2732,0,0,0,0,0,0
$GC,7138,0.53,136.3,958.7,11.7,470,7142,0.15,2.17,0.00,0.000,6,0.184,0.033,2598,2006,2730,0,0,0,0,0,0
$GC,7462,0.49,139.2,924.9,10.9,481,7466,0.00,2.17,0.00,0.000,4,0.000,0.043,2598,3407,2728,0,0,0,0,0,0
$GC,7559,0.43,139.2,912.8,12.8,484,7564,0.17,2.15,0.00,0.000,6,0.197,0.029,2566,1987,2727,0,0,0,0,0,0
$GC,7895,0.44,160.8,879.2,9.7,495,7919,0.00,2.30,18.80,1.056,4,0.000,0.043,2566,3403,2642,0,0,0,0,0,0
$GC,7953,0.42,160.8,872.9,11.6,496,7960,0.00,2.15,0.00,0.000,6,0.000,0.029,2574,1997,2639,0,0,0,0,0,0
$GC,8267,0.43,175.9,840.8,10.1,507,8282,0.00,0.00,13.38,1.005,6,0.000,0.000,2574,1997,2581,0,0,0,0,0,0
$GC,8573,0.43,175.9,806.9,11.3,517,8577,0.00,2.17,0.00,0.000,4,0.000,0.038,2585,588,2577,0,0,0,0,0,0
$GC,8594,0.43,176.8,804.4,11.0,517,8598,0.00,2.15,0.00,0.000,6,0.000,0.031,2585,2001,2577,0,0,0,0,0,0
$GC,8913,0.42,180.9,768.9,10.8,528,8923,0.00,2.20,5.25,0.843,4,0.000,0.042,2585,3412,2560,0,0,0,0,0,0
$GC,8991,0.39,180.9,759.5,12.2,530,8996,0.17,2.17,0.00,0.000,6,0.187,0.030,2553,1993,2559,0,0,0,0,0,0
$GC,9309,0.47,227.9,732.9,8.0,541,9354,0.00,2.28,39.47,0.985,4,0.000,0.041,2553,3407,2369,0,0,0,0,0,0
$GC,9382,0.53,252.4,726.6,9.5,543,9409,0.10,2.17,21.67,0.917,6,0.108,0.030,2605,2000,2268,0,0,0,0,0,0
$GC,9735,0.53,252.4,682.3,12.9,555,9739,0.00,2.17,0.00,0.000,4,0.000,0.040,2616,594,2259,0,0,0,0,0,0
$GC,9779,0.53,252.4,676.1,13.2,556,9783,0.00,2.20,0.00,0.000,6,0.000,0.031,2616,2000,2259,0,0,0,0,0,0
$GC,10105,0.53,252.4,634.1,13.0,567,10109,0.00,2.20,0.00,0.000,4,0.000,0.043,2616,3404,2258,0,0,0,0,0,0
$GC,10188,0.51,252.4,621.6,14.4,569,10193,0.15,2.12,0.00,0.000,6,0.177,0.030,2589,2000,2256,0,0,0,0,0,0
$GC,10508,0.53,252.4,583.1,12.3,582,10509,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1996,2255,0,0,0,0,0,0
$GC,10817,0.55,252.4,545.0,12.5,597,10821,0.00,2.20,0.00,0.000,4,0.000,0.041,2589,3413,2255,0,0,0,0,0,0
$GC,10838,0.56,252.4,542.0,13.4,598,10842,0.00,2.15,0.00,0.000,6,0.000,0.030,2598,1989,2255,0,0,0,0,0,0
$GC,11166,0.58,252.4,503.2,11.2,614,11170,0.00,2.15,0.00,0.000,4,0.000,0.039,2609,593,2254,0,0,0,0,0,0
$GC,11232,0.60,254.4,495.5,11.0,618,11240,0.00,2.15,0.00,0.000,6,0.000,0.030,2609,2007,2254,0,0,0,0,0,0
$GC,11558,0.60,258.5,458.1,10.8,649,11570,0.00,2.20,4.00,0.598,4,0.000,0.042,2609,3398,2245,0,0,0,0,0,0
$GC,11628,0.60,258.5,449.7,12.6,655,11632,0.00,2.10,0.00,0.000,6,0.000,0.030,2619,2002,2244,0,0,0,0,0,0
$GC,11952,0.60,258.5,411.7,11.6,685,11956,0.00,2.17,0.00,0.000,4,0.000,0.041,2619,3411,2244,0,0,0,0,0,0
$GC,11974,0.60,258.5,408.9,11.9,686,11982,0.00,2.17,0.00,0.000,6,0.000,0.029,2629,1997,2243,0,0,0,0,0,0
$GC,12299,0.60,258.5,370.2,12.0,717,12300,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1995,2243,0,0,0,0,0,0
$GC,12620,0.60,258.5,330.8,12.2,747,12624,0.00,2.12,0.00,0.000,4,0.000,0.038,2640,588,2244,0,0,0,0,0,0
$GC,12676,0.60,258.5,323.9,12.0,751,12683,0.00,2.12,0.00,0.000,6,0.000,0.030,2640,2003,2244,0,0,0,0,0,0
$GC,13002,0.59,258.5,282.4,12.3,782,13006,0.00,2.15,0.00,0.000,4,0.000,0.042,2640,3410,2245,0,0,0,0,0,0
$GC,13035,0.57,258.5,277.9,13.0,784,13043,0.15,2.15,0.00,0.000,6,0.170,0.028,2612,1987,2245,0,0,0,0,0,0
$GC,13363,0.60,258.5,243.0,11.1,815,13367,0.00,2.17,0.00,0.000,4,0.000,0.040,2612,3404,2245,0,0,0,0,0,0
$GC,13381,0.62,258.5,240.6,11.6,816,13385,0.00,2.10,0.00,0.000,6,0.000,0.028,2620,1995,2245,0,0,0,0,0,0
$GC,13706,0.66,274.5,204.7,10.0,846,13729,0.00,2.12,15.05,0.680,4,0.000,0.036,2631,591,2179,0,0,0,0,0,0
$GC,13753,0.70,286.8,199.9,10.3,850,13770,0.00,2.15,11.57,0.654,6,0.000,0.029,2631,2011,2128,0,0,0,0,0,0
$GC,14096,0.76,313.7,165.3,9.3,882,14124,0.10,2.17,22.08,0.672,4,0.103,0.041,2678,3400,2019,0,0,0,0,0,0
$GC,14161,0.74,313.7,157.6,13.3,887,14165,0.00,2.12,0.00,0.000,6,0.000,0.028,2689,1996,2017,0,0,0,0,0,0
$GC,14501,0.73,313.7,112.1,12.0,942,14508,0.00,2.12,0.00,0.000,4,0.000,0.037,2700,589,2015,0,0,0,0,0,0
$GC,14566,0.72,313.7,104.0,13.3,953,14573,0.17,2.12,0.00,0.000,6,0.149,0.029,2652,2006,2014,0,0,0,0,0,0
$GC,14910,0.81,356.9,71.5,8.2,1014,14954,0.10,2.22,34.08,0.602,4,0.101,0.039,2700,3405,1842,0,0,0,0,0,0
$GC,15209,0.86,369.1,36.7,10.3,1066,15229,0.00,2.15,10.15,0.515,6,0.000,0.028,2711,1985,1792,0,0,0,0,0,0
$GC,15564,0.95,411.9,4.8,8.3,1129,15584,0.00,0.00,17.92,0.517,2,0.000,0.000,2711,1982,1687,0,0,0,0,0,0
$STATE,15585,end climb,SURFACE_DEPTH_REACHED
$STATE,15585,begin surface coast
$FINISH,1.1,1.021715
$STATE,15619,end surface coast,CONTROL_FINISHED_OK
$STATE,15619,begin surface
$SM_CCo,15695,0.00,0.000,0,0,1682,396.16
$SM_GC,1.91,6.60,0.00,0.00,0.041,0.000,0.000,194,2412,1682,-6.86,0.34,396.16
$IRIDIUM_FIX,2335.63,12541.57,211010,020227
$TT8_MAMPS,0.026215
$HUMID,48.58
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.9,37.810
$10V_AH,10.0,49.697
$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,18.125,142.575,430.325,0.000,0.000,27.443,39.711,145.164,0.000,0.000,18.911,2944.605,10041.182,547.161,2236.043,286.925,0.000,1661.397,0.000,2000.935,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,53.550,1148.265,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,770.810,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331360
$DATA_FILE_SIZE,67068,1138
$CAP_FILE_SIZE,158680,0
$CFSIZE,260165632,228929536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,325.3,1
$GPS,211010,113230,2340.616,12608.598,39,0.9,39,-3.5