version: 66.08
glider: 181
mission: 4
dive: 254
start: 10 15 110 17 55 45
data:
$ID,181
$MISSION,4
$DIVE,254
$N_DIVES,265
$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,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,-38165.586
$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,33
$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,506.0
$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
$GPS1,151010,174536,2409.631,12608.521,28,1.2,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-62.2
$GPS2,151010,175513,2409.590,12608.474,12,1.4,17,-3.6
$SPEED_LIMITS,0.192,0.277
$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,203.9,54807,-18.6,-11.111
$D_GRID,1737
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.77,-155.7,0.0,0.0,0,78,0.00,0.00,-55.30,0.000,2,0.000,0.000,201,2403,2737,0,0,0,0,0,0
$GC,80,-0.77,-155.7,3.5,-5.1,7,121,7.90,2.15,-26.23,0.000,4,0.226,0.043,2167,982,3934,0,0,0,0,0,0
$GC,267,-0.65,-155.7,59.5,-32.1,38,275,0.17,2.22,0.00,0.000,6,0.146,0.036,2210,2406,3936,0,0,0,0,0,0
$GC,602,-0.60,-155.7,129.5,-20.3,99,611,0.00,2.15,0.00,0.000,4,0.000,0.044,2199,3777,3938,0,0,0,0,0,0
$GC,667,-0.60,-155.7,141.6,-16.8,110,675,0.00,2.08,0.00,0.000,6,0.000,0.027,2201,2396,3938,0,0,0,0,0,0
$GC,1002,-0.58,-155.7,196.1,-14.4,171,1009,0.12,0.00,0.00,0.000,6,0.157,0.000,2235,2396,3938,0,0,0,0,0,0
$GC,1342,-0.61,-155.7,235.8,-11.6,232,1351,0.00,2.10,0.00,0.000,4,0.000,0.034,2236,1002,3938,0,0,0,0,0,0
$GC,1375,-0.65,-155.7,239.6,-12.3,237,1384,0.00,2.12,0.00,0.000,6,0.000,0.034,2232,2407,3938,0,0,0,0,0,0
$GC,1709,-0.69,-155.7,275.7,-11.4,298,1717,0.00,2.12,0.00,0.000,4,0.000,0.045,2222,3770,3937,0,0,0,0,0,0
$GC,1752,-0.76,-155.7,280.2,-10.7,305,1761,0.12,2.03,0.00,0.000,6,0.080,0.027,2152,2389,3937,0,0,0,0,0,0
$GC,2087,-0.70,-155.7,344.7,-18.2,366,2096,0.17,2.08,0.00,0.000,4,0.150,0.033,2200,1015,3935,0,0,0,0,0,0
$GC,2103,-0.65,-155.7,347.9,-17.7,368,2111,0.00,2.12,0.00,0.000,6,0.000,0.035,2192,2401,3935,0,0,0,0,0,0
$GC,2433,-0.65,-155.7,391.1,-13.2,429,2441,0.00,2.12,0.00,0.000,4,0.000,0.045,2182,3789,3933,0,0,0,0,0,0
$GC,2464,-0.65,-155.7,395.7,-14.8,434,2473,0.10,2.08,0.00,0.000,6,0.115,0.028,2217,2397,3933,0,0,0,0,0,0
$GC,2799,-0.70,-155.7,432.1,-10.5,495,2806,0.00,2.08,0.00,0.000,4,0.000,0.034,2217,1000,3932,0,0,0,0,0,0
$GC,2862,-0.77,-155.7,438.5,-9.6,506,2871,0.10,2.15,0.00,0.000,6,0.047,0.036,2154,2396,3931,0,0,0,0,0,0
$GC,3198,-0.74,-155.7,486.8,-13.9,567,3205,0.12,2.17,0.00,0.000,4,0.166,0.046,2175,3790,3929,0,0,0,0,0,0
$GC,3281,-0.78,-155.7,496.9,-10.3,582,3290,0.00,2.08,0.00,0.000,6,0.000,0.028,2178,2408,3929,0,0,0,0,0,0
$GC,3610,-0.79,-155.7,540.5,-13.2,615,3614,0.00,2.08,0.00,0.000,4,0.000,0.034,2178,1004,3927,0,0,0,0,0,0
$GC,3651,-0.81,-155.7,545.8,-13.1,618,3655,0.00,2.15,0.00,0.000,6,0.000,0.037,2178,2411,3927,0,0,0,0,0,0
$GC,3977,-0.82,-155.7,585.6,-11.8,648,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2411,3923,0,0,0,0,0,0
$GC,4301,-0.84,-155.7,617.7,-9.7,670,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2411,3921,0,0,0,0,0,0
$GC,4609,-0.86,-155.7,654.4,-13.4,685,4613,0.00,2.12,0.00,0.000,4,0.000,0.049,2168,3775,3919,0,0,0,0,0,0
$GC,4649,-0.89,-155.7,659.7,-13.2,687,4652,0.00,2.05,0.00,0.000,6,0.000,0.030,2167,2401,3919,0,0,0,0,0,0
$GC,4981,-0.91,-155.7,702.7,-12.0,703,4986,0.10,2.10,0.00,0.000,4,0.099,0.037,2115,1001,3916,0,0,0,0,0,0
$GC,5081,-0.89,-155.7,717.1,-14.3,707,5089,0.12,2.15,0.00,0.000,6,0.172,0.039,2141,2400,3916,0,0,0,0,0,0
$GC,5397,-0.89,-155.7,757.7,-12.8,723,5398,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2401,3914,0,0,0,0,0,0
$GC,5707,-0.89,-155.7,797.7,-12.9,738,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2401,3911,0,0,0,0,0,0
$GC,6015,-0.89,-155.7,837.1,-12.6,753,6019,0.00,2.10,0.00,0.000,4,0.000,0.036,2141,1002,3909,0,0,0,0,0,0
$GC,6094,-0.90,-155.7,847.0,-12.2,756,6101,0.00,2.17,0.00,0.000,6,0.000,0.041,2137,2409,3908,0,0,0,0,0,0
$GC,6411,-0.90,-155.7,888.4,-13.6,772,6415,0.00,2.15,0.00,0.000,4,0.000,0.051,2128,3789,3905,0,0,0,0,0,0
$GC,6465,-0.90,-155.7,896.2,-13.8,774,6469,0.00,2.10,0.00,0.000,6,0.000,0.031,2128,2408,3905,0,0,0,0,0,0
$GC,6788,-0.89,-155.7,941.9,-13.8,790,6792,0.00,2.17,0.00,0.000,4,0.000,0.050,2120,3778,3902,0,0,0,0,0,0
$GC,6860,-0.89,-155.7,951.8,-12.7,793,6865,0.00,2.10,0.00,0.000,6,0.000,0.030,2119,2400,3902,0,0,0,0,0,0
$GC,7182,-0.87,-155.7,994.3,-13.5,809,7186,0.00,2.10,0.00,0.000,4,0.000,0.037,2119,995,3900,0,0,0,0,0,0
$GC,7221,-0.87,-155.7,999.8,-13.6,811,7225,0.00,2.10,0.00,0.000,3,0.000,0.041,2111,2355,3901,0,0,0,0,0,0
$STATE,7226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7226,begin apogee
$GC,7232,-0.16,0.0,1000.5,13.2,811,7358,0.82,0.00,118.85,1.150,6,0.135,0.000,2371,1980,3298,0,0,0,0,0,0
$STATE,7359,end apogee,CONTROL_FINISHED_OK
$STATE,7359,begin climb
$GC,7361,0.77,155.7,1006.6,0.0,817,7498,0.82,2.28,128.15,1.106,4,0.050,0.040,2690,608,2661,0,0,0,0,0,0
$GC,7534,0.62,155.7,1001.6,15.7,825,7539,0.25,2.22,0.00,0.000,6,0.191,0.037,2630,1993,2658,0,0,0,0,0,0
$GC,7862,0.51,155.7,953.0,15.5,841,7867,0.15,2.25,0.00,0.000,4,0.194,0.047,2594,3415,2652,0,0,0,0,0,0
$GC,7929,0.42,155.7,942.6,14.5,844,7934,0.17,2.17,0.00,0.000,6,0.200,0.032,2562,2011,2651,0,0,0,0,0,0
$GC,8252,0.38,155.7,905.9,11.1,860,8256,0.00,2.22,0.00,0.000,4,0.000,0.045,2562,3418,2649,0,0,0,0,0,0
$GC,8386,0.32,155.7,889.1,13.3,866,8391,0.15,2.20,0.00,0.000,6,0.189,0.032,2535,1986,2648,0,0,0,0,0,0
$GC,8710,0.37,210.5,859.9,8.5,882,8758,0.00,2.30,43.17,1.053,4,0.000,0.044,2535,3406,2439,0,0,0,0,0,0
$GC,8860,0.40,231.7,844.4,10.1,889,8884,0.00,2.20,18.10,0.986,6,0.000,0.032,2543,2001,2354,0,0,0,0,0,0
$GC,9193,0.42,248.1,810.7,10.3,905,9216,0.00,2.22,14.38,0.987,4,0.000,0.044,2554,596,2286,0,0,0,0,0,0
$GC,9301,0.43,248.1,798.3,12.3,909,9310,0.00,2.20,0.00,0.000,6,0.000,0.034,2554,2012,2283,0,0,0,0,0,0
$GC,9617,0.43,248.1,762.1,11.4,925,9621,0.00,2.20,0.00,0.000,4,0.000,0.045,2554,3411,2281,0,0,0,0,0,0
$GC,9660,0.43,248.1,756.9,12.5,927,9664,0.00,2.17,0.00,0.000,6,0.000,0.031,2564,1998,2279,0,0,0,0,0,0
$GC,9988,0.44,257.6,721.7,10.7,943,10002,0.00,2.22,8.52,0.946,4,0.000,0.044,2575,589,2246,0,0,0,0,0,0
$GC,10032,0.45,263.1,716.9,10.8,945,10043,0.00,2.17,5.80,0.747,6,0.000,0.034,2575,2002,2226,0,0,0,0,0,0
$GC,10360,0.45,263.1,679.1,11.8,961,10364,0.00,2.20,0.00,0.000,4,0.000,0.043,2585,592,2223,0,0,0,0,0,0
$GC,10387,0.44,263.1,675.5,12.2,962,10391,0.00,2.15,0.00,0.000,6,0.000,0.034,2585,2005,2223,0,0,0,0,0,0
$GC,10711,0.42,263.1,634.0,12.7,978,10715,0.00,2.20,0.00,0.000,4,0.000,0.045,2590,3410,2223,0,0,0,0,0,0
$GC,10738,0.39,263.1,629.9,13.6,979,10742,0.17,2.15,0.00,0.000,6,0.166,0.032,2550,2000,2223,0,0,0,0,0,0
$GC,11061,0.46,304.2,600.8,9.1,995,11106,0.00,2.28,33.92,0.910,4,0.000,0.043,2559,596,2058,0,0,0,0,0,0
$GC,11120,0.55,350.2,595.1,8.9,999,11167,0.12,2.20,38.45,0.861,6,0.092,0.034,2612,2007,1869,0,0,0,0,0,0
$GC,11485,0.53,350.2,536.2,17.4,1033,11489,0.00,2.20,0.00,0.000,4,0.000,0.044,2612,3410,1860,0,0,0,0,0,0
$GC,11578,0.53,350.2,519.4,17.8,1041,11586,0.00,2.20,0.00,0.000,6,0.000,0.033,2622,2004,1860,0,0,0,0,0,0
$GC,11906,0.51,350.2,466.4,15.4,1092,11915,0.12,2.22,0.00,0.000,4,0.174,0.044,2600,592,1858,0,0,0,0,0,0
$GC,11966,0.53,350.2,459.0,11.5,1102,11974,0.00,2.17,0.00,0.000,6,0.000,0.034,2598,1995,1857,0,0,0,0,0,0
$GC,12296,0.53,350.2,418.2,11.8,1163,12303,0.00,2.20,0.00,0.000,4,0.000,0.044,2600,3418,1856,0,0,0,0,0,0
$GC,12344,0.54,350.2,411.8,12.9,1171,12351,0.00,2.15,0.00,0.000,6,0.000,0.032,2611,1994,1856,0,0,0,0,0,0
$GC,12676,0.54,350.2,366.2,13.6,1232,12684,0.00,2.17,0.00,0.000,4,0.000,0.044,2622,598,1855,0,0,0,0,0,0
$GC,12740,0.54,350.2,357.6,12.8,1243,12747,0.00,2.12,0.00,0.000,6,0.000,0.033,2622,2007,1856,0,0,0,0,0,0
$GC,13071,0.54,350.2,308.4,14.7,1304,13080,0.00,2.17,0.00,0.000,4,0.000,0.044,2622,3395,1856,0,0,0,0,0,0
$GC,13093,0.54,350.2,305.4,14.9,1307,13101,0.12,2.10,0.00,0.000,6,0.167,0.031,2600,2000,1856,0,0,0,0,0,0
$GC,13428,0.62,398.6,267.4,8.8,1368,13472,0.00,2.25,36.97,0.744,4,0.000,0.041,2609,588,1671,0,0,0,0,0,0
$GC,13550,0.73,452.3,256.5,8.5,1388,13601,0.12,2.20,42.38,0.643,6,0.054,0.032,2677,2005,1453,0,0,0,0,0,0
$GC,13930,0.70,452.3,185.0,16.4,1455,13936,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2006,1446,0,0,0,0,0,0
$GC,14263,0.68,452.3,131.0,16.0,1516,14271,0.00,2.20,0.00,0.000,4,0.000,0.041,2686,595,1445,0,0,0,0,0,0
$GC,14376,0.68,452.3,114.6,13.4,1536,14385,0.12,2.15,0.00,0.000,6,0.124,0.031,2646,2001,1445,0,0,0,0,0,0
$GC,14712,0.79,499.1,77.3,8.9,1597,14755,0.10,2.25,35.85,0.601,4,0.099,0.041,2695,3406,1263,0,0,0,0,0,0
$GC,14829,0.84,499.1,62.1,13.3,1615,14837,0.00,2.17,0.00,0.000,6,0.000,0.031,2707,1999,1259,0,0,0,0,0,0
$GC,15166,0.88,513.4,28.0,10.4,1676,15183,0.00,2.15,11.70,0.513,4,0.000,0.038,2717,594,1204,0,0,0,0,0,0
$GC,15300,0.92,513.4,11.3,12.9,1699,15309,0.00,2.15,0.00,0.000,6,0.000,0.030,2717,2003,1203,0,0,0,0,0,0
$STATE,15387,end climb,SURFACE_DEPTH_REACHED
$STATE,15387,begin surface coast
$FINISH,0.9,1.010041
$STATE,15424,end surface coast,CONTROL_FINISHED_OK
$STATE,15424,begin surface
$SM_CCo,15514,0.00,0.000,0,0,1201,514.39
$SM_GC,1.76,6.62,0.00,0.00,0.044,0.000,0.000,204,2444,1201,-6.85,1.24,514.39
$IRIDIUM_FIX,2401.56,12610.15,151010,131318
$TT8_MAMPS,0.027713
$HUMID,46.14
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.40
$XPDR_PINGS,1
$24V_AH,24.0,33.319
$10V_AH,10.0,42.349
$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,18.950,148.100,536.250,0.000,0.000,28.957,37.375,280.464,0.250,0.000,20.577,4283.228,6300.315,643.485,4428.966,419.689,0.000,2175.079,0.000,2763.320,0.000,0.542,0.000
$DEVICE_MAMPS,226.440,51.255,1149.795,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1174.143,2618.588,2231.448,0.000,0.000,0.000,2682.810,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331292
$DATA_FILE_SIZE,120192,1720
$CAP_FILE_SIZE,190817,0
$CFSIZE,260165632,232140800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097, 92.3,1
$GPS,151010,221537,2407.377,12608.493,40,1.0,41,-3.6