version: 66.08
glider: 181
mission: 4
dive: 256
start: 10 16 110 3 5 19
data:
$ID,181
$MISSION,4
$DIVE,256
$N_DIVES,269
$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,-38168.102
$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,48
$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,510.0
$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
$GPS1,161010,025507,2405.228,12608.368,29,1.4,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-59.9
$GPS2,161010,030449,2405.257,12608.322,12,1.6,12,-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,198.7,46790,-18.6,-11.111
$D_GRID,1638
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.77,-155.7,0.0,0.0,0,78,0.00,0.00,-54.10,0.000,2,0.000,0.000,198,2422,2764,0,0,0,0,0,0
$GC,81,-0.77,-155.7,3.3,-4.3,7,122,7.82,2.17,-26.15,0.000,4,0.222,0.046,2163,993,3935,0,0,0,0,0,0
$GC,228,-0.66,-155.7,46.0,-32.4,31,237,0.17,2.17,0.00,0.000,6,0.145,0.036,2207,2389,3936,0,0,0,0,0,0
$GC,564,-0.60,-155.7,126.2,-20.3,92,572,0.00,2.17,0.00,0.000,4,0.000,0.042,2198,3778,3940,0,0,0,0,0,0
$GC,624,-0.60,-155.7,136.6,-14.6,102,634,0.08,2.08,0.00,0.000,6,0.122,0.026,2224,2390,3938,0,0,0,0,0,0
$GC,968,-0.60,-155.7,188.9,-14.9,163,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2389,3937,0,0,0,0,0,0
$GC,1321,-0.60,-155.7,244.3,-14.8,224,1329,0.00,2.17,0.00,0.000,4,0.000,0.043,2216,3778,3938,0,0,0,0,0,0
$GC,1366,-0.65,-155.7,249.8,-12.7,231,1373,0.00,2.03,0.00,0.000,6,0.000,0.026,2216,2399,3938,0,0,0,0,0,0
$GC,1710,-0.67,-155.7,295.7,-12.6,292,1718,0.00,2.08,0.00,0.000,4,0.000,0.032,2216,1005,3937,0,0,0,0,0,0
$GC,1747,-0.70,-155.7,300.2,-12.4,298,1756,0.00,2.12,0.00,0.000,6,0.000,0.034,2207,2401,3937,0,0,0,0,0,0
$GC,2094,-0.71,-155.7,343.5,-13.1,359,2101,0.00,2.12,0.00,0.000,4,0.000,0.044,2196,3784,3935,0,0,0,0,0,0
$GC,2136,-0.75,-155.7,349.0,-12.4,366,2145,0.00,2.08,0.00,0.000,6,0.000,0.027,2196,2393,3937,0,0,0,0,0,0
$GC,2482,-0.76,-155.7,391.3,-11.2,427,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2392,3933,0,0,0,0,0,0
$GC,2823,-0.78,-155.7,437.6,-13.5,488,2831,0.00,2.08,0.00,0.000,4,0.000,0.033,2196,1007,3931,0,0,0,0,0,0
$GC,2868,-0.81,-155.7,443.5,-13.1,495,2874,0.00,2.10,0.00,0.000,6,0.000,0.034,2192,2401,3931,0,0,0,0,0,0
$GC,3208,-0.84,-155.7,487.8,-11.3,556,3216,0.10,0.00,0.00,0.000,6,0.096,0.000,2138,2401,3929,0,0,0,0,0,0
$GC,3545,-0.80,-155.7,541.4,-14.4,594,3549,0.00,2.12,0.00,0.000,4,0.000,0.045,2127,3783,3928,0,0,0,0,0,0
$GC,3636,-0.79,-155.7,554.6,-14.4,602,3640,0.15,2.03,0.00,0.000,6,0.147,0.028,2168,2401,3927,0,0,0,0,0,0
$GC,3961,-0.79,-155.7,594.1,-12.0,632,3965,0.00,2.05,0.00,0.000,4,0.000,0.034,2168,1004,3924,0,0,0,0,0,0
$GC,4049,-0.82,-155.7,604.3,-11.1,638,4053,0.00,2.12,0.00,0.000,6,0.000,0.036,2164,2400,3923,0,0,0,0,0,0
$GC,4376,-0.82,-155.7,644.2,-12.3,654,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2401,3919,0,0,0,0,0,0
$GC,4686,-0.83,-155.7,683.1,-12.6,669,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2401,3918,0,0,0,0,0,0
$GC,4995,-0.85,-155.7,719.9,-11.3,684,4999,0.00,2.08,0.00,0.000,4,0.000,0.033,2164,1004,3915,0,0,0,0,0,0
$GC,5030,-0.87,-155.7,724.0,-11.7,685,5036,0.00,2.15,0.00,0.000,6,0.000,0.037,2164,2405,3914,0,0,0,0,0,0
$GC,5346,-0.89,-155.7,758.4,-10.9,701,5350,0.00,2.15,0.00,0.000,4,0.000,0.047,2155,3786,3911,0,0,0,0,0,0
$GC,5367,-0.91,-155.7,760.7,-10.0,702,5371,0.00,2.05,0.00,0.000,6,0.000,0.028,2155,2396,3911,0,0,0,0,0,0
$GC,5689,-0.91,-155.7,796.3,-11.4,718,5693,0.00,2.17,0.00,0.000,4,0.000,0.047,2146,3777,3909,0,0,0,0,0,0
$GC,5715,-0.92,-155.7,799.5,-11.5,719,5719,0.00,2.05,0.00,0.000,6,0.000,0.028,2146,2394,3909,0,0,0,0,0,0
$GC,6037,-0.92,-155.7,841.5,-13.7,735,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2391,3906,0,0,0,0,0,0
$GC,6346,-0.92,-155.7,879.7,-11.7,750,6350,0.00,2.17,0.00,0.000,4,0.000,0.047,2137,3774,3903,0,0,0,0,0,0
$GC,6385,-0.94,-155.7,884.3,-11.2,751,6392,0.00,2.08,0.00,0.000,6,0.000,0.028,2137,2392,3903,0,0,0,0,0,0
$GC,6702,-0.94,-155.7,921.8,-12.2,767,6706,0.00,2.08,0.00,0.000,4,0.000,0.035,2133,997,3901,0,0,0,0,0,0
$GC,6757,-0.95,-155.7,928.8,-11.6,769,6764,0.00,2.17,0.00,0.000,6,0.000,0.037,2127,2411,3900,0,0,0,0,0,0
$GC,7073,-0.95,-155.7,970.3,-13.3,785,7074,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2411,3901,0,0,0,0,0,0
$STATE,7319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7319,begin apogee
$GC,7325,-0.16,0.0,1002.3,12.9,797,7453,0.75,0.00,118.22,1.149,6,0.129,0.000,2367,1982,3298,0,0,0,0,0,0
$STATE,7454,end apogee,CONTROL_FINISHED_OK
$STATE,7454,begin climb
$GC,7456,0.77,155.7,1008.3,0.0,803,7594,0.82,2.42,127.90,1.108,4,0.047,0.044,2683,3401,2664,0,0,0,0,0,0
$GC,7638,0.60,155.7,1000.9,17.5,811,7643,0.22,2.22,0.00,0.000,6,0.196,0.031,2623,2024,2658,0,0,0,0,0,0
$GC,7961,0.50,155.7,957.0,13.2,827,7965,0.15,2.22,0.00,0.000,4,0.196,0.039,2596,593,2653,0,0,0,0,0,0
$GC,8004,0.43,155.7,951.4,11.9,829,8008,0.00,2.20,0.00,0.000,6,0.000,0.034,2593,2009,2653,0,0,0,0,0,0
$GC,8333,0.38,171.0,916.4,10.4,845,8355,0.17,2.28,11.98,1.056,4,0.183,0.041,2557,594,2601,0,0,0,0,0,0
$GC,8372,0.43,234.6,912.6,8.1,846,8431,0.00,2.17,53.67,1.052,6,0.000,0.034,2557,2002,2341,0,0,0,0,0,0
$GC,8747,0.42,234.6,872.7,11.3,865,8751,0.00,2.20,0.00,0.000,4,0.000,0.045,2557,3406,2332,0,0,0,0,0,0
$GC,8789,0.40,234.6,868.0,12.0,867,8793,0.00,2.17,0.00,0.000,6,0.000,0.031,2567,1995,2330,0,0,0,0,0,0
$GC,9117,0.38,234.6,826.9,13.1,883,9118,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1995,2330,0,0,0,0,0,0
$GC,9425,0.36,234.6,788.7,11.9,898,9429,0.00,2.20,0.00,0.000,4,0.000,0.043,2568,3412,2328,0,0,0,0,0,0
$GC,9493,0.34,234.6,779.9,12.8,901,9498,0.17,2.17,0.00,0.000,6,0.168,0.031,2533,1986,2327,0,0,0,0,0,0
$GC,9822,0.39,255.8,748.0,10.1,917,9844,0.00,2.22,16.35,0.989,4,0.000,0.041,2533,3405,2254,0,0,0,0,0,0
$GC,9877,0.41,255.8,741.7,11.5,919,9881,0.00,2.17,0.00,0.000,6,0.000,0.031,2541,1994,2252,0,0,0,0,0,0
$GC,10201,0.45,273.0,706.9,10.3,935,10223,0.00,2.17,15.48,0.946,4,0.000,0.041,2552,594,2183,0,0,0,0,0,0
$GC,10297,0.50,299.0,697.3,9.9,939,10325,0.10,2.17,21.90,0.919,6,0.100,0.032,2595,2001,2081,0,0,0,0,0,0
$GC,10641,0.48,299.0,651.5,14.3,956,10642,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2002,2075,0,0,0,0,0,0
$GC,10951,0.47,299.0,605.2,14.6,971,10952,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2001,2073,0,0,0,0,0,0
$GC,11270,0.45,299.0,563.6,13.7,999,11274,0.00,2.17,0.00,0.000,4,0.000,0.042,2606,596,2072,0,0,0,0,0,0
$GC,11314,0.45,299.0,557.2,13.6,1002,11323,0.10,2.17,0.00,0.000,6,0.141,0.033,2574,1998,2072,0,0,0,0,0,0
$GC,11642,0.47,299.0,522.0,11.1,1033,11643,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1998,2070,0,0,0,0,0,0
$GC,11965,0.49,299.0,481.6,12.2,1076,11973,0.00,2.20,0.00,0.000,4,0.000,0.043,2583,596,2070,0,0,0,0,0,0
$GC,12010,0.51,300.2,476.7,11.1,1083,12017,0.00,2.15,0.00,0.000,6,0.000,0.034,2583,2009,2070,0,0,0,0,0,0
$GC,12353,0.51,300.2,437.1,12.6,1144,12361,0.00,2.17,0.00,0.000,4,0.000,0.044,2583,3397,2070,0,0,0,0,0,0
$GC,12420,0.51,300.2,428.4,14.7,1155,12427,0.00,2.12,0.00,0.000,6,0.000,0.031,2593,1990,2070,0,0,0,0,0,0
$GC,12761,0.51,300.2,386.1,11.2,1216,12769,0.00,2.15,0.00,0.000,4,0.000,0.042,2604,601,2070,0,0,0,0,0,0
$GC,12853,0.51,300.2,375.4,11.8,1232,12861,0.00,2.15,0.00,0.000,6,0.000,0.033,2604,2000,2070,0,0,0,0,0,0
$GC,13198,0.51,300.2,333.5,11.2,1293,13204,0.00,2.17,0.00,0.000,4,0.000,0.044,2604,3412,2070,0,0,0,0,0,0
$GC,13269,0.50,300.2,325.1,11.4,1305,13276,0.00,2.12,0.00,0.000,6,0.000,0.031,2614,1999,2070,0,0,0,0,0,0
$GC,13614,0.49,300.2,285.7,11.4,1366,13624,0.12,2.17,0.00,0.000,4,0.170,0.041,2591,598,2069,0,0,0,0,0,0
$GC,13706,0.55,327.7,276.1,9.8,1381,13735,0.00,2.12,22.98,0.760,6,0.000,0.031,2591,2012,1963,0,0,0,0,0,0
$GC,14072,0.60,344.0,238.2,10.3,1445,14094,0.00,2.17,14.50,0.701,4,0.000,0.041,2591,3405,1895,0,0,0,0,0,0
$GC,14118,0.63,344.0,232.8,11.6,1452,14126,0.00,2.17,0.00,0.000,6,0.000,0.030,2602,2000,1894,0,0,0,0,0,0
$GC,14471,0.74,408.8,198.4,8.0,1513,14529,0.17,2.25,50.60,0.666,4,0.070,0.039,2692,596,1632,0,0,0,0,0,0
$GC,14581,0.71,408.8,181.8,16.3,1530,14591,0.12,2.20,0.00,0.000,6,0.133,0.030,2654,2006,1627,0,0,0,0,0,0
$GC,14931,0.71,408.8,137.3,11.6,1591,14939,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2006,1625,0,0,0,0,0,0
$GC,15267,0.72,408.8,96.2,12.3,1652,15275,0.00,2.20,0.00,0.000,4,0.000,0.038,2661,592,1623,0,0,0,0,0,0
$GC,15311,0.75,414.3,91.3,10.8,1659,15321,0.00,2.15,4.82,0.443,6,0.000,0.031,2661,1996,1609,0,0,0,0,0,0
$GC,15649,0.81,431.2,57.2,10.3,1720,15674,0.00,2.20,14.62,0.559,4,0.000,0.040,2672,593,1539,0,0,0,0,0,0
$GC,15767,0.99,509.2,48.0,7.4,1739,15838,0.15,2.15,59.62,0.577,6,0.044,0.031,2755,1999,1222,0,0,0,0,0,0
$STATE,16033,end climb,SURFACE_DEPTH_REACHED
$STATE,16033,begin surface coast
$FINISH,0.8,1.009448
$STATE,16053,end surface coast,CONTROL_FINISHED_OK
$STATE,16053,begin surface
$SM_CCo,16146,0.00,0.000,0,0,1214,511.21
$SM_GC,1.67,6.70,0.00,0.00,0.038,0.000,0.000,195,2441,1214,-6.85,1.16,511.21
$IRIDIUM_FIX,2354.48,12610.66,151010,222204
$TT8_MAMPS,0.026964
$HUMID,47.75
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,23.9,33.643
$10V_AH,10.0,42.838
$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,18.100,130.475,532.650,0.000,0.000,30.255,25.963,301.047,0.000,0.000,14.851,4400.625,6793.816,630.815,4451.179,433.150,0.000,2163.413,0.000,2778.112,0.000,0.542,0.000
$DEVICE_MAMPS,221.850,47.430,1149.030,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1219.776,2354.770,2287.225,0.000,0.000,0.000,2711.001,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331288
$DATA_FILE_SIZE,123616,1787
$CAP_FILE_SIZE,187313,0
$CFSIZE,260165632,231903232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,168.7,1
$GPS,161010,073537,2402.582,12607.633,35,1.0,35,-3.6