version: 66.08
glider: 181
mission: 4
dive: 257
start: 10 16 110 7 47 39
data:
$ID,181
$MISSION,4
$DIVE,257
$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,-38170.578
$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,41
$R_STBD_OVSHOOT,59
$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,512.0
$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
$GPS1,161010,073537,2402.582,12607.633,35,1.0,35,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-59.4
$GPS2,161010,074708,2402.621,12607.497,12,1.4,12,-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,181.2,41972,-18.6,-11.111
$D_GRID,1594
$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,-155.7,0.0,0.0,0,75,0.00,0.00,-52.22,0.000,2,0.000,0.000,194,2441,2641,0,0,0,0,0,0
$GC,77,-0.77,-155.7,3.3,-4.4,7,127,8.07,2.22,-31.48,0.000,4,0.231,0.041,2174,985,3934,0,0,0,0,0,0
$GC,207,-0.65,-155.7,39.1,-33.7,27,217,0.17,2.15,0.00,0.000,6,0.147,0.034,2212,2366,3936,0,0,0,0,0,0
$GC,544,-0.61,-155.7,118.1,-16.5,88,552,0.00,2.20,0.00,0.000,4,0.000,0.043,2203,3771,3935,0,0,0,0,0,0
$GC,593,-0.61,-155.7,126.2,-15.0,96,601,0.00,2.08,0.00,0.000,6,0.000,0.025,2203,2391,3938,0,0,0,0,0,0
$GC,926,-0.58,-155.7,182.2,-17.1,157,933,0.12,2.08,0.00,0.000,4,0.157,0.031,2242,996,3938,0,0,0,0,0,0
$GC,956,-0.58,-155.7,187.3,-15.4,162,964,0.00,2.15,0.00,0.000,6,0.000,0.034,2231,2397,3937,0,0,0,0,0,0
$GC,1304,-0.60,-155.7,231.4,-12.2,223,1312,0.00,2.08,0.00,0.000,4,0.000,0.031,2232,997,3937,0,0,0,0,0,0
$GC,1336,-0.64,-155.7,235.4,-12.4,228,1344,0.00,2.15,0.00,0.000,6,0.000,0.034,2232,2397,3937,0,0,0,0,0,0
$GC,1666,-0.67,-155.7,275.1,-11.5,289,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2397,3936,0,0,0,0,0,0
$GC,1993,-0.72,-155.7,311.5,-10.2,350,2001,0.12,0.00,0.00,0.000,6,0.080,0.000,2162,2398,3932,0,0,0,0,0,0
$GC,2328,-0.68,-155.7,366.7,-16.4,411,2337,0.17,2.10,0.00,0.000,4,0.145,0.032,2208,997,3933,0,0,0,0,0,0
$GC,2357,-0.66,-155.7,370.8,-14.5,415,2365,0.00,2.15,0.00,0.000,6,0.000,0.035,2203,2398,3932,0,0,0,0,0,0
$GC,2692,-0.69,-155.7,405.0,-9.2,476,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2398,3930,0,0,0,0,0,0
$GC,3026,-0.72,-155.7,441.4,-11.3,537,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2398,3928,0,0,0,0,0,0
$GC,3353,-0.75,-155.7,478.2,-10.3,598,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2399,3927,0,0,0,0,0,0
$GC,3686,-0.80,-155.7,512.8,-10.7,648,3690,0.00,2.08,0.00,0.000,4,0.000,0.033,2203,999,3924,0,0,0,0,0,0
$GC,3761,-0.86,-155.7,521.3,-11.4,654,3766,0.15,2.15,0.00,0.000,6,0.075,0.036,2124,2410,3924,0,0,0,0,0,0
$GC,4089,-0.80,-155.7,582.5,-18.7,684,4094,0.15,2.15,0.00,0.000,4,0.171,0.045,2154,3787,3921,0,0,0,0,0,0
$GC,4155,-0.82,-155.7,592.7,-11.9,689,4162,0.00,2.08,0.00,0.000,6,0.000,0.027,2153,2389,3920,0,0,0,0,0,0
$GC,4483,-0.82,-155.7,633.2,-12.4,708,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2387,3919,0,0,0,0,0,0
$GC,4793,-0.82,-155.7,675.2,-14.3,723,4797,0.00,2.08,0.00,0.000,4,0.000,0.033,2154,996,3916,0,0,0,0,0,0
$GC,4811,-0.82,-155.7,677.8,-14.4,724,4815,0.00,2.12,0.00,0.000,6,0.000,0.036,2150,2399,3916,0,0,0,0,0,0
$GC,5138,-0.82,-155.7,722.4,-13.2,740,5139,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2399,3913,0,0,0,0,0,0
$GC,5448,-0.82,-155.7,757.3,-11.1,755,5449,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2399,3911,0,0,0,0,0,0
$GC,5756,-0.82,-155.7,792.6,-11.6,770,5760,0.00,2.15,0.00,0.000,4,0.000,0.048,2140,3786,3908,0,0,0,0,0,0
$GC,5782,-0.82,-155.7,795.8,-11.8,771,5786,0.00,2.10,0.00,0.000,6,0.000,0.028,2141,2398,3908,0,0,0,0,0,0
$GC,6110,-0.82,-155.7,835.4,-12.5,787,6114,0.00,2.08,0.00,0.000,4,0.000,0.034,2140,1001,3905,0,0,0,0,0,0
$GC,6182,-0.84,-155.7,844.8,-11.7,790,6187,0.00,2.17,0.00,0.000,6,0.000,0.038,2138,2395,3907,0,0,0,0,0,0
$GC,6504,-0.84,-155.7,884.2,-11.8,806,6508,0.00,2.10,0.00,0.000,4,0.000,0.035,2138,992,3902,0,0,0,0,0,0
$GC,6568,-0.85,-155.7,891.4,-10.9,809,6572,0.00,2.15,0.00,0.000,6,0.000,0.038,2129,2401,3902,0,0,0,0,0,0
$GC,6901,-0.85,-155.7,931.5,-11.8,825,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2406,3899,0,0,0,0,0,0
$GC,7210,-0.85,-155.7,968.5,-11.6,840,7214,0.00,2.10,0.00,0.000,4,0.000,0.035,2129,1004,3896,0,0,0,0,0,0
$GC,7236,-0.85,-155.7,972.2,-13.5,841,7240,0.00,2.17,0.00,0.000,6,0.000,0.038,2125,2394,3896,0,0,0,0,0,0
$STATE,7474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7474,begin apogee
$GC,7480,-0.16,0.0,1001.9,12.3,853,7605,0.75,0.00,117.20,1.154,6,0.127,0.000,2366,1986,3300,0,0,0,0,0,0
$STATE,7605,end apogee,CONTROL_FINISHED_OK
$STATE,7605,begin climb
$GC,7607,0.77,155.7,1006.3,0.0,858,7746,0.82,2.45,128.02,1.112,4,0.046,0.044,2682,3408,2665,0,0,0,0,0,0
$GC,7802,0.60,155.7,994.1,18.6,867,7807,0.30,2.20,0.00,0.000,6,0.200,0.031,2622,2015,2656,0,0,0,0,0,0
$GC,8119,0.50,155.7,948.5,14.1,882,8124,0.12,2.20,0.00,0.000,4,0.203,0.041,2602,595,2652,0,0,0,0,0,0
$GC,8146,0.42,155.7,944.5,13.3,883,8151,0.15,2.17,0.00,0.000,6,0.181,0.035,2563,2007,2651,0,0,0,0,0,0
$GC,8469,0.38,161.6,909.0,10.8,899,8478,0.00,2.25,4.15,0.761,4,0.000,0.046,2563,3406,2639,0,0,0,0,0,0
$GC,8540,0.32,161.6,900.4,11.7,902,8544,0.15,2.15,0.00,0.000,6,0.188,0.031,2536,1993,2639,0,0,0,0,0,0
$GC,8869,0.37,209.0,871.2,8.8,918,8915,0.00,2.28,39.88,1.064,4,0.000,0.043,2545,597,2445,0,0,0,0,0,0
$GC,8993,0.39,231.1,859.5,10.1,923,9022,0.00,2.20,19.40,0.996,6,0.000,0.034,2545,2012,2354,0,0,0,0,0,0
$GC,9334,0.43,264.4,827.7,9.5,940,9368,0.00,2.30,27.52,1.017,4,0.000,0.044,2545,3401,2220,0,0,0,0,0,0
$GC,9401,0.43,264.4,820.5,11.1,943,9405,0.00,2.22,0.00,0.000,6,0.000,0.031,2555,2003,2217,0,0,0,0,0,0
$GC,9729,0.46,283.7,788.0,10.2,959,9749,0.00,0.00,16.85,0.988,6,0.000,0.000,2555,2002,2139,0,0,0,0,0,0
$GC,10058,0.46,283.7,750.2,12.1,975,10059,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2002,2136,0,0,0,0,0,0
$GC,10368,0.47,283.7,712.1,11.9,990,10372,0.00,2.20,0.00,0.000,4,0.000,0.044,2555,3408,2134,0,0,0,0,0,0
$GC,10400,0.47,283.7,707.9,12.2,991,10404,0.00,2.15,0.00,0.000,6,0.000,0.031,2565,1991,2134,0,0,0,0,0,0
$GC,10722,0.50,311.4,673.3,9.8,1007,10747,0.00,0.00,22.77,0.952,6,0.000,0.000,2565,1988,2029,0,0,0,0,0,0
$GC,11052,0.55,337.8,640.6,9.8,1023,11082,0.12,2.28,22.35,0.920,4,0.097,0.043,2633,591,1920,0,0,0,0,0,0
$GC,11104,0.51,337.8,633.5,15.0,1025,11109,0.15,2.20,0.00,0.000,6,0.164,0.034,2594,2009,1918,0,0,0,0,0,0
$GC,11430,0.51,337.8,586.9,15.2,1045,11434,0.00,2.17,0.00,0.000,4,0.000,0.044,2595,3406,1915,0,0,0,0,0,0
$GC,11473,0.51,337.8,579.5,16.1,1048,11480,0.00,2.20,0.00,0.000,6,0.000,0.031,2604,1998,1914,0,0,0,0,0,0
$GC,11800,0.50,337.8,526.8,14.8,1079,11804,0.00,2.17,0.00,0.000,4,0.000,0.043,2614,595,1913,0,0,0,0,0,0
$GC,11854,0.50,337.8,518.7,13.4,1083,11861,0.00,2.17,0.00,0.000,6,0.000,0.033,2614,1998,1912,0,0,0,0,0,0
$GC,12181,0.48,337.8,473.6,13.1,1131,12188,0.12,0.00,0.00,0.000,6,0.175,0.000,2583,2002,1911,0,0,0,0,0,0
$GC,12512,0.50,342.7,435.8,10.9,1192,12521,0.00,2.25,3.90,0.581,4,0.000,0.043,2592,583,1901,0,0,0,0,0,0
$GC,12550,0.52,343.0,431.4,11.1,1198,12559,0.00,2.20,0.00,0.000,6,0.000,0.033,2592,2009,1901,0,0,0,0,0,0
$GC,12883,0.52,343.6,389.8,11.1,1259,12890,0.00,2.15,0.00,0.000,4,0.000,0.043,2592,3405,1902,0,0,0,0,0,0
$GC,12967,0.54,343.6,378.5,13.6,1274,12975,0.00,2.17,0.00,0.000,6,0.000,0.031,2602,1992,1901,0,0,0,0,0,0
$GC,13296,0.54,343.6,337.6,11.6,1335,13303,0.00,2.12,0.00,0.000,4,0.000,0.042,2613,597,1901,0,0,0,0,0,0
$GC,13359,0.56,349.1,330.0,10.8,1346,13374,0.00,2.15,7.40,0.704,6,0.000,0.031,2613,2001,1874,0,0,0,0,0,0
$GC,13700,0.56,349.1,282.6,14.1,1408,13708,0.00,2.20,0.00,0.000,4,0.000,0.041,2623,593,1873,0,0,0,0,0,0
$GC,13750,0.56,349.1,275.9,13.4,1416,13758,0.00,2.15,0.00,0.000,6,0.000,0.032,2623,1993,1873,0,0,0,0,0,0
$GC,14082,0.56,353.1,233.3,10.9,1477,14098,0.00,2.22,5.00,0.549,4,0.000,0.042,2623,3406,1858,0,0,0,0,0,0
$GC,14185,0.56,353.1,220.8,12.1,1495,14192,0.00,2.12,0.00,0.000,6,0.000,0.030,2634,1995,1858,0,0,0,0,0,0
$GC,14524,0.56,353.1,179.1,11.2,1556,14532,0.00,2.15,0.00,0.000,4,0.000,0.041,2644,598,1858,0,0,0,0,0,0
$GC,14643,0.60,383.2,165.2,9.7,1577,14673,0.00,2.12,24.90,0.672,6,0.000,0.031,2644,2014,1736,0,0,0,0,0,0
$GC,14998,0.61,383.2,127.3,11.3,1641,15007,0.00,2.17,0.00,0.000,4,0.000,0.042,2644,3402,1732,0,0,0,0,0,0
$GC,15059,0.63,383.2,119.8,11.3,1651,15068,0.00,2.15,0.00,0.000,6,0.000,0.030,2655,2001,1732,0,0,0,0,0,0
$GC,15396,0.69,414.6,85.9,9.6,1712,15429,0.00,2.15,25.42,0.601,4,0.000,0.037,2666,594,1606,0,0,0,0,0,0
$GC,15536,0.79,450.1,72.1,9.4,1735,15576,0.00,2.15,28.12,0.584,6,0.000,0.031,2666,1992,1462,0,0,0,0,0,0
$GC,15905,1.01,564.1,41.3,5.6,1800,15999,0.22,2.22,86.00,0.559,4,0.058,0.036,2770,3402,998,0,0,0,0,0,0
$GC,16084,0.97,564.1,10.9,18.7,1827,16093,0.12,2.17,0.00,0.000,6,0.136,0.028,2742,2003,993,0,0,0,0,0,0
$STATE,16131,end climb,SURFACE_DEPTH_REACHED
$STATE,16131,begin surface coast
$FINISH,1.2,1.021869
$STATE,16162,end surface coast,CONTROL_FINISHED_OK
$STATE,16164,begin surface
$SM_CCo,16257,0.00,0.000,0,0,990,566.15
$SM_GC,1.86,6.68,0.00,0.00,0.038,0.000,0.000,209,2405,990,-6.84,0.14,566.15
$IRIDIUM_FIX,2354.48,12610.66,161010,070707
$TT8_MAMPS,0.027713
$HUMID,45.86
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.9,33.816
$10V_AH,10.0,43.092
$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,18.700,131.225,578.900,0.000,0.000,53.431,61.191,286.113,0.000,0.000,16.384,4535.295,6639.715,662.224,4654.679,440.326,0.000,2253.992,0.000,2869.072,0.000,0.542,0.000
$DEVICE_MAMPS,231.030,48.195,1153.620,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1255.798,2451.658,2429.595,0.000,0.000,0.000,2940.840,0.000,0.000,0.000
$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,130479,1840
$CAP_FILE_SIZE,191757,0
$CFSIZE,260165632,231776256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022,275.1,1
$GPS,161010,121954,2400.303,12607.466,24,1.8,41,-3.6