version: 66.08
glider: 181
mission: 4
dive: 262
start: 10 17 110 7 18 37
data:
$ID,181
$MISSION,4
$DIVE,262
$N_DIVES,275
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,-38178.109
$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,43
$R_STBD_OVSHOOT,40
$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,522.0
$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
$GPS1,171010,070554,2350.640,12607.707,24,1.2,41,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-55.2
$GPS2,171010,071808,2350.673,12607.477,11,1.5,11,-3.5
$SPEED_LIMITS,0.191,0.276
$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,173.2,19935,-18.4,-11.000
$D_GRID,2981
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.77,-155.7,0.0,0.0,0,84,0.00,0.00,-60.72,0.000,2,0.000,0.000,203,2413,2785,0,0,0,0,0,0
$GC,87,-0.77,-155.7,3.4,-4.3,8,127,7.97,2.17,-25.38,0.000,4,0.229,0.043,2166,994,3935,0,0,0,0,0,0
$GC,261,-0.64,-155.7,55.3,-33.4,37,270,0.17,2.17,0.00,0.000,6,0.145,0.034,2209,2392,3936,0,0,0,0,0,0
$GC,598,-0.59,-155.7,133.1,-19.6,98,606,0.00,2.15,0.00,0.000,4,0.000,0.044,2202,3770,3937,0,0,0,0,0,0
$GC,683,-0.59,-155.7,148.6,-16.1,113,692,0.08,2.08,0.00,0.000,6,0.121,0.025,2229,2379,3937,0,0,0,0,0,0
$GC,1035,-0.59,-155.7,200.1,-13.0,174,1043,0.00,2.05,0.00,0.000,4,0.000,0.032,2229,1008,3938,0,0,0,0,0,0
$GC,1099,-0.63,-155.7,209.6,-11.7,185,1106,0.00,2.10,0.00,0.000,6,0.000,0.033,2222,2406,3938,0,0,0,0,0,0
$GC,1430,-0.65,-155.7,250.9,-11.8,246,1439,0.00,2.10,0.00,0.000,4,0.000,0.031,2221,1010,3938,0,0,0,0,0,0
$GC,1474,-0.68,-155.7,255.9,-11.1,253,1481,0.00,2.10,0.00,0.000,6,0.000,0.034,2219,2403,3937,0,0,0,0,0,0
$GC,1808,-0.69,-155.7,293.8,-11.9,314,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2403,3936,0,0,0,0,0,0
$GC,2145,-0.72,-155.7,331.7,-10.1,375,2153,0.00,2.08,0.00,0.000,4,0.000,0.031,2218,1004,3935,0,0,0,0,0,0
$GC,2206,-0.78,-155.7,338.0,-8.8,385,2214,0.08,2.12,0.00,0.000,6,0.052,0.034,2149,2394,3934,0,0,0,0,0,0
$GC,2539,-0.73,-155.7,396.6,-17.6,446,2548,0.15,2.17,0.00,0.000,4,0.163,0.044,2180,3776,3932,0,0,0,0,0,0
$GC,2587,-0.76,-155.7,403.8,-12.8,454,2595,0.00,2.05,0.00,0.000,6,0.000,0.026,2185,2404,3933,0,0,0,0,0,0
$GC,2918,-0.76,-155.7,443.3,-11.8,515,2926,0.00,2.08,0.00,0.000,4,0.000,0.033,2180,999,3930,0,0,0,0,0,0
$GC,2944,-0.76,-155.7,446.5,-11.7,519,2952,0.00,2.12,0.00,0.000,6,0.000,0.036,2177,2405,3929,0,0,0,0,0,0
$GC,3277,-0.76,-155.7,488.4,-13.7,580,3285,0.00,2.12,0.00,0.000,4,0.000,0.032,2177,999,3928,0,0,0,0,0,0
$GC,3313,-0.77,-155.7,493.1,-12.7,586,3321,0.00,2.15,0.00,0.000,6,0.000,0.035,2168,2397,3928,0,0,0,0,0,0
$GC,3646,-0.77,-155.7,540.6,-14.1,622,3650,0.00,2.08,0.00,0.000,4,0.000,0.032,2168,994,3925,0,0,0,0,0,0
$GC,3689,-0.80,-155.7,546.7,-13.4,625,3696,0.00,2.15,0.00,0.000,6,0.000,0.035,2164,2406,3925,0,0,0,0,0,0
$GC,4014,-0.80,-155.7,589.1,-11.4,656,4018,0.00,2.12,0.00,0.000,4,0.000,0.046,2154,3783,3922,0,0,0,0,0,0
$GC,4043,-0.80,-155.7,592.2,-11.2,658,4047,0.00,2.08,0.00,0.000,6,0.000,0.028,2154,2402,3921,0,0,0,0,0,0
$GC,4366,-0.80,-155.7,629.0,-11.8,677,4369,0.00,2.08,0.00,0.000,4,0.000,0.034,2155,994,3919,0,0,0,0,0,0
$GC,4416,-0.82,-155.7,635.3,-11.3,679,4420,0.00,2.15,0.00,0.000,6,0.000,0.037,2151,2403,3919,0,0,0,0,0,0
$GC,4737,-0.82,-155.7,678.9,-13.7,695,4741,0.00,2.08,0.00,0.000,4,0.000,0.033,2151,1004,3915,0,0,0,0,0,0
$GC,4763,-0.82,-155.7,682.8,-14.0,696,4767,0.00,2.12,0.00,0.000,6,0.000,0.037,2143,2410,3915,0,0,0,0,0,0
$GC,5086,-0.82,-155.7,727.8,-13.8,712,5090,0.00,2.10,0.00,0.000,4,0.000,0.034,2143,1011,3913,0,0,0,0,0,0
$GC,5125,-0.82,-155.7,733.5,-14.1,714,5129,0.00,2.12,0.00,0.000,6,0.000,0.037,2139,2406,3912,0,0,0,0,0,0
$GC,5453,-0.81,-155.7,780.1,-14.5,730,5454,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2406,3910,0,0,0,0,0,0
$GC,5761,-0.81,-155.7,823.3,-13.7,745,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2406,3907,0,0,0,0,0,0
$GC,6071,-0.81,-155.7,861.7,-12.3,760,6075,0.00,2.12,0.00,0.000,4,0.000,0.050,2128,3775,3904,0,0,0,0,0,0
$GC,6126,-0.81,-155.7,868.7,-12.4,762,6133,0.12,2.05,0.00,0.000,6,0.155,0.029,2161,2400,3903,0,0,0,0,0,0
$GC,6442,-0.83,-155.7,899.2,-9.6,778,6446,0.00,2.08,0.00,0.000,4,0.000,0.037,2158,1006,3901,0,0,0,0,0,0
$GC,6492,-0.87,-155.7,904.1,-8.7,780,6496,0.00,2.12,0.00,0.000,6,0.000,0.037,2156,2402,3901,0,0,0,0,0,0
$GC,6815,-0.89,-155.7,936.7,-10.6,796,6819,0.00,2.15,0.00,0.000,4,0.000,0.050,2149,3783,3898,0,0,0,0,0,0
$GC,6859,-0.93,-155.7,941.7,-11.0,798,6863,0.00,2.05,0.00,0.000,6,0.000,0.029,2149,2400,3898,0,0,0,0,0,0
$GC,7188,-0.94,-155.7,976.9,-10.8,814,7192,0.00,2.10,0.00,0.000,4,0.000,0.036,2149,995,3895,0,0,0,0,0,0
$GC,7250,-0.97,-155.7,983.5,-10.7,817,7254,0.00,2.17,0.00,0.000,6,0.000,0.038,2141,2403,3895,0,0,0,0,0,0
$STATE,7307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7307,begin apogee
$GC,7313,-0.16,0.0,990.1,11.1,820,7436,0.70,0.00,117.38,1.141,6,0.125,0.000,2367,1974,3298,0,0,0,0,0,0
$STATE,7437,end apogee,CONTROL_FINISHED_OK
$STATE,7437,begin climb
$GC,7439,0.77,155.7,995.8,0.0,825,7573,0.85,0.00,128.15,1.103,6,0.054,0.000,2680,1975,2664,0,0,0,0,0,0
$GC,7875,0.62,155.7,948.1,16.1,846,7877,0.22,0.00,0.00,0.000,6,0.192,0.000,2625,1975,2653,0,0,0,0,0,0
$GC,8184,0.52,155.7,907.0,12.7,861,8189,0.12,2.25,0.00,0.000,4,0.202,0.044,2595,3408,2651,0,0,0,0,0,0
$GC,8303,0.43,155.7,892.6,12.0,866,8308,0.15,2.12,0.00,0.000,6,0.199,0.031,2569,2008,2649,0,0,0,0,0,0
$GC,8626,0.45,208.6,864.7,8.5,882,8670,0.00,0.00,41.88,1.052,6,0.000,0.000,2569,2008,2447,0,0,0,0,0,0
$GC,8981,0.47,250.0,832.7,9.0,899,9021,0.00,2.35,34.40,1.021,4,0.000,0.044,2569,3413,2278,0,0,0,0,0,0
$GC,9055,0.45,250.0,824.8,11.3,902,9059,0.00,2.20,0.00,0.000,6,0.000,0.031,2577,2002,2275,0,0,0,0,0,0
$GC,9371,0.43,250.0,786.1,13.0,917,9372,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2002,2273,0,0,0,0,0,0
$GC,9680,0.40,250.0,745.3,13.1,932,9684,0.00,2.17,0.00,0.000,4,0.000,0.043,2588,589,2268,0,0,0,0,0,0
$GC,9753,0.39,250.0,735.2,13.5,935,9758,0.15,2.20,0.00,0.000,6,0.158,0.034,2550,2017,2268,0,0,0,0,0,0
$GC,10076,0.40,250.3,699.4,11.0,951,10077,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2017,2266,0,0,0,0,0,0
$GC,10384,0.44,270.1,666.8,10.1,966,10405,0.00,2.28,15.82,0.951,4,0.000,0.042,2558,598,2196,0,0,0,0,0,0
$GC,10433,0.46,270.1,661.5,11.0,968,10437,0.00,2.15,0.00,0.000,6,0.000,0.033,2557,2010,2195,0,0,0,0,0,0
$GC,10761,0.50,296.8,628.6,9.7,984,10789,0.00,2.22,22.52,0.910,4,0.000,0.044,2558,3405,2091,0,0,0,0,0,0
$GC,10812,0.55,328.7,623.5,9.5,986,10847,0.10,2.15,27.02,0.871,6,0.106,0.030,2616,1999,1959,0,0,0,0,0,0
$GC,11159,0.52,328.7,571.8,16.3,1011,11163,0.00,2.20,0.00,0.000,4,0.000,0.042,2627,593,1951,0,0,0,0,0,0
$GC,11211,0.51,328.7,563.4,15.5,1015,11216,0.15,2.15,0.00,0.000,6,0.158,0.031,2588,2006,1950,0,0,0,0,0,0
$GC,11537,0.51,328.7,521.6,11.8,1045,11538,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2007,1949,0,0,0,0,0,0
$GC,11856,0.53,347.8,487.8,10.1,1086,11878,0.00,2.22,15.45,0.853,4,0.000,0.041,2596,595,1880,0,0,0,0,0,0
$GC,11907,0.56,355.5,482.6,10.6,1094,11923,0.00,2.17,7.75,0.689,6,0.000,0.033,2596,1990,1849,0,0,0,0,0,0
$GC,12249,0.56,355.5,438.2,14.8,1156,12257,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1991,1845,0,0,0,0,0,0
$GC,12584,0.57,355.5,393.6,11.8,1217,12590,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1991,1844,0,0,0,0,0,0
$GC,12913,0.59,355.5,354.1,12.3,1278,12921,0.00,2.17,0.00,0.000,4,0.000,0.042,2607,597,1844,0,0,0,0,0,0
$GC,12959,0.61,355.5,348.6,12.6,1286,12967,0.00,2.15,0.00,0.000,6,0.000,0.032,2606,1996,1844,0,0,0,0,0,0
$GC,13291,0.62,355.5,307.6,13.2,1347,13299,0.00,2.15,0.00,0.000,4,0.000,0.042,2617,596,1845,0,0,0,0,0,0
$GC,13333,0.64,355.5,302.0,12.2,1354,13342,0.00,2.15,0.00,0.000,6,0.000,0.031,2617,2001,1844,0,0,0,0,0,0
$GC,13664,0.64,355.5,263.6,11.1,1415,13672,0.00,2.15,0.00,0.000,4,0.000,0.042,2617,3405,1843,0,0,0,0,0,0
$GC,13712,0.64,355.5,257.8,11.3,1423,13720,0.00,2.12,0.00,0.000,6,0.000,0.031,2627,1993,1844,0,0,0,0,0,0
$GC,14045,0.64,355.5,216.4,12.7,1484,14053,0.00,2.15,0.00,0.000,4,0.000,0.041,2638,598,1845,0,0,0,0,0,0
$GC,14213,0.65,355.5,195.5,11.6,1513,14220,0.00,2.12,0.00,0.000,6,0.000,0.031,2638,2014,1845,0,0,0,0,0,0
$GC,14548,0.65,355.5,153.6,11.2,1574,14556,0.00,2.15,0.00,0.000,4,0.000,0.041,2638,3402,1846,0,0,0,0,0,0
$GC,14572,0.65,355.5,151.3,11.5,1577,14579,0.00,2.10,0.00,0.000,6,0.000,0.028,2648,1992,1846,0,0,0,0,0,0
$GC,14905,0.71,400.9,112.1,8.8,1638,14953,0.00,2.17,36.47,0.642,4,0.000,0.040,2659,602,1662,0,0,0,0,0,0
$GC,15017,0.80,452.9,102.3,8.5,1655,15066,0.00,2.15,40.30,0.622,6,0.000,0.031,2659,1998,1451,0,0,0,0,0,0
$GC,15394,0.97,545.0,65.6,6.6,1721,15473,0.22,2.25,69.95,0.590,4,0.060,0.037,2761,3408,1075,0,0,0,0,0,0
$GC,15511,0.96,545.0,47.4,18.9,1737,15520,0.10,2.20,0.00,0.000,6,0.135,0.028,2740,2003,1072,0,0,0,0,0,0
$GC,15850,0.98,545.0,4.7,13.7,1798,15858,0.00,2.17,0.00,0.000,4,0.000,0.040,2749,601,1067,0,0,0,0,0,0
$STATE,15865,end climb,SURFACE_DEPTH_REACHED
$STATE,15865,begin surface coast
$FINISH,1.0,1.021809
$STATE,15888,end surface coast,CONTROL_FINISHED_OK
$STATE,15888,begin surface
$SM_CCo,15983,0.00,0.000,0,0,1065,547.51
$SM_GC,1.92,6.65,0.00,0.00,0.039,0.000,0.000,210,2406,1065,-6.83,0.17,547.51
$IRIDIUM_FIX,2345.05,12404.29,171010,070739
$TT8_MAMPS,0.028462
$HUMID,46.41
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.9,34.646
$10V_AH,10.0,44.318
$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,18.000,138.400,557.100,0.000,0.000,51.773,88.418,295.604,0.000,0.000,15.521,4446.384,6567.097,660.765,4573.473,450.160,0.000,2207.270,0.000,2794.739,0.000,0.542,0.000
$DEVICE_MAMPS,228.735,49.725,1141.380,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1230.947,2389.691,2337.462,0.000,0.000,0.000,2800.767,0.000,0.000,0.000
$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,127443,1804
$CAP_FILE_SIZE,189883,0
$CFSIZE,260165632,231170048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,265.2,1
$GPS,171010,114607,2348.361,12607.376,30,0.9,30,-3.5