version: 66.08
glider: 181
mission: 4
dive: 264
start: 10 17 110 16 36 1
data:
$ID,181
$MISSION,4
$DIVE,264
$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,-38180.625
$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,60
$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,526.0
$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
$GPS1,171010,162530,2346.401,12608.111,36,1.1,41,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-61.8
$GPS2,171010,163532,2346.551,12608.100,13,1.9,13,-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,173.7,12228,-18.4,-11.000
$D_GRID,4147
$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,-155.7,0.0,0.0,0,77,0.00,0.00,-53.58,0.000,2,0.000,0.000,200,2437,2635,0,0,0,0,0,0
$GC,80,-0.77,-155.7,3.2,-4.2,7,128,8.00,2.20,-32.30,0.000,4,0.228,0.042,2174,979,3936,0,0,0,0,0,0
$GC,188,-0.66,-155.7,29.2,-30.7,23,196,0.15,2.17,0.00,0.000,6,0.151,0.034,2210,2376,3937,0,0,0,0,0,0
$GC,523,-0.60,-155.7,109.6,-19.1,84,532,0.00,2.17,0.00,0.000,4,0.000,0.041,2201,3770,3938,0,0,0,0,0,0
$GC,665,-0.60,-155.7,133.4,-15.3,109,673,0.00,2.08,0.00,0.000,6,0.000,0.024,2201,2384,3938,0,0,0,0,0,0
$GC,1008,-0.57,-155.7,191.7,-15.6,170,1017,0.15,2.08,0.00,0.000,4,0.148,0.031,2244,1007,3939,0,0,0,0,0,0
$GC,1032,-0.55,-155.7,195.1,-15.9,173,1039,0.00,2.10,0.00,0.000,6,0.000,0.032,2235,2401,3939,0,0,0,0,0,0
$GC,1387,-0.59,-155.7,232.7,-10.2,234,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2401,3938,0,0,0,0,0,0
$GC,1732,-0.63,-155.7,270.0,-10.4,295,1738,0.00,2.08,0.00,0.000,4,0.000,0.031,2236,998,3937,0,0,0,0,0,0
$GC,1804,-0.70,-155.7,277.3,-9.7,307,1811,0.00,2.15,0.00,0.000,6,0.000,0.034,2232,2400,3937,0,0,0,0,0,0
$GC,2148,-0.74,-155.7,315.1,-11.1,368,2158,0.15,2.12,0.00,0.000,4,0.072,0.031,2153,1002,3935,0,0,0,0,0,0
$GC,2184,-0.72,-155.7,320.2,-16.0,373,2191,0.17,2.12,0.00,0.000,6,0.142,0.034,2194,2407,3935,0,0,0,0,0,0
$GC,2528,-0.72,-155.7,369.9,-12.7,434,2536,0.00,2.12,0.00,0.000,4,0.000,0.044,2185,3769,3935,0,0,0,0,0,0
$GC,2565,-0.74,-155.7,374.4,-11.1,440,2575,0.00,2.05,0.00,0.000,6,0.000,0.025,2185,2393,3933,0,0,0,0,0,0
$GC,2910,-0.74,-155.7,413.4,-12.4,501,2917,0.00,2.05,0.00,0.000,4,0.000,0.031,2185,1001,3931,0,0,0,0,0,0
$GC,3005,-0.77,-155.7,424.0,-10.6,517,3012,0.00,2.10,0.00,0.000,6,0.000,0.034,2178,2399,3930,0,0,0,0,0,0
$GC,3345,-0.77,-155.7,469.0,-13.4,578,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2400,3928,0,0,0,0,0,0
$GC,3688,-0.77,-155.7,513.7,-12.4,630,3692,0.00,2.10,0.00,0.000,4,0.000,0.031,2177,998,3926,0,0,0,0,0,0
$GC,3717,-0.79,-155.7,517.1,-12.3,632,3721,0.00,2.12,0.00,0.000,6,0.000,0.035,2170,2407,3926,0,0,0,0,0,0
$GC,4042,-0.79,-155.7,560.5,-12.8,662,4045,0.00,2.08,0.00,0.000,4,0.000,0.032,2170,1007,3923,0,0,0,0,0,0
$GC,4060,-0.79,-155.7,562.7,-12.7,663,4064,0.00,2.10,0.00,0.000,6,0.000,0.035,2160,2399,3923,0,0,0,0,0,0
$GC,4383,-0.79,-155.7,606.0,-13.1,691,4387,0.00,2.12,0.00,0.000,4,0.000,0.045,2154,3775,3921,0,0,0,0,0,0
$GC,4427,-0.81,-155.7,611.5,-11.4,693,4431,0.00,2.03,0.00,0.000,6,0.000,0.026,2154,2392,3921,0,0,0,0,0,0
$GC,4755,-0.81,-155.7,652.6,-12.1,709,4759,0.00,2.05,0.00,0.000,4,0.000,0.032,2154,1003,3919,0,0,0,0,0,0
$GC,4847,-0.83,-155.7,663.7,-11.5,713,4851,0.00,2.12,0.00,0.000,6,0.000,0.036,2151,2405,3917,0,0,0,0,0,0
$GC,5175,-0.83,-155.7,704.2,-12.4,729,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2405,3915,0,0,0,0,0,0
$GC,5483,-0.83,-155.7,743.5,-12.8,744,5484,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2405,3912,0,0,0,0,0,0
$GC,5792,-0.83,-155.7,784.0,-12.8,759,5796,0.00,2.12,0.00,0.000,4,0.000,0.047,2141,3775,3910,0,0,0,0,0,0
$GC,5820,-0.84,-155.7,787.5,-12.0,760,5824,0.00,2.05,0.00,0.000,6,0.000,0.028,2141,2406,3910,0,0,0,0,0,0
$GC,6147,-0.96,-155.7,824.8,-8.8,776,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2404,3907,0,0,0,0,0,0
$GC,6457,-0.96,-155.7,855.6,-10.8,791,6461,0.00,2.12,0.00,0.000,4,0.000,0.035,2141,995,3904,0,0,0,0,0,0
$GC,6490,-0.97,-155.7,859.7,-10.7,792,6498,0.00,2.17,0.00,0.000,6,0.000,0.037,2137,2408,3904,0,0,0,0,0,0
$GC,6805,-0.97,-155.7,896.1,-11.7,808,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2408,3901,0,0,0,0,0,0
$GC,7115,-0.97,-155.7,932.9,-11.8,823,7119,0.00,2.15,0.00,0.000,4,0.000,0.036,2138,998,3899,0,0,0,0,0,0
$GC,7171,-0.99,-155.7,939.8,-11.8,825,7178,0.00,2.17,0.00,0.000,6,0.000,0.037,2131,2403,3899,0,0,0,0,0,0
$GC,7487,-0.99,-155.7,978.0,-12.3,841,7491,0.00,2.12,0.00,0.000,4,0.000,0.036,2131,995,3896,0,0,0,0,0,0
$GC,7528,-1.00,-155.7,983.0,-12.1,843,7532,0.00,2.15,0.00,0.000,6,0.000,0.037,2125,2399,3896,0,0,0,0,0,0
$STATE,7585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7585,begin apogee
$GC,7591,-0.16,0.0,990.5,12.7,846,7715,0.75,0.00,117.90,1.141,6,0.129,0.000,2366,1987,3298,0,0,0,0,0,0
$STATE,7716,end apogee,CONTROL_FINISHED_OK
$STATE,7716,begin climb
$GC,7718,0.77,155.7,997.2,0.0,851,7856,0.88,2.45,127.95,1.102,4,0.054,0.044,2683,3408,2662,0,0,0,0,0,0
$GC,7895,0.60,155.7,992.7,16.8,859,7901,0.30,2.22,0.00,0.000,6,0.203,0.031,2623,2009,2658,0,0,0,0,0,0
$GC,8212,0.50,155.7,955.5,11.2,874,8216,0.15,2.20,0.00,0.000,4,0.195,0.041,2595,593,2652,0,0,0,0,0,0
$GC,8260,0.46,177.5,950.9,10.0,876,8284,0.00,2.17,17.85,1.066,6,0.000,0.034,2592,2006,2576,0,0,0,0,0,0
$GC,8592,0.40,177.5,915.5,11.0,892,8594,0.15,0.00,0.00,0.000,6,0.183,0.000,2559,2008,2569,0,0,0,0,0,0
$GC,8900,0.41,211.4,886.9,9.4,907,8935,0.00,2.30,27.88,1.059,4,0.000,0.044,2559,3402,2438,0,0,0,0,0,0
$GC,8957,0.40,221.5,880.8,10.5,909,8973,0.00,2.17,9.82,0.913,6,0.000,0.031,2567,1997,2396,0,0,0,0,0,0
$GC,9297,0.38,221.5,841.3,11.7,926,9298,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1997,2390,0,0,0,0,0,0
$GC,9605,0.36,221.5,805.0,12.2,941,9609,0.00,2.17,0.00,0.000,4,0.000,0.043,2578,595,2388,0,0,0,0,0,0
$GC,9693,0.35,221.5,793.9,12.6,945,9698,0.15,2.15,0.00,0.000,6,0.160,0.033,2539,2001,2387,0,0,0,0,0,0
$GC,10017,0.38,238.0,761.4,10.2,961,10039,0.00,2.25,14.10,0.996,4,0.000,0.045,2539,3397,2327,0,0,0,0,0,0
$GC,10124,0.39,238.0,749.3,11.0,965,10131,0.00,2.17,0.00,0.000,6,0.000,0.031,2548,1987,2325,0,0,0,0,0,0
$GC,10442,0.43,259.5,716.6,10.0,981,10467,0.00,2.33,18.52,0.964,4,0.000,0.044,2548,3415,2239,0,0,0,0,0,0
$GC,10490,0.44,259.5,711.2,11.0,983,10494,0.00,2.17,0.00,0.000,6,0.000,0.031,2557,2002,2238,0,0,0,0,0,0
$GC,10817,0.47,284.1,677.6,9.8,999,10843,0.00,2.22,21.12,0.935,4,0.000,0.041,2568,588,2139,0,0,0,0,0,0
$GC,10882,0.54,321.6,671.4,9.2,1002,10921,0.00,2.17,31.70,0.906,6,0.000,0.033,2569,1999,1986,0,0,0,0,0,0
$GC,11231,0.57,332.3,635.5,10.5,1019,11243,0.12,0.00,8.82,0.871,6,0.096,0.000,2624,2000,1944,0,0,0,0,0,0
$GC,11542,0.54,332.3,589.5,15.4,1037,11543,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1997,1940,0,0,0,0,0,0
$GC,11860,0.51,332.3,539.0,15.8,1067,11865,0.12,2.22,0.00,0.000,4,0.169,0.044,2593,3408,1940,0,0,0,0,0,0
$GC,11900,0.51,332.3,532.8,13.8,1070,11904,0.00,2.15,0.00,0.000,6,0.000,0.031,2602,1992,1938,0,0,0,0,0,0
$GC,12228,0.51,332.3,491.6,12.1,1106,12236,0.00,2.17,0.00,0.000,4,0.000,0.043,2613,598,1938,0,0,0,0,0,0
$GC,12304,0.51,332.3,482.2,13.0,1119,12311,0.00,2.15,0.00,0.000,6,0.000,0.033,2613,2009,1938,0,0,0,0,0,0
$GC,12648,0.51,332.3,432.3,15.5,1180,12658,0.00,2.20,0.00,0.000,4,0.000,0.044,2613,3412,1937,0,0,0,0,0,0
$GC,12687,0.51,332.3,426.1,16.2,1186,12696,0.10,2.17,0.00,0.000,6,0.148,0.031,2592,1996,1937,0,0,0,0,0,0
$GC,13033,0.58,379.8,386.3,8.7,1247,13077,0.00,2.25,38.30,0.784,4,0.000,0.041,2600,596,1748,0,0,0,0,0,0
$GC,13148,0.65,407.2,375.1,9.7,1265,13178,0.10,2.17,22.42,0.717,6,0.102,0.032,2645,2003,1639,0,0,0,0,0,0
$GC,13517,0.64,407.2,318.1,17.6,1329,13524,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2003,1632,0,0,0,0,0,0
$GC,13858,0.63,407.2,259.1,16.2,1390,13866,0.00,2.20,0.00,0.000,4,0.000,0.041,2656,601,1631,0,0,0,0,0,0
$GC,13926,0.63,407.2,248.2,15.3,1401,13933,0.10,2.15,0.00,0.000,6,0.161,0.032,2630,2010,1631,0,0,0,0,0,0
$GC,14271,0.64,407.2,200.1,12.4,1462,14286,0.00,2.17,0.00,0.000,4,0.000,0.042,2630,3395,1630,0,0,0,0,0,0
$GC,14301,0.66,407.2,196.2,13.2,1465,14308,0.00,2.12,0.00,0.000,6,0.000,0.030,2635,1993,1630,0,0,0,0,0,0
$GC,14649,0.68,407.2,151.4,11.9,1526,14657,0.00,2.15,0.00,0.000,4,0.000,0.041,2650,596,1630,0,0,0,0,0,0
$GC,14745,0.71,407.2,140.4,11.6,1542,14753,0.00,2.15,0.00,0.000,6,0.000,0.032,2651,2000,1630,0,0,0,0,0,0
$GC,15082,0.77,437.3,103.8,9.6,1603,15113,0.00,0.00,23.70,0.617,6,0.000,0.000,2649,2001,1515,0,0,0,0,0,0
$GC,15441,0.91,509.4,66.4,7.6,1667,15505,0.20,2.22,55.62,0.596,4,0.066,0.038,2756,592,1221,0,0,0,0,0,0
$GC,15526,0.87,509.4,53.9,16.0,1678,15535,0.12,2.20,0.00,0.000,6,0.138,0.030,2717,2003,1218,0,0,0,0,0,0
$GC,15864,0.89,509.4,15.7,12.5,1739,15872,0.00,2.22,0.00,0.000,4,0.000,0.041,2715,3406,1214,0,0,0,0,0,0
$GC,15935,0.91,509.4,6.6,11.3,1751,15944,0.00,2.17,0.00,0.000,6,0.000,0.030,2724,1993,1215,0,0,0,0,0,0
$STATE,15972,end climb,SURFACE_DEPTH_REACHED
$STATE,15972,begin surface coast
$FINISH,1.0,1.021732
$STATE,16002,end surface coast,CONTROL_FINISHED_OK
$STATE,16002,begin surface
$SM_CCo,16094,0.00,0.000,0,0,1212,511.45
$SM_GC,1.84,6.60,0.00,0.00,0.041,0.000,0.000,212,2416,1212,-6.84,0.42,511.45
$IRIDIUM_FIX,2340.34,12609.78,171010,111145
$TT8_MAMPS,0.028462
$HUMID,46.18
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.9,34.978
$10V_AH,10.0,44.819
$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,18.475,135.050,535.725,0.000,0.000,30.472,22.828,315.213,0.000,0.000,16.080,4368.801,6772.573,635.829,4445.879,452.505,0.000,2172.319,0.000,2760.998,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,46.665,1141.380,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1202.637,2320.826,2298.543,0.000,0.000,0.000,2870.859,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331312
$DATA_FILE_SIZE,123685,1762
$CAP_FILE_SIZE,188935,0
$CFSIZE,260165632,230932480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051,323.6,1
$GPS,171010,210531,2344.510,12608.244,38,1.3,38,-3.5