version: 66.08
glider: 181
mission: 4
dive: 267
start: 10 18 110 6 34 33
data:
$ID,181
$MISSION,4
$DIVE,267
$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,-38184.398
$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,44
$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,532.0
$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
$GPS1,181010,062407,2340.700,12608.679,27,1.4,27,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-62.5
$GPS2,181010,063401,2340.665,12608.614,11,1.5,16,-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,160.4,1395,-27.4,-11.000
$D_GRID,1000
$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,-0.94,-72.6,0.0,0.0,0,69,0.00,0.00,-46.47,0.000,2,0.000,0.000,203,2412,2677,0,0,0,0,0,0
$GC,71,-1.02,-136.5,3.5,-4.5,6,118,7.62,2.22,-27.33,0.000,4,0.228,0.044,2081,977,3858,0,0,0,0,0,0
$GC,182,-0.92,-136.5,42.1,-43.9,23,191,0.17,2.20,0.00,0.000,6,0.174,0.034,2122,2388,3858,0,0,0,0,0,0
$GC,518,-0.88,-136.5,148.5,-24.5,84,527,0.00,2.17,0.00,0.000,4,0.000,0.040,2113,3784,3860,0,0,0,0,0,0
$GC,613,-0.88,-136.5,171.1,-22.1,100,622,0.00,2.10,0.00,0.000,6,0.000,0.026,2113,2395,3860,0,0,0,0,0,0
$GC,975,-0.85,-136.5,258.4,-24.9,161,981,0.12,0.00,0.00,0.000,6,0.176,0.000,2144,2392,3861,0,0,0,0,0,0
$GC,1317,-0.88,-136.5,327.4,-19.0,222,1325,0.00,2.10,0.00,0.000,4,0.000,0.033,2144,997,3860,0,0,0,0,0,0
$GC,1339,-0.90,-136.5,331.6,-19.6,225,1346,0.00,2.12,0.00,0.000,6,0.000,0.035,2135,2404,3860,0,0,0,0,0,0
$GC,1683,-0.93,-136.5,397.6,-18.2,286,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2405,3859,0,0,0,0,0,0
$GC,2029,-0.96,-136.5,460.1,-17.8,347,2036,0.00,2.12,0.00,0.000,4,0.000,0.044,2125,3785,3858,0,0,0,0,0,0
$GC,2067,-1.01,-136.5,466.8,-17.6,353,2074,0.00,2.10,0.00,0.000,6,0.000,0.026,2125,2389,3857,0,0,0,0,0,0
$GC,2405,-1.05,-136.5,521.1,-14.9,401,2407,0.12,0.00,0.00,0.000,6,0.087,0.000,2066,2386,3856,0,0,0,0,0,0
$GC,2723,-1.04,-136.5,584.1,-20.2,431,2727,0.00,2.15,0.00,0.000,4,0.000,0.042,2055,3779,3853,0,0,0,0,0,0
$GC,2777,-1.04,-136.5,596.1,-20.3,435,2785,0.10,2.08,0.00,0.000,6,0.148,0.027,2086,2398,3853,0,0,0,0,0,0
$GC,3095,-1.05,-136.5,655.4,-18.9,452,3099,0.00,2.08,0.00,0.000,4,0.000,0.034,2086,992,3850,0,0,0,0,0,0
$GC,3128,-1.08,-136.5,662.1,-19.2,453,3134,0.00,2.12,0.00,0.000,6,0.000,0.035,2078,2401,3849,0,0,0,0,0,0
$GC,3445,-1.10,-136.5,722.4,-19.5,469,3449,0.00,2.10,0.00,0.000,4,0.000,0.044,2067,3774,3847,0,0,0,0,0,0
$GC,3510,-1.12,-136.5,735.5,-20.2,472,3514,0.00,2.05,0.00,0.000,6,0.000,0.027,2068,2399,3848,0,0,0,0,0,0
$GC,3842,-1.12,-136.5,803.5,-20.0,488,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2397,3842,0,0,0,0,0,0
$GC,4153,-1.13,-136.5,863.4,-19.4,503,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2397,3839,0,0,0,0,0,0
$GC,4462,-1.15,-136.5,918.5,-17.4,518,4465,0.00,2.08,0.00,0.000,4,0.000,0.034,2073,1003,3836,0,0,0,0,0,0
$GC,4483,-1.17,-136.5,922.4,-16.7,519,4487,0.00,2.15,0.00,0.000,6,0.000,0.036,2057,2406,3836,0,0,0,0,0,0
$GC,4811,-1.18,-136.5,977.0,-15.7,535,4815,0.00,2.15,0.00,0.000,4,0.000,0.046,2046,3783,3832,0,0,0,0,0,0
$GC,4867,-1.19,-136.5,986.2,-15.9,537,4871,0.00,2.08,0.00,0.000,6,0.000,0.027,2046,2399,3829,0,0,0,0,0,0
$STATE,4897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4898,begin apogee
$GC,4903,-0.16,0.0,991.3,16.1,539,5014,1.05,0.00,104.18,1.143,6,0.150,0.000,2365,1975,3299,0,0,0,0,0,0
$STATE,5015,end apogee,CONTROL_FINISHED_OK
$STATE,5015,begin climb
$GC,5017,1.02,136.5,993.8,0.0,544,5142,1.05,2.28,111.53,1.091,4,0.046,0.037,2772,616,2742,0,0,0,0,0,0
$GC,5333,0.89,136.5,951.5,21.3,558,5338,0.17,2.20,0.00,0.000,6,0.200,0.033,2717,2006,2735,0,0,0,0,0,0
$GC,5655,0.80,136.5,897.7,16.0,574,5660,0.15,2.20,0.00,0.000,4,0.211,0.042,2682,3403,2730,0,0,0,0,0,0
$GC,5721,0.71,136.5,887.1,15.1,577,5726,0.12,2.15,0.00,0.000,6,0.200,0.030,2650,2017,2729,0,0,0,0,0,0
$GC,6050,0.67,136.5,847.4,11.2,593,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2016,2729,0,0,0,0,0,0
$GC,6357,0.63,136.5,812.5,11.5,608,6361,0.00,2.15,0.00,0.000,4,0.000,0.038,2659,595,2725,0,0,0,0,0,0
$GC,6384,0.59,136.5,809.2,11.1,609,6389,0.17,2.15,0.00,0.000,6,0.189,0.032,2616,2009,2726,0,0,0,0,0,0
$GC,6707,0.60,146.8,776.5,9.9,625,6720,0.00,2.22,6.62,0.928,4,0.000,0.043,2616,3401,2699,0,0,0,0,0,0
$GC,6774,0.58,146.8,768.9,12.1,628,6778,0.00,2.12,0.00,0.000,6,0.000,0.029,2624,1989,2699,0,0,0,0,0,0
$GC,7102,0.57,151.5,733.7,10.5,644,7112,0.00,2.20,5.05,0.816,4,0.000,0.042,2624,3401,2682,0,0,0,0,0,0
$GC,7151,0.54,151.5,728.0,11.5,646,7156,0.15,2.12,0.00,0.000,6,0.195,0.029,2600,1988,2680,0,0,0,0,0,0
$GC,7474,0.57,159.8,697.0,10.2,662,7488,0.00,2.25,8.65,0.955,4,0.000,0.042,2600,3397,2646,0,0,0,0,0,0
$GC,7601,0.57,159.8,682.3,11.6,667,7608,0.00,2.12,0.00,0.000,6,0.000,0.030,2608,2002,2645,0,0,0,0,0,0
$GC,7917,0.57,159.8,647.5,11.1,683,7921,0.00,2.17,0.00,0.000,4,0.000,0.041,2608,3409,2644,0,0,0,0,0,0
$GC,7982,0.57,159.8,639.9,12.0,686,7986,0.00,2.17,0.00,0.000,6,0.000,0.029,2624,1994,2644,0,0,0,0,0,0
$GC,8310,0.59,178.0,606.8,9.2,702,8332,0.00,2.15,15.55,0.916,4,0.000,0.038,2629,597,2572,0,0,0,0,0,0
$GC,8469,0.60,184.7,590.6,10.3,713,8481,0.00,2.12,6.95,0.795,6,0.000,0.031,2629,1999,2545,0,0,0,0,0,0
$GC,8799,0.60,184.7,553.4,13.0,744,8803,0.00,2.17,0.00,0.000,4,0.000,0.042,2629,3408,2543,0,0,0,0,0,0
$GC,8843,0.59,184.7,546.9,14.6,747,8850,0.00,2.12,0.00,0.000,6,0.000,0.029,2640,1997,2541,0,0,0,0,0,0
$GC,9168,0.59,184.7,505.9,12.2,778,9172,0.00,2.17,0.00,0.000,4,0.000,0.041,2640,3403,2541,0,0,0,0,0,0
$GC,9287,0.57,184.7,490.8,12.8,794,9296,0.12,2.15,0.00,0.000,6,0.168,0.030,2614,2003,2540,0,0,0,0,0,0
$GC,9634,0.61,194.3,457.7,10.0,855,9650,0.00,2.22,8.93,0.828,4,0.000,0.038,2623,587,2506,0,0,0,0,0,0
$GC,9758,0.64,194.3,444.2,11.7,876,9767,0.00,2.17,0.00,0.000,6,0.000,0.032,2623,1997,2504,0,0,0,0,0,0
$GC,10101,0.68,200.8,407.4,10.3,937,10116,0.00,2.17,6.82,0.737,4,0.000,0.041,2623,3404,2479,0,0,0,0,0,0
$GC,10251,0.69,200.8,389.7,12.0,963,10258,0.00,2.12,0.00,0.000,6,0.000,0.029,2633,1999,2478,0,0,0,0,0,0
$GC,10595,0.71,200.8,349.9,11.6,1024,10603,0.00,2.15,0.00,0.000,4,0.000,0.038,2644,601,2478,0,0,0,0,0,0
$GC,10663,0.74,200.8,342.1,11.8,1035,10670,0.00,2.12,0.00,0.000,6,0.000,0.031,2645,2007,2478,0,0,0,0,0,0
$GC,11006,0.76,209.6,304.2,10.1,1096,11021,0.00,2.17,8.60,0.704,4,0.000,0.040,2644,3411,2444,0,0,0,0,0,0
$GC,11042,0.79,220.8,300.5,9.9,1101,11062,0.00,2.12,10.85,0.728,6,0.000,0.028,2655,1995,2397,0,0,0,0,0,0
$GC,11399,0.81,220.8,261.5,11.7,1164,11408,0.00,2.15,0.00,0.000,4,0.000,0.037,2666,601,2396,0,0,0,0,0,0
$GC,11482,0.82,220.8,251.4,12.2,1178,11491,0.00,2.15,0.00,0.000,6,0.000,0.031,2666,1999,2396,0,0,0,0,0,0
$GC,11829,0.84,220.8,208.6,11.2,1239,11836,0.00,2.17,0.00,0.000,4,0.000,0.039,2666,3419,2395,0,0,0,0,0,0
$GC,11859,0.84,220.8,204.5,12.2,1244,11868,0.00,2.15,0.00,0.000,6,0.000,0.027,2677,2008,2396,0,0,0,0,0,0
$GC,12216,0.87,239.8,168.6,9.1,1305,12238,0.00,2.15,16.17,0.664,4,0.000,0.037,2687,591,2321,0,0,0,0,0,0
$GC,12292,0.89,240.3,160.8,10.9,1317,12299,0.00,2.15,0.00,0.000,6,0.000,0.030,2687,2015,2320,0,0,0,0,0,0
$GC,12631,0.91,240.3,122.3,12.2,1378,12639,0.00,2.15,0.00,0.000,4,0.000,0.040,2687,3398,2317,0,0,0,0,0,0
$GC,12690,0.91,240.3,114.0,13.7,1388,12699,0.00,2.15,0.00,0.000,6,0.000,0.028,2698,1985,2319,0,0,0,0,0,0
$GC,13028,1.00,292.2,81.7,5.7,1449,13076,0.15,2.22,41.03,0.617,4,0.080,0.037,2763,3402,2106,0,0,0,0,0,0
$GC,13204,1.00,304.5,64.8,9.8,1478,13220,0.00,2.15,10.43,0.535,6,0.000,0.028,2774,2000,2057,0,0,0,0,0,0
$GC,13548,1.00,304.5,34.4,11.5,1540,13557,0.00,2.17,0.00,0.000,4,0.000,0.037,2773,3395,2053,0,0,0,0,0,0
$GC,13597,0.98,304.5,28.1,12.3,1548,13607,0.12,2.12,0.00,0.000,6,0.161,0.028,2747,1998,2053,0,0,0,0,0,0
$STATE,13872,end climb,SURFACE_DEPTH_REACHED
$STATE,13872,begin surface coast
$FINISH,1.2,1.021745
$STATE,13914,end surface coast,CONTROL_FINISHED_OK
$STATE,13914,begin surface
$SM_CCo,13945,35.70,0.061,0,0,1768,375.06
$SM_GC,1.75,0.00,0.00,35.70,0.000,0.000,0.061,199,2427,1768,-6.96,0.76,375.06
$IRIDIUM_FIX,2335.63,12605.10,181010,010130
$TT8_MAMPS,0.027713
$HUMID,45.19
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,24.0,35.407
$10V_AH,10.0,45.543
$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,18.125,125.950,361.350,35.700,0.000,27.106,46.121,286.240,0.000,0.000,19.133,4002.377,5449.049,525.022,4165.717,418.968,0.000,1907.332,0.000,2557.031,0.000,0.542,0.000
$DEVICE_MAMPS,227.970,45.900,1142.910,61.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1095.758,2142.791,2181.208,0.000,0.000,0.000,2820.377,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331300
$DATA_FILE_SIZE,113767,1605
$CAP_FILE_SIZE,172105,0
$CFSIZE,260165632,230600704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,302.1,1
$GPS,181010,102855,2339.382,12608.840,40,1.3,41,-3.5