version: 66.08
glider: 181
mission: 4
dive: 268
start: 10 18 110 10 38 19
data:
$ID,181
$MISSION,4
$DIVE,268
$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,-38185.656
$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,48
$R_STBD_OVSHOOT,54
$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,534.0
$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
$GPS1,181010,102855,2339.382,12608.840,40,1.3,41,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-70.5
$GPS2,181010,103749,2339.462,12608.770,8,0.9,13,-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,46.0,1071,-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,-72.6,0.0,0.0,0,53,0.00,0.00,-30.88,0.000,2,0.000,0.000,202,2427,2589,0,0,0,0,0,0
$GC,56,-1.02,-134.2,3.1,-4.7,4,103,7.60,2.10,-29.70,0.000,4,0.223,0.052,2087,3755,3848,0,0,0,0,0,0
$GC,133,-0.90,-134.2,24.7,-41.9,15,143,0.15,2.08,0.00,0.000,6,0.174,0.028,2129,2405,3850,0,0,0,0,0,0
$GC,469,-0.85,-134.2,136.2,-27.8,76,477,0.00,2.12,0.00,0.000,4,0.000,0.039,2121,3760,3851,0,0,0,0,0,0
$GC,523,-0.85,-134.2,151.1,-25.7,85,530,0.00,2.03,0.00,0.000,6,0.000,0.026,2121,2392,3851,0,0,0,0,0,0
$GC,868,-0.83,-134.2,240.3,-24.6,146,876,0.12,0.00,0.00,0.000,6,0.173,0.000,2152,2389,3852,0,0,0,0,0,0
$GC,1197,-0.86,-134.2,303.7,-18.5,207,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2389,3853,0,0,0,0,0,0
$GC,1528,-0.90,-134.2,362.9,-16.6,268,1536,0.00,2.15,0.00,0.000,4,0.000,0.042,2139,3763,3852,0,0,0,0,0,0
$GC,1562,-0.95,-134.2,368.3,-17.1,273,1569,0.00,2.03,0.00,0.000,6,0.000,0.026,2143,2392,3851,0,0,0,0,0,0
$GC,1890,-0.98,-134.2,423.8,-17.0,334,1898,0.10,2.10,0.00,0.000,4,0.093,0.033,2091,1004,3850,0,0,0,0,0,0
$GC,1964,-0.98,-134.2,438.6,-21.2,347,1972,0.00,2.08,0.00,0.000,6,0.000,0.033,2080,2383,3850,0,0,0,0,0,0
$GC,2296,-0.98,-134.2,509.2,-20.3,404,2300,0.00,2.12,0.00,0.000,4,0.000,0.042,2069,3783,3848,0,0,0,0,0,0
$GC,2398,-0.98,-134.2,529.5,-19.8,413,2403,0.15,2.05,0.00,0.000,6,0.164,0.027,2109,2400,3847,0,0,0,0,0,0
$GC,2725,-1.01,-134.2,583.6,-15.6,443,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2397,3845,0,0,0,0,0,0
$GC,3036,-1.05,-134.2,633.1,-15.8,463,3039,0.00,2.15,0.00,0.000,4,0.000,0.043,2100,3777,3842,0,0,0,0,0,0
$GC,3076,-1.09,-134.2,639.4,-15.0,465,3080,0.00,2.05,0.00,0.000,6,0.000,0.027,2100,2399,3842,0,0,0,0,0,0
$GC,3404,-1.12,-134.2,694.5,-16.9,481,3408,0.10,2.10,0.00,0.000,4,0.103,0.034,2053,992,3839,0,0,0,0,0,0
$GC,3444,-1.12,-134.2,702.4,-20.6,483,3448,0.00,2.15,0.00,0.000,6,0.000,0.034,2042,2402,3838,0,0,0,0,0,0
$GC,3771,-1.10,-134.2,770.4,-21.0,499,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2403,3835,0,0,0,0,0,0
$GC,4080,-1.09,-134.2,835.2,-20.5,514,4084,0.12,2.17,0.00,0.000,4,0.197,0.044,2062,3784,3832,0,0,0,0,0,0
$GC,4106,-1.09,-134.2,841.0,-20.4,515,4110,0.00,2.10,0.00,0.000,6,0.000,0.028,2062,2404,3832,0,0,0,0,0,0
$GC,4428,-1.10,-134.2,901.0,-19.3,531,4432,0.00,2.10,0.00,0.000,4,0.000,0.034,2062,997,3829,0,0,0,0,0,0
$GC,4462,-1.12,-134.2,907.5,-17.7,532,4466,0.00,2.12,0.00,0.000,6,0.000,0.035,2053,2401,3829,0,0,0,0,0,0
$GC,4777,-1.12,-134.2,966.4,-18.3,547,4781,0.00,2.15,0.00,0.000,4,0.000,0.045,2042,3782,3825,0,0,0,0,0,0
$GC,4801,-1.12,-134.2,970.7,-18.8,548,4805,0.00,2.05,0.00,0.000,6,0.000,0.028,2043,2398,3824,0,0,0,0,0,0
$STATE,4898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4898,begin apogee
$GC,4904,-0.16,0.0,990.1,19.4,553,5015,1.05,0.00,103.03,1.140,6,0.151,0.000,2362,1973,3297,0,0,0,0,0,0
$STATE,5015,end apogee,CONTROL_FINISHED_OK
$STATE,5015,begin climb
$GC,5017,1.02,134.2,995.4,0.0,558,5136,1.05,2.20,109.55,1.093,4,0.043,0.036,2774,614,2752,0,0,0,0,0,0
$GC,5228,0.89,134.2,980.7,17.7,567,5233,0.25,2.17,0.00,0.000,6,0.210,0.033,2715,2010,2748,0,0,0,0,0,0
$GC,5556,0.79,134.2,928.6,15.0,583,5561,0.12,2.17,0.00,0.000,4,0.221,0.038,2695,610,2741,0,0,0,0,0,0
$GC,5583,0.71,134.2,924.1,14.2,584,5588,0.17,2.15,0.00,0.000,6,0.197,0.034,2655,2004,2741,0,0,0,0,0,0
$GC,5899,0.67,134.2,884.6,11.6,599,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2001,2738,0,0,0,0,0,0
$GC,6209,0.63,134.2,847.1,11.9,614,6213,0.00,2.17,0.00,0.000,4,0.000,0.043,2654,3405,2736,0,0,0,0,0,0
$GC,6236,0.56,134.2,843.3,13.0,615,6240,0.22,2.08,0.00,0.000,6,0.200,0.029,2609,2011,2734,0,0,0,0,0,0
$GC,6558,0.56,134.6,808.4,11.0,631,6562,0.00,2.15,0.00,0.000,4,0.000,0.041,2608,3405,2733,0,0,0,0,0,0
$GC,6607,0.54,134.6,802.2,13.2,633,6611,0.00,2.12,0.00,0.000,6,0.000,0.029,2616,2002,2732,0,0,0,0,0,0
$GC,6929,0.54,134.6,765.6,11.3,649,6933,0.00,2.15,0.00,0.000,4,0.000,0.039,2628,589,2731,0,0,0,0,0,0
$GC,6956,0.53,134.6,762.4,11.0,650,6961,0.12,2.15,0.00,0.000,6,0.187,0.032,2599,2011,2732,0,0,0,0,0,0
$GC,7279,0.57,159.3,733.1,8.5,666,7302,0.00,2.25,17.85,0.987,4,0.000,0.039,2607,597,2648,0,0,0,0,0,0
$GC,7371,0.60,169.6,724.3,10.0,670,7386,0.00,2.12,9.90,0.870,6,0.000,0.032,2607,1998,2606,0,0,0,0,0,0
$GC,7698,0.62,169.6,688.8,11.0,685,7702,0.00,2.17,0.00,0.000,4,0.000,0.043,2607,3403,2602,0,0,0,0,0,0
$GC,7731,0.62,169.6,684.5,12.4,686,7735,0.00,2.17,0.00,0.000,6,0.000,0.030,2618,1996,2601,0,0,0,0,0,0
$GC,8053,0.62,169.6,647.9,11.3,702,8057,0.00,2.15,0.00,0.000,4,0.000,0.039,2628,592,2601,0,0,0,0,0,0
$GC,8071,0.62,169.6,645.9,11.4,703,8075,0.00,2.12,0.00,0.000,6,0.000,0.031,2628,2004,2601,0,0,0,0,0,0
$GC,8398,0.62,169.6,609.2,11.4,719,8402,0.00,2.15,0.00,0.000,4,0.000,0.043,2628,3402,2600,0,0,0,0,0,0
$GC,8572,0.60,169.6,587.9,12.1,731,8576,0.00,2.12,0.00,0.000,6,0.000,0.030,2639,1986,2599,0,0,0,0,0,0
$GC,8897,0.60,169.6,549.7,11.6,761,8898,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,1983,2599,0,0,0,0,0,0
$GC,9219,0.60,169.6,512.2,11.6,791,9223,0.00,2.10,0.00,0.000,4,0.000,0.038,2650,594,2598,0,0,0,0,0,0
$GC,9271,0.59,170.0,506.3,11.0,795,9275,0.15,2.12,0.00,0.000,6,0.177,0.031,2612,2011,2599,0,0,0,0,0,0
$GC,9601,0.64,191.9,476.2,8.8,850,9625,0.00,2.22,18.08,0.864,4,0.000,0.042,2612,3404,2515,0,0,0,0,0,0
$GC,9758,0.67,206.3,460.7,9.5,878,9781,0.00,2.15,12.93,0.780,6,0.000,0.029,2620,2009,2456,0,0,0,0,0,0
$GC,10107,0.71,206.3,425.9,11.7,941,10114,0.00,2.17,0.00,0.000,4,0.000,0.041,2620,3401,2453,0,0,0,0,0,0
$GC,10144,0.73,206.3,421.5,12.0,947,10152,0.00,2.15,0.00,0.000,6,0.000,0.030,2631,1985,2452,0,0,0,0,0,0
$GC,10478,0.75,206.3,381.1,12.8,1008,10487,0.10,2.17,0.00,0.000,4,0.108,0.038,2688,590,2452,0,0,0,0,0,0
$GC,10613,0.73,206.3,363.0,13.9,1032,10621,0.00,2.15,0.00,0.000,6,0.000,0.031,2688,1993,2450,0,0,0,0,0,0
$GC,10947,0.71,206.3,317.0,13.8,1093,10954,0.12,2.20,0.00,0.000,4,0.183,0.041,2657,3412,2452,0,0,0,0,0,0
$GC,11038,0.71,206.3,305.0,12.8,1109,11045,0.00,2.15,0.00,0.000,6,0.000,0.029,2666,1981,2452,0,0,0,0,0,0
$GC,11369,0.72,208.3,268.0,10.8,1170,11377,0.00,2.22,0.00,0.000,4,0.000,0.040,2666,3405,2452,0,0,0,0,0,0
$GC,11446,0.70,208.3,259.5,11.1,1183,11453,0.00,2.12,0.00,0.000,6,0.000,0.028,2677,1987,2452,0,0,0,0,0,0
$GC,11779,0.70,210.1,223.4,10.8,1244,11788,0.00,2.25,4.07,0.477,4,0.000,0.039,2677,3411,2443,0,0,0,0,0,0
$GC,11802,0.71,213.6,220.8,10.6,1247,11819,0.12,2.12,4.95,0.529,6,0.187,0.028,2658,1985,2427,0,0,0,0,0,0
$GC,12153,0.76,233.6,184.9,9.0,1309,12174,0.00,0.00,17.10,0.671,6,0.000,0.000,2657,1983,2346,0,0,0,0,0,0
$GC,12507,0.84,267.3,151.8,7.6,1372,12545,0.12,2.17,27.40,0.661,4,0.090,0.037,2728,597,2207,0,0,0,0,0,0
$GC,12571,0.84,267.3,144.4,12.5,1381,12580,0.10,2.17,0.00,0.000,6,0.153,0.030,2698,2007,2207,0,0,0,0,0,0
$GC,12908,0.86,267.3,104.9,12.3,1442,12916,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2007,2205,0,0,0,0,0,0
$GC,13241,0.94,305.9,74.4,7.1,1503,13280,0.00,2.15,30.65,0.601,4,0.000,0.034,2706,598,2049,0,0,0,0,0,0
$GC,13365,1.00,315.4,63.3,10.0,1523,13383,0.08,2.15,8.25,0.510,6,0.059,0.028,2753,1997,2011,0,0,0,0,0,0
$GC,13712,1.06,348.1,28.5,7.7,1585,13745,0.00,2.17,25.67,0.549,4,0.000,0.038,2752,3404,1880,0,0,0,0,0,0
$GC,13900,1.09,348.1,5.6,11.0,1617,13909,0.00,2.15,0.00,0.000,6,0.000,0.028,2763,2002,1876,0,0,0,0,0,0
$STATE,13920,end climb,SURFACE_DEPTH_REACHED
$STATE,13921,begin surface coast
$FINISH,0.9,1.001948
$STATE,13945,end surface coast,CONTROL_FINISHED_OK
$STATE,13945,begin surface
$SM_CCo,13980,12.07,0.061,0,0,1770,375.31
$SM_GC,3.49,0.00,0.00,12.07,0.000,0.000,0.061,199,2403,1770,-6.96,0.08,375.31
$IRIDIUM_FIX,2335.63,12613.58,181010,060640
$TT8_MAMPS,0.028462
$HUMID,47.63
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,24.0,35.528
$10V_AH,10.0,45.768
$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,18.800,125.275,389.425,12.075,0.000,27.240,17.514,267.957,0.000,0.000,16.161,4034.739,5482.056,492.293,4091.454,415.031,0.000,1871.720,0.000,2540.593,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,52.020,1139.850,61.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1109.352,2166.862,2172.838,0.000,0.000,0.000,2720.773,0.000,0.000,0.000
$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,113678,1624
$CAP_FILE_SIZE,171908,0
$CFSIZE,260165632,230494208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.041, 10.3,1
$GPS,181010,143307,2341.089,12610.028,55,1.1,56,-3.5