version: 66.08
glider: 181
mission: 4
dive: 269
start: 10 18 110 14 43 3
data:
$ID,181
$MISSION,4
$DIVE,269
$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,-38186.918
$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,45
$R_STBD_OVSHOOT,41
$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,536.0
$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
$GPS1,181010,143307,2341.089,12610.028,55,1.1,56,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-68.0
$GPS2,181010,144232,2341.126,12609.977,13,1.4,13,-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,216.2,2663,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.94,-72.6,0.0,0.0,0,55,0.00,0.00,-30.90,0.000,2,0.000,0.000,199,2403,2595,0,0,0,0,0,0
$GC,58,-1.02,-135.2,3.1,-4.6,4,105,7.60,2.17,-30.27,0.000,4,0.224,0.042,2090,985,3849,0,0,0,0,0,0
$GC,222,-0.88,-135.2,63.5,-43.1,31,232,0.17,2.17,0.00,0.000,6,0.163,0.033,2133,2388,3850,0,0,0,0,0,0
$GC,555,-0.85,-135.2,156.0,-24.7,92,563,0.00,2.15,0.00,0.000,4,0.000,0.040,2124,3775,3852,0,0,0,0,0,0
$GC,655,-0.85,-135.2,179.5,-22.9,110,663,0.00,2.08,0.00,0.000,6,0.000,0.025,2124,2396,3853,0,0,0,0,0,0
$GC,1024,-0.85,-135.2,264.9,-22.6,171,1032,0.00,2.05,0.00,0.000,4,0.000,0.031,2124,997,3854,0,0,0,0,0,0
$GC,1076,-0.87,-135.2,276.6,-20.4,180,1084,0.00,2.15,0.00,0.000,6,0.000,0.034,2114,2402,3854,0,0,0,0,0,0
$GC,1408,-0.87,-135.2,345.4,-20.3,241,1415,0.12,0.00,0.00,0.000,6,0.184,0.000,2144,2402,3854,0,0,0,0,0,0
$GC,1735,-0.91,-135.2,399.6,-16.3,302,1743,0.00,2.12,0.00,0.000,4,0.000,0.031,2144,995,3853,0,0,0,0,0,0
$GC,1757,-0.95,-135.2,403.0,-15.8,305,1764,0.00,2.12,0.00,0.000,6,0.000,0.033,2135,2402,3852,0,0,0,0,0,0
$GC,2087,-0.99,-135.2,458.3,-16.6,366,2095,0.00,2.12,0.00,0.000,4,0.000,0.042,2124,3771,3850,0,0,0,0,0,0
$GC,2110,-1.03,-135.2,461.9,-16.7,369,2117,0.00,2.03,0.00,0.000,6,0.000,0.025,2125,2395,3850,0,0,0,0,0,0
$GC,2445,-1.07,-135.2,517.9,-16.0,420,2450,0.12,2.08,0.00,0.000,4,0.089,0.031,2068,991,3848,0,0,0,0,0,0
$GC,2466,-1.09,-135.2,522.9,-18.8,421,2473,0.00,2.15,0.00,0.000,6,0.000,0.033,2056,2409,3848,0,0,0,0,0,0
$GC,2792,-1.07,-135.2,593.5,-19.8,452,2796,0.00,2.10,0.00,0.000,4,0.000,0.042,2045,3785,3845,0,0,0,0,0,0
$GC,2814,-1.06,-135.2,598.5,-20.7,453,2822,0.15,2.05,0.00,0.000,6,0.168,0.026,2084,2398,3845,0,0,0,0,0,0
$GC,3141,-1.07,-135.2,657.5,-18.1,470,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2395,3843,0,0,0,0,0,0
$GC,3451,-1.10,-135.2,714.7,-18.4,485,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2395,3840,0,0,0,0,0,0
$GC,3760,-1.12,-135.2,772.3,-18.3,500,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2395,3836,0,0,0,0,0,0
$GC,4070,-1.15,-135.2,827.0,-17.5,515,4074,0.00,2.08,0.00,0.000,4,0.000,0.034,2084,998,3833,0,0,0,0,0,0
$GC,4092,-1.18,-135.2,831.3,-18.1,516,4096,0.00,2.15,0.00,0.000,6,0.000,0.036,2076,2400,3833,0,0,0,0,0,0
$GC,4414,-1.20,-135.2,886.7,-16.5,532,4418,0.12,2.17,0.00,0.000,4,0.098,0.046,2012,3777,3830,0,0,0,0,0,0
$GC,4434,-1.20,-135.2,891.0,-18.8,533,4439,0.00,2.10,0.00,0.000,6,0.000,0.028,2012,2396,3829,0,0,0,0,0,0
$GC,4763,-1.17,-135.2,959.8,-20.7,549,4768,0.15,2.20,0.00,0.000,4,0.190,0.045,2040,3776,3826,0,0,0,0,0,0
$GC,4784,-1.15,-135.2,964.8,-20.4,550,4788,0.00,2.08,0.00,0.000,6,0.000,0.028,2040,2395,3826,0,0,0,0,0,0
$STATE,4924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4924,begin apogee
$GC,4930,-0.16,0.0,990.4,18.3,557,5040,1.08,0.00,103.10,1.139,6,0.151,0.000,2366,1973,3299,0,0,0,0,0,0
$STATE,5041,end apogee,CONTROL_FINISHED_OK
$STATE,5041,begin climb
$GC,5043,1.02,135.2,995.1,0.0,562,5163,1.05,2.20,111.05,1.092,4,0.046,0.037,2773,614,2745,0,0,0,0,0,0
$GC,5247,0.89,135.2,981.6,19.0,570,5255,0.25,2.20,0.00,0.000,6,0.208,0.034,2713,2009,2739,0,0,0,0,0,0
$GC,5564,0.80,135.2,930.9,15.3,586,5565,0.12,0.00,0.00,0.000,6,0.223,0.000,2685,2011,2735,0,0,0,0,0,0
$GC,5872,0.73,135.2,888.9,13.2,601,5876,0.00,2.17,0.00,0.000,4,0.000,0.044,2685,3410,2732,0,0,0,0,0,0
$GC,5911,0.63,135.2,882.9,16.2,602,5919,0.20,2.15,0.00,0.000,6,0.197,0.029,2627,2016,2730,0,0,0,0,0,0
$GC,6228,0.61,135.2,845.7,11.6,618,6232,0.00,2.15,0.00,0.000,4,0.000,0.042,2627,3408,2729,0,0,0,0,0,0
$GC,6261,0.57,135.2,841.1,13.6,619,6269,0.00,2.15,0.00,0.000,6,0.000,0.029,2636,1986,2728,0,0,0,0,0,0
$GC,6578,0.55,135.2,802.3,12.0,635,6580,0.15,0.00,0.00,0.000,6,0.194,0.000,2600,1983,2727,0,0,0,0,0,0
$GC,6886,0.56,143.5,770.4,10.2,650,6896,0.00,2.15,4.43,0.768,4,0.000,0.039,2608,601,2714,0,0,0,0,0,0
$GC,6954,0.58,159.3,763.9,9.4,653,6976,0.00,2.15,14.48,0.980,6,0.000,0.032,2609,2013,2648,0,0,0,0,0,0
$GC,7286,0.58,164.1,729.7,10.5,669,7296,0.00,2.15,5.30,0.831,4,0.000,0.041,2609,3398,2629,0,0,0,0,0,0
$GC,7312,0.59,167.8,726.7,10.6,670,7325,0.00,2.15,4.47,0.746,6,0.000,0.029,2619,1988,2616,0,0,0,0,0,0
$GC,7634,0.59,168.8,691.7,10.9,686,7638,0.00,2.12,0.00,0.000,4,0.000,0.039,2629,600,2614,0,0,0,0,0,0
$GC,7672,0.59,168.8,687.0,11.5,687,7681,0.00,2.15,0.00,0.000,6,0.000,0.031,2630,1997,2614,0,0,0,0,0,0
$GC,7989,0.59,168.8,651.0,11.9,703,7993,0.00,2.17,0.00,0.000,4,0.000,0.042,2630,3411,2613,0,0,0,0,0,0
$GC,8078,0.56,168.8,638.9,14.1,707,8082,0.12,2.15,0.00,0.000,6,0.197,0.029,2612,1992,2611,0,0,0,0,0,0
$GC,8405,0.58,168.8,602.0,11.5,723,8409,0.00,2.12,0.00,0.000,4,0.000,0.040,2621,597,2610,0,0,0,0,0,0
$GC,8488,0.59,168.8,592.2,11.3,729,8495,0.00,2.12,0.00,0.000,6,0.000,0.032,2621,2002,2610,0,0,0,0,0,0
$GC,8815,0.60,179.8,557.0,9.9,760,8831,0.00,2.15,11.23,0.910,4,0.000,0.038,2631,593,2563,0,0,0,0,0,0
$GC,8887,0.61,189.1,550.2,10.1,766,8902,0.00,2.15,8.75,0.766,6,0.000,0.031,2631,2004,2528,0,0,0,0,0,0
$GC,9229,0.64,210.8,516.6,8.8,798,9253,0.00,2.28,18.92,0.852,4,0.000,0.043,2631,3411,2438,0,0,0,0,0,0
$GC,9333,0.64,210.8,505.0,12.6,807,9337,0.00,2.17,0.00,0.000,6,0.000,0.029,2642,1994,2434,0,0,0,0,0,0
$GC,9663,0.65,210.8,461.8,12.4,863,9671,0.00,2.15,0.00,0.000,4,0.000,0.039,2652,589,2432,0,0,0,0,0,0
$GC,9796,0.65,210.8,444.0,13.6,887,9804,0.00,2.15,0.00,0.000,6,0.000,0.031,2653,2003,2432,0,0,0,0,0,0
$GC,10127,0.65,210.8,399.0,12.9,948,10134,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2003,2432,0,0,0,0,0,0
$GC,10458,0.65,210.8,360.6,11.2,1009,10465,0.00,2.15,0.00,0.000,4,0.000,0.038,2663,597,2431,0,0,0,0,0,0
$GC,10487,0.65,210.8,356.9,12.2,1014,10495,0.00,2.15,0.00,0.000,6,0.000,0.032,2663,1994,2431,0,0,0,0,0,0
$GC,10820,0.65,210.8,318.0,12.3,1075,10828,0.00,2.12,0.00,0.000,4,0.000,0.037,2674,597,2431,0,0,0,0,0,0
$GC,10882,0.65,210.8,310.5,11.6,1086,10890,0.12,2.15,0.00,0.000,6,0.154,0.032,2636,2001,2431,0,0,0,0,0,0
$GC,11213,0.71,228.4,276.1,9.2,1147,11235,0.00,2.17,14.40,0.744,4,0.000,0.040,2635,3403,2367,0,0,0,0,0,0
$GC,11276,0.73,228.4,269.2,12.0,1157,11283,0.00,2.12,0.00,0.000,6,0.000,0.028,2645,1995,2367,0,0,0,0,0,0
$GC,11609,0.77,228.4,230.5,11.8,1218,11617,0.00,2.15,0.00,0.000,4,0.000,0.037,2655,597,2366,0,0,0,0,0,0
$GC,11749,0.82,243.7,215.5,9.4,1243,11771,0.10,2.12,14.02,0.688,6,0.102,0.031,2702,2010,2302,0,0,0,0,0,0
$GC,12098,0.82,243.7,170.7,12.4,1306,12106,0.00,2.17,0.00,0.000,4,0.000,0.036,2714,601,2301,0,0,0,0,0,0
$GC,12176,0.82,243.7,161.7,12.7,1319,12183,0.00,2.12,0.00,0.000,6,0.000,0.031,2713,2012,2301,0,0,0,0,0,0
$GC,12510,0.82,247.1,123.7,10.7,1380,12519,0.00,2.15,4.18,0.436,4,0.000,0.041,2713,3410,2290,0,0,0,0,0,0
$GC,12582,0.81,247.1,114.8,11.9,1392,12591,0.12,2.15,0.00,0.000,6,0.164,0.027,2687,1993,2290,0,0,0,0,0,0
$GC,12920,0.86,264.3,84.8,9.3,1453,12944,0.00,2.22,15.12,0.589,4,0.000,0.038,2686,3402,2220,0,0,0,0,0,0
$GC,13189,0.91,282.3,61.3,9.2,1501,13214,0.00,2.12,15.15,0.565,6,0.000,0.028,2695,2003,2147,0,0,0,0,0,0
$GC,13542,1.05,336.4,38.6,5.5,1564,13590,0.17,2.17,42.00,0.567,4,0.071,0.035,2783,589,1924,0,0,0,0,0,0
$GC,13697,1.05,336.4,20.1,16.0,1589,13705,0.00,2.17,0.00,0.000,6,0.000,0.029,2783,2004,1921,0,0,0,0,0,0
$STATE,13814,end climb,SURFACE_DEPTH_REACHED
$STATE,13814,begin surface coast
$FINISH,1.0,1.021757
$STATE,13841,end surface coast,CONTROL_FINISHED_OK
$STATE,13841,begin surface
$SM_CCo,13876,19.83,0.062,0,0,1769,375.06
$SM_GC,3.25,0.00,0.00,19.83,0.000,0.000,0.062,215,2409,1769,-6.91,0.28,375.06
$IRIDIUM_FIX,2330.93,12603.72,181010,101017
$TT8_MAMPS,0.026964
$HUMID,46.49
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,24.0,35.650
$10V_AH,10.0,45.996
$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,18.800,125.450,386.600,19.825,0.000,26.635,48.190,271.389,0.000,0.000,15.590,4001.081,5398.398,525.086,4122.704,403.193,0.000,1884.523,0.000,2504.024,0.000,0.542,0.000
$DEVICE_MAMPS,224.145,45.900,1139.085,61.965,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1101.514,2151.797,2200.691,0.000,0.000,0.000,2810.069,0.000,0.000,0.000
$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,113787,1614
$CAP_FILE_SIZE,170218,0
$CFSIZE,260165632,230383616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,331.4,1
$GPS,181010,183556,2340.004,12608.744,37,1.9,38,-3.5