version: 66.08
glider: 181
mission: 4
dive: 284
start: 10 21 110 11 38 17
data:
$ID,181
$MISSION,4
$DIVE,284
$N_DIVES,294
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,140
$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,-38207.113
$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,47
$R_STBD_OVSHOOT,35
$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,0
$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,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,40000.0
$TM_STARTS,555.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,10.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,0.0
$LA_XMITPROFILE,0.0
$LA_UPLOADMAX,25000.0
$LA_STARTS,4.0
$GPS1,211010,113230,2340.616,12608.598,39,0.9,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-71.2
$GPS2,211010,113750,2340.711,12608.577,9,2.0,9,-3.5
$SPEED_LIMITS,0.192,0.260
$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,152.4,1500,-27.4,-11.111
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.95,-73.7,0.0,0.0,0,49,0.00,0.00,-31.67,0.000,2,0.000,0.000,194,2412,2516,0,0,0,0,0,0
$GC,52,-1.02,-131.4,3.2,-5.3,5,102,7.75,2.12,-33.35,0.000,4,0.229,0.052,2081,3780,3836,0,0,0,0,0,0
$GC,145,-0.86,-131.4,30.7,-45.9,20,153,0.25,2.08,0.00,0.000,6,0.184,0.028,2144,2401,3838,0,0,0,0,0,0
$GC,490,-0.84,-131.4,134.3,-24.5,81,497,0.00,2.12,0.00,0.000,4,0.000,0.041,2135,3780,3839,0,0,0,0,0,0
$GC,571,-0.84,-131.4,153.2,-21.2,94,575,0.00,2.08,0.00,0.000,6,0.000,0.025,2135,2391,3840,0,0,0,0,0,0
$GC,896,-0.84,-131.4,225.0,-21.7,124,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2389,3841,0,0,0,0,0,0
$GC,1216,-0.84,-131.4,293.3,-21.7,154,1220,0.00,2.15,0.00,0.000,4,0.000,0.041,2124,3777,3841,0,0,0,0,0,0
$GC,1260,-0.86,-131.4,303.4,-21.2,157,1267,0.00,2.05,0.00,0.000,6,0.000,0.025,2124,2398,3841,0,0,0,0,0,0
$GC,1585,-0.88,-131.4,370.0,-19.1,188,1589,0.00,2.05,0.00,0.000,4,0.000,0.031,2124,1000,3841,0,0,0,0,0,0
$GC,1612,-0.90,-131.4,375.7,-19.7,190,1619,0.00,2.12,0.00,0.000,6,0.000,0.033,2113,2409,3840,0,0,0,0,0,0
$GC,1938,-0.92,-131.4,436.8,-18.1,221,1942,0.00,2.10,0.00,0.000,4,0.000,0.043,2102,3778,3840,0,0,0,0,0,0
$GC,2005,-0.94,-131.4,449.6,-18.5,227,2009,0.00,2.05,0.00,0.000,6,0.000,0.026,2102,2397,3840,0,0,0,0,0,0
$GC,2348,-0.96,-131.4,519.0,-20.5,255,2352,0.00,2.12,0.00,0.000,4,0.000,0.043,2091,3777,3838,0,0,0,0,0,0
$GC,2397,-0.98,-131.4,529.6,-19.5,257,2400,0.00,2.03,0.00,0.000,6,0.000,0.026,2091,2395,3838,0,0,0,0,0,0
$GC,2719,-1.00,-131.4,588.7,-17.6,273,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2392,3837,0,0,0,0,0,0
$GC,3046,-1.02,-131.4,644.8,-17.1,285,3050,0.00,2.15,0.00,0.000,4,0.000,0.044,2081,3778,3833,0,0,0,0,0,0
$GC,3079,-1.04,-131.4,650.9,-17.1,286,3083,0.00,2.05,0.00,0.000,6,0.000,0.026,2081,2398,3833,0,0,0,0,0,0
$GC,3416,-1.06,-131.4,710.0,-17.7,297,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2395,3830,0,0,0,0,0,0
$GC,3721,-1.08,-131.4,764.5,-17.5,307,3725,0.00,2.15,0.00,0.000,4,0.000,0.045,2071,3775,3827,0,0,0,0,0,0
$GC,3788,-1.11,-131.4,776.5,-16.8,309,3792,0.00,2.08,0.00,0.000,6,0.000,0.028,2070,2391,3827,0,0,0,0,0,0
$GC,4118,-1.13,-131.4,835.5,-17.6,320,4122,0.00,2.17,0.00,0.000,4,0.000,0.046,2060,3780,3823,0,0,0,0,0,0
$GC,4153,-1.14,-131.4,841.7,-18.4,321,4157,0.00,2.08,0.00,0.000,6,0.000,0.028,2059,2400,3823,0,0,0,0,0,0
$GC,4483,-1.16,-131.4,899.7,-17.4,332,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2397,3820,0,0,0,0,0,0
$GC,4789,-1.17,-131.4,951.3,-17.0,342,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2397,3817,0,0,0,0,0,0
$STATE,5093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5093,begin apogee
$GC,5098,-0.16,0.0,1004.3,17.3,352,5208,1.00,0.00,101.68,1.147,6,0.145,0.000,2366,1977,3299,0,0,0,0,0,0
$STATE,5209,end apogee,CONTROL_FINISHED_OK
$STATE,5209,begin climb
$GC,5211,1.02,131.4,1009.3,0.0,355,5329,1.05,2.28,108.30,1.103,4,0.044,0.039,2780,614,2762,0,0,0,0,0,0
$GC,5379,0.88,131.4,1003.5,17.1,360,5384,0.30,2.22,0.00,0.000,6,0.211,0.034,2711,2003,2758,0,0,0,0,0,0
$GC,5697,0.79,131.4,954.8,15.0,371,5699,0.12,0.00,0.00,0.000,6,0.222,0.000,2683,2006,2752,0,0,0,0,0,0
$GC,6005,0.72,131.4,910.2,14.5,381,6008,0.00,2.12,0.00,0.000,4,0.000,0.038,2692,613,2749,0,0,0,0,0,0
$GC,6026,0.65,131.4,906.7,13.9,381,6034,0.22,2.12,0.00,0.000,6,0.193,0.034,2637,2006,2750,0,0,0,0,0,0
$GC,6339,0.62,131.4,869.7,11.6,392,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2006,2747,0,0,0,0,0,0
$GC,6646,0.59,131.4,833.7,11.7,402,6650,0.00,2.20,0.00,0.000,4,0.000,0.044,2637,3412,2745,0,0,0,0,0,0
$GC,6725,0.54,131.4,823.7,12.1,404,6730,0.17,2.10,0.00,0.000,6,0.202,0.030,2604,2011,2744,0,0,0,0,0,0
$GC,7044,0.56,142.8,791.6,10.0,415,7053,0.00,0.00,7.60,0.964,6,0.000,0.000,2604,2010,2715,0,0,0,0,0,0
$GC,7350,0.58,158.3,761.9,9.5,425,7369,0.00,2.25,13.90,0.962,4,0.000,0.043,2604,3406,2652,0,0,0,0,0,0
$GC,7441,0.58,158.3,751.4,12.1,427,7449,0.00,2.17,0.00,0.000,6,0.000,0.029,2613,2006,2650,0,0,0,0,0,0
$GC,7756,0.59,167.2,718.5,10.2,438,7770,0.00,2.22,8.57,0.920,4,0.000,0.039,2624,595,2616,0,0,0,0,0,0
$GC,7788,0.61,181.1,715.0,9.7,439,7808,0.00,2.17,12.90,0.881,6,0.000,0.031,2624,2010,2559,0,0,0,0,0,0
$GC,8127,0.61,181.1,675.8,12.0,450,8131,0.00,2.17,0.00,0.000,4,0.000,0.044,2624,3410,2555,0,0,0,0,0,0
$GC,8238,0.61,181.1,661.3,13.2,453,8242,0.00,2.17,0.00,0.000,6,0.000,0.029,2634,2003,2554,0,0,0,0,0,0
$GC,8562,0.61,181.1,620.3,12.6,464,8563,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2001,2553,0,0,0,0,0,0
$GC,8870,0.61,181.1,582.0,12.5,476,8871,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2001,2552,0,0,0,0,0,0
$GC,9179,0.61,181.6,546.6,11.1,491,9183,0.00,2.17,0.00,0.000,4,0.000,0.042,2634,3406,2552,0,0,0,0,0,0
$GC,9221,0.59,181.6,541.8,12.3,493,9225,0.00,2.12,0.00,0.000,6,0.000,0.030,2645,1989,2551,0,0,0,0,0,0
$GC,9549,0.61,196.7,508.9,9.6,509,9568,0.00,0.00,13.25,0.872,6,0.000,0.000,2645,1987,2495,0,0,0,0,0,0
$GC,9885,0.61,196.7,471.9,11.5,536,9889,0.00,2.22,0.00,0.000,4,0.000,0.041,2645,3409,2493,0,0,0,0,0,0
$GC,9965,0.60,196.7,461.1,13.3,543,9969,0.15,2.15,0.00,0.000,6,0.181,0.029,2619,1995,2492,0,0,0,0,0,0
$GC,10291,0.64,198.7,425.9,10.9,573,10295,0.00,2.17,0.00,0.000,4,0.000,0.041,2619,3405,2492,0,0,0,0,0,0
$GC,10392,0.66,199.5,414.1,11.0,581,10399,0.00,2.12,0.00,0.000,6,0.000,0.030,2627,1992,2491,0,0,0,0,0,0
$GC,10718,0.72,224.6,382.8,8.6,612,10746,0.00,2.15,23.08,0.789,4,0.000,0.037,2638,589,2382,0,0,0,0,0,0
$GC,10816,0.77,237.3,373.5,9.8,620,10834,0.10,2.15,11.62,0.695,6,0.106,0.031,2684,2009,2330,0,0,0,0,0,0
$GC,11159,0.77,237.3,323.9,15.9,652,11163,0.00,2.17,0.00,0.000,4,0.000,0.041,2684,3405,2328,0,0,0,0,0,0
$GC,11187,0.76,237.3,319.1,18.0,654,11191,0.00,2.15,0.00,0.000,6,0.000,0.029,2694,1995,2327,0,0,0,0,0,0
$GC,11513,0.75,237.3,265.7,16.5,684,11514,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1994,2327,0,0,0,0,0,0
$GC,11832,0.75,237.3,222.3,13.1,714,11836,0.00,2.12,0.00,0.000,4,0.000,0.037,2705,596,2327,0,0,0,0,0,0
$GC,11873,0.75,237.3,217.5,11.3,717,11878,0.15,2.12,0.00,0.000,6,0.171,0.029,2667,2003,2327,0,0,0,0,0,0
$GC,12199,0.79,246.7,185.6,10.2,747,12211,0.00,0.00,8.80,0.610,6,0.000,0.000,2668,2004,2292,0,0,0,0,0,0
$GC,12529,0.84,258.9,149.1,9.9,778,12549,0.00,2.17,11.35,0.612,4,0.000,0.037,2676,590,2242,0,0,0,0,0,0
$GC,12574,0.89,263.7,144.6,10.6,785,12588,0.10,2.15,5.62,0.509,6,0.102,0.030,2725,2009,2222,0,0,0,0,0,0
$GC,12924,0.89,263.7,102.0,12.3,847,12930,0.00,2.15,0.00,0.000,4,0.000,0.040,2725,3402,2220,0,0,0,0,0,0
$GC,13057,0.89,265.2,87.2,11.0,870,13065,0.00,2.12,0.00,0.000,6,0.000,0.028,2735,1988,2221,0,0,0,0,0,0
$GC,13401,0.91,288.2,52.0,8.8,931,13427,0.00,2.17,20.62,0.566,4,0.000,0.036,2746,593,2122,0,0,0,0,0,0
$GC,13548,1.01,345.4,41.3,5.3,956,13597,0.00,2.12,44.20,0.570,6,0.000,0.028,2746,2004,1888,0,0,0,0,0,0
$GC,13935,1.06,347.7,4.9,10.9,1024,13943,0.00,2.15,0.00,0.000,4,0.000,0.039,2746,3402,1884,0,0,0,0,0,0
$STATE,13953,end climb,SURFACE_DEPTH_REACHED
$STATE,13953,begin surface coast
$FINISH,1.1,1.012623
$STATE,13982,end surface coast,CONTROL_FINISHED_OK
$STATE,13982,begin surface
$SM_CCo,13999,13.43,0.061,0,0,1769,375.06
$SM_GC,3.76,0.00,0.00,13.43,0.000,0.000,0.061,197,2381,1769,-6.97,-0.54,375.06
$IRIDIUM_FIX,2335.63,12605.10,211010,070708
$TT8_MAMPS,0.026215
$HUMID,49.60
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.9,37.924
$10V_AH,10.1,49.763
$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,18.075,107.000,391.500,13.425,0.000,23.668,16.877,144.589,0.000,0.000,11.759,2645.192,8979.337,479.310,1961.328,267.730,0.000,1457.362,0.000,1770.421,0.000,0.542,0.000
$DEVICE_MAMPS,228.735,52.020,1146.735,61.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,698.311,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331328
$DATA_FILE_SIZE,60424,1032
$CAP_FILE_SIZE,136555,0
$CFSIZE,260165632,228888576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084, 16.9,1
$GPS,211010,153330,2339.752,12609.829,60,1.3,60,-3.5