version: 66.08
glider: 181
mission: 4
dive: 261
start: 10 17 110 2 35 26
data:
$ID,181
$MISSION,4
$DIVE,261
$N_DIVES,269
$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,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,-38175.609
$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,42
$R_STBD_OVSHOOT,32
$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,520.0
$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
$GPS1,171010,022506,2353.103,12608.518,29,1.0,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-62.8
$GPS2,171010,023456,2353.043,12608.378,11,1.2,11,-3.6
$SPEED_LIMITS,0.192,0.277
$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,194.6,24178,-18.6,-11.111
$D_GRID,2871
$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,-0.77,-155.7,0.0,0.0,0,77,0.00,0.00,-52.22,0.000,2,0.000,0.000,201,2407,2577,0,0,0,0,0,0
$GC,79,-0.77,-155.7,3.1,-3.5,7,129,7.88,2.22,-34.47,0.000,4,0.224,0.047,2168,985,3931,0,0,0,0,0,0
$GC,284,-0.65,-155.7,58.7,-28.4,41,293,0.15,2.20,0.00,0.000,6,0.145,0.034,2205,2405,3932,0,0,0,0,0,0
$GC,620,-0.61,-155.7,135.8,-18.9,102,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2405,3935,0,0,0,0,0,0
$GC,956,-0.59,-155.7,197.9,-15.3,163,963,0.00,2.10,0.00,0.000,4,0.000,0.031,2206,989,3934,0,0,0,0,0,0
$GC,989,-0.58,-155.7,200.5,-14.7,165,997,0.15,2.15,0.00,0.000,6,0.145,0.034,2241,2409,3934,0,0,0,0,0,0
$GC,1321,-0.61,-155.7,241.3,-12.0,226,1329,0.00,2.12,0.00,0.000,4,0.000,0.044,2231,3773,3934,0,0,0,0,0,0
$GC,1347,-0.65,-155.7,244.6,-11.9,230,1355,0.00,2.08,0.00,0.000,6,0.000,0.026,2231,2379,3934,0,0,0,0,0,0
$GC,1679,-0.69,-155.7,277.5,-9.0,291,1686,0.00,2.03,0.00,0.000,4,0.000,0.032,2231,1001,3931,0,0,0,0,0,0
$GC,1711,-0.73,-155.7,280.3,-9.3,296,1719,0.10,2.12,0.00,0.000,6,0.047,0.034,2162,2393,3933,0,0,0,0,0,0
$GC,2045,-0.69,-155.7,338.4,-22.4,357,2053,0.15,2.12,0.00,0.000,4,0.161,0.044,2194,3774,3932,0,0,0,0,0,0
$GC,2130,-0.72,-155.7,353.5,-15.1,372,2138,0.00,2.05,0.00,0.000,6,0.000,0.026,2197,2391,3931,0,0,0,0,0,0
$GC,2465,-0.72,-155.7,393.0,-10.7,433,2471,0.00,2.05,0.00,0.000,4,0.000,0.031,2194,998,3929,0,0,0,0,0,0
$GC,2544,-0.76,-155.7,400.0,-8.2,447,2552,0.00,2.12,0.00,0.000,6,0.000,0.034,2190,2406,3929,0,0,0,0,0,0
$GC,2874,-0.78,-155.7,438.4,-13.0,508,2882,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2405,3928,0,0,0,0,0,0
$GC,3207,-0.79,-155.7,481.3,-11.9,569,3214,0.00,2.12,0.00,0.000,4,0.000,0.045,2182,3784,3926,0,0,0,0,0,0
$GC,3245,-0.82,-155.7,485.4,-11.3,575,3253,0.00,2.08,0.00,0.000,6,0.000,0.027,2182,2367,3925,0,0,0,0,0,0
$GC,3576,-0.83,-155.7,519.4,-10.2,618,3580,0.00,2.00,0.00,0.000,4,0.000,0.033,2181,1003,3922,0,0,0,0,0,0
$GC,3612,-0.86,-155.7,523.1,-10.8,621,3616,0.00,2.10,0.00,0.000,6,0.000,0.035,2178,2399,3922,0,0,0,0,0,0
$GC,3937,-0.88,-155.7,562.3,-12.1,651,3939,0.12,0.00,0.00,0.000,6,0.086,0.000,2115,2399,3920,0,0,0,0,0,0
$GC,4265,-0.83,-155.7,619.7,-17.4,677,4267,0.15,0.00,0.00,0.000,6,0.164,0.000,2153,2399,3918,0,0,0,0,0,0
$GC,4572,-0.83,-155.7,657.5,-11.2,692,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2399,3915,0,0,0,0,0,0
$GC,4882,-0.83,-155.7,695.3,-12.8,707,4886,0.00,2.10,0.00,0.000,4,0.000,0.034,2153,1004,3912,0,0,0,0,0,0
$GC,4922,-0.85,-155.7,700.6,-13.0,709,4926,0.00,2.15,0.00,0.000,6,0.000,0.037,2152,2405,3912,0,0,0,0,0,0
$GC,5248,-0.85,-155.7,744.8,-13.1,725,5252,0.00,2.08,0.00,0.000,4,0.000,0.034,2152,1010,3910,0,0,0,0,0,0
$GC,5275,-0.85,-155.7,748.6,-14.0,726,5279,0.00,2.15,0.00,0.000,6,0.000,0.038,2150,2395,3910,0,0,0,0,0,0
$GC,5596,-0.85,-155.7,787.7,-11.8,742,5600,0.00,2.08,0.00,0.000,4,0.000,0.034,2150,1005,3906,0,0,0,0,0,0
$GC,5623,-0.86,-155.7,791.1,-12.4,743,5627,0.00,2.12,0.00,0.000,6,0.000,0.037,2150,2401,3906,0,0,0,0,0,0
$GC,5945,-0.86,-155.7,830.1,-12.2,759,5949,0.00,2.15,0.00,0.000,4,0.000,0.048,2146,3775,3904,0,0,0,0,0,0
$GC,5994,-0.89,-155.7,836.2,-12.5,761,5998,0.00,2.03,0.00,0.000,6,0.000,0.027,2145,2403,3903,0,0,0,0,0,0
$GC,6316,-0.89,-155.7,874.1,-11.8,777,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2400,3901,0,0,0,0,0,0
$GC,6625,-0.89,-155.7,912.3,-12.8,792,6629,0.00,2.10,0.00,0.000,4,0.000,0.035,2145,1007,3901,0,0,0,0,0,0
$GC,6681,-0.91,-155.7,919.5,-12.0,794,6684,0.00,2.15,0.00,0.000,6,0.000,0.036,2139,2407,3898,0,0,0,0,0,0
$GC,7003,-0.91,-155.7,958.2,-11.3,810,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2407,3897,0,0,0,0,0,0
$GC,7312,-0.91,-155.7,992.0,-11.2,825,7313,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2407,3894,0,0,0,0,0,0
$STATE,7392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7392,begin apogee
$GC,7397,-0.16,0.0,1001.4,11.5,829,7521,0.70,0.00,117.25,1.152,6,0.125,0.000,2366,1979,3298,0,0,0,0,0,0
$STATE,7522,end apogee,CONTROL_FINISHED_OK
$STATE,7522,begin climb
$GC,7524,0.77,155.7,1005.6,0.0,834,7663,0.88,2.45,128.35,1.108,4,0.053,0.043,2685,3407,2663,0,0,0,0,0,0
$GC,7809,0.60,155.7,977.3,18.5,847,7814,0.22,2.20,0.00,0.000,6,0.195,0.030,2625,2017,2654,0,0,0,0,0,0
$GC,8137,0.50,155.7,932.9,12.6,863,8142,0.15,2.20,0.00,0.000,4,0.196,0.043,2588,3413,2651,0,0,0,0,0,0
$GC,8200,0.42,155.7,924.9,12.0,866,8205,0.15,2.17,0.00,0.000,6,0.198,0.031,2562,1985,2650,0,0,0,0,0,0
$GC,8535,0.42,189.4,893.3,9.5,882,8563,0.00,0.00,26.83,1.063,6,0.000,0.000,2562,1984,2526,0,0,0,0,0,0
$GC,8862,0.42,210.9,860.2,10.1,898,8887,0.00,2.35,18.42,1.024,4,0.000,0.043,2562,3410,2438,0,0,0,0,0,0
$GC,8929,0.39,210.9,852.8,12.3,901,8933,0.00,2.17,0.00,0.000,6,0.000,0.030,2570,1996,2435,0,0,0,0,0,0
$GC,9256,0.37,210.9,814.0,12.0,917,9257,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1995,2432,0,0,0,0,0,0
$GC,9565,0.34,210.9,777.5,11.7,932,9570,0.12,2.25,0.00,0.000,4,0.180,0.043,2538,3415,2430,0,0,0,0,0,0
$GC,9628,0.35,220.6,770.8,10.6,935,9642,0.00,2.15,8.25,0.956,6,0.000,0.031,2546,1998,2399,0,0,0,0,0,0
$GC,9961,0.41,264.5,740.9,9.0,951,10006,0.00,2.22,37.30,0.980,4,0.000,0.040,2563,597,2218,0,0,0,0,0,0
$GC,10064,0.43,264.5,730.4,11.5,955,10068,0.00,2.20,0.00,0.000,6,0.000,0.032,2557,2005,2216,0,0,0,0,0,0
$GC,10380,0.43,264.5,692.7,12.2,970,10381,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2005,2211,0,0,0,0,0,0
$GC,10690,0.46,282.9,658.3,10.2,985,10713,0.00,2.20,15.05,0.932,4,0.000,0.040,2567,597,2145,0,0,0,0,0,0
$GC,10737,0.53,319.3,653.8,9.4,987,10773,0.00,2.17,30.88,0.897,6,0.000,0.033,2567,2004,1996,0,0,0,0,0,0
$GC,11091,0.56,328.9,618.5,10.7,1004,11106,0.10,2.25,8.32,0.863,4,0.108,0.044,2612,3391,1957,0,0,0,0,0,0
$GC,11168,0.53,328.9,607.0,15.9,1007,11173,0.10,2.17,0.00,0.000,6,0.183,0.031,2600,1993,1955,0,0,0,0,0,0
$GC,11491,0.53,328.9,561.4,14.0,1034,11495,0.00,2.17,0.00,0.000,4,0.000,0.042,2609,592,1952,0,0,0,0,0,0
$GC,11602,0.53,328.9,545.9,13.8,1043,11610,0.00,2.17,0.00,0.000,6,0.000,0.031,2611,1994,1952,0,0,0,0,0,0
$GC,11930,0.52,328.9,496.6,15.3,1075,11937,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1994,1951,0,0,0,0,0,0
$GC,12265,0.50,328.9,454.8,11.6,1136,12273,0.00,2.20,0.00,0.000,4,0.000,0.044,2609,3398,1951,0,0,0,0,0,0
$GC,12297,0.49,328.9,450.4,13.2,1141,12305,0.15,2.12,0.00,0.000,6,0.164,0.031,2580,1993,1951,0,0,0,0,0,0
$GC,12631,0.51,328.9,416.5,11.2,1202,12640,0.00,2.15,0.00,0.000,4,0.000,0.041,2589,601,1950,0,0,0,0,0,0
$GC,12728,0.54,328.9,405.6,11.9,1219,12735,0.00,2.12,0.00,0.000,6,0.000,0.031,2589,2011,1950,0,0,0,0,0,0
$GC,13064,0.56,328.9,366.0,12.1,1280,13072,0.00,2.20,0.00,0.000,4,0.000,0.041,2599,597,1950,0,0,0,0,0,0
$GC,13108,0.58,328.9,360.9,12.2,1287,13116,0.00,2.12,0.00,0.000,6,0.000,0.031,2599,2008,1950,0,0,0,0,0,0
$GC,13443,0.63,363.3,323.1,9.5,1348,13479,0.00,2.20,27.83,0.773,4,0.000,0.041,2599,3408,1816,0,0,0,0,0,0
$GC,13498,0.65,363.3,316.7,11.7,1356,13506,0.00,2.17,0.00,0.000,6,0.000,0.030,2610,2004,1814,0,0,0,0,0,0
$GC,13830,0.65,363.3,274.8,11.6,1417,13837,0.00,2.15,0.00,0.000,4,0.000,0.040,2620,595,1811,0,0,0,0,0,0
$GC,13878,0.68,374.6,269.4,10.6,1425,13893,0.00,2.15,10.27,0.697,6,0.000,0.031,2620,2014,1770,0,0,0,0,0,0
$GC,14221,0.71,395.5,230.5,10.1,1487,14249,0.00,2.25,17.90,0.712,4,0.000,0.039,2630,597,1684,0,0,0,0,0,0
$GC,14278,0.73,395.5,223.4,12.9,1496,14287,0.00,2.17,0.00,0.000,6,0.000,0.031,2630,1996,1683,0,0,0,0,0,0
$GC,14619,0.74,395.5,180.7,12.3,1557,14627,0.10,2.17,0.00,0.000,4,0.104,0.039,2689,595,1681,0,0,0,0,0,0
$GC,14646,0.74,395.5,176.7,13.4,1561,14653,0.00,2.15,0.00,0.000,6,0.000,0.031,2689,2015,1681,0,0,0,0,0,0
$GC,14980,0.71,395.5,122.7,14.3,1622,14989,0.12,2.22,0.00,0.000,4,0.161,0.039,2666,596,1681,0,0,0,0,0,0
$GC,15081,0.75,422.1,110.3,9.8,1639,15113,0.00,2.15,21.67,0.630,6,0.000,0.031,2666,2002,1576,0,0,0,0,0,0
$GC,15442,0.78,427.3,67.9,10.9,1703,15452,0.00,2.17,4.88,0.441,4,0.000,0.041,2665,3402,1557,0,0,0,0,0,0
$GC,15514,0.85,449.8,59.8,10.0,1715,15539,0.00,2.15,19.42,0.579,6,0.000,0.029,2682,1997,1463,0,0,0,0,0,0
$GC,15868,1.01,528.5,31.4,7.3,1778,15939,0.20,2.22,59.78,0.565,4,0.063,0.039,2777,601,1145,0,0,0,0,0,0
$STATE,16043,end climb,SURFACE_DEPTH_REACHED
$STATE,16044,begin surface coast
$FINISH,1.0,1.021834
$STATE,16056,end surface coast,CONTROL_FINISHED_OK
$STATE,16056,begin surface
$SM_CCo,16149,0.00,0.000,0,0,1136,530.34
$SM_GC,1.95,6.70,0.00,0.00,0.033,0.000,0.000,211,2413,1136,-6.83,0.37,530.34
$IRIDIUM_FIX,2345.05,12609.78,161010,212106
$TT8_MAMPS,0.028462
$HUMID,47.32
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.9,34.475
$10V_AH,10.0,44.072
$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,18.400,134.975,552.400,0.000,0.000,27.960,17.295,312.729,0.000,0.000,14.523,4471.747,6633.235,655.578,4510.602,448.610,0.000,2206.093,0.000,2826.119,0.000,0.543,0.000
$DEVICE_MAMPS,224.145,48.195,1152.090,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1234.882,2392.663,2323.512,0.000,0.000,0.000,2637.034,0.000,0.000,0.000
$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,127189,1808
$CAP_FILE_SIZE,191375,0
$CFSIZE,260165632,231288832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016,227.7,1
$GPS,171010,070554,2350.640,12607.707,24,1.2,41,-3.5