version: 66.08
glider: 181
mission: 4
dive: 272
start: 10 19 110 4 4 44
data:
$ID,181
$MISSION,4
$DIVE,272
$N_DIVES,290
$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,-38192.02
$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,40
$R_STBD_OVSHOOT,25
$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,542.0
$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
$GPS1,191010,035225,2345.792,12609.559,37,2.0,38,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-63.5
$GPS2,191010,040414,2345.888,12609.596,9,1.4,9,-3.5
$SPEED_LIMITS,0.191,0.276
$TGT_NAME,NWALL_N
$TGT_LATLONG,2420.000,12609.000
$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,351.5,63184,-18.4,-11.000
$D_GRID,3754
$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,-0.77,-155.7,0.0,0.0,0,76,0.00,0.00,-53.70,0.000,2,0.000,0.000,200,2397,2664,0,0,0,0,0,0
$GC,79,-0.77,-155.7,3.4,-4.6,7,127,7.93,2.17,-30.55,0.000,4,0.224,0.052,2160,3790,3933,0,0,0,0,0,0
$GC,293,-0.68,-155.7,60.4,-29.2,43,301,0.12,2.12,0.00,0.000,6,0.130,0.029,2199,2407,3933,0,0,0,0,0,0
$GC,629,-0.63,-155.7,132.1,-17.8,104,638,0.00,2.12,0.00,0.000,4,0.000,0.032,2200,994,3935,0,0,0,0,0,0
$GC,678,-0.62,-155.7,141.1,-16.0,112,688,0.10,2.17,0.00,0.000,6,0.131,0.034,2224,2407,3935,0,0,0,0,0,0
$GC,1023,-0.62,-155.7,191.4,-12.2,173,1030,0.00,2.10,0.00,0.000,4,0.000,0.043,2215,3787,3936,0,0,0,0,0,0
$GC,1054,-0.63,-155.7,195.5,-13.3,178,1063,0.00,2.10,0.00,0.000,6,0.000,0.026,2215,2381,3936,0,0,0,0,0,0
$GC,1409,-0.63,-155.7,244.2,-13.1,239,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2380,3935,0,0,0,0,0,0
$GC,1748,-0.64,-155.7,284.5,-11.3,300,1757,0.00,2.08,0.00,0.000,4,0.000,0.033,2215,997,3934,0,0,0,0,0,0
$GC,1808,-0.69,-155.7,290.6,-10.3,309,1814,0.00,2.12,0.00,0.000,6,0.000,0.034,2207,2406,3934,0,0,0,0,0,0
$GC,2147,-0.71,-155.7,330.1,-10.8,370,2155,0.00,2.15,0.00,0.000,4,0.000,0.044,2197,3780,3932,0,0,0,0,0,0
$GC,2170,-0.73,-155.7,332.4,-11.0,373,2177,0.00,2.03,0.00,0.000,6,0.000,0.026,2196,2406,3933,0,0,0,0,0,0
$GC,2512,-0.74,-155.7,371.7,-12.5,434,2520,0.00,2.10,0.00,0.000,4,0.000,0.033,2196,1001,3930,0,0,0,0,0,0
$GC,2581,-0.78,-155.7,379.1,-10.4,445,2588,0.00,2.12,0.00,0.000,6,0.000,0.034,2191,2410,3930,0,0,0,0,0,0
$GC,2922,-0.79,-155.7,422.3,-11.9,506,2930,0.00,2.12,0.00,0.000,4,0.000,0.045,2182,3769,3928,0,0,0,0,0,0
$GC,2981,-0.83,-155.7,429.0,-11.3,516,2991,0.00,2.05,0.00,0.000,6,0.000,0.025,2183,2394,3927,0,0,0,0,0,0
$GC,3326,-0.84,-155.7,468.9,-11.4,577,3333,0.00,2.05,0.00,0.000,4,0.000,0.033,2182,1005,3925,0,0,0,0,0,0
$GC,3431,-0.88,-155.7,479.6,-9.3,595,3439,0.12,2.12,0.00,0.000,6,0.083,0.034,2115,2405,3925,0,0,0,0,0,0
$GC,3770,-0.83,-155.7,533.5,-16.2,638,3774,0.17,2.15,0.00,0.000,4,0.162,0.044,2153,3781,3922,0,0,0,0,0,0
$GC,3835,-0.85,-155.7,542.1,-11.6,643,3842,0.00,2.05,0.00,0.000,6,0.000,0.026,2154,2398,3921,0,0,0,0,0,0
$GC,4160,-0.85,-155.7,587.8,-13.9,674,4164,0.00,2.08,0.00,0.000,4,0.000,0.033,2153,1004,3919,0,0,0,0,0,0
$GC,4226,-0.87,-155.7,596.8,-12.2,679,4233,0.00,2.12,0.00,0.000,6,0.000,0.036,2151,2397,3919,0,0,0,0,0,0
$GC,4543,-0.87,-155.7,636.0,-12.3,696,4547,0.00,2.12,0.00,0.000,4,0.000,0.045,2141,3777,3916,0,0,0,0,0,0
$GC,4620,-0.88,-155.7,645.8,-11.5,699,4624,0.00,2.03,0.00,0.000,6,0.000,0.027,2141,2394,3915,0,0,0,0,0,0
$GC,4943,-0.88,-155.7,688.7,-13.7,715,4947,0.00,2.05,0.00,0.000,4,0.000,0.034,2141,1012,3913,0,0,0,0,0,0
$GC,5012,-0.90,-155.7,698.0,-13.0,718,5016,0.00,2.12,0.00,0.000,6,0.000,0.036,2138,2397,3915,0,0,0,0,0,0
$GC,5338,-0.90,-155.7,743.1,-13.7,734,5342,0.00,2.08,0.00,0.000,4,0.000,0.033,2137,1008,3909,0,0,0,0,0,0
$GC,5357,-0.90,-155.7,745.4,-13.9,735,5361,0.00,2.15,0.00,0.000,6,0.000,0.036,2128,2411,3910,0,0,0,0,0,0
$GC,5684,-0.88,-155.7,790.5,-13.5,751,5688,0.00,2.10,0.00,0.000,4,0.000,0.047,2119,3775,3906,0,0,0,0,0,0
$GC,5717,-0.87,-155.7,795.4,-14.6,752,5725,0.00,2.05,0.00,0.000,6,0.000,0.028,2115,2401,3906,0,0,0,0,0,0
$GC,6033,-0.85,-155.7,839.9,-13.9,768,6035,0.12,0.00,0.00,0.000,6,0.161,0.000,2151,2398,3903,0,0,0,0,0,0
$GC,6342,-0.86,-155.7,875.9,-11.7,783,6346,0.00,2.08,0.00,0.000,4,0.000,0.034,2152,1004,3901,0,0,0,0,0,0
$GC,6375,-0.89,-155.7,880.0,-12.5,784,6383,0.00,2.15,0.00,0.000,6,0.000,0.037,2151,2405,3901,0,0,0,0,0,0
$GC,6691,-0.90,-155.7,915.2,-10.8,800,6695,0.00,2.15,0.00,0.000,4,0.000,0.048,2141,3788,3897,0,0,0,0,0,0
$GC,6738,-0.93,-155.7,920.2,-10.2,802,6742,0.00,2.08,0.00,0.000,6,0.000,0.028,2141,2401,3900,0,0,0,0,0,0
$GC,7066,-0.93,-155.7,959.2,-12.1,818,7070,0.00,2.08,0.00,0.000,4,0.000,0.034,2141,1005,3895,0,0,0,0,0,0
$GC,7106,-0.96,-155.7,964.0,-11.7,820,7110,0.00,2.12,0.00,0.000,6,0.000,0.037,2138,2400,3894,0,0,0,0,0,0
$STATE,7327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7327,begin apogee
$GC,7334,-0.16,0.0,991.2,12.6,831,7462,0.70,0.00,116.72,1.141,6,0.122,0.000,2367,1980,3300,0,0,0,0,0,0
$STATE,7463,end apogee,CONTROL_FINISHED_OK
$STATE,7463,begin climb
$GC,7465,0.77,155.7,997.7,0.0,837,7604,0.82,2.45,128.20,1.103,4,0.047,0.041,2679,3410,2663,0,0,0,0,0,0
$GC,7615,0.60,155.7,996.9,11.8,844,7620,0.30,2.22,0.00,0.000,6,0.200,0.029,2620,2022,2660,0,0,0,0,0,0
$GC,7938,0.51,155.7,957.8,12.5,860,7943,0.12,2.20,0.00,0.000,4,0.200,0.042,2590,3415,2652,0,0,0,0,0,0
$GC,7978,0.42,155.7,952.8,12.1,862,7983,0.15,2.17,0.00,0.000,6,0.200,0.030,2566,1993,2652,0,0,0,0,0,0
$GC,8307,0.44,205.1,923.5,8.7,878,8349,0.00,0.00,39.40,1.082,6,0.000,0.000,2565,1992,2463,0,0,0,0,0,0
$GC,8659,0.46,236.0,890.0,9.5,895,8687,0.00,0.00,26.10,1.051,6,0.000,0.000,2565,1992,2336,0,0,0,0,0,0
$GC,8988,0.47,255.7,857.8,10.1,911,9007,0.00,0.00,16.95,1.018,6,0.000,0.000,2565,1992,2257,0,0,0,0,0,0
$GC,9316,0.47,256.2,821.7,11.0,927,9320,0.00,2.25,0.00,0.000,4,0.000,0.041,2568,3417,2251,0,0,0,0,0,0
$GC,9362,0.47,256.2,815.9,12.7,929,9366,0.00,2.17,0.00,0.000,6,0.000,0.030,2574,2001,2250,0,0,0,0,0,0
$GC,9696,0.46,256.2,774.7,12.7,945,9698,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2001,2250,0,0,0,0,0,0
$GC,10005,0.45,256.2,735.3,12.5,960,10006,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2001,2247,0,0,0,0,0,0
$GC,10314,0.45,256.2,697.8,11.8,975,10318,0.00,2.15,0.00,0.000,4,0.000,0.041,2584,588,2246,0,0,0,0,0,0
$GC,10386,0.45,256.2,689.1,11.9,978,10390,0.00,2.15,0.00,0.000,6,0.000,0.032,2584,2010,2246,0,0,0,0,0,0
$GC,10707,0.43,256.2,648.0,13.4,994,10711,0.00,2.17,0.00,0.000,4,0.000,0.042,2585,3410,2246,0,0,0,0,0,0
$GC,10729,0.41,256.2,644.5,14.6,995,10734,0.15,2.12,0.00,0.000,6,0.169,0.029,2557,1998,2245,0,0,0,0,0,0
$GC,11052,0.42,256.2,606.9,11.4,1011,11056,0.00,2.20,0.00,0.000,4,0.000,0.041,2556,3404,2245,0,0,0,0,0,0
$GC,11073,0.42,256.2,604.2,11.0,1012,11077,0.00,2.15,0.00,0.000,6,0.000,0.030,2565,2003,2244,0,0,0,0,0,0
$GC,11399,0.46,288.1,571.1,9.5,1041,11434,0.00,2.20,26.02,0.900,4,0.000,0.041,2575,598,2123,0,0,0,0,0,0
$GC,11483,0.54,329.5,563.8,9.0,1048,11522,0.00,2.15,34.33,0.848,6,0.000,0.031,2575,2011,1954,0,0,0,0,0,0
$GC,11843,0.58,345.2,527.1,10.3,1081,11867,0.10,2.28,13.18,0.838,4,0.104,0.041,2626,3411,1890,0,0,0,0,0,0
$GC,11895,0.55,345.2,519.5,14.9,1085,11903,0.12,2.20,0.00,0.000,6,0.169,0.029,2606,1996,1888,0,0,0,0,0,0
$GC,12227,0.55,345.2,477.7,13.0,1132,12235,0.00,2.20,0.00,0.000,4,0.000,0.041,2615,595,1887,0,0,0,0,0,0
$GC,12320,0.55,345.2,465.3,13.3,1148,12329,0.00,2.17,0.00,0.000,6,0.000,0.031,2615,1996,1885,0,0,0,0,0,0
$GC,12667,0.55,345.2,415.7,12.6,1209,12673,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1996,1884,0,0,0,0,0,0
$GC,13009,0.55,345.2,370.1,12.1,1270,13016,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1996,1883,0,0,0,0,0,0
$GC,13355,0.56,353.1,327.5,10.6,1331,13371,0.00,2.17,6.85,0.682,4,0.000,0.040,2615,3408,1859,0,0,0,0,0,0
$GC,13400,0.57,353.1,321.8,13.0,1338,13408,0.00,2.17,0.00,0.000,6,0.000,0.030,2626,1996,1858,0,0,0,0,0,0
$GC,13743,0.57,353.1,280.2,12.1,1399,13750,0.00,2.12,0.00,0.000,4,0.000,0.041,2636,595,1858,0,0,0,0,0,0
$GC,13870,0.57,353.1,264.5,12.7,1421,13877,0.00,2.12,0.00,0.000,6,0.000,0.031,2636,2006,1858,0,0,0,0,0,0
$GC,14212,0.57,353.1,220.4,13.0,1482,14219,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2007,1858,0,0,0,0,0,0
$GC,14561,0.57,353.1,176.2,11.4,1543,14568,0.00,2.15,0.00,0.000,4,0.000,0.039,2647,593,1858,0,0,0,0,0,0
$GC,14610,0.58,353.1,170.9,11.0,1551,14617,0.12,2.12,0.00,0.000,6,0.151,0.030,2611,2013,1858,0,0,0,0,0,0
$GC,14958,0.72,435.9,144.5,7.1,1612,15030,0.15,2.25,64.32,0.645,4,0.079,0.038,2692,585,1521,0,0,0,0,0,0
$GC,15083,0.72,435.9,129.6,13.0,1630,15092,0.10,2.20,0.00,0.000,6,0.124,0.030,2660,1999,1517,0,0,0,0,0,0
$GC,15421,0.76,439.4,93.5,10.8,1691,15429,0.00,0.00,3.70,0.373,6,0.000,0.000,2659,2000,1505,0,0,0,0,0,0
$GC,15757,0.90,506.4,61.4,7.8,1752,15812,0.15,0.00,51.78,0.584,6,0.076,0.000,2737,2000,1234,0,0,0,0,0,0
$GC,16140,0.90,506.4,13.1,14.6,1819,16148,0.00,2.20,0.00,0.000,4,0.000,0.040,2747,593,1229,0,0,0,0,0,0
$STATE,16213,end climb,SURFACE_DEPTH_REACHED
$STATE,16213,begin surface coast
$FINISH,1.1,1.009433
$STATE,16236,end surface coast,CONTROL_FINISHED_OK
$STATE,16237,begin surface
$SM_CCo,16334,0.00,0.000,0,0,1226,508.26
$SM_GC,1.97,6.65,0.00,0.00,0.039,0.000,0.000,198,2403,1226,-6.85,0.08,508.26
$IRIDIUM_FIX,2337.99,12605.10,191010,030300
$TT8_MAMPS,0.027713
$HUMID,46.77
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.9,36.134
$10V_AH,10.0,46.744
$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,18.225,134.050,527.550,0.000,0.000,47.994,66.998,301.632,0.000,0.000,13.909,4517.716,6786.838,652.989,4631.000,436.946,0.000,2199.765,0.000,2839.324,0.000,0.542,0.000
$DEVICE_MAMPS,224.145,52.020,1141.380,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1252.972,2427.178,2393.268,0.000,0.000,0.000,3036.673,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331292
$DATA_FILE_SIZE,130359,1836
$CAP_FILE_SIZE,189630,0
$CFSIZE,260165632,230002688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034, 15.6,1
$GPS,191010,083807,2348.492,12609.233,31,2.0,31,-3.5