version: 66.08
glider: 181
mission: 4
dive: 273
start: 10 19 110 8 48 13
data:
$ID,181
$MISSION,4
$DIVE,273
$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,-38193.277
$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,33
$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,544.0
$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
$GPS1,191010,083807,2348.492,12609.233,31,2.0,31,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-66.5
$GPS2,191010,084744,2348.561,12609.232,14,1.9,14,-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,1.2,58227,-18.4,-11.000
$D_GRID,3101
$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,-155.7,0.0,0.0,0,78,0.00,0.00,-53.65,0.000,2,0.000,0.000,198,2404,2675,0,0,0,0,0,0
$GC,81,-0.77,-155.7,3.5,-4.6,7,129,8.07,2.17,-29.70,0.000,4,0.230,0.049,2158,3793,3936,0,0,0,0,0,0
$GC,224,-0.67,-155.7,43.6,-30.9,30,233,0.15,2.12,0.00,0.000,6,0.135,0.027,2204,2402,3938,0,0,0,0,0,0
$GC,559,-0.61,-155.7,127.4,-21.7,91,567,0.00,2.12,0.00,0.000,4,0.000,0.031,2205,987,3938,0,0,0,0,0,0
$GC,615,-0.61,-155.7,138.0,-16.3,100,625,0.08,2.17,0.00,0.000,6,0.129,0.034,2223,2399,3938,0,0,0,0,0,0
$GC,960,-0.61,-155.7,190.2,-15.3,161,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2399,3939,0,0,0,0,0,0
$GC,1319,-0.63,-155.7,237.4,-12.4,222,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2399,3939,0,0,0,0,0,0
$GC,1661,-0.66,-155.7,281.0,-12.8,283,1668,0.00,2.12,0.00,0.000,4,0.000,0.044,2213,3784,3938,0,0,0,0,0,0
$GC,1710,-0.72,-155.7,286.9,-11.5,291,1717,0.00,2.05,0.00,0.000,6,0.000,0.024,2213,2384,3938,0,0,0,0,0,0
$GC,2054,-0.75,-155.7,327.6,-11.1,352,2063,0.00,2.05,0.00,0.000,4,0.000,0.031,2214,1011,3936,0,0,0,0,0,0
$GC,2103,-0.81,-155.7,333.4,-11.2,360,2113,0.10,2.15,0.00,0.000,6,0.046,0.034,2141,2412,3936,0,0,0,0,0,0
$GC,2452,-0.77,-155.7,393.8,-16.5,421,2460,0.15,2.12,0.00,0.000,4,0.161,0.044,2173,3786,3934,0,0,0,0,0,0
$GC,2559,-0.79,-155.7,407.1,-11.4,439,2566,0.00,2.05,0.00,0.000,6,0.000,0.025,2173,2390,3933,0,0,0,0,0,0
$GC,2901,-0.79,-155.7,451.9,-12.7,500,2910,0.00,2.08,0.00,0.000,4,0.000,0.031,2173,1001,3932,0,0,0,0,0,0
$GC,2935,-0.81,-155.7,456.3,-13.1,505,2942,0.00,2.12,0.00,0.000,6,0.000,0.033,2164,2410,3931,0,0,0,0,0,0
$GC,3282,-0.81,-155.7,504.5,-12.9,564,3286,0.00,2.12,0.00,0.000,4,0.000,0.044,2154,3788,3927,0,0,0,0,0,0
$GC,3311,-0.81,-155.7,508.4,-13.4,566,3315,0.00,2.05,0.00,0.000,6,0.000,0.025,2152,2390,3929,0,0,0,0,0,0
$GC,3636,-0.81,-155.7,551.0,-12.4,596,3640,0.00,2.05,0.00,0.000,4,0.000,0.031,2153,1001,3927,0,0,0,0,0,0
$GC,3693,-0.83,-155.7,557.9,-12.2,601,3697,0.00,2.12,0.00,0.000,6,0.000,0.034,2151,2411,3926,0,0,0,0,0,0
$GC,4018,-0.83,-155.7,599.0,-13.3,631,4022,0.00,2.12,0.00,0.000,4,0.000,0.044,2141,3787,3923,0,0,0,0,0,0
$GC,4089,-0.84,-155.7,607.9,-11.2,634,4093,0.00,2.08,0.00,0.000,6,0.000,0.026,2141,2392,3922,0,0,0,0,0,0
$GC,4411,-0.83,-155.7,648.1,-12.3,650,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2388,3917,0,0,0,0,0,0
$GC,4721,-0.83,-155.7,686.1,-12.5,665,4725,0.00,2.05,0.00,0.000,4,0.000,0.032,2141,1001,3917,0,0,0,0,0,0
$GC,4748,-0.83,-155.7,689.9,-13.7,666,4753,0.00,2.15,0.00,0.000,6,0.000,0.036,2138,2396,3917,0,0,0,0,0,0
$GC,5070,-0.83,-155.7,732.0,-13.5,682,5074,0.00,2.17,0.00,0.000,4,0.000,0.047,2127,3794,3914,0,0,0,0,0,0
$GC,5134,-0.83,-155.7,740.5,-13.3,685,5138,0.12,2.08,0.00,0.000,6,0.154,0.027,2161,2395,3913,0,0,0,0,0,0
$GC,5468,-0.85,-155.7,777.9,-11.6,701,5472,0.00,2.08,0.00,0.000,4,0.000,0.034,2161,997,3910,0,0,0,0,0,0
$GC,5508,-0.89,-155.7,782.8,-11.2,703,5513,0.00,2.15,0.00,0.000,6,0.000,0.036,2154,2412,3910,0,0,0,0,0,0
$GC,5836,-0.90,-155.7,821.5,-12.0,719,5840,0.00,2.12,0.00,0.000,4,0.000,0.047,2148,3783,3907,0,0,0,0,0,0
$GC,5880,-0.93,-155.7,826.9,-11.5,721,5884,0.00,2.05,0.00,0.000,6,0.000,0.027,2149,2398,3906,0,0,0,0,0,0
$GC,6203,-0.95,-155.7,862.6,-10.7,737,6207,0.00,2.08,0.00,0.000,4,0.000,0.034,2148,1001,3905,0,0,0,0,0,0
$GC,6259,-0.98,-155.7,868.4,-9.5,739,6265,0.00,2.15,0.00,0.000,6,0.000,0.037,2140,2399,3904,0,0,0,0,0,0
$GC,6575,-0.98,-155.7,902.3,-10.8,755,6579,0.00,2.15,0.00,0.000,4,0.000,0.047,2135,3785,3902,0,0,0,0,0,0
$GC,6616,-1.00,-155.7,906.7,-10.4,757,6620,0.00,2.05,0.00,0.000,6,0.000,0.028,2135,2403,3901,0,0,0,0,0,0
$GC,6944,-1.00,-155.7,942.8,-11.1,773,6948,0.00,2.10,0.00,0.000,4,0.000,0.035,2135,1004,3899,0,0,0,0,0,0
$GC,7045,-1.02,-155.7,953.7,-10.5,777,7049,0.00,2.12,0.00,0.000,6,0.000,0.037,2126,2396,3898,0,0,0,0,0,0
$STATE,7359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7359,begin apogee
$GC,7365,-0.16,0.0,990.4,11.7,792,7488,0.75,0.00,117.78,1.140,6,0.129,0.000,2366,1980,3298,0,0,0,0,0,0
$STATE,7489,end apogee,CONTROL_FINISHED_OK
$STATE,7489,begin climb
$GC,7491,0.77,155.7,995.3,0.0,797,7631,0.82,2.47,128.27,1.101,4,0.045,0.042,2681,3415,2662,0,0,0,0,0,0
$GC,7675,0.60,155.7,986.9,18.5,805,7683,0.30,2.22,0.00,0.000,6,0.204,0.029,2621,2010,2656,0,0,0,0,0,0
$GC,7993,0.50,155.7,944.9,12.8,821,7994,0.12,0.00,0.00,0.000,6,0.200,0.000,2592,2009,2652,0,0,0,0,0,0
$GC,8301,0.43,156.7,911.3,11.0,836,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2009,2649,0,0,0,0,0,0
$GC,8611,0.36,156.7,877.5,11.2,851,8615,0.17,2.17,0.00,0.000,4,0.185,0.038,2556,595,2648,0,0,0,0,0,0
$GC,8673,0.40,204.3,871.6,8.7,854,8717,0.00,2.15,37.67,1.059,6,0.000,0.032,2556,2015,2468,0,0,0,0,0,0
$GC,9028,0.39,211.5,835.3,10.7,871,9037,0.00,0.00,7.05,0.940,6,0.000,0.000,2556,2011,2437,0,0,0,0,0,0
$GC,9335,0.41,237.5,802.7,9.8,886,9365,0.00,2.28,22.77,1.003,4,0.000,0.044,2555,3402,2331,0,0,0,0,0,0
$GC,9410,0.40,237.5,794.8,11.7,889,9414,0.00,2.17,0.00,0.000,6,0.000,0.030,2566,1996,2326,0,0,0,0,0,0
$GC,9733,0.40,245.4,760.5,10.6,905,9742,0.00,0.00,7.25,0.919,6,0.000,0.000,2566,1996,2298,0,0,0,0,0,0
$GC,10041,0.40,245.4,726.2,11.1,920,10042,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1996,2295,0,0,0,0,0,0
$GC,10351,0.42,257.8,693.8,10.4,935,10367,0.00,2.22,11.48,0.942,4,0.000,0.041,2566,3399,2246,0,0,0,0,0,0
$GC,10384,0.44,272.1,689.9,10.3,935,10404,0.00,2.15,13.43,0.873,6,0.000,0.030,2576,1988,2188,0,0,0,0,0,0
$GC,10722,0.44,272.1,651.2,11.7,952,10723,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1987,2182,0,0,0,0,0,0
$GC,11030,0.44,273.8,616.2,10.9,967,11034,0.00,2.15,0.00,0.000,4,0.000,0.041,2587,597,2181,0,0,0,0,0,0
$GC,11072,0.44,273.8,611.3,11.3,969,11077,0.00,2.17,0.00,0.000,6,0.000,0.031,2587,2003,2181,0,0,0,0,0,0
$GC,11396,0.44,273.8,574.7,11.3,995,11400,0.00,2.17,0.00,0.000,4,0.000,0.043,2587,3412,2178,0,0,0,0,0,0
$GC,11470,0.43,273.8,565.5,13.6,1001,11475,0.15,2.12,0.00,0.000,6,0.164,0.030,2559,2002,2180,0,0,0,0,0,0
$GC,11795,0.51,324.4,534.7,8.6,1031,11844,0.00,2.25,41.83,0.868,4,0.000,0.040,2568,597,1974,0,0,0,0,0,0
$GC,11899,0.60,366.0,525.5,9.0,1040,11939,0.15,2.15,34.38,0.819,6,0.085,0.030,2631,2001,1805,0,0,0,0,0,0
$GC,12268,0.59,366.0,467.5,17.0,1090,12276,0.00,2.25,0.00,0.000,4,0.000,0.042,2631,3403,1795,0,0,0,0,0,0
$GC,12313,0.57,366.0,459.8,16.9,1097,12321,0.12,2.17,0.00,0.000,6,0.167,0.030,2609,1992,1795,0,0,0,0,0,0
$GC,12656,0.57,366.0,407.6,14.4,1158,12664,0.00,2.17,0.00,0.000,4,0.000,0.041,2619,601,1792,0,0,0,0,0,0
$GC,12705,0.59,366.0,400.9,12.7,1166,12712,0.00,2.15,0.00,0.000,6,0.000,0.031,2619,1996,1793,0,0,0,0,0,0
$GC,13046,0.59,366.0,352.9,15.2,1227,13052,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1999,1793,0,0,0,0,0,0
$GC,13385,0.59,366.0,301.9,13.8,1288,13394,0.00,2.22,0.00,0.000,4,0.000,0.041,2619,3410,1793,0,0,0,0,0,0
$GC,13435,0.61,366.0,294.4,14.9,1296,13444,0.00,2.17,0.00,0.000,6,0.000,0.029,2629,1995,1792,0,0,0,0,0,0
$GC,13778,0.61,366.0,248.6,13.3,1357,13785,0.00,2.15,0.00,0.000,4,0.000,0.040,2639,590,1793,0,0,0,0,0,0
$GC,13863,0.62,366.0,237.4,12.4,1372,13873,0.00,2.15,0.00,0.000,6,0.000,0.030,2640,1996,1793,0,0,0,0,0,0
$GC,14216,0.62,366.0,189.5,13.4,1433,14222,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,1996,1793,0,0,0,0,0,0
$GC,14562,0.62,366.0,148.4,12.0,1494,14569,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,1996,1795,0,0,0,0,0,0
$GC,14896,0.64,366.0,110.3,11.8,1555,14905,0.00,2.17,0.00,0.000,4,0.000,0.039,2650,592,1794,0,0,0,0,0,0
$GC,14946,0.69,384.7,105.2,10.1,1563,14970,0.00,2.15,14.80,0.599,6,0.000,0.030,2650,2009,1728,0,0,0,0,0,0
$GC,15298,0.78,425.5,74.4,9.1,1626,15337,0.00,0.00,32.15,0.600,6,0.000,0.000,2650,2008,1562,0,0,0,0,0,0
$GC,15667,0.99,520.6,51.9,6.5,1691,15747,0.25,2.25,72.03,0.574,4,0.054,0.037,2776,591,1174,0,0,0,0,0,0
$GC,15842,0.97,520.6,26.4,14.2,1718,15851,0.10,2.20,0.00,0.000,6,0.131,0.029,2744,2006,1170,0,0,0,0,0,0
$STATE,15998,end climb,SURFACE_DEPTH_REACHED
$STATE,15998,begin surface coast
$FINISH,1.1,1.021739
$STATE,16022,end surface coast,CONTROL_FINISHED_OK
$STATE,16022,begin surface
$SM_CCo,16114,0.00,0.000,0,0,1167,522.73
$SM_GC,2.10,6.55,0.00,0.00,0.031,0.000,0.000,203,2422,1167,-6.84,0.62,522.73
$IRIDIUM_FIX,2342.70,12614.98,191010,030311
$TT8_MAMPS,0.027713
$HUMID,45.62
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,23.9,36.297
$10V_AH,10.0,46.987
$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,18.175,125.675,540.875,0.000,0.000,25.783,24.725,293.623,0.000,0.000,16.576,4316.970,6871.950,625.895,4401.911,455.796,0.000,2141.764,0.000,2755.879,0.000,0.542,0.000
$DEVICE_MAMPS,230.265,48.960,1139.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1194.912,2286.426,2270.510,0.000,0.000,0.000,2990.530,0.000,0.000,0.000
$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,123615,1750
$CAP_FILE_SIZE,183761,0
$CFSIZE,260165632,229896192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021,120.0,1
$GPS,191010,131801,2350.789,12609.487,36,1.9,36,-3.5