version: 66.08
glider: 181
mission: 4
dive: 274
start: 10 19 110 13 28 44
data:
$ID,181
$MISSION,4
$DIVE,274
$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,-38194.535
$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,47
$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,546.0
$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
$GPS1,191010,131801,2350.789,12609.487,36,1.9,36,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-69.6
$GPS2,191010,132814,2350.801,12609.572,13,1.4,13,-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,358.8,54085,-18.4,-11.000
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.77,-155.7,0.0,0.0,0,78,0.00,0.00,-54.47,0.000,2,0.000,0.000,199,2423,2644,0,0,0,0,0,0
$GC,81,-0.77,-155.7,3.4,-3.7,7,128,7.88,2.12,-30.10,0.000,4,0.223,0.054,2159,3762,3931,0,0,0,0,0,0
$GC,298,-0.71,-155.7,65.4,-25.5,44,307,0.10,2.08,0.00,0.000,6,0.132,0.026,2190,2388,3932,0,0,0,0,0,0
$GC,635,-0.65,-155.7,141.3,-18.5,105,643,0.00,2.08,0.00,0.000,4,0.000,0.031,2191,999,3934,0,0,0,0,0,0
$GC,684,-0.63,-155.7,150.5,-17.2,113,691,0.15,2.10,0.00,0.000,6,0.150,0.034,2223,2397,3934,0,0,0,0,0,0
$GC,1031,-0.63,-155.7,199.1,-13.1,174,1055,0.00,2.15,0.00,0.000,4,0.000,0.043,2214,3778,3935,0,0,0,0,0,0
$GC,1118,-0.68,-155.7,209.5,-10.6,186,1127,0.00,2.05,0.00,0.000,6,0.000,0.024,2214,2396,3934,0,0,0,0,0,0
$GC,1463,-0.68,-155.7,255.3,-14.4,247,1470,0.00,2.08,0.00,0.000,4,0.000,0.031,2214,1008,3934,0,0,0,0,0,0
$GC,1513,-0.71,-155.7,262.0,-13.1,255,1520,0.00,2.12,0.00,0.000,6,0.000,0.033,2205,2423,3934,0,0,0,0,0,0
$GC,1854,-0.72,-155.7,305.5,-11.3,316,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2428,3933,0,0,0,0,0,0
$GC,2196,-0.74,-155.7,342.8,-12.8,377,2203,0.00,2.10,0.00,0.000,4,0.000,0.043,2195,3793,3930,0,0,0,0,0,0
$GC,2246,-0.78,-155.7,349.5,-13.3,385,2253,0.00,2.08,0.00,0.000,6,0.000,0.025,2195,2402,3930,0,0,0,0,0,0
$GC,2590,-0.79,-155.7,394.8,-12.1,446,2599,0.00,2.10,0.00,0.000,4,0.000,0.031,2195,996,3928,0,0,0,0,0,0
$GC,2639,-0.83,-155.7,400.6,-10.9,454,2649,0.10,2.15,0.00,0.000,6,0.048,0.034,2129,2400,3928,0,0,0,0,0,0
$GC,2988,-0.79,-155.7,459.8,-16.6,515,2995,0.15,2.12,0.00,0.000,4,0.166,0.044,2160,3781,3925,0,0,0,0,0,0
$GC,3065,-0.80,-155.7,470.9,-12.5,528,3073,0.00,2.08,0.00,0.000,6,0.000,0.025,2160,2388,3925,0,0,0,0,0,0
$GC,3407,-0.80,-155.7,520.3,-13.9,577,3410,0.00,2.03,0.00,0.000,4,0.000,0.031,2160,1004,3923,0,0,0,0,0,0
$GC,3468,-0.81,-155.7,528.8,-13.1,582,3476,0.00,2.12,0.00,0.000,6,0.000,0.033,2151,2412,3921,0,0,0,0,0,0
$GC,3793,-0.81,-155.7,572.6,-13.9,613,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2412,3920,0,0,0,0,0,0
$GC,4109,-0.81,-155.7,612.7,-11.8,638,4113,0.00,2.10,0.00,0.000,4,0.000,0.031,2151,995,3917,0,0,0,0,0,0
$GC,4141,-0.81,-155.7,617.1,-12.5,639,4148,0.00,2.12,0.00,0.000,6,0.000,0.035,2151,2405,3917,0,0,0,0,0,0
$GC,4458,-0.81,-155.7,654.1,-11.6,655,4462,0.00,2.12,0.00,0.000,4,0.000,0.045,2141,3777,3915,0,0,0,0,0,0
$GC,4521,-0.83,-155.7,661.3,-10.3,658,4525,0.00,2.05,0.00,0.000,6,0.000,0.026,2141,2384,3913,0,0,0,0,0,0
$GC,4853,-0.83,-155.7,707.5,-14.6,674,4857,0.00,2.05,0.00,0.000,4,0.000,0.033,2141,995,3911,0,0,0,0,0,0
$GC,4879,-0.83,-155.7,711.7,-15.5,675,4883,0.00,2.15,0.00,0.000,6,0.000,0.035,2137,2405,3911,0,0,0,0,0,0
$GC,5201,-0.83,-155.7,758.6,-14.0,691,5205,0.00,2.15,0.00,0.000,4,0.000,0.046,2125,3789,3907,0,0,0,0,0,0
$GC,5287,-0.83,-155.7,770.2,-13.6,695,5292,0.12,2.05,0.00,0.000,6,0.155,0.027,2159,2398,3907,0,0,0,0,0,0
$GC,5616,-0.85,-155.7,804.9,-10.0,711,5620,0.00,2.10,0.00,0.000,4,0.000,0.034,2159,996,3904,0,0,0,0,0,0
$GC,5650,-0.88,-155.7,808.7,-10.2,712,5657,0.00,2.15,0.00,0.000,6,0.000,0.036,2148,2401,3904,0,0,0,0,0,0
$GC,5967,-0.90,-155.7,841.7,-10.8,728,5971,0.00,2.12,0.00,0.000,4,0.000,0.047,2143,3775,3901,0,0,0,0,0,0
$GC,5994,-0.92,-155.7,844.8,-11.8,729,5998,0.00,2.03,0.00,0.000,6,0.000,0.028,2143,2396,3900,0,0,0,0,0,0
$GC,6316,-0.92,-155.7,881.6,-11.9,745,6320,0.00,2.10,0.00,0.000,4,0.000,0.034,2143,1002,3898,0,0,0,0,0,0
$GC,6411,-0.95,-155.7,892.9,-11.0,749,6415,0.00,2.15,0.00,0.000,6,0.000,0.037,2138,2411,3897,0,0,0,0,0,0
$GC,6726,-0.95,-155.7,933.2,-13.4,764,6730,0.00,2.12,0.00,0.000,4,0.000,0.047,2129,3775,3894,0,0,0,0,0,0
$GC,6753,-0.95,-155.7,937.1,-14.3,765,6757,0.00,2.05,0.00,0.000,6,0.000,0.028,2128,2408,3894,0,0,0,0,0,0
$GC,7080,-0.95,-155.7,982.2,-13.6,781,7084,0.00,2.10,0.00,0.000,4,0.000,0.034,2128,1001,3892,0,0,0,0,0,0
$STATE,7140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7140,begin apogee
$GC,7147,-0.16,0.0,990.5,13.5,784,7270,0.75,0.00,117.05,1.138,6,0.129,0.000,2363,2012,3298,0,0,0,0,0,0
$STATE,7271,end apogee,CONTROL_FINISHED_OK
$STATE,7271,begin climb
$GC,7273,0.77,155.7,997.7,0.0,789,7413,0.82,2.40,128.00,1.102,4,0.046,0.038,2692,596,2662,0,0,0,0,0,0
$GC,7643,0.61,155.7,959.2,18.0,805,7651,0.28,2.20,0.00,0.000,6,0.191,0.034,2624,2002,2654,0,0,0,0,0,0
$GC,7959,0.51,155.7,913.0,14.6,821,7964,0.12,2.17,0.00,0.000,4,0.193,0.039,2603,597,2651,0,0,0,0,0,0
$GC,7987,0.43,155.7,908.7,14.3,822,7991,0.15,2.15,0.00,0.000,6,0.182,0.033,2564,2005,2651,0,0,0,0,0,0
$GC,8308,0.39,155.7,871.5,11.2,838,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2004,2648,0,0,0,0,0,0
$GC,8618,0.39,182.4,839.6,9.7,853,8640,0.00,0.00,20.75,1.041,6,0.000,0.000,2564,2005,2553,0,0,0,0,0,0
$GC,8948,0.41,223.5,808.7,9.0,869,8990,0.00,0.00,34.53,1.012,6,0.000,0.000,2563,2004,2384,0,0,0,0,0,0
$GC,9298,0.43,237.1,773.6,10.4,886,9321,0.00,2.30,11.62,0.958,4,0.000,0.044,2564,3411,2331,0,0,0,0,0,0
$GC,9377,0.41,237.1,764.2,11.8,889,9381,0.00,2.15,0.00,0.000,6,0.000,0.030,2572,2004,2329,0,0,0,0,0,0
$GC,9693,0.40,237.1,727.4,11.7,904,9694,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2004,2327,0,0,0,0,0,0
$GC,10004,0.39,237.1,690.9,11.2,919,10008,0.00,2.17,0.00,0.000,4,0.000,0.043,2572,3404,2325,0,0,0,0,0,0
$GC,10031,0.37,237.1,687.2,12.4,920,10035,0.15,2.12,0.00,0.000,6,0.167,0.030,2544,1997,2326,0,0,0,0,0,0
$GC,10352,0.41,259.6,654.9,9.9,936,10377,0.00,2.25,18.77,0.945,4,0.000,0.042,2544,3397,2239,0,0,0,0,0,0
$GC,10401,0.44,265.7,649.6,10.7,938,10419,0.00,2.15,6.65,0.744,6,0.000,0.030,2553,1990,2212,0,0,0,0,0,0
$GC,10728,0.52,318.0,619.6,8.5,954,10778,0.12,2.25,43.62,0.904,4,0.093,0.041,2618,605,2000,0,0,0,0,0,0
$GC,10792,0.50,318.0,612.3,12.6,957,10797,0.12,2.17,0.00,0.000,6,0.158,0.031,2588,2004,1997,0,0,0,0,0,0
$GC,11114,0.50,318.0,575.2,11.5,982,11115,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2005,1991,0,0,0,0,0,0
$GC,11434,0.50,318.0,538.1,12.2,1012,11438,0.00,2.17,0.00,0.000,4,0.000,0.041,2596,598,1987,0,0,0,0,0,0
$GC,11475,0.52,318.0,532.8,12.9,1015,11479,0.00,2.12,0.00,0.000,6,0.000,0.031,2595,2000,1990,0,0,0,0,0,0
$GC,11806,0.52,321.4,491.4,10.8,1051,11813,0.00,2.17,0.00,0.000,4,0.000,0.044,2596,3404,1989,0,0,0,0,0,0
$GC,11865,0.52,321.4,483.7,12.7,1061,11872,0.00,2.12,0.00,0.000,6,0.000,0.030,2606,2002,1988,0,0,0,0,0,0
$GC,12205,0.52,321.4,442.2,13.7,1122,12214,0.00,2.22,0.00,0.000,4,0.000,0.041,2606,3397,1987,0,0,0,0,0,0
$GC,12243,0.52,321.4,436.7,14.8,1128,12251,0.00,2.15,0.00,0.000,6,0.000,0.030,2616,2001,1987,0,0,0,0,0,0
$GC,12587,0.51,321.4,389.1,13.5,1189,12594,0.00,2.17,0.00,0.000,4,0.000,0.040,2627,588,1986,0,0,0,0,0,0
$GC,12639,0.51,321.4,381.8,12.9,1198,12648,0.10,2.17,0.00,0.000,6,0.133,0.031,2595,2006,1987,0,0,0,0,0,0
$GC,12988,0.55,347.3,344.9,9.8,1259,13016,0.00,0.00,22.60,0.793,6,0.000,0.000,2595,2006,1881,0,0,0,0,0,0
$GC,13356,0.57,347.3,303.5,12.4,1323,13363,0.00,2.17,0.00,0.000,4,0.000,0.041,2595,3411,1879,0,0,0,0,0,0
$GC,13386,0.60,347.3,299.2,13.0,1328,13395,0.00,2.17,0.00,0.000,6,0.000,0.029,2603,1996,1877,0,0,0,0,0,0
$GC,13734,0.66,382.3,260.2,9.3,1389,13769,0.10,2.22,28.38,0.733,4,0.101,0.038,2664,597,1739,0,0,0,0,0,0
$GC,13790,0.63,382.3,252.9,14.3,1397,13798,0.15,2.15,0.00,0.000,6,0.148,0.030,2623,2003,1737,0,0,0,0,0,0
$GC,14135,0.65,382.3,210.8,12.4,1458,14144,0.00,2.20,0.00,0.000,4,0.000,0.039,2631,594,1734,0,0,0,0,0,0
$GC,14193,0.67,382.3,203.7,12.4,1467,14200,0.00,2.12,0.00,0.000,6,0.000,0.030,2632,2001,1734,0,0,0,0,0,0
$GC,14544,0.69,389.8,160.1,10.6,1528,14559,0.00,2.20,6.72,0.555,4,0.000,0.038,2642,597,1709,0,0,0,0,0,0
$GC,14580,0.71,389.8,156.2,11.1,1533,14587,0.00,2.12,0.00,0.000,6,0.000,0.029,2642,2005,1709,0,0,0,0,0,0
$GC,14917,0.73,389.8,116.2,11.6,1594,14926,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2006,1711,0,0,0,0,0,0
$GC,15253,0.85,457.7,81.8,7.8,1655,15316,0.15,2.20,53.12,0.614,4,0.077,0.037,2729,592,1430,0,0,0,0,0,0
$GC,15378,0.85,457.7,63.2,14.7,1674,15388,0.08,2.17,0.00,0.000,6,0.135,0.029,2704,1994,1427,0,0,0,0,0,0
$GC,15717,0.93,499.9,28.2,9.0,1735,15757,0.00,2.22,32.05,0.555,4,0.000,0.039,2704,3411,1261,0,0,0,0,0,0
$GC,15784,1.00,515.1,22.1,10.3,1744,15809,0.00,2.17,13.12,0.509,6,0.000,0.028,2713,2000,1197,0,0,0,0,0,0
$STATE,15962,end climb,SURFACE_DEPTH_REACHED
$STATE,15962,begin surface coast
$FINISH,1.0,1.021083
$STATE,15990,end surface coast,CONTROL_FINISHED_OK
$STATE,15990,begin surface
$SM_CCo,16083,0.00,0.000,0,0,1190,516.11
$SM_GC,1.96,6.60,0.00,0.00,0.040,0.000,0.000,201,2406,1190,-6.85,0.17,516.11
$IRIDIUM_FIX,2345.05,12636.64,191010,080843
$TT8_MAMPS,0.027713
$HUMID,46.06
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.9,36.461
$10V_AH,10.0,47.233
$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,18.200,141.450,537.000,0.000,0.000,27.259,38.307,309.995,0.000,0.000,16.512,4388.784,6659.896,659.281,4527.087,444.520,0.000,2230.523,0.000,2813.255,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,53.550,1138.320,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1214.612,2348.713,2306.746,0.000,0.000,0.000,2882.079,0.000,0.000,0.000
$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,123886,1780
$CAP_FILE_SIZE,190348,0
$CFSIZE,260165632,229769216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,111.6,1
$GPS,191010,175806,2353.054,12609.753,36,1.1,41,-3.6