version: 66.08
glider: 181
mission: 4
dive: 275
start: 10 19 110 18 8 50
data:
$ID,181
$MISSION,4
$DIVE,275
$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,-38195.797
$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,44
$R_STBD_OVSHOOT,38
$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,548.0
$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
$GPS1,191010,175806,2353.054,12609.753,36,1.1,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-64.9
$GPS2,191010,180820,2353.073,12609.742,12,1.8,12,-3.6
$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,355.1,49885,-18.4,-11.000
$D_GRID,2809
$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,-155.7,0.0,0.0,0,81,0.00,0.00,-57.55,0.000,2,0.000,0.000,200,2409,2749,0,0,0,0,0,0
$GC,84,-0.77,-155.7,3.5,-5.6,8,125,7.90,2.15,-27.27,0.000,4,0.224,0.055,2157,3780,3936,0,0,0,0,0,0
$GC,252,-0.67,-155.7,51.3,-28.2,36,261,0.15,2.10,0.00,0.000,6,0.148,0.025,2202,2397,3938,0,0,0,0,0,0
$GC,589,-0.63,-155.7,124.2,-20.5,97,598,0.00,2.10,0.00,0.000,4,0.000,0.031,2202,1000,3939,0,0,0,0,0,0
$GC,643,-0.63,-155.7,134.4,-15.5,106,651,0.00,2.15,0.00,0.000,6,0.000,0.034,2194,2397,3939,0,0,0,0,0,0
$GC,978,-0.59,-155.7,193.2,-17.6,167,986,0.15,2.15,0.00,0.000,4,0.158,0.043,2226,3786,3939,0,0,0,0,0,0
$GC,1044,-0.65,-155.7,202.5,-11.6,176,1052,0.00,2.08,0.00,0.000,6,0.000,0.024,2227,2389,3939,0,0,0,0,0,0
$GC,1373,-0.67,-155.7,239.7,-11.9,237,1382,0.00,2.03,0.00,0.000,4,0.000,0.031,2226,1009,3939,0,0,0,0,0,0
$GC,1423,-0.72,-155.7,245.4,-11.1,245,1431,0.00,2.10,0.00,0.000,6,0.000,0.032,2219,2405,3939,0,0,0,0,0,0
$GC,1755,-0.75,-155.7,287.1,-12.1,306,1764,0.10,2.15,0.00,0.000,4,0.093,0.043,2152,3780,3937,0,0,0,0,0,0
$GC,1852,-0.73,-155.7,301.9,-15.6,323,1860,0.12,2.03,0.00,0.000,6,0.145,0.024,2186,2394,3938,0,0,0,0,0,0
$GC,2187,-0.73,-155.7,348.2,-13.4,384,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2391,3936,0,0,0,0,0,0
$GC,2519,-0.73,-155.7,392.8,-12.6,445,2527,0.00,2.05,0.00,0.000,4,0.000,0.031,2186,998,3934,0,0,0,0,0,0
$GC,2561,-0.75,-155.7,398.2,-12.2,452,2569,0.00,2.15,0.00,0.000,6,0.000,0.033,2179,2404,3934,0,0,0,0,0,0
$GC,2893,-0.75,-155.7,442.8,-12.7,513,2900,0.00,2.10,0.00,0.000,4,0.000,0.044,2169,3778,3932,0,0,0,0,0,0
$GC,2942,-0.78,-155.7,448.9,-12.2,521,2950,0.00,2.03,0.00,0.000,6,0.000,0.025,2170,2401,3931,0,0,0,0,0,0
$GC,3274,-0.86,-155.7,482.0,-9.0,582,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2397,3929,0,0,0,0,0,0
$GC,3609,-0.95,-155.7,510.5,-7.9,632,3614,0.15,2.08,0.00,0.000,4,0.073,0.031,2085,992,3927,0,0,0,0,0,0
$GC,3830,-0.91,-155.7,545.5,-16.9,651,3835,0.17,2.12,0.00,0.000,6,0.161,0.036,2130,2399,3925,0,0,0,0,0,0
$GC,4155,-0.90,-155.7,595.9,-15.9,681,4159,0.00,2.12,0.00,0.000,4,0.000,0.045,2121,3787,3922,0,0,0,0,0,0
$GC,4188,-0.88,-155.7,601.2,-15.6,683,4195,0.00,2.08,0.00,0.000,6,0.000,0.026,2121,2391,3922,0,0,0,0,0,0
$GC,4505,-0.86,-155.7,650.8,-15.8,699,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2389,3920,0,0,0,0,0,0
$GC,4814,-0.83,-155.7,696.5,-14.9,714,4819,0.12,2.20,0.00,0.000,4,0.160,0.045,2145,3787,3917,0,0,0,0,0,0
$GC,4914,-0.85,-155.7,709.5,-11.8,718,4917,0.00,2.05,0.00,0.000,6,0.000,0.026,2145,2393,3917,0,0,0,0,0,0
$GC,5236,-0.85,-155.7,748.4,-11.5,734,5240,0.00,2.08,0.00,0.000,4,0.000,0.032,2143,1003,3914,0,0,0,0,0,0
$GC,5269,-0.87,-155.7,752.4,-11.3,735,5276,0.00,2.12,0.00,0.000,6,0.000,0.036,2138,2411,3914,0,0,0,0,0,0
$GC,5585,-0.87,-155.7,787.0,-11.2,751,5589,0.00,2.12,0.00,0.000,4,0.000,0.047,2130,3786,3911,0,0,0,0,0,0
$GC,5694,-0.89,-155.7,799.2,-11.6,756,5698,0.00,2.05,0.00,0.000,6,0.000,0.027,2130,2397,3909,0,0,0,0,0,0
$GC,6020,-0.89,-155.7,840.8,-13.1,772,6024,0.00,2.10,0.00,0.000,4,0.000,0.034,2131,996,3907,0,0,0,0,0,0
$GC,6115,-0.91,-155.7,853.7,-13.3,776,6119,0.00,2.15,0.00,0.000,6,0.000,0.037,2125,2406,3906,0,0,0,0,0,0
$GC,6431,-0.91,-155.7,898.5,-14.0,791,6432,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2406,3904,0,0,0,0,0,0
$GC,6741,-0.91,-155.7,941.6,-13.7,806,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2406,3901,0,0,0,0,0,0
$GC,7049,-0.91,-155.7,983.4,-12.9,821,7053,0.00,2.15,0.00,0.000,4,0.000,0.049,2115,3776,3899,0,0,0,0,0,0
$STATE,7102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7102,begin apogee
$GC,7110,-0.16,0.0,990.6,12.7,823,7235,0.80,0.00,118.38,1.139,6,0.126,0.000,2371,2004,3298,0,0,0,0,0,0
$STATE,7236,end apogee,CONTROL_FINISHED_OK
$STATE,7236,begin climb
$GC,7238,0.77,155.7,996.0,0.0,829,7375,0.82,2.35,127.82,1.101,4,0.055,0.042,2677,3410,2663,0,0,0,0,0,0
$GC,7528,0.61,155.7,968.0,18.5,841,7536,0.28,2.20,0.00,0.000,6,0.202,0.029,2622,1991,2654,0,0,0,0,0,0
$GC,7845,0.51,155.7,925.9,12.8,857,7849,0.12,2.25,0.00,0.000,4,0.201,0.042,2592,3411,2651,0,0,0,0,0,0
$GC,7888,0.42,155.7,919.9,13.3,859,7893,0.15,2.15,0.00,0.000,6,0.200,0.029,2567,1989,2651,0,0,0,0,0,0
$GC,8212,0.40,171.3,887.5,10.3,875,8234,0.00,2.22,12.15,1.046,4,0.000,0.040,2575,594,2599,0,0,0,0,0,0
$GC,8273,0.36,171.3,880.6,11.2,877,8281,0.12,2.17,0.00,0.000,6,0.172,0.032,2546,2017,2598,0,0,0,0,0,0
$GC,8590,0.39,207.9,851.3,9.3,893,8622,0.00,0.00,30.70,1.037,6,0.000,0.000,2546,2017,2452,0,0,0,0,0,0
$GC,8918,0.43,234.0,819.0,9.8,909,8942,0.00,0.00,22.55,1.008,6,0.000,0.000,2546,2017,2344,0,0,0,0,0,0
$GC,9247,0.48,275.6,788.0,9.0,925,9287,0.00,0.00,35.05,1.000,6,0.000,0.000,2546,2016,2173,0,0,0,0,0,0
$GC,9598,0.53,302.3,755.2,9.7,942,9628,0.15,2.28,22.38,0.975,4,0.086,0.043,2607,3403,2064,0,0,0,0,0,0
$GC,9650,0.50,302.3,747.8,14.8,944,9655,0.12,2.17,0.00,0.000,6,0.184,0.030,2589,1998,2061,0,0,0,0,0,0
$GC,9967,0.50,302.3,705.9,13.1,959,9971,0.00,2.15,0.00,0.000,4,0.000,0.041,2597,597,2058,0,0,0,0,0,0
$GC,9999,0.50,302.3,701.2,14.0,960,10006,0.00,2.17,0.00,0.000,6,0.000,0.031,2597,1995,2058,0,0,0,0,0,0
$GC,10316,0.48,302.3,658.8,13.3,976,10320,0.00,2.22,0.00,0.000,4,0.000,0.043,2597,3418,2055,0,0,0,0,0,0
$GC,10399,0.47,302.3,646.7,13.9,979,10407,0.12,2.15,0.00,0.000,6,0.174,0.030,2577,1998,2056,0,0,0,0,0,0
$GC,10715,0.48,302.3,609.4,12.1,995,10719,0.00,2.17,0.00,0.000,4,0.000,0.041,2586,592,2054,0,0,0,0,0,0
$GC,10743,0.49,302.3,605.9,12.5,996,10747,0.00,2.15,0.00,0.000,6,0.000,0.031,2586,2015,2055,0,0,0,0,0,0
$GC,11072,0.49,302.3,563.0,12.9,1025,11073,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2016,2052,0,0,0,0,0,0
$GC,11393,0.50,312.5,526.1,10.5,1055,11405,0.00,2.25,8.07,0.853,4,0.000,0.040,2596,596,2023,0,0,0,0,0,0
$GC,11441,0.55,338.6,521.1,9.8,1059,11468,0.00,2.12,22.10,0.843,6,0.000,0.031,2596,2004,1918,0,0,0,0,0,0
$GC,11786,0.59,367.5,487.1,9.6,1104,11816,0.00,2.28,24.23,0.824,4,0.000,0.041,2596,3402,1800,0,0,0,0,0,0
$GC,11851,0.61,372.6,480.7,10.8,1114,11865,0.00,2.20,5.55,0.618,6,0.000,0.030,2607,2003,1779,0,0,0,0,0,0
$GC,12193,0.61,372.6,436.7,13.5,1176,12201,0.00,2.20,0.00,0.000,4,0.000,0.041,2616,597,1774,0,0,0,0,0,0
$GC,12300,0.63,372.6,420.6,14.6,1195,12307,0.00,2.15,0.00,0.000,6,0.000,0.031,2618,2011,1773,0,0,0,0,0,0
$GC,12630,0.63,372.6,372.7,12.9,1256,12638,0.00,2.22,0.00,0.000,4,0.000,0.040,2630,590,1773,0,0,0,0,0,0
$GC,12656,0.63,372.6,369.3,13.1,1260,12664,0.00,2.17,0.00,0.000,6,0.000,0.030,2628,2005,1776,0,0,0,0,0,0
$GC,12985,0.63,372.6,329.2,11.1,1321,12993,0.00,2.17,0.00,0.000,4,0.000,0.041,2639,593,1773,0,0,0,0,0,0
$GC,13035,0.64,383.0,323.5,10.5,1329,13051,0.00,2.15,9.15,0.716,6,0.000,0.031,2638,2015,1736,0,0,0,0,0,0
$GC,13376,0.64,383.0,279.3,12.9,1391,13382,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2017,1735,0,0,0,0,0,0
$GC,13703,0.64,383.0,235.0,13.7,1452,13712,0.00,2.22,0.00,0.000,4,0.000,0.039,2649,584,1735,0,0,0,0,0,0
$GC,13800,0.64,383.0,223.2,11.7,1469,13808,0.00,2.15,0.00,0.000,6,0.000,0.031,2649,2012,1741,0,0,0,0,0,0
$GC,14137,0.64,383.0,183.0,12.3,1530,14145,0.00,2.20,0.00,0.000,4,0.000,0.039,2660,590,1735,0,0,0,0,0,0
$GC,14191,0.64,383.0,176.5,11.6,1539,14198,0.00,2.12,0.00,0.000,6,0.000,0.030,2659,2007,1735,0,0,0,0,0,0
$GC,14530,0.64,383.0,132.9,12.2,1600,14538,0.00,2.15,0.00,0.000,4,0.000,0.041,2660,3395,1736,0,0,0,0,0,0
$GC,14583,0.64,383.0,125.2,13.7,1609,14593,0.10,2.12,0.00,0.000,6,0.132,0.029,2637,1999,1736,0,0,0,0,0,0
$GC,14920,0.74,430.5,91.0,8.7,1670,14967,0.00,2.20,37.80,0.616,4,0.000,0.036,2646,586,1544,0,0,0,0,0,0
$GC,15059,0.90,494.9,79.7,7.9,1692,15116,0.15,2.17,49.97,0.602,6,0.044,0.030,2730,1997,1284,0,0,0,0,0,0
$GC,15444,0.90,494.9,31.2,12.6,1759,15452,0.00,2.22,0.00,0.000,4,0.000,0.039,2730,3406,1274,0,0,0,0,0,0
$GC,15460,0.90,494.9,28.9,12.6,1761,15469,0.00,2.17,0.00,0.000,6,0.000,0.028,2741,1988,1274,0,0,0,0,0,0
$STATE,15655,end climb,SURFACE_DEPTH_REACHED
$STATE,15655,begin surface coast
$FINISH,1.1,1.021742
$STATE,15680,end surface coast,CONTROL_FINISHED_OK
$STATE,15680,begin surface
$SM_CCo,15771,0.00,0.000,0,0,1271,496.98
$SM_GC,2.03,6.60,0.00,0.00,0.037,0.000,0.000,208,2404,1271,-6.85,0.11,496.98
$IRIDIUM_FIX,2340.34,12611.69,191010,131334
$TT8_MAMPS,0.027713
$HUMID,46.73
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.9,36.626
$10V_AH,9.9,47.479
$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,18.425,134.625,525.900,0.000,0.000,30.905,38.360,310.660,0.000,0.000,15.221,4433.357,6268.310,655.236,4557.186,453.431,0.000,2200.091,0.000,2840.428,0.000,0.543,0.000
$DEVICE_MAMPS,224.145,55.080,1139.085,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1228.378,2389.900,2354.192,0.000,0.000,0.000,2786.572,0.000,0.000,0.000
$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,127363,1800
$CAP_FILE_SIZE,186686,0
$CFSIZE,260165632,229650432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.010,  7.6,1
$GPS,191010,223300,2355.466,12609.595,36,1.2,42,-3.6