version: 66.08
glider: 183
mission: 3
dive: 36
start: 9 14 110 8 23 4
data:
$ID,183
$MISSION,3
$DIVE,36
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,50
$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,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51717
$NAV_MODE,0
$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,350
$N_FILEKB,8
$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,8
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7732.6748
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,311
$PITCH_MAX,3850
$C_PITCH,2475
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,330
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$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,2923
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00065
$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,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-62.615704
$PRESSURE_SLOPE,0.00012025224
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.89999998
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,117
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,64
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043469137
$SEABIRD_T_H,0.00062159239
$SEABIRD_T_I,2.0014088e-05
$SEABIRD_T_J,1.6690842e-06
$SEABIRD_C_G,-9.9685602
$SEABIRD_C_H,1.1354375
$SEABIRD_C_I,-0.0013495153
$SEABIRD_C_J,0.00019269099
$GPS1,140910,081755,6642.416,-6009.721,39,1.0,39,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-72.4
$GPS2,140910,082232,6642.420,-6009.672,12,1.1,12,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,113.3,150541,-17.5,-10.000
$D_GRID,575
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.57,-146.0,0.0,0.0,0,98,0.00,0.00,-81.10,0.000,2,0.000,0.000,302,2706,3238,0,0,0,0,0,0
$GC,99,-0.57,-146.0,5.5,-14.0,14,120,8.70,2.15,-5.35,0.000,4,0.278,0.085,2275,3931,3522,0,0,0,0,0,0
$GC,288,-0.57,-146.0,51.3,-14.1,47,295,0.00,2.03,0.00,0.000,6,0.000,0.049,2275,2695,3524,0,0,0,0,0,0
$GC,636,-0.57,-146.0,101.9,-14.2,108,640,0.00,2.12,0.00,0.000,4,0.000,0.077,2273,3930,3525,0,0,0,0,0,0
$GC,709,-0.57,-146.0,112.3,-14.2,114,713,0.00,1.98,0.00,0.000,6,0.000,0.050,2273,2702,3525,0,0,0,0,0,0
$GC,1038,-0.57,-146.0,151.2,-10.3,145,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2702,3525,0,0,0,0,0,0
$GC,1357,-0.57,-146.0,189.9,-13.2,175,1361,0.00,2.05,0.00,0.000,4,0.000,0.077,2266,3922,3525,0,0,0,0,0,0
$GC,1413,-0.57,-146.0,197.5,-13.6,180,1417,0.00,1.95,0.00,0.000,6,0.000,0.051,2266,2699,3524,0,0,0,0,0,0
$GC,1743,-0.57,-146.0,236.4,-11.3,211,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2698,3524,0,0,0,0,0,0
$GC,2062,-0.57,-146.0,271.3,-11.1,241,2065,0.00,2.05,0.00,0.000,4,0.000,0.079,2262,3922,3524,0,0,0,0,0,0
$GC,2139,-0.57,-146.0,280.0,-11.1,248,2144,0.10,1.98,0.00,0.000,6,0.196,0.051,2286,2696,3523,0,0,0,0,0,0
$GC,2469,-0.57,-146.0,309.3,-8.6,279,2473,0.00,2.22,0.00,0.000,4,0.000,0.055,2286,1294,3522,0,0,0,0,0,0
$GC,2512,-0.57,-146.0,313.3,-9.1,282,2519,0.00,2.33,0.00,0.000,6,0.000,0.067,2286,2691,3522,0,0,0,0,0,0
$GC,2837,-0.57,-146.0,340.6,-8.3,313,2841,0.00,2.05,0.00,0.000,4,0.000,0.077,2278,3929,3522,0,0,0,0,0,0
$GC,2964,-0.57,-146.0,352.3,-8.9,324,2972,0.00,1.98,0.00,0.000,6,0.000,0.050,2278,2706,3522,0,0,0,0,0,0
$GC,3290,-0.57,-146.0,380.6,-8.5,355,3294,0.00,2.05,0.00,0.000,4,0.000,0.078,2273,3928,3522,0,0,0,0,0,0
$GC,3339,-0.57,-146.0,385.3,-9.4,359,3346,0.00,2.00,0.00,0.000,6,0.000,0.050,2273,2691,3522,0,0,0,0,0,0
$GC,3664,-0.57,-146.0,411.7,-8.2,390,3668,0.00,2.08,0.00,0.000,4,0.000,0.077,2266,3938,3522,0,0,0,0,0,0
$GC,3742,-0.57,-146.0,418.6,-8.3,397,3746,0.00,1.95,0.00,0.000,6,0.000,0.050,2266,2700,3522,0,0,0,0,0,0
$GC,4072,-0.57,-146.0,447.1,-8.6,428,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2699,3522,0,0,0,0,0,0
$GC,4392,-0.57,-146.0,473.8,-8.3,458,4395,0.00,2.05,0.00,0.000,4,0.000,0.076,2261,3933,3522,0,0,0,0,0,0
$GC,4516,-0.57,-146.0,485.4,-9.3,469,4520,0.10,1.95,0.00,0.000,6,0.193,0.050,2286,2695,3522,0,0,0,0,0,0
$GC,4845,-0.57,-146.0,509.7,-7.7,500,4849,0.00,2.05,0.00,0.000,4,0.000,0.076,2281,3931,3523,0,0,0,0,0,0
$GC,4883,-0.57,-146.0,512.9,-8.7,503,4891,0.00,1.98,0.00,0.000,6,0.000,0.049,2280,2705,3523,0,0,0,0,0,0
$GC,5209,-0.57,-146.0,538.7,-8.2,534,5213,0.00,2.03,0.00,0.000,4,0.000,0.076,2274,3928,3523,0,0,0,0,0,0
$GC,5242,-0.57,-146.0,541.5,-8.4,537,5246,0.00,1.98,0.00,0.000,6,0.000,0.049,2274,2701,3523,0,0,0,0,0,0
$GC,5571,-0.57,-146.0,567.8,-7.7,568,5575,0.00,2.05,0.00,0.000,4,0.000,0.076,2267,3928,3523,0,0,0,0,0,0
$GC,5598,-0.57,-146.0,570.3,-8.2,570,5606,0.00,1.98,0.00,0.000,6,0.000,0.048,2267,2693,3523,0,0,0,0,0,0
$STATE,5656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5656,begin apogee
$GC,5660,-0.14,0.0,575.1,8.3,576,5785,0.47,0.00,120.12,0.975,6,0.152,0.000,2420,2544,2923,0,0,0,0,0,0
$STATE,5786,end apogee,CONTROL_FINISHED_OK
$STATE,5786,begin climb
$GC,5787,0.57,146.0,578.1,0.0,587,5920,0.70,2.50,124.47,0.944,4,0.106,0.054,2660,1146,2326,0,0,0,0,0,0
$GC,5969,0.57,146.0,563.1,12.1,603,5977,0.00,2.47,0.00,0.000,6,0.000,0.057,2660,2548,2321,0,0,0,0,0,0
$GC,6294,0.57,146.0,521.4,13.1,634,6298,0.00,2.40,0.00,0.000,4,0.000,0.070,2660,3934,2315,0,0,0,0,0,0
$GC,6337,0.57,146.0,514.7,15.7,637,6345,0.00,2.33,0.00,0.000,6,0.000,0.047,2671,2549,2315,0,0,0,0,0,0
$GC,6663,0.57,146.0,470.6,13.2,668,6667,0.00,2.35,0.00,0.000,4,0.000,0.070,2671,3927,2314,0,0,0,0,0,0
$GC,6696,0.57,146.0,465.6,15.7,671,6701,0.00,2.25,0.00,0.000,6,0.000,0.047,2681,2545,2313,0,0,0,0,0,0
$GC,7026,0.57,146.0,421.2,13.1,702,7030,0.00,2.38,0.00,0.000,4,0.000,0.071,2681,3938,2313,0,0,0,0,0,0
$GC,7068,0.57,146.0,414.6,15.1,705,7077,0.10,2.25,0.00,0.000,6,0.194,0.046,2663,2560,2312,0,0,0,0,0,0
$GC,7394,0.57,146.0,375.6,12.5,736,7398,0.00,2.33,0.00,0.000,4,0.000,0.071,2664,3932,2312,0,0,0,0,0,0
$GC,7472,0.57,146.0,364.4,14.7,743,7476,0.00,2.22,0.00,0.000,6,0.000,0.047,2672,2550,2312,0,0,0,0,0,0
$GC,7802,0.57,146.0,322.7,12.7,774,7806,0.00,2.33,0.00,0.000,4,0.000,0.071,2672,3928,2312,0,0,0,0,0,0
$GC,7829,0.57,146.0,318.9,15.1,776,7833,0.00,2.22,0.00,0.000,6,0.000,0.047,2683,2542,2311,0,0,0,0,0,0
$GC,8153,0.57,146.0,276.5,12.4,806,8154,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2541,2312,0,0,0,0,0,0
$GC,8472,0.57,146.0,239.7,11.4,836,8476,0.00,2.30,0.00,0.000,4,0.000,0.071,2683,3928,2311,0,0,0,0,0,0
$GC,8534,0.57,146.0,231.4,13.7,841,8539,0.12,2.20,0.00,0.000,6,0.217,0.047,2664,2549,2311,0,0,0,0,0,0
$GC,8858,0.57,152.9,198.0,9.7,871,8871,0.00,2.35,4.55,0.620,4,0.000,0.072,2665,3933,2299,0,0,0,0,0,0
$GC,8943,0.57,152.9,188.0,12.3,878,8950,0.00,2.22,0.00,0.000,6,0.000,0.047,2673,2551,2299,0,0,0,0,0,0
$GC,9268,0.57,152.9,153.9,10.4,909,9269,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2551,2298,0,0,0,0,0,0
$GC,9589,0.59,183.8,124.8,8.6,939,9623,0.00,2.35,26.62,0.712,4,0.000,0.072,2673,3927,2173,0,0,0,0,0,0
$GC,9751,0.60,194.5,108.8,9.5,953,9770,0.00,2.25,10.10,0.685,6,0.000,0.047,2683,2551,2128,0,0,0,0,0,0
$GC,10101,0.60,194.5,76.6,10.2,1006,10108,0.00,2.25,0.00,0.000,4,0.000,0.057,2693,1141,2124,0,0,0,0,0,0
$GC,10137,0.60,194.5,72.9,10.7,1012,10144,0.00,2.33,0.00,0.000,6,0.000,0.060,2692,2554,2124,0,0,0,0,0,0
$GC,10483,0.65,278.9,42.9,6.1,1073,10560,0.00,2.40,69.00,0.679,4,0.000,0.072,2692,3923,1785,0,0,0,0,0,0
$GC,10616,0.65,278.9,30.8,11.7,1096,10623,0.00,2.28,0.00,0.000,6,0.000,0.049,2698,2547,1779,0,0,0,0,0,0
$GC,10961,0.70,346.7,7.8,6.9,1157,11026,0.00,2.40,54.97,0.654,4,0.000,0.058,2699,1146,1507,0,0,0,0,0,0
$STATE,11036,end climb,SURFACE_DEPTH_REACHED
$STATE,11037,begin surface coast
$FINISH,-0.1,1.013543
$STATE,11082,end surface coast,CONTROL_FINISHED_OK
$STATE,11082,begin surface
$SM_CCo,11097,0.00,0.000,0,0,1496,350.04
$SM_GC,1.05,0.00,0.00,0.00,0.000,0.000,0.000,305,2704,1496,-6.78,0.08,350.04
$RAFOS_CLK,589
$RAFOS,6,1284454145,8.833333,8.818055,100,44,43,42,41,41,814,1388,26,493,268,1867
$RAFOS,5,1284453664,8.700000,8.684444,132,54,44,44,41,39,947,1674,611,682,1778,1276
$RAFOS,4,1284453186,8.566667,8.551666,47,45,45,44,43,43,661,1585,1780,1168,546,145
$RAFOS,3,1284452708,8.433333,8.418889,86,49,45,44,44,39,725,1474,836,1055,328,1546
$RAFOS_FIX,6643.126465,-6006.531738,140910,080832,3,106,2.46
$IRIDIUM_FIX,6614.97,-6001.83,140910,050522
$TT8_MAMPS,0.028462
$HUMID,51.02
$INTERNAL_PRESSURE,8.53396
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,23.2,8.442
$10V_AH,10.3,5.541
$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,17.125,105.300,409.850,0.000,0.000,28.709,39.087,103.875,0.000,0.000,15.046,2787.149,5875.964,500.758,2119.748,111.501,0.000,1531.289,0.000,1912.115,1440.000,0.535,0.000
$DEVICE_MAMPS,277.695,84.915,975.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,832.513,870.606,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151632
$DATA_FILE_SIZE,46705,1178
$CAP_FILE_SIZE,126089,0
$CFSIZE,260165632,248889344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.2
$GPS,140910,112931,6641.807,-6005.873,36,1.9,36,-38.0