version: 66.08
glider: 183
mission: 3
dive: 37
start: 9 14 110 11 35 8
data:
$ID,183
$MISSION,3
$DIVE,37
$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,-7734.0278
$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,2780
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,140910,112931,6641.807,-6005.873,36,1.9,36,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-71.2
$GPS2,140910,113436,6641.773,-6005.773,13,1.1,29,-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,112.6,148132,-17.5,-10.000
$D_GRID,592
$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,12,begin dive
$GC,14,-0.57,-146.0,0.0,0.0,0,97,0.00,0.00,-80.93,0.000,2,0.000,0.000,302,2704,3272,0,0,0,0,0,0
$GC,99,-0.57,-146.0,6.1,-18.6,14,119,8.82,2.15,-4.55,0.000,4,0.282,0.082,2276,3938,3523,0,0,0,0,0,0
$GC,350,-0.57,-146.0,64.8,-13.7,58,356,0.00,1.88,0.00,0.000,6,0.000,0.050,2276,2781,3526,0,0,0,0,0,0
$GC,690,-0.57,-146.0,109.0,-13.6,113,694,0.00,2.28,0.00,0.000,4,0.000,0.054,2276,1365,3525,0,0,0,0,0,0
$GC,722,-0.57,-146.0,113.6,-13.7,115,729,0.00,2.38,0.00,0.000,6,0.000,0.065,2274,2800,3526,0,0,0,0,0,0
$GC,1047,-0.57,-146.0,155.6,-12.1,146,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2799,3526,0,0,0,0,0,0
$GC,1366,-0.57,-146.0,194.2,-12.0,176,1370,0.00,2.28,0.00,0.000,4,0.000,0.054,2275,1368,3525,0,0,0,0,0,0
$GC,1394,-0.57,-146.0,197.8,-12.4,178,1398,0.00,2.38,0.00,0.000,6,0.000,0.067,2274,2808,3525,0,0,0,0,0,0
$GC,1718,-0.57,-146.0,234.5,-9.6,208,1722,0.00,1.90,0.00,0.000,4,0.000,0.077,2271,3939,3525,0,0,0,0,0,0
$GC,1779,-0.57,-146.0,240.6,-9.6,213,1786,0.00,1.85,0.00,0.000,6,0.000,0.050,2271,2805,3525,0,0,0,0,0,0
$GC,2106,-0.57,-146.0,267.5,-7.8,244,2110,0.00,2.25,0.00,0.000,4,0.000,0.054,2270,1371,3523,0,0,0,0,0,0
$GC,2179,-0.57,-146.0,273.9,-8.7,250,2183,0.00,2.35,0.00,0.000,6,0.000,0.067,2265,2797,3524,0,0,0,0,0,0
$GC,2509,-0.57,-146.0,305.3,-9.8,281,2512,0.00,1.88,0.00,0.000,4,0.000,0.078,2261,3929,3524,0,0,0,0,0,0
$GC,2542,-0.57,-146.0,308.8,-10.2,284,2546,0.10,1.80,0.00,0.000,6,0.197,0.050,2286,2793,3523,0,0,0,0,0,0
$GC,2872,-0.57,-146.0,337.0,-8.6,315,2875,0.00,2.22,0.00,0.000,4,0.000,0.054,2285,1372,3523,0,0,0,0,0,0
$GC,2943,-0.57,-146.0,343.5,-8.9,321,2951,0.00,2.35,0.00,0.000,6,0.000,0.066,2285,2784,3523,0,0,0,0,0,0
$GC,3268,-0.57,-146.0,372.0,-8.4,352,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2784,3523,0,0,0,0,0,0
$GC,3587,-0.57,-146.0,398.7,-8.1,382,3591,0.00,1.90,0.00,0.000,4,0.000,0.076,2278,3939,3523,0,0,0,0,0,0
$GC,3638,-0.57,-146.0,403.1,-8.6,386,3644,0.00,1.83,0.00,0.000,6,0.000,0.050,2278,2783,3523,0,0,0,0,0,0
$GC,3965,-0.57,-146.0,430.9,-8.4,417,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2782,3522,0,0,0,0,0,0
$GC,4281,-0.57,-146.0,456.0,-8.2,447,4285,0.00,2.22,0.00,0.000,4,0.000,0.054,2278,1365,3524,0,0,0,0,0,0
$GC,4309,-0.57,-146.0,458.5,-8.6,449,4313,0.00,2.33,0.00,0.000,6,0.000,0.065,2275,2789,3524,0,0,0,0,0,0
$GC,4639,-0.57,-146.0,485.8,-7.9,480,4643,0.00,2.22,0.00,0.000,4,0.000,0.053,2275,1366,3524,0,0,0,0,0,0
$GC,4667,-0.57,-146.0,488.1,-8.1,482,4671,0.00,2.30,0.00,0.000,6,0.000,0.065,2275,2784,3524,0,0,0,0,0,0
$GC,4996,-0.57,-146.0,512.9,-7.7,513,5000,0.00,1.88,0.00,0.000,4,0.000,0.076,2274,3928,3524,0,0,0,0,0,0
$GC,5030,-0.57,-146.0,515.4,-7.8,516,5034,0.00,1.80,0.00,0.000,6,0.000,0.049,2274,2779,3524,0,0,0,0,0,0
$GC,5361,-0.57,-146.0,539.9,-7.6,547,5364,0.00,2.20,0.00,0.000,4,0.000,0.053,2275,1371,3524,0,0,0,0,0,0
$GC,5406,-0.57,-146.0,543.3,-7.2,551,5410,0.00,2.28,0.00,0.000,6,0.000,0.065,2272,2781,3524,0,0,0,0,0,0
$GC,5730,-0.57,-146.0,567.4,-7.3,581,5734,0.00,1.88,0.00,0.000,4,0.000,0.076,2265,3930,3525,0,0,0,0,0,0
$GC,5756,-0.57,-146.0,569.4,-7.9,583,5764,0.00,1.85,0.00,0.000,6,0.000,0.048,2265,2778,3525,0,0,0,0,0,0
$STATE,6049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6050,begin apogee
$GC,6053,-0.14,0.0,592.8,8.2,611,6184,0.50,0.00,120.38,0.985,4,0.155,0.000,2424,2599,2923,0,0,0,0,0,0
$STATE,6184,end apogee,CONTROL_FINISHED_OK
$STATE,6185,begin climb
$GC,6186,0.57,146.0,595.1,0.0,623,6320,0.70,2.40,124.28,0.959,4,0.095,0.052,2654,1184,2327,0,0,0,0,0,0
$GC,6461,0.57,146.0,569.3,12.2,648,6465,0.00,2.42,0.00,0.000,6,0.000,0.058,2654,2607,2319,0,0,0,0,0,0
$GC,6785,0.57,146.0,528.4,12.5,678,6789,0.00,2.33,0.00,0.000,4,0.000,0.056,2665,1187,2315,0,0,0,0,0,0
$GC,7008,0.57,146.0,501.0,12.6,697,7016,0.00,2.40,0.00,0.000,6,0.000,0.059,2665,2612,2315,0,0,0,0,0,0
$GC,7334,0.57,146.0,459.7,12.8,728,7338,0.00,2.22,0.00,0.000,4,0.000,0.072,2665,3931,2313,0,0,0,0,0,0
$GC,7360,0.57,146.0,456.0,14.3,730,7368,0.00,2.20,0.00,0.000,6,0.000,0.047,2674,2592,2312,0,0,0,0,0,0
$GC,7686,0.57,146.0,413.4,13.1,761,7690,0.00,2.28,0.00,0.000,4,0.000,0.073,2674,3932,2312,0,0,0,0,0,0
$GC,7724,0.57,146.0,407.5,15.8,764,7731,0.00,2.12,0.00,0.000,6,0.000,0.047,2684,2614,2312,0,0,0,0,0,0
$GC,8048,0.57,146.0,363.0,14.0,795,8052,0.00,2.20,0.00,0.000,4,0.000,0.072,2684,3927,2312,0,0,0,0,0,0
$GC,8069,0.57,146.0,359.6,16.0,796,8077,0.10,2.12,0.00,0.000,6,0.195,0.047,2665,2617,2311,0,0,0,0,0,0
$GC,8395,0.57,146.0,318.9,12.5,827,8399,0.00,2.25,0.00,0.000,4,0.000,0.057,2674,1193,2311,0,0,0,0,0,0
$GC,8415,0.57,146.0,315.9,14.5,828,8423,0.00,2.35,0.00,0.000,6,0.000,0.059,2674,2616,2312,0,0,0,0,0,0
$GC,8741,0.57,146.0,275.1,12.1,859,8745,0.00,2.17,0.00,0.000,4,0.000,0.071,2674,3936,2312,0,0,0,0,0,0
$GC,8817,0.57,146.0,264.3,13.8,865,8825,0.00,2.12,0.00,0.000,6,0.000,0.047,2683,2622,2311,0,0,0,0,0,0
$GC,9143,0.57,146.0,225.1,11.5,896,9147,0.00,2.25,0.00,0.000,4,0.000,0.056,2694,1190,2311,0,0,0,0,0,0
$GC,9180,0.57,146.0,220.5,11.1,899,9188,0.10,2.35,0.00,0.000,6,0.177,0.060,2664,2621,2312,0,0,0,0,0,0
$GC,9505,0.57,146.0,186.4,10.7,930,9509,0.00,2.17,0.00,0.000,4,0.000,0.073,2664,3929,2312,0,0,0,0,0,0
$GC,9544,0.57,146.0,181.9,11.6,933,9547,0.00,2.10,0.00,0.000,6,0.000,0.047,2671,2610,2311,0,0,0,0,0,0
$GC,9874,0.59,183.5,152.7,8.3,964,9908,0.00,2.33,29.27,0.715,4,0.000,0.073,2671,3934,2174,0,0,0,0,0,0
$GC,9942,0.59,183.5,145.9,12.1,970,9946,0.00,2.12,0.00,0.000,6,0.000,0.047,2681,2625,2169,0,0,0,0,0,0
$GC,10271,0.59,183.5,112.1,10.2,1001,10275,0.00,2.20,0.00,0.000,4,0.000,0.073,2681,3933,2167,0,0,0,0,0,0
$GC,10314,0.59,183.5,106.9,12.4,1004,10322,0.00,2.10,0.00,0.000,6,0.000,0.047,2690,2650,2166,0,0,0,0,0,0
$GC,10654,0.59,183.5,71.2,10.2,1059,10660,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2649,2166,0,0,0,0,0,0
$GC,10997,0.63,236.6,42.5,7.6,1120,11050,0.00,2.45,43.35,0.672,4,0.000,0.058,2695,1187,1957,0,0,0,0,0,0
$GC,11102,0.65,278.3,34.4,8.1,1138,11143,0.00,2.42,35.08,0.666,6,0.000,0.061,2696,2647,1787,0,0,0,0,0,0
$GC,11480,0.68,322.8,3.9,7.9,1205,11499,0.00,0.00,16.90,0.649,2,0.000,0.000,2696,2647,1702,0,0,0,0,0,0
$STATE,11500,end climb,SURFACE_DEPTH_REACHED
$STATE,11500,begin surface coast
$FINISH,0.0,1.021970
$STATE,11540,end surface coast,CONTROL_FINISHED_OK
$STATE,11540,begin surface
$SM_CCo,11553,28.38,0.473,1,0,1495,350.04
$SM_GC,1.30,0.00,0.00,28.38,0.000,0.000,0.473,305,2787,1495,-6.78,0.20,350.04
$RAFOS_CLK,619
$RAFOS,6,1284468543,12.833333,12.817500,136,57,52,47,41,41,819,1724,721,1942,258,1403
$RAFOS,5,1284468069,12.700000,12.685833,73,46,44,39,39,39,906,703,1900,576,1451,915
$RAFOS,4,1284467587,12.566667,12.551945,45,44,43,40,39,37,1887,551,969,1587,962,1375
$RAFOS,3,1284467109,12.433333,12.419167,80,56,48,47,42,41,711,428,852,832,1607,594
$RAFOS,2,1284466627,12.300000,12.285277,107,50,44,44,43,42,599,1780,670,781,1397,25
$RAFOS,1,1284466147,12.166667,12.151944,55,43,42,39,39,38,395,347,1568,1858,1367,577
$RAFOS,0,1284465665,12.033333,12.018056,50,46,46,43,42,41,1619,401,846,1415,777,1582
$RAFOS_FIX,6641.992188,-6001.808594,140910,121212,4,99,0.81
$IRIDIUM_FIX,6614.97,-6001.83,140910,080820
$TT8_MAMPS,0.029211
$HUMID,50.07
$INTERNAL_PRESSURE,8.53396
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,23.2,8.548
$10V_AH,10.3,5.618
$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,17.025,109.200,369.250,28.375,0.000,28.809,41.525,109.054,0.000,0.000,32.003,2892.617,6198.000,508.610,2201.573,116.262,0.000,1561.520,0.000,1961.800,2520.000,0.536,0.000
$DEVICE_MAMPS,281.520,81.855,985.320,472.770,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,857.891,898.630,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46674,1215
$CAP_FILE_SIZE,132328,0
$CFSIZE,260165632,248815616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1454.4
$GPS,140910,144936,6642.134,-6002.091,23,1.0,23,-38.0