version: 66.08
glider: 183
mission: 3
dive: 65
start: 9 20 110 9 17 16
data:
$ID,183
$MISSION,3
$DIVE,65
$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,-3
$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,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,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,-7770.3032
$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,34
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2.5
$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
$GPS1,200910,091124,6656.295,-5737.335,23,1.6,40,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.0
$GPS2,200910,091643,6656.258,-5737.331,9,1.9,9,-37.6
$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,85.6,37749,-17.5,-10.000
$D_GRID,804
$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,-146.0,0.0,0.0,0,100,0.00,0.00,-83.47,0.000,2,0.000,0.000,295,2771,3319,0,0,0,0,0,0
$GC,102,-0.57,-146.0,5.7,-15.6,14,123,8.30,1.95,-4.03,0.000,4,0.269,0.080,2277,3925,3524,0,0,0,0,0,0
$GC,140,-0.57,-146.0,20.8,-30.6,20,147,0.00,1.85,0.00,0.000,6,0.000,0.044,2277,2771,3526,0,0,0,0,0,0
$GC,483,-0.57,-146.0,65.0,-12.0,81,490,0.00,2.20,0.00,0.000,4,0.000,0.049,2277,1360,3528,0,0,0,0,0,0
$GC,546,-0.57,-146.0,72.2,-11.6,92,553,0.00,2.35,0.00,0.000,6,0.000,0.060,2274,2793,3528,0,0,0,0,0,0
$GC,889,-0.57,-146.0,112.6,-11.6,144,893,0.00,1.88,0.00,0.000,4,0.000,0.071,2269,3935,3529,0,0,0,0,0,0
$GC,949,-0.57,-146.0,120.0,-12.1,149,957,0.00,1.80,0.00,0.000,6,0.000,0.046,2269,2812,3528,0,0,0,0,0,0
$GC,1275,-0.57,-146.0,158.1,-11.6,180,1279,0.00,2.25,0.00,0.000,4,0.000,0.050,2268,1367,3528,0,0,0,0,0,0
$GC,1326,-0.57,-146.0,163.9,-11.4,184,1330,0.00,2.33,0.00,0.000,6,0.000,0.062,2262,2797,3528,0,0,0,0,0,0
$GC,1655,-0.57,-146.0,202.1,-11.6,215,1659,0.00,2.25,0.00,0.000,4,0.000,0.050,2262,1359,3527,0,0,0,0,0,0
$GC,1705,-0.57,-146.0,207.5,-10.9,219,1710,0.10,2.33,0.00,0.000,6,0.204,0.063,2285,2781,3527,0,0,0,0,0,0
$GC,2030,-0.57,-146.0,236.7,-9.2,249,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2781,3525,0,0,0,0,0,0
$GC,2351,-0.57,-146.0,264.6,-8.9,279,2355,0.00,1.90,0.00,0.000,4,0.000,0.074,2279,3928,3525,0,0,0,0,0,0
$GC,2377,-0.57,-146.0,267.3,-9.3,281,2385,0.00,1.85,0.00,0.000,6,0.000,0.048,2278,2778,3525,0,0,0,0,0,0
$GC,2703,-0.57,-146.0,295.7,-8.4,312,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2778,3525,0,0,0,0,0,0
$GC,3022,-0.57,-146.0,322.5,-8.4,342,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2778,3525,0,0,0,0,0,0
$GC,3341,-0.57,-146.0,349.4,-8.2,372,3345,0.00,1.92,0.00,0.000,4,0.000,0.075,2272,3931,3524,0,0,0,0,0,0
$GC,3375,-0.57,-146.0,352.4,-9.3,375,3379,0.00,1.83,0.00,0.000,6,0.000,0.049,2272,2767,3524,0,0,0,0,0,0
$GC,3705,-0.57,-146.0,381.5,-9.7,406,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2766,3524,0,0,0,0,0,0
$GC,4025,-0.57,-146.0,408.8,-8.0,436,4029,0.00,1.95,0.00,0.000,4,0.000,0.076,2265,3931,3524,0,0,0,0,0,0
$GC,4048,-0.57,-146.0,411.0,-9.7,438,4052,0.00,1.80,0.00,0.000,6,0.000,0.049,2264,2783,3524,0,0,0,0,0,0
$GC,4378,-0.57,-146.0,440.6,-8.7,469,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2783,3524,0,0,0,0,0,0
$GC,4697,-0.57,-146.0,467.6,-8.5,499,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2783,3524,0,0,0,0,0,0
$GC,5017,-0.57,-146.0,493.7,-7.9,529,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2783,3524,0,0,0,0,0,0
$GC,5335,-0.57,-146.0,520.8,-8.8,559,5339,0.00,2.17,0.00,0.000,4,0.000,0.052,2264,1371,3524,0,0,0,0,0,0
$GC,5364,-0.57,-146.0,523.5,-8.8,561,5368,0.00,2.30,0.00,0.000,6,0.000,0.064,2262,2786,3524,0,0,0,0,0,0
$GC,5689,-0.57,-146.0,554.0,-9.6,591,5690,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2786,3524,0,0,0,0,0,0
$GC,6008,-0.57,-146.0,583.6,-9.6,621,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2786,3524,0,0,0,0,0,0
$GC,6342,-0.57,-146.0,614.7,-9.5,643,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2785,3524,0,0,0,0,0,0
$GC,6647,-0.57,-146.0,642.6,-9.0,653,6651,0.00,2.20,0.00,0.000,4,0.000,0.051,2262,1368,3524,0,0,0,0,0,0
$GC,6691,-0.57,-146.0,646.8,-9.8,654,6696,0.08,2.30,0.00,0.000,6,0.161,0.063,2302,2771,3524,0,0,0,0,0,0
$GC,7014,-0.57,-146.0,668.7,-6.5,665,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2771,3524,0,0,0,0,0,0
$GC,7321,-0.57,-146.0,688.3,-6.3,675,7322,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2771,3524,0,0,0,0,0,0
$GC,7627,-0.57,-146.0,706.3,-5.6,685,7631,0.00,2.17,0.00,0.000,4,0.000,0.050,2302,1365,3524,0,0,0,0,0,0
$GC,7648,-0.57,-146.0,707.7,-6.2,685,7656,0.00,2.30,0.00,0.000,6,0.000,0.063,2302,2773,3524,0,0,0,0,0,0
$GC,7962,-0.57,-146.0,726.2,-5.9,696,7963,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2773,3524,0,0,0,0,0,0
$GC,8268,-0.57,-146.0,743.5,-5.6,706,8272,0.00,2.17,0.00,0.000,4,0.000,0.050,2302,1367,3524,0,0,0,0,0,0
$GC,8296,-0.57,-146.0,745.4,-6.0,707,8300,0.00,2.25,0.00,0.000,6,0.000,0.063,2302,2771,3524,0,0,0,0,0,0
$GC,8630,-0.57,-146.0,764.9,-5.8,718,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2771,3524,0,0,0,0,0,0
$GC,8937,-0.57,-146.0,783.2,-6.1,728,8938,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2771,3524,0,0,0,0,0,0
$GC,9242,-0.57,-146.0,800.8,-5.6,738,9246,0.00,2.20,0.00,0.000,4,0.000,0.051,2302,1364,3524,0,0,0,0,0,0
$GC,9263,-0.57,-146.0,802.2,-6.0,738,9271,0.00,2.28,0.00,0.000,6,0.000,0.062,2302,2758,3523,0,0,0,0,0,0
$STATE,9299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9299,begin apogee
$GC,9304,-0.14,0.0,804.2,5.8,740,9430,0.35,0.00,122.07,1.107,4,0.139,0.000,2421,2597,2922,0,0,0,0,0,0
$STATE,9431,end apogee,CONTROL_FINISHED_OK
$STATE,9432,begin climb
$GC,9433,0.57,146.0,807.5,0.0,744,9569,0.70,2.40,127.00,1.092,4,0.087,0.051,2655,1186,2326,0,0,0,0,0,0
$GC,9708,0.57,146.0,782.3,11.9,752,9713,0.00,2.47,0.00,0.000,6,0.000,0.057,2656,2601,2317,0,0,0,0,0,0
$GC,10033,0.57,146.0,741.9,12.6,763,10037,0.00,2.33,0.00,0.000,4,0.000,0.054,2664,1192,2313,0,0,0,0,0,0
$GC,10266,0.57,146.0,712.2,12.7,770,10271,0.00,2.40,0.00,0.000,6,0.000,0.058,2663,2614,2313,0,0,0,0,0,0
$GC,10602,0.57,146.0,667.8,13.2,781,10606,0.00,2.20,0.00,0.000,4,0.000,0.070,2663,3926,2311,0,0,0,0,0,0
$GC,10645,0.57,146.0,661.0,16.1,782,10650,0.00,2.15,0.00,0.000,6,0.000,0.044,2672,2614,2309,0,0,0,0,0,0
$GC,10970,0.57,146.0,614.8,14.1,793,10974,0.00,2.20,0.00,0.000,4,0.000,0.070,2672,3928,2310,0,0,0,0,0,0
$GC,10991,0.57,146.0,611.2,15.9,793,10999,0.00,2.15,0.00,0.000,6,0.000,0.044,2682,2601,2309,0,0,0,0,0,0
$GC,11313,0.57,146.0,564.0,14.6,818,11314,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2601,2309,0,0,0,0,0,0
$GC,11632,0.57,146.0,519.0,14.0,848,11636,0.00,2.20,0.00,0.000,4,0.000,0.070,2682,3925,2309,0,0,0,0,0,0
$GC,11702,0.57,146.0,507.0,16.4,854,11710,0.10,2.10,0.00,0.000,6,0.196,0.044,2663,2622,2308,0,0,0,0,0,0
$GC,12028,0.57,146.0,464.1,13.0,885,12029,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2622,2309,0,0,0,0,0,0
$GC,12346,0.57,146.0,422.0,13.1,915,12350,0.00,2.15,0.00,0.000,4,0.000,0.070,2662,3927,2308,0,0,0,0,0,0
$GC,12410,0.57,146.0,411.8,16.6,920,12419,0.00,2.10,0.00,0.000,6,0.000,0.045,2668,2618,2308,0,0,0,0,0,0
$GC,12736,0.57,146.0,367.6,13.9,951,12740,0.00,2.17,0.00,0.000,4,0.000,0.070,2668,3937,2308,0,0,0,0,0,0
$GC,12764,0.57,146.0,363.4,15.8,953,12768,0.00,2.05,0.00,0.000,6,0.000,0.045,2677,2628,2308,0,0,0,0,0,0
$GC,13090,0.57,146.0,317.1,14.3,983,13093,0.00,2.17,0.00,0.000,4,0.000,0.070,2677,3930,2308,0,0,0,0,0,0
$GC,13112,0.57,146.0,313.6,14.6,985,13116,0.00,2.05,0.00,0.000,6,0.000,0.044,2684,2622,2308,0,0,0,0,0,0
$GC,13442,0.57,146.0,265.5,14.0,1016,13443,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2621,2308,0,0,0,0,0,0
$GC,13762,0.57,146.0,220.2,14.0,1046,13763,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2621,2308,0,0,0,0,0,0
$GC,14082,0.57,146.0,177.4,12.6,1076,14083,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2621,2308,0,0,0,0,0,0
$GC,14399,0.57,146.0,140.4,10.5,1106,14403,0.00,2.15,0.00,0.000,4,0.000,0.070,2685,3932,2308,0,0,0,0,0,0
$GC,14419,0.57,146.0,137.6,11.7,1107,14428,0.10,2.10,0.00,0.000,6,0.194,0.045,2665,2618,2308,0,0,0,0,0,0
$GC,14745,0.58,162.3,107.5,9.2,1138,14761,0.00,2.25,10.90,0.689,4,0.000,0.053,2667,1188,2263,0,0,0,0,0,0
$GC,14784,0.60,198.8,104.0,8.3,1141,14821,0.00,2.33,31.38,0.686,6,0.000,0.058,2666,2629,2112,0,0,0,0,0,0
$GC,15156,0.60,198.8,64.8,10.9,1204,15164,0.00,2.15,0.00,0.000,4,0.000,0.070,2666,3925,2103,0,0,0,0,0,0
$GC,15197,0.60,198.8,59.8,12.3,1211,15204,0.00,2.10,0.00,0.000,6,0.000,0.047,2667,2605,2103,0,0,0,0,0,0
$GC,15540,0.63,233.8,27.4,8.4,1272,15578,0.00,2.30,28.67,0.662,4,0.000,0.071,2667,3922,1967,0,0,0,0,0,0
$GC,15669,0.64,250.9,16.4,9.2,1294,15689,0.00,2.10,14.73,0.653,6,0.000,0.046,2667,2615,1900,0,0,0,0,0,0
$STATE,15889,end climb,SURFACE_DEPTH_REACHED
$STATE,15889,begin surface coast
$FINISH,0.5,1.024874
$STATE,15935,end surface coast,CONTROL_FINISHED_OK
$STATE,15935,begin surface
$SM_CCo,15948,50.20,0.087,0,0,1495,350.04
$SM_GC,1.10,0.00,0.00,50.20,0.000,0.000,0.087,305,2783,1495,-6.78,0.08,350.04
$RAFOS_CLK,853
$RAFOS,6,1284986950,12.833333,12.819445,96,53,48,42,41,38,703,1322,1064,1684,790,1448
$RAFOS,5,1284986464,12.700000,12.684444,110,51,50,42,38,38,536,1331,537,154,815,1375
$RAFOS,4,1284985986,12.566667,12.551666,119,48,44,44,41,39,759,1252,525,1658,1226,26
$RAFOS,3,1284985505,12.433333,12.418056,106,46,44,44,43,42,886,1924,591,1606,1247,1684
$RAFOS,2,1284985021,12.300000,12.283611,79,49,43,43,40,40,970,442,1448,1396,464,761
$RAFOS,1,1284984561,12.166667,12.155833,114,51,49,45,43,43,849,1550,981,1142,567,1000
$RAFOS,0,1284984083,12.033333,12.023056,58,52,43,43,41,40,955,420,242,1299,1874,26
$RAFOS_FIX,-200.000000,-200.000000,030811,000017,7,105,0.36
$IRIDIUM_FIX,6631.12,-5739.31,200910,040406
$TT8_MAMPS,0.029211
$HUMID,51.45
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,23.0,11.609
$10V_AH,10.2,8.356
$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,16.175,108.075,334.750,50.200,0.000,22.696,57.105,132.147,0.000,0.000,12.987,3458.869,9798.953,500.380,2448.250,135.396,0.000,1668.860,0.000,2204.720,2520.000,0.535,0.000
$DEVICE_MAMPS,268.515,79.560,1106.955,87.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,946.075,1008.074,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151712
$DATA_FILE_SIZE,53254,1341
$CAP_FILE_SIZE,153121,0
$CFSIZE,260165632,246415360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.7
$CURRENT,0.101,317.6,1
$GPS,200910,134545,6658.270,-5735.600,36,1.3,45,-37.7