version: 66.08
glider: 183
mission: 3
dive: 69
start: 9 21 110 3 48 6
data:
$ID,183
$MISSION,3
$DIVE,69
$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,-7775.5244
$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,35
$R_STBD_OVSHOOT,22
$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
$GPS1,210910,034230,6700.614,-5721.642,38,1.1,38,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.3
$GPS2,210910,034732,6700.639,-5721.678,14,1.7,14,-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,150.5,24710,-17.5,-10.000
$D_GRID,786
$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,-146.0,0.0,0.0,0,101,0.00,0.00,-84.88,0.000,2,0.000,0.000,300,2772,3295,0,0,0,0,0,0
$GC,103,-0.57,-146.0,5.1,-12.6,14,124,8.32,1.98,-4.62,0.000,4,0.271,0.086,2277,3938,3522,0,0,0,0,0,0
$GC,219,-0.57,-146.0,33.4,-12.7,34,226,0.00,1.85,0.00,0.000,6,0.000,0.046,2277,2772,3524,0,0,0,0,0,0
$GC,562,-0.57,-146.0,73.3,-11.5,95,569,0.00,2.20,0.00,0.000,4,0.000,0.048,2276,1360,3526,0,0,0,0,0,0
$GC,620,-0.57,-146.0,79.8,-10.6,105,627,0.00,2.28,0.00,0.000,6,0.000,0.061,2275,2759,3526,0,0,0,0,0,0
$GC,957,-0.57,-146.0,117.9,-10.8,152,961,0.00,1.95,0.00,0.000,4,0.000,0.073,2269,3930,3527,0,0,0,0,0,0
$GC,991,-0.57,-146.0,121.8,-12.2,155,994,0.00,1.88,0.00,0.000,6,0.000,0.047,2268,2754,3527,0,0,0,0,0,0
$GC,1321,-0.57,-146.0,159.4,-11.5,186,1325,0.00,2.00,0.00,0.000,4,0.000,0.074,2262,3929,3526,0,0,0,0,0,0
$GC,1365,-0.57,-146.0,164.7,-11.9,190,1369,0.00,1.83,0.00,0.000,6,0.000,0.047,2262,2770,3526,0,0,0,0,0,0
$GC,1695,-0.57,-146.0,202.7,-11.6,221,1699,0.00,1.92,0.00,0.000,4,0.000,0.075,2258,3930,3524,0,0,0,0,0,0
$GC,1744,-0.57,-146.0,208.6,-12.0,225,1752,0.08,1.85,0.00,0.000,6,0.164,0.047,2281,2783,3525,0,0,0,0,0,0
$GC,2070,-0.57,-146.0,238.4,-8.5,256,2074,0.00,2.20,0.00,0.000,4,0.000,0.050,2282,1365,3523,0,0,0,0,0,0
$GC,2110,-0.57,-146.0,241.9,-8.7,259,2114,0.00,2.30,0.00,0.000,6,0.000,0.063,2278,2778,3523,0,0,0,0,0,0
$GC,2435,-0.57,-146.0,269.4,-8.5,289,2438,0.00,1.90,0.00,0.000,4,0.000,0.075,2271,3936,3524,0,0,0,0,0,0
$GC,2506,-0.57,-146.0,276.1,-9.1,295,2514,0.00,1.85,0.00,0.000,6,0.000,0.047,2271,2789,3523,0,0,0,0,0,0
$GC,2831,-0.57,-146.0,304.6,-8.7,326,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2789,3523,0,0,0,0,0,0
$GC,3151,-0.57,-146.0,333.0,-9.0,356,3155,0.00,1.92,0.00,0.000,4,0.000,0.076,2263,3926,3523,0,0,0,0,0,0
$GC,3185,-0.57,-146.0,336.3,-9.8,359,3188,0.00,1.80,0.00,0.000,6,0.000,0.048,2263,2788,3523,0,0,0,0,0,0
$GC,3515,-0.57,-146.0,367.0,-8.9,390,3518,0.00,1.90,0.00,0.000,4,0.000,0.075,2260,3926,3523,0,0,0,0,0,0
$GC,3541,-0.57,-146.0,369.4,-8.8,392,3550,0.08,1.83,0.00,0.000,6,0.162,0.048,2284,2793,3523,0,0,0,0,0,0
$GC,3867,-0.57,-146.0,396.0,-8.1,423,3871,0.00,2.20,0.00,0.000,4,0.000,0.050,2284,1368,3523,0,0,0,0,0,0
$GC,3895,-0.57,-146.0,398.4,-8.6,425,3899,0.00,2.30,0.00,0.000,6,0.000,0.063,2284,2797,3523,0,0,0,0,0,0
$GC,4225,-0.57,-146.0,424.7,-8.1,456,4229,0.00,1.88,0.00,0.000,4,0.000,0.074,2279,3932,3523,0,0,0,0,0,0
$GC,4304,-0.57,-146.0,431.6,-8.7,463,4308,0.00,1.77,0.00,0.000,6,0.000,0.048,2278,2808,3523,0,0,0,0,0,0
$GC,4635,-0.57,-146.0,459.1,-8.0,494,4639,0.00,2.22,0.00,0.000,4,0.000,0.049,2278,1368,3523,0,0,0,0,0,0
$GC,4674,-0.57,-146.0,462.4,-8.5,497,4681,0.00,2.35,0.00,0.000,6,0.000,0.062,2276,2814,3523,0,0,0,0,0,0
$GC,4999,-0.57,-146.0,488.7,-8.0,528,5002,0.00,1.83,0.00,0.000,4,0.000,0.073,2268,3934,3523,0,0,0,0,0,0
$GC,5033,-0.57,-146.0,491.7,-9.0,531,5036,0.00,1.77,0.00,0.000,6,0.000,0.047,2268,2797,3523,0,0,0,0,0,0
$GC,5364,-0.57,-146.0,518.5,-7.6,562,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2797,3523,0,0,0,0,0,0
$GC,5683,-0.57,-146.0,543.3,-7.5,592,5686,0.00,1.85,0.00,0.000,4,0.000,0.074,2262,3926,3523,0,0,0,0,0,0
$GC,5720,-0.57,-146.0,546.7,-8.7,595,5729,0.00,1.77,0.00,0.000,6,0.000,0.047,2262,2815,3523,0,0,0,0,0,0
$GC,6046,-0.57,-146.0,572.7,-8.0,626,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2814,3523,0,0,0,0,0,0
$GC,6366,-0.57,-146.0,598.7,-8.1,656,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2815,3523,0,0,0,0,0,0
$GC,6692,-0.57,-146.0,625.9,-8.3,668,6693,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2815,3523,0,0,0,0,0,0
$GC,6998,-0.57,-146.0,650.7,-8.2,678,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2815,3523,0,0,0,0,0,0
$GC,7305,-0.57,-146.0,675.8,-8.4,688,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2815,3523,0,0,0,0,0,0
$GC,7611,-0.57,-146.0,702.0,-8.6,698,7615,0.00,1.88,0.00,0.000,4,0.000,0.074,2258,3928,3523,0,0,0,0,0,0
$GC,7637,-0.57,-146.0,704.4,-9.2,698,7645,0.08,1.77,0.00,0.000,6,0.161,0.047,2283,2813,3523,0,0,0,0,0,0
$GC,7950,-0.57,-146.0,725.9,-6.7,709,7954,0.00,2.22,0.00,0.000,4,0.000,0.050,2283,1370,3523,0,0,0,0,0,0
$GC,7977,-0.57,-146.0,728.0,-7.1,709,7984,0.00,2.38,0.00,0.000,6,0.000,0.063,2283,2818,3523,0,0,0,0,0,0
$GC,8291,-0.57,-146.0,748.2,-6.6,720,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2818,3523,0,0,0,0,0,0
$GC,8596,-0.57,-146.0,768.7,-6.8,730,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2817,3523,0,0,0,0,0,0
$STATE,8870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8870,begin apogee
$GC,8874,-0.14,0.0,787.0,6.6,739,9001,0.43,0.00,121.75,1.102,4,0.145,0.000,2425,2594,2923,0,0,0,0,0,0
$STATE,9003,end apogee,CONTROL_FINISHED_OK
$STATE,9003,begin climb
$GC,9004,0.57,146.0,789.4,0.0,743,9140,0.70,2.38,126.50,1.081,4,0.086,0.050,2660,1191,2328,0,0,0,0,0,0
$GC,9285,0.57,146.0,761.1,12.7,751,9290,0.00,2.45,0.00,0.000,6,0.000,0.056,2660,2594,2319,0,0,0,0,0,0
$GC,9604,0.57,146.0,719.1,13.1,762,9608,0.00,2.30,0.00,0.000,4,0.000,0.053,2667,1188,2316,0,0,0,0,0,0
$GC,9825,0.57,146.0,691.1,13.1,768,9833,0.00,2.40,0.00,0.000,6,0.000,0.056,2668,2615,2315,0,0,0,0,0,0
$GC,10139,0.57,146.0,648.8,13.4,779,10143,0.00,2.20,0.00,0.000,4,0.000,0.068,2667,3927,2314,0,0,0,0,0,0
$GC,10173,0.57,146.0,643.4,16.1,780,10177,0.00,2.12,0.00,0.000,6,0.000,0.044,2676,2600,2313,0,0,0,0,0,0
$GC,10493,0.57,146.0,597.1,14.4,791,10497,0.00,2.22,0.00,0.000,4,0.000,0.068,2676,3927,2313,0,0,0,0,0,0
$GC,10524,0.57,146.0,591.7,16.8,793,10532,0.00,2.12,0.00,0.000,6,0.000,0.044,2684,2623,2312,0,0,0,0,0,0
$GC,10850,0.57,146.0,543.7,14.8,824,10854,0.00,2.20,0.00,0.000,4,0.000,0.068,2684,3937,2312,0,0,0,0,0,0
$GC,10875,0.57,146.0,539.3,15.6,826,10884,0.10,2.12,0.00,0.000,6,0.200,0.044,2665,2623,2312,0,0,0,0,0,0
$GC,11201,0.57,146.0,496.9,12.9,857,11205,0.00,2.20,0.00,0.000,4,0.000,0.068,2665,3935,2312,0,0,0,0,0,0
$GC,11235,0.57,146.0,492.2,14.5,860,11239,0.00,2.10,0.00,0.000,6,0.000,0.044,2670,2636,2311,0,0,0,0,0,0
$GC,11564,0.57,146.0,447.4,13.3,891,11565,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2635,2311,0,0,0,0,0,0
$GC,11883,0.57,146.0,404.3,13.6,921,11887,0.00,2.12,0.00,0.000,4,0.000,0.069,2670,3926,2311,0,0,0,0,0,0
$GC,11906,0.57,146.0,400.9,14.9,923,11910,0.00,2.05,0.00,0.000,6,0.000,0.045,2678,2622,2311,0,0,0,0,0,0
$GC,12235,0.57,146.0,354.4,13.8,954,12237,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2621,2311,0,0,0,0,0,0
$GC,12555,0.57,146.0,312.4,13.2,984,12556,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2621,2311,0,0,0,0,0,0
$GC,12875,0.57,146.0,271.8,12.4,1014,12876,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2621,2311,0,0,0,0,0,0
$GC,13193,0.57,146.0,232.3,12.1,1044,13194,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2621,2310,0,0,0,0,0,0
$GC,13511,0.57,146.0,191.1,13.4,1074,13514,0.00,2.15,0.00,0.000,4,0.000,0.069,2678,3933,2311,0,0,0,0,0,0
$GC,13537,0.57,146.0,187.0,14.6,1076,13545,0.00,2.10,0.00,0.000,6,0.000,0.044,2685,2622,2310,0,0,0,0,0,0
$GC,13862,0.57,146.0,145.6,11.5,1107,13864,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2622,2310,0,0,0,0,0,0
$GC,14182,0.57,146.0,110.6,10.6,1137,14185,0.00,2.15,0.00,0.000,4,0.000,0.070,2685,3933,2311,0,0,0,0,0,0
$GC,14218,0.57,146.0,106.1,11.6,1140,14227,0.10,2.08,0.00,0.000,6,0.197,0.044,2665,2631,2311,0,0,0,0,0,0
$GC,14557,0.59,178.5,75.5,8.5,1195,14590,0.00,2.17,25.08,0.679,4,0.000,0.068,2665,3930,2194,0,0,0,0,0,0
$GC,14646,0.59,178.5,67.4,10.9,1210,14653,0.00,2.08,0.00,0.000,6,0.000,0.045,2666,2638,2190,0,0,0,0,0,0
$GC,14987,0.59,184.5,36.6,9.7,1271,15002,0.00,2.20,5.45,0.605,4,0.000,0.070,2667,3919,2170,0,0,0,0,0,0
$GC,15148,0.61,208.2,22.3,8.9,1299,15174,0.00,2.00,20.88,0.667,6,0.000,0.046,2666,2666,2074,0,0,0,0,0,0
$GC,15509,0.67,306.6,4.9,5.5,1363,15547,0.00,0.00,35.55,0.653,2,0.000,0.000,2666,2667,1897,0,0,0,0,0,0
$STATE,15547,end climb,SURFACE_DEPTH_REACHED
$STATE,15548,begin surface coast
$FINISH,0.3,1.024717
$STATE,15610,end surface coast,CONTROL_FINISHED_OK
$STATE,15610,begin surface
$SM_CCo,15623,48.33,0.086,0,0,1496,350.04
$SM_GC,1.08,0.00,0.00,48.33,0.000,0.000,0.086,303,2776,1496,-6.79,-0.11,350.04
$RAFOS_CLK,835
$RAFOS,0,1285056065,8.033334,8.018056,50,45,44,42,42,40,1124,1299,914,1483,1731,240
$RAFOS,6,1285044549,4.833333,4.819167,103,48,46,46,44,37,747,1413,483,1373,1526,1652
$RAFOS,5,1285044063,4.700000,4.684166,151,52,48,43,43,40,601,602,1504,1197,1315,1553
$RAFOS,4,1285043588,4.566667,4.552222,85,48,42,41,39,38,800,154,800,1658,1868,601
$RAFOS,3,1285043107,4.433333,4.418611,86,48,44,44,43,42,913,573,490,604,787,1225
$RAFOS,2,1285042625,4.300000,4.284722,137,50,46,45,44,42,998,743,1135,1932,458,1838
$RAFOS,1,1285042143,4.166667,4.150833,75,51,43,42,42,38,1004,1871,1607,978,1521,167
$RAFOS,0,1285041662,4.033333,4.017222,97,49,42,41,40,40,1136,905,710,1160,1407,1576
$RAFOS_FIX,6701.173340,-5720.320312,210910,040453,7,105,0.58
$IRIDIUM_FIX,6636.54,-5730.46,200910,232310
$TT8_MAMPS,0.028462
$HUMID,51.37
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,15.20
$XPDR_PINGS,1
$24V_AH,23.0,12.028
$10V_AH,10.3,8.718
$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,16.300,112.100,335.200,48.325,0.000,31.257,19.942,134.598,0.250,0.000,17.052,3561.905,9307.449,512.488,2470.554,147.568,0.000,1705.549,0.000,2248.078,2880.000,0.536,0.000
$DEVICE_MAMPS,270.810,94.860,1102.365,86.445,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,971.146,1042.003,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151684
$DATA_FILE_SIZE,53274,1380
$CAP_FILE_SIZE,155693,0
$CFSIZE,260165632,246091776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.4
$CURRENT,0.122,114.1,1
$GPS,210910,081101,6659.523,-5714.931,39,1.1,39,-37.6