version: 66.08
glider: 183
mission: 3
dive: 71
start: 9 21 110 12 36 49
data:
$ID,183
$MISSION,3
$DIVE,71
$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,-7778.1343
$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,36
$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
$GPS1,210910,123101,6701.341,-5711.317,38,1.3,38,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-72.9
$GPS2,210910,123616,6701.354,-5711.309,10,2.4,29,-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,134.7,17106,-17.5,-10.000
$D_GRID,740
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.57,-146.0,0.0,0.0,0,106,0.00,0.00,-89.53,0.000,2,0.000,0.000,304,2786,3360,0,0,0,0,0,0
$GC,108,-0.57,-146.0,5.9,-16.6,15,129,8.50,1.92,-3.10,0.000,4,0.271,0.079,2279,3938,3522,0,0,0,0,0,0
$GC,214,-0.57,-146.0,38.0,-14.6,33,222,0.00,1.85,0.00,0.000,6,0.000,0.044,2279,2781,3524,0,0,0,0,0,0
$GC,558,-0.57,-146.0,80.1,-12.0,94,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2781,3526,0,0,0,0,0,0
$GC,893,-0.57,-146.0,115.9,-10.1,141,896,0.00,1.92,0.00,0.000,4,0.000,0.071,2273,3926,3526,0,0,0,0,0,0
$GC,919,-0.57,-146.0,118.9,-10.9,143,927,0.00,1.88,0.00,0.000,6,0.000,0.044,2273,2770,3526,0,0,0,0,0,0
$GC,1245,-0.57,-146.0,152.6,-10.2,174,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2770,3525,0,0,0,0,0,0
$GC,1566,-0.57,-146.0,185.7,-9.7,204,1569,0.00,1.92,0.00,0.000,4,0.000,0.070,2266,3934,3524,0,0,0,0,0,0
$GC,1600,-0.57,-146.0,189.3,-10.6,207,1603,0.00,1.83,0.00,0.000,6,0.000,0.046,2266,2773,3524,0,0,0,0,0,0
$GC,1930,-0.57,-146.0,222.4,-10.7,238,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2773,3524,0,0,0,0,0,0
$GC,2248,-0.57,-146.0,253.3,-10.1,268,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2773,3524,0,0,0,0,0,0
$GC,2568,-0.57,-146.0,284.5,-9.7,298,2572,0.00,1.92,0.00,0.000,4,0.000,0.071,2262,3929,3523,0,0,0,0,0,0
$GC,2673,-0.57,-146.0,295.4,-10.0,307,2681,0.00,1.85,0.00,0.000,6,0.000,0.044,2262,2772,3523,0,0,0,0,0,0
$GC,2999,-0.57,-146.0,326.6,-9.3,338,3001,0.10,0.00,0.00,0.000,6,0.190,0.000,2286,2771,3523,0,0,0,0,0,0
$GC,3318,-0.57,-146.0,352.0,-7.9,368,3322,0.00,1.90,0.00,0.000,4,0.000,0.070,2280,3931,3523,0,0,0,0,0,0
$GC,3355,-0.57,-146.0,355.4,-8.9,371,3363,0.00,1.85,0.00,0.000,6,0.000,0.044,2280,2773,3523,0,0,0,0,0,0
$GC,3681,-0.57,-146.0,381.0,-7.8,402,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2774,3523,0,0,0,0,0,0
$GC,4002,-0.57,-146.0,406.5,-7.8,432,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2774,3523,0,0,0,0,0,0
$GC,4319,-0.57,-146.0,432.1,-7.9,462,4323,0.00,1.90,0.00,0.000,4,0.000,0.071,2273,3933,3523,0,0,0,0,0,0
$GC,4347,-0.57,-146.0,434.7,-8.6,464,4354,0.00,1.80,0.00,0.000,6,0.000,0.045,2273,2776,3523,0,0,0,0,0,0
$GC,4671,-0.57,-146.0,462.5,-8.7,495,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2776,3523,0,0,0,0,0,0
$GC,4991,-0.57,-146.0,488.6,-7.6,525,4995,0.00,1.90,0.00,0.000,4,0.000,0.071,2266,3937,3523,0,0,0,0,0,0
$GC,5017,-0.57,-146.0,491.0,-8.1,527,5025,0.00,1.83,0.00,0.000,6,0.000,0.044,2266,2792,3523,0,0,0,0,0,0
$GC,5345,-0.57,-146.0,518.0,-8.2,558,5346,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2791,3523,0,0,0,0,0,0
$GC,5661,-0.57,-146.0,543.9,-7.9,588,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2791,3523,0,0,0,0,0,0
$GC,5981,-0.57,-146.0,569.4,-8.0,618,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2791,3523,0,0,0,0,0,0
$GC,6299,-0.57,-146.0,595.0,-8.1,648,6300,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2792,3523,0,0,0,0,0,0
$GC,6608,-0.57,-146.0,618.3,-7.4,662,6611,0.00,1.88,0.00,0.000,4,0.000,0.073,2261,3936,3523,0,0,0,0,0,0
$GC,6645,-0.57,-146.0,621.5,-7.9,663,6650,0.00,1.83,0.00,0.000,6,0.000,0.044,2261,2789,3523,0,0,0,0,0,0
$GC,6982,-0.57,-146.0,649.4,-8.4,674,6984,0.10,0.00,0.00,0.000,6,0.190,0.000,2286,2789,3523,0,0,0,0,0,0
$GC,7287,-0.57,-146.0,669.9,-6.7,684,7288,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2789,3523,0,0,0,0,0,0
$GC,7594,-0.57,-146.0,691.2,-6.9,694,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2788,3522,0,0,0,0,0,0
$GC,7900,-0.57,-146.0,712.2,-6.8,704,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2789,3523,0,0,0,0,0,0
$GC,8206,-0.57,-146.0,732.7,-6.7,714,8207,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2789,3522,0,0,0,0,0,0
$STATE,8327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8327,begin apogee
$GC,8331,-0.14,0.0,740.6,6.5,718,8458,0.40,0.00,121.07,1.076,4,0.143,0.000,2422,2600,2922,0,0,0,0,0,0
$STATE,8459,end apogee,CONTROL_FINISHED_OK
$STATE,8459,begin climb
$GC,8460,0.57,146.0,743.3,0.0,722,8596,0.70,2.38,125.90,1.048,4,0.087,0.048,2656,1188,2326,0,0,0,0,0,0
$GC,8746,0.57,146.0,716.4,12.4,730,8754,0.00,2.42,0.00,0.000,6,0.000,0.052,2656,2592,2317,0,0,0,0,0,0
$GC,9059,0.57,146.0,676.4,12.9,741,9063,0.00,2.28,0.00,0.000,4,0.000,0.050,2665,1192,2314,0,0,0,0,0,0
$GC,9295,0.57,146.0,647.0,12.7,748,9299,0.00,2.33,0.00,0.000,6,0.000,0.054,2664,2617,2313,0,0,0,0,0,0
$GC,9629,0.57,146.0,602.5,13.5,759,9633,0.00,2.17,0.00,0.000,4,0.000,0.065,2665,3933,2311,0,0,0,0,0,0
$GC,9671,0.57,146.0,595.9,15.9,761,9680,0.00,2.15,0.00,0.000,6,0.000,0.043,2672,2608,2310,0,0,0,0,0,0
$GC,9997,0.57,146.0,551.4,13.8,792,10001,0.00,2.17,0.00,0.000,4,0.000,0.066,2671,3924,2310,0,0,0,0,0,0
$GC,10028,0.57,146.0,546.4,15.6,794,10036,0.00,2.10,0.00,0.000,6,0.000,0.043,2680,2622,2309,0,0,0,0,0,0
$GC,10353,0.57,146.0,500.8,13.7,825,10355,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2622,2309,0,0,0,0,0,0
$GC,10675,0.57,146.0,456.6,14.2,855,10679,0.00,2.17,0.00,0.000,4,0.000,0.067,2680,3930,2309,0,0,0,0,0,0
$GC,10702,0.57,146.0,451.9,16.3,857,10707,0.12,2.08,0.00,0.000,6,0.221,0.044,2661,2612,2309,0,0,0,0,0,0
$GC,11032,0.57,146.0,411.1,12.9,888,11036,0.00,2.17,0.00,0.000,4,0.000,0.067,2660,3925,2309,0,0,0,0,0,0
$GC,11062,0.57,146.0,406.5,15.1,890,11071,0.00,2.08,0.00,0.000,6,0.000,0.043,2666,2632,2308,0,0,0,0,0,0
$GC,11388,0.57,146.0,364.7,13.0,921,11389,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2632,2308,0,0,0,0,0,0
$GC,11707,0.57,146.0,323.4,12.7,951,11708,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2632,2308,0,0,0,0,0,0
$GC,12028,0.57,146.0,282.3,12.9,981,12032,0.00,2.28,0.00,0.000,4,0.000,0.052,2669,1181,2308,0,0,0,0,0,0
$GC,12055,0.57,146.0,278.6,12.3,983,12059,0.00,2.33,0.00,0.000,6,0.000,0.054,2669,2636,2308,0,0,0,0,0,0
$GC,12385,0.57,146.0,235.4,12.8,1014,12389,0.00,2.10,0.00,0.000,4,0.000,0.066,2669,3930,2308,0,0,0,0,0,0
$GC,12418,0.57,146.0,230.6,14.6,1017,12422,0.00,2.03,0.00,0.000,6,0.000,0.042,2677,2625,2307,0,0,0,0,0,0
$GC,12748,0.57,146.0,188.3,12.6,1048,12752,0.00,2.12,0.00,0.000,4,0.000,0.066,2677,3932,2308,0,0,0,0,0,0
$GC,12797,0.57,146.0,181.0,14.1,1052,12801,0.00,2.00,0.00,0.000,6,0.000,0.042,2684,2641,2307,0,0,0,0,0,0
$GC,13129,0.57,146.0,139.7,12.0,1083,13132,0.00,2.10,0.00,0.000,4,0.000,0.065,2685,3934,2308,0,0,0,0,0,0
$GC,13144,0.57,146.0,137.3,12.8,1084,13152,0.10,2.05,0.00,0.000,6,0.194,0.041,2665,2644,2308,0,0,0,0,0,0
$GC,13470,0.58,159.4,103.7,9.4,1115,13485,0.00,2.15,9.00,0.654,4,0.000,0.065,2665,3919,2273,0,0,0,0,0,0
$GC,13519,0.58,159.4,98.4,11.4,1120,13525,0.00,2.00,0.00,0.000,6,0.000,0.042,2667,2648,2271,0,0,0,0,0,0
$GC,13861,0.58,159.4,63.9,10.4,1181,13868,0.00,2.28,0.00,0.000,4,0.000,0.050,2667,1193,2272,0,0,0,0,0,0
$GC,13963,0.61,204.4,55.0,7.9,1199,14006,0.00,2.30,37.55,0.652,6,0.000,0.054,2667,2634,2088,0,0,0,0,0,0
$GC,14342,0.64,250.2,21.3,7.9,1266,14384,0.00,2.25,37.30,0.641,4,0.000,0.066,2667,3923,1902,0,0,0,0,0,0
$GC,14419,0.68,315.4,15.8,7.0,1279,14479,0.00,2.05,53.17,0.624,6,0.000,0.042,2667,2648,1637,0,0,0,0,0,0
$STATE,14651,end climb,SURFACE_DEPTH_REACHED
$STATE,14651,begin surface coast
$FINISH,0.2,1.012644
$STATE,14701,end surface coast,CONTROL_FINISHED_OK
$STATE,14701,begin surface
$SM_CCo,14714,20.45,0.382,1,0,1494,350.04
$SM_GC,1.54,0.00,0.00,20.45,0.000,0.000,0.382,303,2779,1494,-6.79,-0.03,350.04
$RAFOS_CLK,775
$RAFOS,4,1285086783,16.566668,16.550833,106,48,46,44,43,39,855,1505,974,1509,604,1902
$RAFOS,3,1285086305,16.433332,16.418056,76,47,46,46,41,41,951,154,431,1361,1158,1510
$RAFOS,2,1285085822,16.299999,16.283890,75,58,44,43,42,40,1042,1051,579,530,1562,1720
$RAFOS,1,1285085345,16.166666,16.151388,73,44,43,41,41,39,1023,144,689,251,834,1222
$RAFOS,0,1285084865,16.033333,16.018055,71,51,48,42,41,40,1148,1854,877,1773,26,696
$RAFOS,6,1285073346,12.833333,12.818334,94,48,44,43,40,40,782,518,1161,1235,1454,489
$RAFOS,5,1285072863,12.700000,12.684167,122,51,44,44,42,39,620,1563,835,1400,999,1783
$RAFOS,3,1285071906,12.433333,12.418333,45,43,43,42,41,40,936,511,777,957,1549,1190
$RAFOS_FIX,6702.867676,-5713.564941,210910,121214,5,99,0.00
$IRIDIUM_FIX,6631.12,-5649.11,210910,080839
$TT8_MAMPS,0.030709
$HUMID,49.37
$INTERNAL_PRESSURE,8.59255
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,23.1,12.259
$10V_AH,10.2,8.890
$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,16.575,87.000,384.000,20.450,0.000,28.193,40.709,121.323,0.000,0.000,33.692,3384.153,8674.922,510.342,2385.530,144.141,0.000,1647.680,0.000,2150.465,2880.000,0.535,0.000
$DEVICE_MAMPS,270.810,82.620,1075.590,381.735,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,936.804,996.382,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151708
$DATA_FILE_SIZE,53302,1329
$CAP_FILE_SIZE,144133,0
$CFSIZE,260165632,245948416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.8
$CURRENT,0.088,309.4,1
$GPS,210910,164424,6701.506,-5708.240,36,1.3,36,-37.6