version: 66.08
glider: 183
mission: 3
dive: 72
start: 9 21 110 16 49 35
data:
$ID,183
$MISSION,3
$DIVE,72
$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,-7779.4858
$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,37
$R_STBD_OVSHOOT,23
$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
$GPS1,210910,164424,6701.506,-5708.240,36,1.3,36,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-72.9
$GPS2,210910,164901,6701.521,-5708.313,10,1.5,15,-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,132.1,14923,-17.5,-10.000
$D_GRID,728
$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,-84.45,0.000,2,0.000,0.000,302,2779,3402,0,0,0,0,0,0
$GC,103,-0.57,-146.0,6.6,-18.1,14,123,8.52,1.95,-2.22,0.000,4,0.272,0.078,2276,3929,3523,0,0,0,0,0,0
$GC,192,-0.57,-146.0,33.6,-13.3,29,199,0.00,1.88,0.00,0.000,6,0.000,0.044,2275,2783,3524,0,0,0,0,0,0
$GC,534,-0.57,-146.0,76.3,-11.4,90,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2783,3526,0,0,0,0,0,0
$GC,870,-0.57,-146.0,113.4,-11.0,140,874,0.00,2.22,0.00,0.000,4,0.000,0.048,2275,1360,3526,0,0,0,0,0,0
$GC,901,-0.57,-146.0,117.2,-11.0,142,909,0.00,2.35,0.00,0.000,6,0.000,0.060,2275,2778,3526,0,0,0,0,0,0
$GC,1227,-0.57,-146.0,152.6,-11.1,173,1231,0.00,1.92,0.00,0.000,4,0.000,0.070,2267,3924,3525,0,0,0,0,0,0
$GC,1276,-0.57,-146.0,158.4,-11.7,177,1284,0.00,1.85,0.00,0.000,6,0.000,0.044,2267,2774,3525,0,0,0,0,0,0
$GC,1602,-0.57,-146.0,192.2,-9.5,208,1606,0.00,2.17,0.00,0.000,4,0.000,0.047,2267,1369,3524,0,0,0,0,0,0
$GC,1630,-0.57,-146.0,195.0,-9.6,210,1634,0.00,2.28,0.00,0.000,6,0.000,0.060,2262,2779,3524,0,0,0,0,0,0
$GC,1954,-0.57,-146.0,226.5,-9.6,240,1958,0.00,1.88,0.00,0.000,4,0.000,0.070,2262,3928,3523,0,0,0,0,0,0
$GC,2021,-0.57,-146.0,233.1,-10.1,246,2026,0.10,1.80,0.00,0.000,6,0.187,0.044,2286,2775,3523,0,0,0,0,0,0
$GC,2352,-0.57,-146.0,261.1,-8.5,277,2356,0.00,2.17,0.00,0.000,4,0.000,0.047,2286,1363,3523,0,0,0,0,0,0
$GC,2384,-0.57,-146.0,264.0,-8.9,279,2391,0.00,2.30,0.00,0.000,6,0.000,0.058,2286,2774,3523,0,0,0,0,0,0
$GC,2709,-0.57,-146.0,290.4,-8.3,310,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2774,3523,0,0,0,0,0,0
$GC,3030,-0.57,-146.0,315.3,-7.2,340,3034,0.00,2.17,0.00,0.000,4,0.000,0.046,2286,1363,3523,0,0,0,0,0,0
$GC,3073,-0.57,-146.0,319.3,-8.0,343,3081,0.00,2.28,0.00,0.000,6,0.000,0.057,2286,2765,3524,0,0,0,0,0,0
$GC,3399,-0.57,-146.0,343.5,-7.4,374,3403,0.00,2.15,0.00,0.000,4,0.000,0.046,2286,1367,3524,0,0,0,0,0,0
$GC,3427,-0.57,-146.0,345.8,-7.8,376,3431,0.00,2.22,0.00,0.000,6,0.000,0.057,2286,2763,3523,0,0,0,0,0,0
$GC,3752,-0.57,-146.0,369.5,-7.0,406,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2763,3525,0,0,0,0,0,0
$GC,4072,-0.57,-146.0,392.9,-7.1,436,4076,0.00,1.88,0.00,0.000,4,0.000,0.068,2279,3928,3525,0,0,0,0,0,0
$GC,4110,-0.57,-146.0,396.1,-8.0,439,4117,0.00,1.85,0.00,0.000,6,0.000,0.043,2279,2761,3525,0,0,0,0,0,0
$GC,4435,-0.57,-146.0,421.7,-8.2,470,4439,0.00,1.90,0.00,0.000,4,0.000,0.070,2272,3928,3525,0,0,0,0,0,0
$GC,4470,-0.57,-146.0,424.4,-8.8,473,4473,0.00,1.80,0.00,0.000,6,0.000,0.044,2272,2763,3525,0,0,0,0,0,0
$GC,4800,-0.57,-146.0,451.5,-8.1,504,4804,0.00,2.15,0.00,0.000,4,0.000,0.047,2272,1360,3525,0,0,0,0,0,0
$GC,4836,-0.57,-146.0,454.7,-8.2,507,4844,0.00,2.28,0.00,0.000,6,0.000,0.058,2266,2760,3525,0,0,0,0,0,0
$GC,5162,-0.57,-146.0,481.9,-8.3,538,5166,0.00,1.90,0.00,0.000,4,0.000,0.070,2261,3935,3525,0,0,0,0,0,0
$GC,5207,-0.57,-146.0,485.8,-8.7,542,5211,0.10,1.83,0.00,0.000,6,0.185,0.044,2286,2757,3525,0,0,0,0,0,0
$GC,5537,-0.57,-146.0,508.5,-6.8,573,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2758,3525,0,0,0,0,0,0
$GC,5857,-0.57,-146.0,530.5,-7.1,603,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2758,3525,0,0,0,0,0,0
$GC,6175,-0.57,-146.0,553.2,-7.4,633,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2758,3525,0,0,0,0,0,0
$GC,6493,-0.57,-146.0,575.3,-6.7,663,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2757,3525,0,0,0,0,0,0
$GC,6812,-0.57,-146.0,597.0,-6.8,693,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2758,3524,0,0,0,0,0,0
$GC,7139,-0.57,-146.0,618.7,-6.7,707,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2758,3524,0,0,0,0,0,0
$GC,7446,-0.57,-146.0,639.1,-6.7,717,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2757,3524,0,0,0,0,0,0
$GC,7752,-0.57,-146.0,659.2,-6.4,727,7753,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2758,3523,0,0,0,0,0,0
$GC,8059,-0.57,-146.0,679.0,-6.5,737,8060,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2758,3523,0,0,0,0,0,0
$GC,8365,-0.57,-146.0,699.7,-6.9,747,8366,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2758,3523,0,0,0,0,0,0
$GC,8671,-0.57,-146.0,720.1,-6.8,757,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2758,3523,0,0,0,0,0,0
$STATE,8792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8792,begin apogee
$GC,8796,-0.14,0.0,728.3,6.7,761,8923,0.40,0.00,120.72,1.065,4,0.143,0.000,2423,2600,2923,0,0,0,0,0,0
$STATE,8923,end apogee,CONTROL_FINISHED_OK
$STATE,8923,begin climb
$GC,8925,0.57,146.0,731.2,0.0,765,9060,0.70,2.35,125.35,1.038,4,0.087,0.049,2657,1195,2327,0,0,0,0,0,0
$GC,9210,0.57,146.0,704.0,12.6,773,9218,0.00,2.42,0.00,0.000,6,0.000,0.054,2658,2602,2317,0,0,0,0,0,0
$GC,9523,0.57,146.0,664.1,12.9,784,9527,0.00,2.30,0.00,0.000,4,0.000,0.050,2666,1187,2314,0,0,0,0,0,0
$GC,9759,0.57,146.0,634.8,12.1,791,9763,0.00,2.33,0.00,0.000,6,0.000,0.054,2667,2613,2314,0,0,0,0,0,0
$GC,10074,0.57,146.0,592.9,13.3,804,10078,0.00,2.20,0.00,0.000,4,0.000,0.066,2666,3925,2311,0,0,0,0,0,0
$GC,10105,0.57,146.0,587.8,15.9,806,10113,0.00,2.12,0.00,0.000,6,0.000,0.042,2674,2614,2310,0,0,0,0,0,0
$GC,10432,0.57,146.0,541.6,14.1,837,10436,0.00,2.17,0.00,0.000,4,0.000,0.066,2674,3926,2311,0,0,0,0,0,0
$GC,10453,0.57,146.0,537.8,15.9,838,10461,0.00,2.12,0.00,0.000,6,0.000,0.043,2683,2608,2310,0,0,0,0,0,0
$GC,10779,0.57,146.0,490.0,14.4,869,10783,0.00,2.20,0.00,0.000,4,0.000,0.066,2683,3933,2309,0,0,0,0,0,0
$GC,10812,0.57,146.0,484.6,16.7,872,10817,0.12,2.10,0.00,0.000,6,0.220,0.043,2663,2612,2309,0,0,0,0,0,0
$GC,11141,0.57,146.0,440.7,13.2,903,11143,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2612,2309,0,0,0,0,0,0
$GC,11461,0.57,146.0,398.7,13.3,933,11462,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2612,2309,0,0,0,0,0,0
$GC,11779,0.57,146.0,357.0,13.1,963,11783,0.00,2.15,0.00,0.000,4,0.000,0.067,2663,3926,2309,0,0,0,0,0,0
$GC,11821,0.57,146.0,350.4,15.6,966,11829,0.00,2.10,0.00,0.000,6,0.000,0.043,2668,2611,2309,0,0,0,0,0,0
$GC,12147,0.57,146.0,306.5,13.7,997,12151,0.00,2.15,0.00,0.000,4,0.000,0.067,2668,3926,2308,0,0,0,0,0,0
$GC,12190,0.57,146.0,299.5,16.4,1000,12198,0.00,2.08,0.00,0.000,6,0.000,0.043,2677,2620,2308,0,0,0,0,0,0
$GC,12515,0.57,146.0,252.1,14.6,1031,12516,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2620,2308,0,0,0,0,0,0
$GC,12836,0.57,146.0,209.1,12.7,1061,12840,0.00,2.20,0.00,0.000,4,0.000,0.051,2684,1190,2308,0,0,0,0,0,0
$GC,12856,0.57,146.0,206.0,12.2,1062,12864,0.00,2.30,0.00,0.000,6,0.000,0.054,2684,2620,2308,0,0,0,0,0,0
$GC,13182,0.57,146.0,163.5,12.6,1093,13186,0.00,2.12,0.00,0.000,4,0.000,0.065,2684,3925,2308,0,0,0,0,0,0
$GC,13225,0.57,146.0,156.8,14.4,1096,13235,0.12,2.05,0.00,0.000,6,0.194,0.042,2657,2631,2308,0,0,0,0,0,0
$GC,13551,0.57,146.0,120.4,10.8,1127,13555,0.00,2.22,0.00,0.000,4,0.000,0.050,2664,1193,2309,0,0,0,0,0,0
$GC,13571,0.57,151.6,118.2,9.7,1128,13580,0.00,2.33,0.00,0.000,6,0.000,0.053,2664,2635,2309,0,0,0,0,0,0
$GC,13904,0.57,153.5,80.8,9.9,1174,13917,0.00,2.15,4.40,0.542,4,0.000,0.065,2663,3930,2297,0,0,0,0,0,0
$GC,13962,0.57,153.5,74.0,11.6,1184,13969,0.00,2.00,0.00,0.000,6,0.000,0.041,2667,2640,2296,0,0,0,0,0,0
$GC,14307,0.60,196.4,41.6,8.0,1245,14350,0.00,2.15,35.72,0.630,4,0.000,0.064,2667,3929,2120,0,0,0,0,0,0
$GC,14459,0.60,196.4,25.4,10.2,1272,14467,0.00,2.03,0.00,0.000,6,0.000,0.041,2667,2642,2115,0,0,0,0,0,0
$GC,14801,0.69,327.9,8.2,3.9,1333,14904,0.00,0.00,100.43,0.610,2,0.000,0.000,2666,2642,1605,0,0,0,0,0,0
$STATE,14905,end climb,SURFACE_DEPTH_REACHED
$STATE,14905,begin surface coast
$FINISH,0.4,1.024718
$STATE,14950,end surface coast,CONTROL_FINISHED_OK
$STATE,14950,begin surface
$SM_CCo,14963,13.55,0.084,0,0,1496,350.04
$SM_GC,1.72,0.00,0.00,13.55,0.000,0.000,0.084,300,2789,1496,-6.80,0.25,350.04
$RAFOS_CLK,772
$RAFOS,6,1285102146,20.833334,20.818333,121,46,45,45,44,41,806,601,26,1300,1008,1061
$RAFOS,5,1285101667,20.700001,20.685278,137,51,47,43,41,38,621,1645,1696,342,1582,1158
$RAFOS,4,1285101187,20.566668,20.551945,111,46,43,43,43,41,853,145,480,960,522,923
$RAFOS,3,1285100711,20.433332,20.419722,79,54,43,43,40,39,930,1007,290,144,1861,320
$RAFOS,2,1285100225,20.299999,20.284721,77,49,47,47,44,44,1036,1410,442,829,183,26
$RAFOS,1,1285099750,20.166666,20.152779,79,45,45,43,40,38,1003,337,1738,315,1204,1728
$RAFOS,0,1285099266,20.033333,20.018333,111,49,46,44,43,43,1152,487,1864,385,877,961
$RAFOS,5,1285087264,16.700001,16.684444,46,46,45,44,44,42,613,1478,1486,1698,1774,286
$RAFOS_FIX,6701.422852,-5703.872070,210910,202053,7,102,0.24
$IRIDIUM_FIX,6631.12,-5656.72,210910,121232
$TT8_MAMPS,0.028462
$HUMID,48.03
$INTERNAL_PRESSURE,8.63162
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.1,12.366
$10V_AH,10.2,8.976
$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,16.575,102.000,386.625,13.550,0.000,27.247,15.087,123.100,0.000,0.000,18.459,3433.436,8787.000,521.281,2400.184,144.591,0.000,1692.166,0.000,2201.552,2520.000,0.536,0.000
$DEVICE_MAMPS,271.575,78.030,1064.880,84.150,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,950.175,1019.595,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151636
$DATA_FILE_SIZE,53292,1358
$CAP_FILE_SIZE,150676,0
$CFSIZE,260165632,245866496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.1
$CURRENT,0.078,129.4,1
$GPS,210910,210101,6700.991,-5702.493,41,0.9,41,-37.6