version: 66.08
glider: 183
mission: 3
dive: 73
start: 9 21 110 21 6 23
data:
$ID,183
$MISSION,3
$DIVE,73
$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,-7780.7427
$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,38
$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
$GPS1,210910,210101,6700.991,-5702.493,41,0.9,41,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-72.0
$GPS2,210910,210550,6701.025,-5702.416,12,1.0,12,-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,93.5,11034,-17.5,-10.000
$D_GRID,693
$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,-146.0,0.0,0.0,0,99,0.00,0.00,-82.62,0.000,2,0.000,0.000,298,2789,3360,0,0,0,0,0,0
$GC,101,-0.57,-146.0,6.0,-17.5,14,121,8.50,1.90,-3.05,0.000,4,0.270,0.078,2276,3927,3523,0,0,0,0,0,0
$GC,211,-0.57,-146.0,39.8,-13.3,33,218,0.00,1.83,0.00,0.000,6,0.000,0.044,2276,2780,3524,0,0,0,0,0,0
$GC,555,-0.57,-146.0,81.5,-10.9,94,561,0.00,1.95,0.00,0.000,4,0.000,0.070,2269,3925,3525,0,0,0,0,0,0
$GC,622,-0.57,-146.0,89.7,-12.6,106,629,0.00,1.83,0.00,0.000,6,0.000,0.045,2269,2783,3525,0,0,0,0,0,0
$GC,958,-0.57,-146.0,126.5,-10.2,145,962,0.00,2.20,0.00,0.000,4,0.000,0.046,2269,1366,3525,0,0,0,0,0,0
$GC,1001,-0.57,-146.0,130.9,-9.9,148,1010,0.00,2.35,0.00,0.000,6,0.000,0.060,2262,2784,3526,0,0,0,0,0,0
$GC,1327,-0.57,-146.0,164.1,-10.1,179,1331,0.00,1.92,0.00,0.000,4,0.000,0.072,2260,3929,3526,0,0,0,0,0,0
$GC,1353,-0.57,-146.0,167.1,-10.2,181,1361,0.08,1.83,0.00,0.000,6,0.154,0.045,2285,2789,3525,0,0,0,0,0,0
$GC,1679,-0.57,-146.0,194.5,-8.2,212,1683,0.00,2.20,0.00,0.000,4,0.000,0.047,2285,1372,3525,0,0,0,0,0,0
$GC,1745,-0.57,-146.0,200.2,-8.5,218,1750,0.00,2.30,0.00,0.000,6,0.000,0.060,2285,2796,3525,0,0,0,0,0,0
$GC,2072,-0.57,-146.0,225.9,-7.5,248,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2796,3524,0,0,0,0,0,0
$GC,2388,-0.57,-146.0,249.7,-7.9,278,2392,0.00,2.22,0.00,0.000,4,0.000,0.046,2285,1371,3524,0,0,0,0,0,0
$GC,2432,-0.57,-146.0,253.4,-8.2,281,2439,0.00,2.30,0.00,0.000,6,0.000,0.060,2285,2778,3523,0,0,0,0,0,0
$GC,2757,-0.57,-146.0,279.0,-7.5,312,2761,0.00,1.88,0.00,0.000,4,0.000,0.071,2278,3932,3524,0,0,0,0,0,0
$GC,2779,-0.57,-146.0,280.6,-7.1,314,2783,0.00,1.80,0.00,0.000,6,0.000,0.046,2278,2785,3523,0,0,0,0,0,0
$GC,3110,-0.57,-146.0,305.0,-7.6,345,3114,0.00,2.17,0.00,0.000,4,0.000,0.045,2278,1362,3524,0,0,0,0,0,0
$GC,3149,-0.57,-146.0,308.0,-7.9,348,3153,0.00,2.30,0.00,0.000,6,0.000,0.059,2276,2785,3523,0,0,0,0,0,0
$GC,3475,-0.57,-146.0,333.0,-7.9,378,3479,0.00,1.85,0.00,0.000,4,0.000,0.071,2269,3929,3524,0,0,0,0,0,0
$GC,3546,-0.57,-146.0,339.2,-8.1,384,3554,0.00,1.83,0.00,0.000,6,0.000,0.044,2270,2780,3524,0,0,0,0,0,0
$GC,3873,-0.57,-146.0,365.6,-8.5,415,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2780,3524,0,0,0,0,0,0
$GC,4191,-0.57,-146.0,391.9,-8.3,445,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2780,3524,0,0,0,0,0,0
$GC,4509,-0.57,-146.0,419.0,-8.0,475,4513,0.00,2.15,0.00,0.000,4,0.000,0.047,2269,1372,3524,0,0,0,0,0,0
$GC,4549,-0.57,-146.0,422.4,-8.6,478,4553,0.00,2.25,0.00,0.000,6,0.000,0.060,2263,2781,3524,0,0,0,0,0,0
$GC,4873,-0.57,-146.0,450.3,-8.7,508,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2781,3524,0,0,0,0,0,0
$GC,5194,-0.57,-146.0,477.0,-8.6,538,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2781,3524,0,0,0,0,0,0
$GC,5511,-0.57,-146.0,503.7,-8.7,568,5515,0.00,1.88,0.00,0.000,4,0.000,0.073,2260,3936,3524,0,0,0,0,0,0
$GC,5539,-0.57,-146.0,506.2,-8.5,570,5546,0.10,1.83,0.00,0.000,6,0.183,0.047,2287,2776,3524,0,0,0,0,0,0
$GC,5864,-0.57,-146.0,527.8,-6.5,601,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2776,3523,0,0,0,0,0,0
$GC,6183,-0.57,-146.0,548.8,-7.0,631,6186,0.00,2.17,0.00,0.000,4,0.000,0.049,2287,1370,3523,0,0,0,0,0,0
$GC,6214,-0.57,-146.0,551.2,-7.9,633,6222,0.00,2.30,0.00,0.000,6,0.000,0.061,2287,2779,3523,0,0,0,0,0,0
$GC,6540,-0.57,-146.0,572.4,-6.3,664,6541,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2779,3523,0,0,0,0,0,0
$GC,6861,-0.57,-146.0,593.2,-6.4,694,6865,0.00,2.17,0.00,0.000,4,0.000,0.048,2287,1367,3522,0,0,0,0,0,0
$GC,6881,-0.57,-146.0,594.9,-6.6,695,6889,0.00,2.30,0.00,0.000,6,0.000,0.061,2287,2778,3522,0,0,0,0,0,0
$GC,7219,-0.57,-146.0,616.3,-6.5,712,7220,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2778,3522,0,0,0,0,0,0
$GC,7524,-0.57,-146.0,636.6,-6.7,722,7528,0.00,2.17,0.00,0.000,4,0.000,0.048,2287,1366,3521,0,0,0,0,0,0
$GC,7551,-0.57,-146.0,638.6,-6.9,722,7558,0.00,2.30,0.00,0.000,6,0.000,0.061,2288,2775,3521,0,0,0,0,0,0
$GC,7865,-0.57,-146.0,658.6,-6.4,733,7866,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2775,3521,0,0,0,0,0,0
$GC,8170,-0.57,-146.0,678.1,-6.3,743,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2775,3520,0,0,0,0,0,0
$STATE,8414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8414,begin apogee
$GC,8418,-0.14,0.0,693.5,6.3,751,8544,0.40,0.00,119.78,1.043,4,0.141,0.000,2423,2597,2923,0,0,0,0,0,0
$STATE,8545,end apogee,CONTROL_FINISHED_OK
$STATE,8545,begin climb
$GC,8546,0.57,146.0,696.4,0.0,755,8679,0.70,2.38,124.30,1.018,4,0.086,0.048,2660,1191,2327,0,0,0,0,0,0
$GC,8812,0.57,146.0,671.3,12.4,763,8816,0.00,2.45,0.00,0.000,6,0.000,0.055,2660,2606,2318,0,0,0,0,0,0
$GC,9142,0.57,146.0,627.7,13.4,774,9146,0.00,2.33,0.00,0.000,4,0.000,0.050,2668,1183,2314,0,0,0,0,0,0
$GC,9386,0.57,146.0,596.6,12.1,782,9394,0.00,2.38,0.00,0.000,6,0.000,0.056,2667,2603,2313,0,0,0,0,0,0
$GC,9712,0.57,146.0,552.5,13.5,813,9716,0.00,2.20,0.00,0.000,4,0.000,0.069,2668,3928,2312,0,0,0,0,0,0
$GC,9774,0.57,146.0,542.9,15.8,818,9778,0.00,2.10,0.00,0.000,6,0.000,0.044,2676,2608,2310,0,0,0,0,0,0
$GC,10103,0.57,146.0,496.2,14.0,849,10107,0.00,2.20,0.00,0.000,4,0.000,0.068,2676,3932,2310,0,0,0,0,0,0
$GC,10135,0.57,146.0,490.7,16.9,851,10143,0.00,2.12,0.00,0.000,6,0.000,0.044,2685,2618,2310,0,0,0,0,0,0
$GC,10461,0.57,146.0,444.7,14.1,882,10465,0.00,2.17,0.00,0.000,4,0.000,0.070,2684,3926,2310,0,0,0,0,0,0
$GC,10497,0.57,146.0,438.5,16.5,885,10506,0.10,2.08,0.00,0.000,6,0.196,0.043,2665,2634,2309,0,0,0,0,0,0
$GC,10823,0.57,146.0,396.2,13.3,916,10827,0.00,2.15,0.00,0.000,4,0.000,0.070,2665,3934,2309,0,0,0,0,0,0
$GC,10866,0.57,146.0,389.5,15.5,919,10875,0.00,2.10,0.00,0.000,6,0.000,0.044,2670,2629,2309,0,0,0,0,0,0
$GC,11192,0.57,146.0,345.4,13.0,950,11193,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2629,2309,0,0,0,0,0,0
$GC,11510,0.57,146.0,303.1,13.3,980,11514,0.00,2.15,0.00,0.000,4,0.000,0.069,2670,3935,2309,0,0,0,0,0,0
$GC,11554,0.57,146.0,296.7,15.5,984,11557,0.00,2.05,0.00,0.000,6,0.000,0.045,2678,2641,2308,0,0,0,0,0,0
$GC,11883,0.57,146.0,252.0,13.6,1015,11887,0.00,2.12,0.00,0.000,4,0.000,0.069,2679,3934,2308,0,0,0,0,0,0
$GC,11928,0.57,146.0,244.8,15.9,1019,11932,0.00,2.03,0.00,0.000,6,0.000,0.044,2687,2651,2308,0,0,0,0,0,0
$GC,12257,0.57,146.0,196.2,14.3,1050,12258,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2651,2308,0,0,0,0,0,0
$GC,12576,0.57,146.0,151.8,13.4,1080,12577,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2651,2308,0,0,0,0,0,0
$GC,12895,0.57,146.0,109.5,13.2,1110,12899,0.00,2.25,0.00,0.000,4,0.000,0.050,2696,1190,2308,0,0,0,0,0,0
$GC,12915,0.57,146.0,106.5,13.2,1111,12924,0.10,2.40,0.00,0.000,6,0.174,0.055,2665,2673,2308,0,0,0,0,0,0
$GC,13257,0.58,163.7,68.4,9.2,1167,13277,0.00,0.00,12.52,0.646,6,0.000,0.000,2665,2673,2255,0,0,0,0,0,0
$GC,13612,0.61,218.3,35.8,7.5,1230,13661,0.00,0.00,44.67,0.634,6,0.000,0.000,2665,2673,2032,0,0,0,0,0,0
$GC,13994,0.69,331.4,14.2,4.8,1298,14092,0.00,2.47,89.85,0.612,4,0.000,0.049,2665,1194,1568,0,0,0,0,0,0
$GC,14127,0.75,431.5,6.7,5.4,1320,14178,0.15,2.45,44.72,0.591,2,0.095,0.053,2725,2657,1345,0,0,0,0,0,0
$STATE,14179,end climb,SURFACE_DEPTH_REACHED
$STATE,14179,begin surface coast
$FINISH,0.3,1.024736
$STATE,14213,end surface coast,CONTROL_FINISHED_OK
$STATE,14213,begin surface
$SM_CCo,14286,0.00,0.000,0,0,1335,389.29
$SM_GC,1.41,6.80,0.00,0.00,0.064,0.000,0.000,305,2779,1335,-6.71,-0.03,389.29
$RAFOS_CLK,727
$RAFOS,6,1285116541,0.833333,0.816944,100,45,42,41,40,40,830,979,1761,487,26,1646
$RAFOS,5,1285116066,0.700000,0.685000,125,47,46,44,44,41,633,1056,635,1441,1361,1214
$RAFOS,4,1285115588,0.566667,0.552222,113,45,43,42,41,39,853,1415,120,1713,979,1268
$RAFOS,3,1285115104,0.433333,0.417778,70,45,44,39,39,38,989,1335,1410,210,1658,1742
$RAFOS,2,1285114628,0.300000,0.285556,88,47,44,41,41,38,1031,1236,1838,958,748,651
$RAFOS,1,1285114150,0.166667,0.152778,95,53,42,41,41,39,1012,1714,1446,444,1908,1681
$RAFOS,0,1285113665,0.033333,0.018056,65,47,47,44,43,41,1165,601,1348,1530,1633,321
$RAFOS_FIX,6703.658203,-5701.100586,220910,000044,7,94,0.41
$IRIDIUM_FIX,6631.12,-5713.57,210910,161654
$TT8_MAMPS,0.028462
$HUMID,48.89
$INTERNAL_PRESSURE,8.63162
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,23.2,12.481
$10V_AH,10.3,9.062
$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,16.925,103.225,435.850,0.000,0.000,25.221,35.607,117.857,0.000,0.000,15.441,3341.793,8204.604,536.172,2381.191,133.010,0.000,1696.230,0.000,2171.234,2520.000,0.537,0.000
$DEVICE_MAMPS,270.045,84.150,1042.695,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,930.521,1000.065,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151696
$DATA_FILE_SIZE,53340,1334
$CAP_FILE_SIZE,146294,0
$CFSIZE,260165632,245792768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.4
$CURRENT,0.109,339.1,1
$GPS,220910,010606,6702.779,-5659.740,36,1.0,36,-37.6