version: 66.08
glider: 183
mission: 3
dive: 76
start: 9 22 110 8 25 9
data:
$ID,183
$MISSION,3
$DIVE,76
$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,-7784.5098
$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
$GPS1,220910,081937,6702.231,-5651.546,33,1.0,33,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.8
$GPS2,220910,082431,6702.237,-5651.533,9,1.4,14,-37.5
$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,78.3,2917,-21.0,-10.000
$D_GRID,555
$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,-0.64,-103.7,0.0,0.0,0,98,0.00,0.00,-81.32,0.000,2,0.000,0.000,293,2787,3331,0,0,0,0,0,0
$GC,100,-0.64,-103.7,5.9,-16.5,14,114,8.30,2.30,-0.30,0.000,4,0.267,0.056,2261,1357,3349,0,0,0,0,0,0
$GC,176,-0.64,-103.7,30.1,-17.6,27,183,0.00,2.33,0.00,0.000,6,0.000,0.057,2252,2784,3351,0,0,0,0,0,0
$GC,519,-0.64,-103.7,74.6,-11.5,88,526,0.00,1.88,0.00,0.000,4,0.000,0.067,2246,3931,3351,0,0,0,0,0,0
$GC,605,-0.64,-103.7,85.6,-13.4,103,612,0.00,1.80,0.00,0.000,6,0.000,0.042,2247,2778,3351,0,0,0,0,0,0
$GC,943,-0.64,-103.7,124.0,-11.3,145,947,0.00,2.17,0.00,0.000,4,0.000,0.045,2247,1365,3352,0,0,0,0,0,0
$GC,993,-0.64,-103.7,129.6,-10.7,149,998,0.12,2.30,0.00,0.000,6,0.185,0.057,2269,2793,3351,0,0,0,0,0,0
$GC,1318,-0.64,-105.9,161.7,-9.9,179,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2792,3352,0,0,0,0,0,0
$GC,1637,-0.65,-117.9,192.8,-9.2,209,1641,0.00,2.20,0.00,0.000,4,0.000,0.044,2269,1365,3351,0,0,0,0,0,0
$GC,1676,-0.66,-136.1,196.3,-8.8,212,1680,0.00,2.28,0.00,0.000,6,0.000,0.057,2263,2791,3351,0,0,0,0,0,0
$GC,2000,-0.66,-146.0,223.2,-7.9,242,2004,0.00,1.85,0.00,0.000,4,0.000,0.067,2255,3929,3351,0,0,0,0,0,0
$GC,2035,-0.66,-146.0,226.3,-9.1,245,2039,0.00,1.80,0.00,0.000,6,0.000,0.043,2255,2779,3351,0,0,0,0,0,0
$GC,2365,-0.66,-146.0,254.7,-8.3,276,2369,0.00,2.15,0.00,0.000,4,0.000,0.045,2255,1372,3351,0,0,0,0,0,0
$GC,2404,-0.66,-146.0,258.3,-8.5,279,2408,0.00,2.28,0.00,0.000,6,0.000,0.057,2248,2799,3351,0,0,0,0,0,0
$GC,2729,-0.66,-146.0,288.1,-9.4,309,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2799,3350,0,0,0,0,0,0
$GC,3048,-0.66,-146.0,316.6,-8.9,339,3052,0.00,2.20,0.00,0.000,4,0.000,0.044,2248,1365,3350,0,0,0,0,0,0
$GC,3088,-0.66,-146.0,320.1,-9.2,342,3092,0.00,2.28,0.00,0.000,6,0.000,0.057,2247,2783,3350,0,0,0,0,0,0
$GC,3414,-0.66,-146.0,348.4,-8.4,372,3417,0.00,1.88,0.00,0.000,4,0.000,0.067,2240,3938,3350,0,0,0,0,0,0
$GC,3452,-0.66,-146.0,352.1,-9.7,375,3459,0.00,1.83,0.00,0.000,6,0.000,0.042,2240,2782,3350,0,0,0,0,0,0
$GC,3777,-0.66,-146.0,380.3,-8.3,406,3781,0.00,2.15,0.00,0.000,4,0.000,0.045,2240,1371,3349,0,0,0,0,0,0
$GC,3800,-0.66,-146.0,382.4,-8.8,408,3804,0.00,2.25,0.00,0.000,6,0.000,0.057,2234,2788,3350,0,0,0,0,0,0
$GC,4125,-0.66,-146.0,411.3,-8.8,438,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2788,3350,0,0,0,0,0,0
$GC,4444,-0.66,-146.0,439.2,-8.4,468,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2788,3350,0,0,0,0,0,0
$GC,4764,-0.66,-146.0,467.7,-9.0,498,4768,0.00,1.85,0.00,0.000,4,0.000,0.066,2230,3930,3350,0,0,0,0,0,0
$GC,4813,-0.66,-146.0,472.8,-9.7,502,4821,0.08,1.80,0.00,0.000,6,0.174,0.041,2252,2780,3350,0,0,0,0,0,0
$GC,5139,-0.66,-146.0,498.3,-7.4,533,5143,0.00,1.88,0.00,0.000,4,0.000,0.068,2248,3929,3350,0,0,0,0,0,0
$GC,5195,-0.66,-146.0,502.9,-8.6,538,5199,0.00,1.77,0.00,0.000,6,0.000,0.042,2247,2785,3350,0,0,0,0,0,0
$GC,5526,-0.66,-146.0,527.8,-7.2,569,5530,0.00,2.15,0.00,0.000,4,0.000,0.044,2248,1365,3350,0,0,0,0,0,0
$GC,5554,-0.66,-146.0,530.1,-7.6,571,5559,0.00,2.25,0.00,0.000,6,0.000,0.056,2240,2790,3350,0,0,0,0,0,0
$STATE,5846,end dive,NO_VERTICAL_VELOCITY
$STATE,5846,begin apogee
$GC,5850,-0.14,0.0,539.7,0.0,598,5939,0.50,0.00,82.75,0.918,4,0.111,0.000,2422,2606,2922,0,0,0,0,0,0
$STATE,5940,end apogee,CONTROL_FINISHED_OK
$STATE,5940,begin climb
$GC,5941,0.66,146.0,539.5,0.0,606,6070,0.80,2.30,120.32,0.898,4,0.104,0.066,2686,3925,2327,0,0,0,0,0,0
$GC,6126,0.66,146.0,515.4,18.7,622,6130,0.00,2.17,0.00,0.000,6,0.000,0.039,2695,2596,2321,0,0,0,0,0,0
$GC,6450,0.66,146.0,462.6,16.0,652,6455,0.00,2.22,0.00,0.000,4,0.000,0.061,2695,3926,2317,0,0,0,0,0,0
$GC,6550,0.66,146.0,444.6,17.7,660,6558,0.00,2.08,0.00,0.000,6,0.000,0.039,2705,2626,2316,0,0,0,0,0,0
$GC,6874,0.66,146.0,390.4,16.8,691,6878,0.00,2.15,0.00,0.000,4,0.000,0.062,2705,3935,2315,0,0,0,0,0,0
$GC,6913,0.66,146.0,383.1,19.0,694,6917,0.00,2.03,0.00,0.000,6,0.000,0.039,2715,2636,2314,0,0,0,0,0,0
$GC,7243,0.66,146.0,325.6,17.8,725,7247,0.00,2.12,0.00,0.000,4,0.000,0.062,2715,3936,2314,0,0,0,0,0,0
$GC,7281,0.66,146.0,317.9,20.6,728,7290,0.10,2.05,0.00,0.000,6,0.208,0.039,2697,2645,2314,0,0,0,0,0,0
$GC,7606,0.66,146.0,266.5,15.5,759,7610,0.00,2.10,0.00,0.000,4,0.000,0.062,2697,3936,2314,0,0,0,0,0,0
$GC,7640,0.66,146.0,260.7,17.3,762,7644,0.00,2.00,0.00,0.000,6,0.000,0.039,2704,2645,2314,0,0,0,0,0,0
$GC,7971,0.66,146.0,208.7,15.3,793,7974,0.00,2.08,0.00,0.000,4,0.000,0.062,2704,3927,2314,0,0,0,0,0,0
$GC,8016,0.66,146.0,201.2,17.3,797,8020,0.00,1.98,0.00,0.000,6,0.000,0.040,2714,2648,2314,0,0,0,0,0,0
$GC,8345,0.66,146.0,152.5,14.8,828,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2647,2314,0,0,0,0,0,0
$GC,8666,0.66,146.0,108.5,13.9,858,8670,0.00,2.08,0.00,0.000,4,0.000,0.063,2713,3932,2314,0,0,0,0,0,0
$GC,8692,0.66,146.0,104.1,15.8,860,8701,0.10,2.00,0.00,0.000,6,0.204,0.040,2694,2664,2313,0,0,0,0,0,0
$GC,9032,0.66,146.0,62.5,11.7,918,9039,0.00,2.28,0.00,0.000,4,0.000,0.048,2703,1194,2313,0,0,0,0,0,0
$GC,9078,0.66,146.0,57.0,11.9,926,9085,0.00,2.30,0.00,0.000,6,0.000,0.052,2703,2654,2313,0,0,0,0,0,0
$GC,9421,0.70,200.3,25.9,6.5,987,9470,0.00,0.00,41.40,0.615,6,0.000,0.000,2703,2654,2106,0,0,0,0,0,0
$STATE,9792,end climb,SURFACE_DEPTH_REACHED
$STATE,9792,begin surface coast
$FINISH,0.6,1.024794
$STATE,9842,end surface coast,CONTROL_FINISHED_OK
$STATE,9842,begin surface
$SM_CCo,9855,70.28,0.077,0,0,1496,350.04
$SM_GC,1.48,0.00,0.00,70.28,0.000,0.000,0.077,299,2786,1496,-6.80,0.17,350.04
$RAFOS_CLK,447
$RAFOS,6,1285145342,8.833333,8.817223,105,43,42,41,41,40,851,862,1436,496,1766,1461
$RAFOS,5,1285144861,8.700000,8.683611,104,46,45,44,41,41,690,170,812,1620,421,495
$RAFOS,4,1285144383,8.566667,8.550834,124,45,43,43,41,40,909,1485,431,1908,1258,634
$RAFOS,3,1285143937,8.433333,8.426945,62,51,47,45,44,43,840,1319,1419,1543,1041,505
$RAFOS,2,1285143426,8.300000,8.285000,44,43,42,39,38,37,840,1698,277,918,44,686
$RAFOS_FIX,6706.385254,-5652.172852,220910,080800,5,93,17.26
$IRIDIUM_FIX,6631.12,-5646.10,220910,040437
$TT8_MAMPS,0.028462
$HUMID,49.25
$INTERNAL_PRESSURE,8.66091
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,23.7,12.741
$10V_AH,10.3,9.287
$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,16.350,84.000,244.475,70.275,0.000,30.988,38.036,111.586,0.000,0.000,17.917,2680.829,5161.128,415.074,1878.853,111.296,0.000,1295.703,0.000,1666.587,1440.000,0.537,0.000
$DEVICE_MAMPS,266.985,78.795,918.000,77.265,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,737.702,787.726,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151648
$DATA_FILE_SIZE,43436,1062
$CAP_FILE_SIZE,111462,0
$CFSIZE,260165632,245616640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.3
$CURRENT,0.119, 11.0,1
$GPS,220910,111206,6703.786,-5649.412,34,1.3,34,-37.6