version: 66.08
glider: 183
mission: 3
dive: 79
start: 9 22 110 17 10 6
data:
$ID,183
$MISSION,3
$DIVE,79
$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,-7788.8647
$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,41
$R_STBD_OVSHOOT,24
$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
$GPS1,220910,170443,6703.819,-5656.546,23,1.6,29,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.5
$GPS2,220910,170934,6703.810,-5656.630,9,5.4,28,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,268.5,157499,-17.5,-10.000
$D_GRID,592
$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,15,-0.57,-146.0,0.0,0.0,0,112,0.00,0.00,-94.38,0.000,2,0.000,0.000,297,2781,3402,0,0,0,0,0,0
$GC,113,-0.57,-146.0,6.2,-18.2,16,134,8.30,1.90,-2.22,0.000,4,0.262,0.071,2276,3926,3522,0,0,0,0,0,0
$GC,375,-0.57,-146.0,61.3,-12.0,62,382,0.00,1.83,0.00,0.000,6,0.000,0.042,2275,2779,3524,0,0,0,0,0,0
$GC,719,-0.57,-146.0,99.0,-10.7,123,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2779,3524,0,0,0,0,0,0
$GC,1051,-0.57,-146.0,133.8,-10.4,155,1055,0.00,2.20,0.00,0.000,4,0.000,0.046,2275,1369,3524,0,0,0,0,0,0
$GC,1083,-0.57,-146.0,137.4,-10.5,157,1091,0.00,2.30,0.00,0.000,6,0.000,0.057,2273,2773,3524,0,0,0,0,0,0
$GC,1409,-0.57,-146.0,172.0,-10.8,188,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2773,3523,0,0,0,0,0,0
$GC,1729,-0.57,-146.0,204.5,-10.0,218,1733,0.00,2.17,0.00,0.000,4,0.000,0.045,2273,1363,3522,0,0,0,0,0,0
$GC,1772,-0.57,-146.0,209.3,-10.2,221,1780,0.00,2.28,0.00,0.000,6,0.000,0.057,2266,2765,3522,0,0,0,0,0,0
$GC,2098,-0.57,-146.0,241.2,-9.3,252,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2765,3522,0,0,0,0,0,0
$GC,2417,-0.57,-146.0,270.8,-9.4,282,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2765,3522,0,0,0,0,0,0
$GC,2738,-0.57,-146.0,299.8,-8.9,312,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2765,3522,0,0,0,0,0,0
$GC,3054,-0.57,-146.0,328.5,-8.8,342,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2765,3522,0,0,0,0,0,0
$GC,3373,-0.57,-146.0,358.5,-9.7,372,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2764,3522,0,0,0,0,0,0
$GC,3692,-0.57,-146.0,388.8,-9.4,402,3695,0.00,1.88,0.00,0.000,4,0.000,0.068,2259,3931,3522,0,0,0,0,0,0
$GC,3718,-0.57,-146.0,391.7,-9.9,404,3727,0.08,1.85,0.00,0.000,6,0.151,0.042,2285,2762,3522,0,0,0,0,0,0
$GC,4045,-0.57,-146.0,418.1,-8.6,435,4049,0.00,2.15,0.00,0.000,4,0.000,0.047,2285,1367,3522,0,0,0,0,0,0
$GC,4076,-0.57,-146.0,420.9,-8.3,437,4084,0.00,2.25,0.00,0.000,6,0.000,0.057,2285,2761,3522,0,0,0,0,0,0
$GC,4402,-0.57,-146.0,446.9,-7.3,468,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2761,3522,0,0,0,0,0,0
$GC,4723,-0.57,-146.0,470.4,-7.2,498,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2762,3522,0,0,0,0,0,0
$GC,5040,-0.57,-146.0,491.9,-6.4,528,5044,0.00,1.90,0.00,0.000,4,0.000,0.068,2278,3931,3521,0,0,0,0,0,0
$GC,5088,-0.57,-146.0,495.5,-7.7,532,5096,0.00,1.85,0.00,0.000,6,0.000,0.043,2278,2759,3521,0,0,0,0,0,0
$GC,5415,-0.57,-146.0,518.5,-7.2,563,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2759,3521,0,0,0,0,0,0
$GC,5735,-0.57,-146.0,541.6,-7.4,593,5738,0.00,1.90,0.00,0.000,4,0.000,0.069,2271,3932,3521,0,0,0,0,0,0
$GC,5761,-0.57,-146.0,543.9,-7.6,595,5769,0.00,1.85,0.00,0.000,6,0.000,0.043,2271,2757,3521,0,0,0,0,0,0
$GC,6087,-0.57,-146.0,568.9,-7.8,626,6090,0.00,2.12,0.00,0.000,4,0.000,0.045,2272,1373,3521,0,0,0,0,0,0
$GC,6154,-0.57,-146.0,574.5,-8.0,632,6159,0.00,2.20,0.00,0.000,6,0.000,0.057,2264,2756,3521,0,0,0,0,0,0
$STATE,6366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6366,begin apogee
$GC,6370,-0.14,0.0,592.5,8.7,652,6493,0.50,0.00,117.30,0.948,4,0.145,0.000,2428,2603,2923,0,0,0,0,0,0
$STATE,6494,end apogee,CONTROL_FINISHED_OK
$STATE,6494,begin climb
$GC,6495,0.57,146.0,595.4,0.0,663,6630,0.68,2.35,121.70,0.930,4,0.084,0.045,2658,1190,2326,0,0,0,0,0,0
$GC,6814,0.57,146.0,565.5,11.1,691,6822,0.00,2.38,0.00,0.000,6,0.000,0.051,2658,2597,2318,0,0,0,0,0,0
$GC,7139,0.57,146.0,525.5,12.9,722,7143,0.00,2.28,0.00,0.000,4,0.000,0.048,2666,1188,2316,0,0,0,0,0,0
$GC,7272,0.57,146.0,508.6,11.9,733,7280,0.00,2.38,0.00,0.000,6,0.000,0.052,2667,2630,2315,0,0,0,0,0,0
$GC,7597,0.57,146.0,465.9,13.2,764,7601,0.00,2.15,0.00,0.000,4,0.000,0.064,2667,3933,2314,0,0,0,0,0,0
$GC,7645,0.57,146.0,458.1,15.8,768,7653,0.00,2.10,0.00,0.000,6,0.000,0.041,2674,2628,2313,0,0,0,0,0,0
$GC,7971,0.57,146.0,411.9,13.6,799,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2629,2313,0,0,0,0,0,0
$GC,8290,0.57,146.0,367.7,13.3,829,8294,0.00,2.12,0.00,0.000,4,0.000,0.063,2674,3932,2312,0,0,0,0,0,0
$GC,8320,0.57,146.0,362.8,15.3,831,8328,0.00,2.08,0.00,0.000,6,0.000,0.041,2683,2631,2312,0,0,0,0,0,0
$GC,8646,0.57,146.0,317.4,13.8,862,8650,0.00,2.12,0.00,0.000,4,0.000,0.063,2683,3927,2312,0,0,0,0,0,0
$GC,8694,0.57,146.0,309.8,15.8,866,8704,0.10,2.05,0.00,0.000,6,0.187,0.041,2663,2637,2311,0,0,0,0,0,0
$GC,9020,0.57,146.0,271.8,11.4,897,9021,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2637,2312,0,0,0,0,0,0
$GC,9339,0.57,146.0,234.1,12.1,927,9340,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2637,2312,0,0,0,0,0,0
$GC,9659,0.57,146.0,195.0,12.2,957,9663,0.00,2.10,0.00,0.000,4,0.000,0.064,2662,3933,2311,0,0,0,0,0,0
$GC,9727,0.57,146.0,185.3,15.3,963,9730,0.00,2.00,0.00,0.000,6,0.000,0.041,2667,2642,2311,0,0,0,0,0,0
$GC,10056,0.57,146.0,143.8,11.7,994,10058,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2641,2310,0,0,0,0,0,0
$GC,10375,0.57,146.0,107.9,10.3,1024,10377,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2641,2311,0,0,0,0,0,0
$GC,10706,0.57,146.0,71.9,10.9,1077,10713,0.00,2.10,0.00,0.000,4,0.000,0.064,2667,3927,2311,0,0,0,0,0,0
$GC,10804,0.57,146.0,61.4,10.8,1094,10811,0.00,1.95,0.00,0.000,6,0.000,0.041,2673,2665,2311,0,0,0,0,0,0
$GC,11147,0.63,236.8,35.1,5.8,1155,11223,0.00,2.45,70.03,0.617,4,0.000,0.048,2677,1184,1956,0,0,0,0,0,0
$GC,11256,0.65,274.5,27.3,8.3,1173,11295,0.00,2.47,30.83,0.606,6,0.000,0.052,2678,2688,1802,0,0,0,0,0,0
$GC,11631,0.73,394.3,3.3,4.5,1239,11644,0.00,0.00,11.18,0.577,2,0.000,0.000,2677,2688,1740,0,0,0,0,0,0
$STATE,11644,end climb,SURFACE_DEPTH_REACHED
$STATE,11645,begin surface coast
$FINISH,0.1,1.018495
$STATE,11716,end surface coast,CONTROL_FINISHED_OK
$STATE,11716,begin surface
$SM_CCo,11730,28.90,0.082,0,0,1495,350.04
$SM_GC,1.31,0.00,0.00,28.90,0.000,0.000,0.082,298,2779,1495,-6.80,-0.03,350.04
$RAFOS_CLK,567
$RAFOS,2,1285186623,20.299999,20.284166,53,46,46,43,43,42,1591,663,1059,1127,154,1866
$RAFOS,1,1285186146,20.166666,20.151667,87,43,43,43,43,40,1033,198,690,573,714,1252
$RAFOS,0,1285185663,20.033333,20.017500,75,45,44,44,44,41,1174,306,156,371,325,1225
$RAFOS_FIX,6706.036133,-5656.298340,220910,161602,7,100,0.44
$IRIDIUM_FIX,6631.12,-5658.34,220910,141430
$TT8_MAMPS,0.030709
$HUMID,50.11
$INTERNAL_PRESSURE,8.65115
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,23.5,13.029
$10V_AH,10.3,9.500
$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,16.025,68.075,351.025,28.900,0.000,22.425,44.569,104.314,0.000,0.000,32.416,3083.602,6236.776,490.415,2163.327,114.613,0.000,1502.120,0.000,1939.943,1440.000,0.537,0.000
$DEVICE_MAMPS,262.395,100.980,947.835,81.855,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,870.938,930.989,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151720
$DATA_FILE_SIZE,49995,1254
$CAP_FILE_SIZE,122099,0
$CFSIZE,260165632,245415936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.5
$CURRENT,0.038,127.7,1
$GPS,220910,202757,6702.863,-5659.003,22,2.2,41,-37.6