version: 66.08
glider: 183
mission: 3
dive: 80
start: 9 22 110 20 33 23
data:
$ID,183
$MISSION,3
$DIVE,80
$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,-7790.1235
$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,21
$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
$GPS1,220910,202757,6702.863,-5659.003,22,2.2,41,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-72.6
$GPS2,220910,203250,6702.859,-5659.042,13,1.3,13,-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,301.1,155378,-17.5,-10.000
$D_GRID,653
$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,-146.0,0.0,0.0,0,97,0.00,0.00,-79.88,0.000,2,0.000,0.000,296,2779,3261,0,0,0,0,0,0
$GC,99,-0.57,-146.0,5.2,-11.1,13,119,8.30,1.98,-5.12,0.000,4,0.264,0.078,2276,3940,3523,0,0,0,0,0,0
$GC,343,-0.57,-146.0,54.1,-12.6,56,349,0.00,1.85,0.00,0.000,6,0.000,0.042,2276,2776,3525,0,0,0,0,0,0
$GC,684,-0.57,-146.0,93.7,-11.4,117,691,0.00,2.20,0.00,0.000,4,0.000,0.046,2276,1370,3526,0,0,0,0,0,0
$GC,768,-0.57,-146.0,103.3,-10.8,129,776,0.00,2.30,0.00,0.000,6,0.000,0.057,2275,2771,3526,0,0,0,0,0,0
$GC,1094,-0.57,-146.0,142.5,-11.8,160,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2771,3526,0,0,0,0,0,0
$GC,1412,-0.57,-146.0,175.4,-9.2,190,1416,0.00,1.88,0.00,0.000,4,0.000,0.067,2267,3929,3526,0,0,0,0,0,0
$GC,1435,-0.57,-146.0,177.6,-9.9,192,1439,0.00,1.83,0.00,0.000,6,0.000,0.042,2267,2752,3526,0,0,0,0,0,0
$GC,1766,-0.57,-146.0,209.2,-9.4,223,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2751,3525,0,0,0,0,0,0
$GC,2085,-0.57,-146.0,239.7,-9.2,253,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2751,3525,0,0,0,0,0,0
$GC,2405,-0.57,-146.0,270.0,-9.6,283,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2751,3524,0,0,0,0,0,0
$GC,2722,-0.57,-146.0,298.3,-8.8,313,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2751,3524,0,0,0,0,0,0
$GC,3040,-0.57,-146.0,326.3,-8.8,343,3044,0.00,1.92,0.00,0.000,4,0.000,0.068,2260,3936,3525,0,0,0,0,0,0
$GC,3063,-0.57,-146.0,328.4,-9.1,345,3067,0.12,1.85,0.00,0.000,6,0.172,0.043,2294,2750,3525,0,0,0,0,0,0
$GC,3392,-0.57,-146.0,350.6,-6.6,376,3396,0.00,2.12,0.00,0.000,4,0.000,0.046,2294,1369,3524,0,0,0,0,0,0
$GC,3413,-0.57,-146.0,352.1,-6.6,377,3421,0.00,2.25,0.00,0.000,6,0.000,0.057,2291,2761,3525,0,0,0,0,0,0
$GC,3739,-0.57,-146.0,375.5,-7.6,408,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2761,3524,0,0,0,0,0,0
$GC,4059,-0.57,-146.0,399.0,-7.2,438,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2761,3524,0,0,0,0,0,0
$GC,4377,-0.57,-146.0,421.8,-6.8,468,4381,0.00,2.15,0.00,0.000,4,0.000,0.047,2291,1370,3523,0,0,0,0,0,0
$GC,4417,-0.57,-146.0,424.6,-6.9,471,4421,0.00,2.25,0.00,0.000,6,0.000,0.057,2289,2776,3523,0,0,0,0,0,0
$GC,4741,-0.57,-146.0,447.5,-7.1,501,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2776,3523,0,0,0,0,0,0
$GC,5061,-0.57,-146.0,469.8,-7.2,531,5065,0.00,2.17,0.00,0.000,4,0.000,0.046,2289,1370,3523,0,0,0,0,0,0
$GC,5092,-0.57,-146.0,472.4,-7.9,533,5100,0.00,2.25,0.00,0.000,6,0.000,0.057,2289,2757,3523,0,0,0,0,0,0
$GC,5418,-0.57,-146.0,494.8,-6.9,564,5422,0.00,1.92,0.00,0.000,4,0.000,0.069,2282,3926,3523,0,0,0,0,0,0
$GC,5452,-0.57,-146.0,497.4,-7.6,567,5456,0.00,1.85,0.00,0.000,6,0.000,0.044,2282,2756,3523,0,0,0,0,0,0
$GC,5782,-0.57,-146.0,521.3,-7.4,598,5786,0.00,1.92,0.00,0.000,4,0.000,0.070,2275,3928,3523,0,0,0,0,0,0
$GC,5809,-0.57,-146.0,523.5,-7.8,600,5816,0.00,1.85,0.00,0.000,6,0.000,0.044,2275,2759,3523,0,0,0,0,0,0
$GC,6135,-0.57,-146.0,548.7,-7.8,631,6138,0.00,2.15,0.00,0.000,4,0.000,0.047,2275,1364,3523,0,0,0,0,0,0
$GC,6166,-0.57,-146.0,551.5,-8.7,633,6174,0.00,2.25,0.00,0.000,6,0.000,0.057,2274,2755,3523,0,0,0,0,0,0
$GC,6494,-0.57,-146.0,576.8,-7.8,664,6497,0.00,1.90,0.00,0.000,4,0.000,0.069,2269,3936,3523,0,0,0,0,0,0
$GC,6520,-0.57,-146.0,579.3,-8.5,666,6528,0.00,1.88,0.00,0.000,6,0.000,0.044,2269,2747,3523,0,0,0,0,0,0
$GC,6844,-0.57,-146.0,605.2,-8.3,693,6845,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2747,3524,0,0,0,0,0,0
$GC,7149,-0.57,-146.0,629.9,-8.3,703,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2747,3523,0,0,0,0,0,0
$STATE,7454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7454,begin apogee
$GC,7458,-0.14,0.0,654.1,7.8,713,7585,0.47,0.00,119.22,1.011,4,0.142,0.000,2425,2594,2922,0,0,0,0,0,0
$STATE,7586,end apogee,CONTROL_FINISHED_OK
$STATE,7586,begin climb
$GC,7587,0.57,146.0,656.3,0.0,717,7718,0.70,2.33,123.05,0.989,4,0.086,0.046,2663,1191,2327,0,0,0,0,0,0
$GC,7879,0.57,146.0,627.2,12.2,726,7885,0.00,2.40,0.00,0.000,6,0.000,0.052,2663,2601,2318,0,0,0,0,0,0
$GC,8198,0.57,146.0,586.5,12.9,741,8202,0.00,2.28,0.00,0.000,4,0.000,0.049,2670,1183,2314,0,0,0,0,0,0
$GC,8393,0.57,146.0,562.0,12.1,758,8397,0.00,2.33,0.00,0.000,6,0.000,0.053,2670,2610,2315,0,0,0,0,0,0
$GC,8723,0.57,146.0,518.0,13.4,789,8727,0.00,2.17,0.00,0.000,4,0.000,0.067,2670,3926,2312,0,0,0,0,0,0
$GC,8762,0.57,146.0,512.2,16.1,792,8766,0.00,2.12,0.00,0.000,6,0.000,0.044,2678,2600,2311,0,0,0,0,0,0
$GC,9086,0.57,146.0,467.2,14.0,822,9090,0.00,2.22,0.00,0.000,4,0.000,0.067,2678,3930,2311,0,0,0,0,0,0
$GC,9115,0.57,146.0,462.8,16.2,824,9119,0.00,2.10,0.00,0.000,6,0.000,0.044,2687,2612,2310,0,0,0,0,0,0
$GC,9439,0.57,146.0,414.9,15.3,854,9440,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2611,2310,0,0,0,0,0,0
$GC,9760,0.57,146.0,367.2,15.4,884,9764,0.00,2.17,0.00,0.000,4,0.000,0.068,2688,3932,2310,0,0,0,0,0,0
$GC,9803,0.57,146.0,359.1,17.8,887,9813,0.12,2.10,0.00,0.000,6,0.192,0.043,2661,2620,2309,0,0,0,0,0,0
$GC,10129,0.57,146.0,315.7,13.4,918,10130,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2619,2309,0,0,0,0,0,0
$GC,10449,0.57,146.0,274.3,13.0,948,10450,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2619,2309,0,0,0,0,0,0
$GC,10768,0.57,146.0,233.4,12.9,978,10772,0.00,2.15,0.00,0.000,4,0.000,0.067,2661,3934,2309,0,0,0,0,0,0
$GC,10863,0.57,146.0,219.4,15.5,986,10866,0.00,2.05,0.00,0.000,6,0.000,0.042,2666,2629,2308,0,0,0,0,0,0
$GC,11192,0.57,146.0,178.4,12.4,1017,11196,0.00,2.12,0.00,0.000,4,0.000,0.065,2666,3930,2308,0,0,0,0,0,0
$GC,11264,0.57,146.0,168.1,15.2,1023,11272,0.00,2.05,0.00,0.000,6,0.000,0.041,2673,2638,2308,0,0,0,0,0,0
$GC,11591,0.57,146.0,128.7,11.8,1054,11592,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2638,2308,0,0,0,0,0,0
$GC,11911,0.57,146.0,92.4,10.3,1090,11917,0.00,2.25,0.00,0.000,4,0.000,0.050,2682,1191,2310,0,0,0,0,0,0
$GC,11940,0.57,146.0,89.2,10.9,1095,11948,0.00,2.30,0.00,0.000,6,0.000,0.054,2682,2651,2309,0,0,0,0,0,0
$GC,12283,0.57,156.5,52.0,9.5,1156,12297,0.00,2.08,6.75,0.598,4,0.000,0.064,2682,3930,2286,0,0,0,0,0,0
$GC,12376,0.57,156.5,41.8,11.5,1172,12384,0.12,2.00,0.00,0.000,6,0.208,0.041,2661,2650,2285,0,0,0,0,0,0
$GC,12717,0.67,307.0,20.6,3.1,1233,12846,0.00,2.42,119.68,0.616,4,0.000,0.047,2661,1184,1669,0,0,0,0,0,0
$GC,12915,0.72,376.3,10.8,6.8,1266,12979,0.12,2.42,55.38,0.596,6,0.104,0.050,2711,2647,1388,0,0,0,0,0,0
$STATE,13028,end climb,SURFACE_DEPTH_REACHED
$STATE,13028,begin surface coast
$FINISH,0.2,1.013334
$STATE,13071,end surface coast,CONTROL_FINISHED_OK
$STATE,13071,begin surface
$SM_CCo,13145,0.00,0.000,0,0,1375,379.23
$SM_GC,1.07,6.65,0.00,0.00,0.060,0.000,0.000,299,2789,1375,-6.74,0.25,379.23
$RAFOS_CLK,653
$RAFOS,0,1285200064,0.033333,0.017778,134,51,45,43,41,39,1170,747,1836,1680,635,971
$RAFOS,6,1285188547,20.833334,20.818611,137,55,43,43,41,41,799,1784,1442,1634,928,1830
$RAFOS,5,1285188062,20.700001,20.683889,84,46,44,42,41,40,653,183,1582,765,666,267
$RAFOS,4,1285187632,20.566668,20.564444,59,51,43,41,41,38,630,1307,242,1940,1448,484
$RAFOS,3,1285187104,20.433332,20.417778,48,44,41,41,38,37,878,807,26,121,1090,1786
$RAFOS_FIX,6707.206055,-5659.667969,220910,202016,4,96,0.00
$IRIDIUM_FIX,6636.54,-5702.96,220910,171710
$TT8_MAMPS,0.031458
$HUMID,48.81
$INTERNAL_PRESSURE,8.62185
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.4,13.139
$10V_AH,10.3,9.581
$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,16.625,89.250,424.075,0.000,0.000,30.133,35.667,113.788,0.000,0.000,16.954,3207.039,7331.829,501.081,2278.626,139.378,0.000,1600.344,0.000,2063.265,1800.000,0.537,0.000
$DEVICE_MAMPS,263.925,78.030,1011.330,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,899.123,974.807,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151604
$DATA_FILE_SIZE,53350,1292
$CAP_FILE_SIZE,136268,0
$CFSIZE,260165632,245325824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.3
$CURRENT,0.126, 11.5,1
$GPS,230910,001400,6703.613,-5702.474,38,2.0,38,-37.6