version: 66.08
glider: 183
mission: 3
dive: 81
start: 9 23 110 0 19 13
data:
$ID,183
$MISSION,3
$DIVE,81
$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,-7791.3804
$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,40
$R_STBD_OVSHOOT,28
$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
$GPS1,230910,001400,6703.613,-5702.474,38,2.0,38,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-71.6
$GPS2,230910,001840,6703.641,-5702.462,11,2.1,30,-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,267.9,153279,-17.5,-10.000
$D_GRID,656
$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,13,begin dive
$GC,14,-0.57,-146.0,0.0,0.0,0,107,0.00,0.00,-90.15,0.000,2,0.000,0.000,296,2790,3408,0,0,0,0,0,0
$GC,109,-0.57,-146.0,6.3,-15.3,15,130,8.38,1.92,-2.10,0.000,4,0.265,0.076,2279,3931,3522,0,0,0,0,0,0
$GC,264,-0.57,-146.0,46.7,-13.1,42,270,0.00,1.85,0.00,0.000,6,0.000,0.044,2278,2779,3524,0,0,0,0,0,0
$GC,608,-0.57,-146.0,85.6,-10.9,103,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2778,3525,0,0,0,0,0,0
$GC,946,-0.57,-146.0,121.9,-10.6,146,949,0.00,1.90,0.00,0.000,4,0.000,0.069,2272,3929,3525,0,0,0,0,0,0
$GC,972,-0.57,-146.0,125.1,-10.6,148,980,0.00,1.83,0.00,0.000,6,0.000,0.043,2272,2791,3525,0,0,0,0,0,0
$GC,1297,-0.57,-146.0,158.7,-10.0,179,1301,0.00,2.20,0.00,0.000,4,0.000,0.046,2272,1369,3524,0,0,0,0,0,0
$GC,1346,-0.57,-146.0,163.6,-9.9,183,1354,0.00,2.33,0.00,0.000,6,0.000,0.057,2265,2782,3524,0,0,0,0,0,0
$GC,1672,-0.57,-146.0,196.9,-10.3,214,1676,0.00,1.90,0.00,0.000,4,0.000,0.069,2259,3925,3524,0,0,0,0,0,0
$GC,1710,-0.57,-146.0,201.1,-10.8,217,1719,0.12,1.80,0.00,0.000,6,0.174,0.044,2292,2782,3523,0,0,0,0,0,0
$GC,2035,-0.57,-146.0,227.8,-7.8,248,2039,0.00,2.20,0.00,0.000,4,0.000,0.047,2291,1367,3523,0,0,0,0,0,0
$GC,2097,-0.57,-146.0,232.7,-7.5,253,2101,0.00,2.25,0.00,0.000,6,0.000,0.057,2289,2777,3523,0,0,0,0,0,0
$GC,2422,-0.57,-146.0,257.0,-7.7,283,2425,0.00,1.88,0.00,0.000,4,0.000,0.068,2282,3936,3523,0,0,0,0,0,0
$GC,2460,-0.57,-146.0,260.0,-8.5,286,2467,0.00,1.85,0.00,0.000,6,0.000,0.043,2282,2771,3523,0,0,0,0,0,0
$GC,2785,-0.57,-146.0,284.9,-7.2,317,2789,0.00,2.15,0.00,0.000,4,0.000,0.046,2282,1371,3523,0,0,0,0,0,0
$GC,2829,-0.57,-146.0,288.3,-7.2,321,2833,0.00,2.22,0.00,0.000,6,0.000,0.057,2279,2768,3523,0,0,0,0,0,0
$GC,3154,-0.57,-146.0,312.9,-7.5,351,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2768,3523,0,0,0,0,0,0
$GC,3473,-0.57,-146.0,337.4,-7.8,381,3477,0.00,2.15,0.00,0.000,4,0.000,0.045,2278,1367,3524,0,0,0,0,0,0
$GC,3500,-0.57,-146.0,339.7,-7.7,383,3507,0.00,2.25,0.00,0.000,6,0.000,0.057,2276,2758,3524,0,0,0,0,0,0
$GC,3827,-0.57,-146.0,365.4,-8.3,414,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2758,3524,0,0,0,0,0,0
$GC,4144,-0.57,-146.0,391.9,-7.9,444,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2758,3524,0,0,0,0,0,0
$GC,4464,-0.57,-146.0,417.9,-8.3,474,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2758,3523,0,0,0,0,0,0
$GC,4782,-0.57,-146.0,444.9,-8.5,504,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2758,3523,0,0,0,0,0,0
$GC,5101,-0.57,-146.0,471.6,-8.2,534,5105,0.00,1.90,0.00,0.000,4,0.000,0.070,2268,3936,3523,0,0,0,0,0,0
$GC,5147,-0.57,-146.0,475.7,-9.0,538,5151,0.00,1.85,0.00,0.000,6,0.000,0.044,2268,2768,3523,0,0,0,0,0,0
$GC,5476,-0.57,-146.0,504.4,-9.3,569,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2768,3523,0,0,0,0,0,0
$GC,5796,-0.57,-146.0,531.7,-8.5,599,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2768,3523,0,0,0,0,0,0
$GC,6115,-0.57,-146.0,558.6,-8.8,629,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2768,3522,0,0,0,0,0,0
$GC,6433,-0.57,-146.0,585.6,-8.3,659,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2768,3522,0,0,0,0,0,0
$GC,6766,-0.57,-146.0,612.9,-8.3,681,6767,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2768,3521,0,0,0,0,0,0
$GC,7072,-0.57,-146.0,637.9,-8.3,691,7076,0.00,1.92,0.00,0.000,4,0.000,0.073,2262,3919,3521,0,0,0,0,0,0
$GC,7107,-0.57,-146.0,640.9,-9.1,692,7110,0.00,1.80,0.00,0.000,6,0.000,0.046,2262,2770,3521,0,0,0,0,0,0
$STATE,7293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7293,begin apogee
$GC,7297,-0.14,0.0,657.6,9.0,698,7424,0.50,0.00,118.97,1.017,4,0.145,0.000,2426,2600,2922,0,0,0,0,0,0
$STATE,7424,end apogee,CONTROL_FINISHED_OK
$STATE,7424,begin climb
$GC,7426,0.57,146.0,660.9,0.0,702,7557,0.68,2.35,123.60,0.992,4,0.086,0.047,2654,1193,2327,0,0,0,0,0,0
$GC,7720,0.57,146.0,634.7,10.4,711,7724,0.00,2.40,0.00,0.000,6,0.000,0.055,2654,2606,2318,0,0,0,0,0,0
$GC,8039,0.57,146.0,596.2,11.9,723,8043,0.00,2.30,0.00,0.000,4,0.000,0.050,2663,1189,2314,0,0,0,0,0,0
$GC,8221,0.57,146.0,575.1,12.2,739,8229,0.00,2.38,0.00,0.000,6,0.000,0.056,2663,2611,2314,0,0,0,0,0,0
$GC,8548,0.57,146.0,536.1,12.0,770,8551,0.00,2.20,0.00,0.000,4,0.000,0.068,2663,3926,2312,0,0,0,0,0,0
$GC,8603,0.57,146.0,528.2,15.9,775,8607,0.00,2.10,0.00,0.000,6,0.000,0.044,2670,2604,2311,0,0,0,0,0,0
$GC,8933,0.57,146.0,487.0,12.4,806,8938,0.00,2.20,0.00,0.000,4,0.000,0.068,2670,3929,2311,0,0,0,0,0,0
$GC,8965,0.57,146.0,482.1,14.7,808,8973,0.00,2.12,0.00,0.000,6,0.000,0.044,2678,2614,2310,0,0,0,0,0,0
$GC,9291,0.57,146.0,438.6,13.6,839,9295,0.00,2.20,0.00,0.000,4,0.000,0.069,2678,3936,2310,0,0,0,0,0,0
$GC,9329,0.57,146.0,432.7,15.9,842,9336,0.00,2.10,0.00,0.000,6,0.000,0.044,2688,2614,2310,0,0,0,0,0,0
$GC,9654,0.57,146.0,387.3,13.9,873,9655,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2614,2309,0,0,0,0,0,0
$GC,9973,0.57,146.0,343.0,14.1,903,9977,0.00,2.15,0.00,0.000,4,0.000,0.067,2688,3926,2309,0,0,0,0,0,0
$GC,10029,0.57,146.0,334.0,16.5,908,10033,0.15,2.03,0.00,0.000,6,0.213,0.044,2661,2631,2309,0,0,0,0,0,0
$GC,10358,0.57,146.0,292.7,13.0,939,10359,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2630,2308,0,0,0,0,0,0
$GC,10677,0.57,146.0,252.9,12.8,969,10681,0.00,2.15,0.00,0.000,4,0.000,0.068,2661,3936,2309,0,0,0,0,0,0
$GC,10736,0.57,146.0,244.0,14.7,974,10744,0.00,2.08,0.00,0.000,6,0.000,0.043,2666,2637,2308,0,0,0,0,0,0
$GC,11061,0.57,146.0,201.5,12.9,1005,11065,0.00,2.28,0.00,0.000,4,0.000,0.051,2667,1181,2308,0,0,0,0,0,0
$GC,11093,0.57,146.0,197.5,12.0,1007,11101,0.00,2.35,0.00,0.000,6,0.000,0.054,2666,2640,2308,0,0,0,0,0,0
$GC,11419,0.57,146.0,156.7,12.5,1038,11420,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2640,2308,0,0,0,0,0,0
$GC,11740,0.57,146.0,117.5,11.8,1068,11743,0.00,2.10,0.00,0.000,4,0.000,0.065,2667,3930,2308,0,0,0,0,0,0
$GC,11799,0.57,146.0,108.9,14.6,1073,11809,0.00,2.05,0.00,0.000,6,0.000,0.041,2673,2632,2308,0,0,0,0,0,0
$GC,12137,0.57,146.0,72.1,10.9,1127,12143,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2632,2308,0,0,0,0,0,0
$GC,12479,0.57,156.0,39.7,9.5,1188,12494,0.00,2.15,6.75,0.595,4,0.000,0.063,2672,3933,2285,0,0,0,0,0,0
$GC,12634,0.62,225.2,26.5,6.8,1215,12696,0.00,1.98,55.78,0.625,6,0.000,0.041,2680,2655,2004,0,0,0,0,0,0
$GC,13029,0.67,310.5,3.3,6.1,1285,13044,0.00,0.00,12.43,0.604,2,0.000,0.000,2679,2655,1937,0,0,0,0,0,0
$STATE,13045,end climb,SURFACE_DEPTH_REACHED
$STATE,13045,begin surface coast
$FINISH,0.1,1.019458
$STATE,13095,end surface coast,CONTROL_FINISHED_OK
$STATE,13095,begin surface
$SM_CCo,13108,52.45,0.082,0,0,1496,350.04
$SM_GC,0.83,0.00,0.00,52.45,0.000,0.000,0.082,303,2790,1496,-6.79,0.28,350.04
$RAFOS_CLK,669
$RAFOS,6,1285202942,0.833333,0.817222,105,48,46,46,43,42,811,162,1457,1577,1341,1197
$RAFOS,5,1285202465,0.700000,0.684722,122,41,40,40,40,39,622,1809,623,1404,1711,217
$RAFOS,4,1285201990,0.566667,0.552778,62,44,43,41,40,39,823,1786,1571,232,372,26
$RAFOS,3,1285201506,0.433333,0.418333,70,48,44,43,41,39,967,400,210,1305,582,1389
$RAFOS,1,1285200541,0.166667,0.150278,53,44,44,42,41,39,884,490,792,1906,1187,1346
$RAFOS_FIX,6705.055176,-5703.604980,230910,000051,5,99,3.24
$IRIDIUM_FIX,6636.54,-5702.96,220910,202027
$TT8_MAMPS,0.028462
$HUMID,49.80
$INTERNAL_PRESSURE,8.64138
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.3,13.231
$10V_AH,10.3,9.662
$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,16.250,84.275,317.525,52.450,0.000,25.611,13.641,115.465,0.000,0.000,34.207,3321.557,7239.420,483.315,2290.198,128.258,0.000,1575.240,0.000,2087.112,1440.000,0.536,0.000
$DEVICE_MAMPS,264.690,78.030,1017.450,81.855,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,906.697,969.581,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151680
$DATA_FILE_SIZE,50010,1296
$CAP_FILE_SIZE,135247,0
$CFSIZE,260165632,245256192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.2
$CURRENT,0.214,319.8,1
$GPS,230910,040007,6703.803,-5707.962,35,1.5,35,-37.6