version: 66.08
glider: 183
mission: 3
dive: 86
start: 9 23 110 21 9 42
data:
$ID,183
$MISSION,3
$DIVE,86
$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,-7797.9429
$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,35
$R_STBD_OVSHOOT,22
$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
$GPS1,230910,210437,6701.180,-5724.901,29,1.0,29,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-72.9
$GPS2,230910,210908,6701.208,-5724.825,13,1.1,13,-37.7
$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,301.7,136318,-17.5,-10.000
$D_GRID,813
$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,-146.0,0.0,0.0,0,99,0.00,0.00,-81.68,0.000,2,0.000,0.000,296,2793,3207,0,0,0,0,0,0
$GC,101,-0.57,-146.0,5.2,-13.7,14,122,8.38,1.95,-6.30,0.000,4,0.265,0.078,2278,3933,3522,0,0,0,0,0,0
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$GC,717,-0.57,-146.0,103.0,-12.8,121,720,0.00,1.95,0.00,0.000,4,0.000,0.073,2272,3928,3527,0,0,0,0,0,0
$GC,776,-0.57,-146.0,110.7,-12.6,126,784,0.00,1.88,0.00,0.000,6,0.000,0.046,2272,2777,3527,0,0,0,0,0,0
$GC,1102,-0.57,-146.0,148.1,-11.5,157,1106,0.00,2.22,0.00,0.000,4,0.000,0.051,2271,1361,3527,0,0,0,0,0,0
$GC,1144,-0.57,-146.0,153.4,-11.5,160,1154,0.00,2.35,0.00,0.000,6,0.000,0.062,2263,2771,3527,0,0,0,0,0,0
$GC,1472,-0.57,-146.0,192.0,-11.8,191,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2771,3526,0,0,0,0,0,0
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$GC,2164,-0.57,-146.0,262.8,-8.8,256,2168,0.00,2.20,0.00,0.000,4,0.000,0.052,2288,1365,3525,0,0,0,0,0,0
$GC,2209,-0.57,-146.0,267.1,-9.1,260,2213,0.00,2.30,0.00,0.000,6,0.000,0.063,2287,2771,3525,0,0,0,0,0,0
$GC,2534,-0.57,-146.0,294.7,-8.2,290,2537,0.00,1.92,0.00,0.000,4,0.000,0.073,2279,3932,3524,0,0,0,0,0,0
$GC,2568,-0.57,-146.0,297.7,-8.5,293,2572,0.00,1.85,0.00,0.000,6,0.000,0.048,2279,2756,3524,0,0,0,0,0,0
$GC,2900,-0.57,-146.0,326.7,-8.6,324,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2756,3524,0,0,0,0,0,0
$GC,3218,-0.57,-146.0,354.7,-8.6,354,3222,0.00,1.95,0.00,0.000,4,0.000,0.074,2272,3936,3524,0,0,0,0,0,0
$GC,3245,-0.57,-146.0,357.4,-8.9,356,3253,0.00,1.88,0.00,0.000,6,0.000,0.047,2272,2773,3524,0,0,0,0,0,0
$GC,3570,-0.57,-146.0,387.2,-9.1,387,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2773,3523,0,0,0,0,0,0
$GC,3889,-0.57,-146.0,415.6,-8.6,417,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2773,3523,0,0,0,0,0,0
$GC,4208,-0.57,-146.0,443.1,-8.8,447,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2773,3524,0,0,0,0,0,0
$GC,4528,-0.57,-146.0,471.0,-8.6,477,4532,0.00,1.92,0.00,0.000,4,0.000,0.074,2265,3928,3524,0,0,0,0,0,0
$GC,4555,-0.57,-146.0,473.9,-9.0,479,4562,0.00,1.85,0.00,0.000,6,0.000,0.047,2265,2774,3523,0,0,0,0,0,0
$GC,4880,-0.57,-146.0,503.2,-9.0,510,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2774,3524,0,0,0,0,0,0
$GC,5200,-0.57,-146.0,531.9,-9.1,540,5204,0.00,2.17,0.00,0.000,4,0.000,0.051,2265,1367,3524,0,0,0,0,0,0
$GC,5231,-0.57,-146.0,534.9,-9.2,542,5239,0.00,2.30,0.00,0.000,6,0.000,0.062,2262,2769,3524,0,0,0,0,0,0
$GC,5559,-0.57,-146.0,563.6,-8.9,573,5561,0.10,0.00,0.00,0.000,6,0.201,0.000,2286,2769,3524,0,0,0,0,0,0
$GC,5875,-0.57,-146.0,586.2,-6.9,603,5879,0.00,2.20,0.00,0.000,4,0.000,0.050,2286,1365,3524,0,0,0,0,0,0
$GC,5895,-0.57,-146.0,587.8,-7.4,604,5903,0.00,2.30,0.00,0.000,6,0.000,0.061,2286,2770,3524,0,0,0,0,0,0
$GC,6225,-0.57,-146.0,610.9,-7.1,626,6226,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2770,3524,0,0,0,0,0,0
$GC,6531,-0.57,-146.0,632.9,-7.3,636,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2770,3524,0,0,0,0,0,0
$GC,6838,-0.57,-146.0,655.2,-7.4,646,6842,0.00,1.92,0.00,0.000,4,0.000,0.073,2278,3925,3524,0,0,0,0,0,0
$GC,6872,-0.57,-146.0,657.7,-8.2,647,6875,0.00,1.83,0.00,0.000,6,0.000,0.047,2278,2769,3524,0,0,0,0,0,0
$GC,7212,-0.57,-146.0,683.5,-7.6,658,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2769,3524,0,0,0,0,0,0
$GC,7518,-0.57,-146.0,705.7,-7.3,668,7519,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2770,3524,0,0,0,0,0,0
$GC,7824,-0.57,-146.0,729.2,-7.9,678,7825,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2769,3524,0,0,0,0,0,0
$GC,8131,-0.57,-146.0,752.2,-7.3,688,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2769,3524,0,0,0,0,0,0
$GC,8437,-0.57,-146.0,775.0,-7.8,698,8438,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2769,3524,0,0,0,0,0,0
$GC,8743,-0.57,-146.0,798.1,-7.5,708,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2769,3524,0,0,0,0,0,0
$STATE,8956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8956,begin apogee
$GC,8960,-0.14,0.0,813.6,7.3,715,9089,0.45,0.00,122.80,1.121,4,0.141,0.000,2427,2601,2922,0,0,0,0,0,0
$STATE,9089,end apogee,CONTROL_FINISHED_OK
$STATE,9090,begin climb
$GC,9091,0.57,146.0,816.7,0.0,719,9227,0.70,2.40,127.15,1.089,4,0.084,0.050,2663,1194,2327,0,0,0,0,0,0
$GC,9422,0.57,146.0,783.4,33600.8,729,9427,0.00,2.45,0.00,0.000,6,0.000,0.057,2663,2600,2318,0,0,0,0,0,0
$GC,9753,0.57,146.0,739.8,33600.8,740,9757,0.00,2.30,0.00,0.000,4,0.000,0.054,2670,1194,2314,0,0,0,0,0,0
$GC,9937,0.57,146.0,715.9,33600.8,745,9941,0.00,2.38,0.00,0.000,6,0.000,0.057,2670,2618,2314,0,0,0,0,0,0
$GC,10249,0.57,146.0,673.0,33600.8,755,10253,0.00,2.17,0.00,0.000,4,0.000,0.068,2670,3926,2312,0,0,0,0,0,0
$GC,10309,0.57,146.0,663.1,33600.8,756,10317,0.00,2.15,0.00,0.000,6,0.000,0.045,2678,2614,2312,0,0,0,0,0,0
$GC,10622,0.57,146.0,618.8,33600.8,767,10626,0.00,2.20,0.00,0.000,4,0.000,0.069,2679,3926,2312,0,0,0,0,0,0
$GC,10648,0.57,146.0,614.5,33600.8,767,10657,0.10,2.12,0.00,0.000,6,0.200,0.045,2660,2620,2311,0,0,0,0,0,0
$GC,10968,0.57,146.0,574.3,33600.8,790,10969,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2619,2311,0,0,0,0,0,0
$GC,11287,0.57,146.0,534.5,33600.8,820,11291,0.00,2.17,0.00,0.000,4,0.000,0.070,2660,3926,2311,0,0,0,0,0,0
$GC,11318,0.57,146.0,529.8,33600.8,822,11326,0.00,2.10,0.00,0.000,6,0.000,0.045,2666,2632,2310,0,0,0,0,0,0
$GC,11645,0.57,146.0,487.5,33600.8,853,11646,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2632,2310,0,0,0,0,0,0
$GC,11963,0.57,146.0,445.4,33600.8,883,11967,0.00,2.17,0.00,0.000,4,0.000,0.070,2666,3932,2310,0,0,0,0,0,0
$GC,11991,0.57,146.0,441.2,33600.8,885,11995,0.00,2.08,0.00,0.000,6,0.000,0.045,2673,2628,2309,0,0,0,0,0,0
$GC,12315,0.57,146.0,397.3,33600.8,915,12316,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2628,2310,0,0,0,0,0,0
$GC,12633,0.57,146.0,356.9,33600.8,945,12637,0.00,2.17,0.00,0.000,4,0.000,0.069,2673,3933,2309,0,0,0,0,0,0
$GC,12701,0.57,146.0,347.2,33600.8,951,12704,0.00,2.05,0.00,0.000,6,0.000,0.045,2681,2639,2309,0,0,0,0,0,0
$GC,13031,0.57,146.0,304.1,33600.8,982,13034,0.00,2.12,0.00,0.000,4,0.000,0.069,2681,3929,2309,0,0,0,0,0,0
$GC,13085,0.57,146.0,295.8,33600.8,986,13093,0.10,2.05,0.00,0.000,6,0.198,0.045,2661,2645,2309,0,0,0,0,0,0
$GC,13410,0.57,146.0,257.5,33600.8,1017,13414,0.00,2.28,0.00,0.000,4,0.000,0.054,2667,1184,2309,0,0,0,0,0,0
$GC,13453,0.57,146.0,252.4,33600.8,1020,13461,0.00,2.38,0.00,0.000,6,0.000,0.056,2667,2643,2310,0,0,0,0,0,0
$GC,13779,0.57,146.0,215.5,33600.8,1051,13783,0.00,2.10,0.00,0.000,4,0.000,0.069,2666,3927,2310,0,0,0,0,0,0
$GC,13823,0.57,146.0,209.9,33600.8,1055,13827,0.00,2.05,0.00,0.000,6,0.000,0.045,2672,2630,2309,0,0,0,0,0,0
$GC,14153,0.57,146.0,172.0,33600.8,1086,14157,0.00,2.22,0.00,0.000,4,0.000,0.054,2680,1193,2309,0,0,0,0,0,0
$GC,14196,0.57,146.0,167.1,33600.8,1089,14204,0.00,2.33,0.00,0.000,6,0.000,0.056,2681,2628,2309,0,0,0,0,0,0
$GC,14523,0.57,146.0,130.2,33600.8,1120,14527,0.00,2.12,0.00,0.000,4,0.000,0.069,2680,3936,2310,0,0,0,0,0,0
$GC,14568,0.57,146.0,124.6,33600.8,1124,14573,0.12,2.08,0.00,0.000,6,0.220,0.046,2660,2621,2309,0,0,0,0,0,0
$GC,14897,0.57,146.0,93.1,33600.8,1161,14903,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2620,2310,0,0,0,0,0,0
$GC,15241,0.57,146.0,65.0,33600.8,1222,15247,0.00,2.15,0.00,0.000,4,0.000,0.071,2660,3930,2309,0,0,0,0,0,0
$GC,15298,0.57,146.0,60.1,33600.8,1232,15306,0.00,2.08,0.00,0.000,6,0.000,0.046,2666,2616,2309,0,0,0,0,0,0
$GC,15644,0.57,146.0,33.2,33600.8,1293,15651,0.00,2.22,0.00,0.000,4,0.000,0.055,2666,1182,2309,0,0,0,0,0,0
$GC,15726,0.57,146.0,28.8,33600.8,1307,15732,0.00,2.25,0.00,0.000,6,0.000,0.058,2666,2584,2309,0,0,0,0,0,0
$GC,16070,0.57,146.0,15.5,33600.8,1368,16076,0.00,2.22,0.00,0.000,4,0.000,0.072,2667,3937,2309,0,0,0,0,0,0
$GC,16328,0.57,146.0,7.3,33600.8,1414,16335,0.00,2.15,0.00,0.000,6,0.000,0.047,2666,2580,2308,0,0,0,0,0,0
$STATE,16592,end climb,SURFACE_DEPTH_REACHED
$STATE,16592,begin surface coast
$FINISH,2.9,1.024975
$STATE,16599,end surface coast,CONTROL_FINISHED_OK
$STATE,16599,begin surface
$SM_CCo,16612,101.88,0.085,0,0,1496,350.04
$SM_GC,1.07,0.00,0.00,101.88,0.000,0.000,0.085,302,2787,1496,-6.79,0.23,350.04
$RAFOS_CLK,889
$RAFOS,65,-1983495821,-0.000000,-187653.906250,17,178,65,101,138,102,52467,16770,53272,16722,21011,16745
$RAFOS_FIX,1524800.000000,1525400.000000,120607,040436,18030,15259,-0.00
$IRIDIUM_FIX,6636.54,-5727.50,230910,161642
$TT8_MAMPS,0.02996
$HUMID,51.41
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,15184.0,15190.0
$ALTIM_BOTTOM_PING,15139.0,15173.0
$24V_AH,22.8,13.782
$10V_AH,10.2,10.099
$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,16.725,110.925,249.950,101.875,0.000,22.887,17.503,120.535,0.000,0.000,16.552,3652.527,10098.230,507.543,2576.868,159.264,0.000,1745.741,0.000,2380.686,2520.000,0.535,0.000
$DEVICE_MAMPS,264.690,78.030,1120.725,84.915,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1085.640,986.849,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151640
$DATA_FILE_SIZE,56602,1462
$CAP_FILE_SIZE,159704,0
$CFSIZE,260165632,244842496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.2
$CURRENT,0.189,316.7,1
$GPS,240910,014950,6702.438,-5730.572,37,1.6,50,-37.7