version: 66.08
glider: 183
mission: 3
dive: 88
start: 9 24 110 6 30 13
data:
$ID,183
$MISSION,3
$DIVE,88
$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,-7800.5522
$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,34
$R_STBD_OVSHOOT,20
$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
$GPS1,240910,062436,6701.232,-5736.081,28,1.0,28,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-71.0
$GPS2,240910,062940,6701.202,-5736.042,10,3.1,29,-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,277.2,128351,-17.5,-10.000
$D_GRID,839
$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,-146.0,0.0,0.0,0,120,0.00,0.00,-103.12,0.000,2,0.000,0.000,298,2782,3399,0,0,0,0,0,0
$GC,122,-0.57,-146.0,5.9,-16.1,17,142,8.45,1.95,-2.40,0.000,4,0.266,0.075,2276,3931,3523,0,0,0,0,0,0
$GC,293,-0.57,-146.0,45.5,-13.0,47,300,0.00,1.88,0.00,0.000,6,0.000,0.047,2276,2780,3525,0,0,0,0,0,0
$GC,639,-0.57,-146.0,88.2,-13.3,108,645,0.00,2.28,0.00,0.000,4,0.000,0.051,2276,1370,3526,0,0,0,0,0,0
$GC,680,-0.57,-146.0,93.5,-12.2,115,687,0.00,2.33,0.00,0.000,6,0.000,0.063,2272,2782,3526,0,0,0,0,0,0
$GC,1009,-0.57,-146.0,135.1,-12.1,150,1013,0.00,2.25,0.00,0.000,4,0.000,0.050,2272,1361,3527,0,0,0,0,0,0
$GC,1063,-0.57,-146.0,141.7,-11.3,154,1071,0.00,2.33,0.00,0.000,6,0.000,0.062,2265,2755,3527,0,0,0,0,0,0
$GC,1388,-0.57,-146.0,179.5,-11.7,185,1392,0.00,1.98,0.00,0.000,4,0.000,0.073,2258,3933,3526,0,0,0,0,0,0
$GC,1482,-0.57,-146.0,191.3,-12.5,193,1490,0.08,1.88,0.00,0.000,6,0.161,0.048,2282,2783,3525,0,0,0,0,0,0
$GC,1810,-0.57,-146.0,223.2,-9.2,224,1814,0.00,2.22,0.00,0.000,4,0.000,0.052,2282,1364,3524,0,0,0,0,0,0
$GC,1843,-0.57,-146.0,226.3,-9.1,226,1850,0.00,2.33,0.00,0.000,6,0.000,0.063,2277,2778,3524,0,0,0,0,0,0
$GC,2167,-0.57,-146.0,256.2,-9.5,257,2171,0.00,1.90,0.00,0.000,4,0.000,0.073,2270,3930,3524,0,0,0,0,0,0
$GC,2194,-0.57,-146.0,259.1,-10.5,259,2202,0.00,1.88,0.00,0.000,6,0.000,0.048,2270,2772,3523,0,0,0,0,0,0
$GC,2520,-0.57,-146.0,291.7,-10.5,290,2523,0.00,1.92,0.00,0.000,4,0.000,0.073,2263,3932,3523,0,0,0,0,0,0
$GC,2546,-0.57,-146.0,294.7,-10.8,292,2554,0.00,1.88,0.00,0.000,6,0.000,0.047,2263,2772,3523,0,0,0,0,0,0
$GC,2873,-0.57,-146.0,326.9,-10.1,323,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2771,3523,0,0,0,0,0,0
$GC,3191,-0.57,-146.0,357.9,-9.7,353,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2771,3523,0,0,0,0,0,0
$GC,3509,-0.57,-146.0,388.9,-9.8,383,3513,0.00,2.20,0.00,0.000,4,0.000,0.050,2262,1366,3523,0,0,0,0,0,0
$GC,3553,-0.57,-146.0,393.3,-9.7,386,3561,0.10,2.30,0.00,0.000,6,0.200,0.063,2285,2762,3523,0,0,0,0,0,0
$GC,3880,-0.57,-146.0,420.6,-8.5,417,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2762,3523,0,0,0,0,0,0
$GC,4198,-0.57,-146.0,445.9,-7.4,447,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2762,3523,0,0,0,0,0,0
$GC,4516,-0.57,-146.0,469.3,-7.7,477,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2762,3523,0,0,0,0,0,0
$GC,4835,-0.57,-146.0,492.5,-7.4,507,4839,0.00,1.92,0.00,0.000,4,0.000,0.073,2279,3930,3523,0,0,0,0,0,0
$GC,4884,-0.57,-146.0,496.6,-8.3,511,4893,0.00,1.88,0.00,0.000,6,0.000,0.047,2279,2764,3523,0,0,0,0,0,0
$GC,5211,-0.57,-146.0,522.2,-8.4,542,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2764,3523,0,0,0,0,0,0
$GC,5529,-0.57,-146.0,548.5,-8.0,572,5531,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2764,3523,0,0,0,0,0,0
$GC,5847,-0.57,-146.0,574.6,-8.1,602,5850,0.00,1.92,0.00,0.000,4,0.000,0.075,2272,3930,3523,0,0,0,0,0,0
$GC,5881,-0.57,-146.0,577.6,-9.3,605,5885,0.00,1.85,0.00,0.000,6,0.000,0.048,2272,2761,3523,0,0,0,0,0,0
$GC,6210,-0.57,-146.0,605.9,-8.4,632,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2761,3523,0,0,0,0,0,0
$GC,6515,-0.57,-146.0,633.7,-9.2,642,6516,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2761,3523,0,0,0,0,0,0
$GC,6822,-0.57,-146.0,661.3,-8.9,652,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2760,3523,0,0,0,0,0,0
$GC,7127,-0.57,-146.0,687.9,-8.6,662,7128,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2760,3523,0,0,0,0,0,0
$GC,7435,-0.57,-146.0,713.3,-8.1,672,7438,0.00,1.92,0.00,0.000,4,0.000,0.074,2265,3931,3523,0,0,0,0,0,0
$GC,7472,-0.57,-146.0,716.7,-8.3,673,7477,0.05,1.85,0.00,0.000,6,0.159,0.047,2282,2775,3523,0,0,0,0,0,0
$GC,7808,-0.57,-146.0,740.1,-6.9,684,7810,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2775,3523,0,0,0,0,0,0
$GC,8114,-0.57,-146.0,761.1,-6.8,694,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2775,3523,0,0,0,0,0,0
$GC,8421,-0.57,-146.0,782.1,-6.9,704,8422,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2775,3523,0,0,0,0,0,0
$GC,8727,-0.57,-146.0,803.3,-6.7,714,8728,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2775,3523,0,0,0,0,0,0
$GC,9034,-0.57,-146.0,824.5,-7.0,724,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2775,3523,0,0,0,0,0,0
$STATE,9245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9246,begin apogee
$GC,9250,-0.14,0.0,839.3,6.9,731,9377,0.43,0.00,122.45,1.136,4,0.141,0.000,2426,2594,2923,0,0,0,0,0,0
$STATE,9378,end apogee,CONTROL_FINISHED_OK
$STATE,9378,begin climb
$GC,9379,0.57,146.0,842.2,0.0,735,9515,0.70,2.40,127.88,1.108,4,0.085,0.050,2661,1183,2326,0,0,0,0,0,0
$GC,9706,0.57,146.0,809.9,12.2,745,9710,0.00,2.45,0.00,0.000,6,0.000,0.057,2661,2600,2318,0,0,0,0,0,0
$GC,10040,0.57,146.0,765.8,13.4,756,10044,0.00,2.33,0.00,0.000,4,0.000,0.055,2668,1184,2313,0,0,0,0,0,0
$GC,10224,0.57,146.0,742.6,11.9,761,10228,0.00,2.35,0.00,0.000,6,0.000,0.057,2668,2609,2314,0,0,0,0,0,0
$GC,10536,0.57,146.0,701.0,13.5,771,10540,0.00,2.25,0.00,0.000,4,0.000,0.069,2668,3934,2311,0,0,0,0,0,0
$GC,10578,0.57,146.0,694.3,15.7,772,10583,0.00,2.17,0.00,0.000,6,0.000,0.045,2677,2605,2310,0,0,0,0,0,0
$GC,10902,0.57,146.0,649.4,13.8,783,10907,0.00,2.22,0.00,0.000,4,0.000,0.069,2677,3928,2310,0,0,0,0,0,0
$GC,10929,0.57,146.0,645.1,15.0,783,10938,0.00,2.15,0.00,0.000,6,0.000,0.044,2686,2610,2309,0,0,0,0,0,0
$GC,11242,0.57,146.0,600.3,14.3,794,11243,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2610,2309,0,0,0,0,0,0
$GC,11560,0.57,146.0,556.1,13.7,822,11564,0.00,2.20,0.00,0.000,4,0.000,0.069,2686,3930,2309,0,0,0,0,0,0
$GC,11621,0.57,146.0,546.4,16.0,827,11626,0.15,2.12,0.00,0.000,6,0.219,0.046,2660,2602,2308,0,0,0,0,0,0
$GC,11945,0.57,146.0,507.5,12.2,857,11949,0.00,2.20,0.00,0.000,4,0.000,0.069,2661,3928,2309,0,0,0,0,0,0
$GC,11972,0.57,146.0,503.8,14.3,859,11976,0.00,2.10,0.00,0.000,6,0.000,0.045,2667,2611,2308,0,0,0,0,0,0
$GC,12304,0.57,146.0,460.1,13.5,890,12307,0.00,2.17,0.00,0.000,4,0.000,0.068,2666,3926,2309,0,0,0,0,0,0
$GC,12338,0.57,146.0,455.0,15.5,893,12342,0.00,2.08,0.00,0.000,6,0.000,0.045,2673,2622,2308,0,0,0,0,0,0
$GC,12668,0.57,146.0,410.7,13.1,924,12669,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2621,2308,0,0,0,0,0,0
$GC,12987,0.57,146.0,368.6,13.4,954,12991,0.00,2.15,0.00,0.000,4,0.000,0.069,2673,3930,2308,0,0,0,0,0,0
$GC,13065,0.57,146.0,356.7,15.6,961,13069,0.00,2.03,0.00,0.000,6,0.000,0.045,2681,2640,2308,0,0,0,0,0,0
$GC,13396,0.57,146.0,313.6,12.6,992,13400,0.00,2.15,0.00,0.000,4,0.000,0.069,2681,3936,2308,0,0,0,0,0,0
$GC,13444,0.57,146.0,306.4,14.7,996,13452,0.10,2.08,0.00,0.000,6,0.198,0.045,2662,2642,2308,0,0,0,0,0,0
$GC,13769,0.57,146.0,269.9,10.9,1027,13770,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2642,2308,0,0,0,0,0,0
$GC,14089,0.57,146.0,235.6,11.4,1057,14093,0.00,2.15,0.00,0.000,4,0.000,0.069,2662,3936,2308,0,0,0,0,0,0
$GC,14126,0.57,146.0,230.5,13.0,1060,14134,0.00,2.05,0.00,0.000,6,0.000,0.044,2666,2655,2308,0,0,0,0,0,0
$GC,14453,0.57,146.0,193.7,10.8,1091,14457,0.00,2.30,0.00,0.000,4,0.000,0.054,2667,1191,2308,0,0,0,0,0,0
$GC,14480,0.57,146.5,190.7,10.0,1093,14484,0.00,2.35,0.00,0.000,6,0.000,0.057,2666,2660,2309,0,0,0,0,0,0
$GC,14811,0.57,150.4,156.9,9.8,1124,14815,0.00,2.30,0.00,0.000,4,0.000,0.054,2670,1188,2309,0,0,0,0,0,0
$GC,14842,0.57,154.7,153.6,9.8,1126,14854,0.00,2.38,5.47,0.641,6,0.000,0.056,2670,2650,2291,0,0,0,0,0,0
$GC,15179,0.57,154.7,119.7,10.5,1158,15183,0.00,2.33,0.00,0.000,4,0.000,0.054,2677,1183,2290,0,0,0,0,0,0
$GC,15221,0.57,154.7,115.2,10.5,1161,15229,0.00,2.40,0.00,0.000,6,0.000,0.057,2677,2653,2291,0,0,0,0,0,0
$GC,15555,0.60,201.3,82.7,7.8,1208,15605,0.00,2.20,39.10,0.683,4,0.000,0.070,2676,3925,2100,0,0,0,0,0,0
$GC,15677,0.60,201.3,69.8,10.8,1229,15684,0.00,2.05,0.00,0.000,6,0.000,0.046,2683,2648,2095,0,0,0,0,0,0
$GC,16020,0.61,217.2,36.1,9.3,1290,16039,0.00,0.00,12.70,0.663,6,0.000,0.000,2683,2648,2038,0,0,0,0,0,0
$GC,16375,0.68,321.7,8.1,5.2,1353,16468,0.00,2.33,85.25,0.644,4,0.000,0.070,2683,3930,1610,0,0,0,0,0,0
$STATE,16474,end climb,SURFACE_DEPTH_REACHED
$STATE,16474,begin surface coast
$FINISH,0.2,1.011393
$STATE,16501,end surface coast,CONTROL_FINISHED_OK
$STATE,16501,begin surface
$SM_CCo,16516,18.20,0.354,1,0,1496,350.04
$SM_GC,1.04,0.00,0.00,18.20,0.000,0.000,0.354,300,2781,1496,-6.80,0.06,350.04
$RAFOS_CLK,904
$RAFOS,6,1285318171,8.833333,8.825277,108,49,43,41,40,39,577,983,270,481,1316,1582
$RAFOS,5,1285317681,8.700000,8.689167,110,62,52,51,47,42,445,446,945,1794,1905,743
$RAFOS,4,1285317184,8.566667,8.551111,101,44,44,42,42,41,763,145,1898,502,1394,1591
$RAFOS,3,1285316724,8.433333,8.423333,56,51,47,43,43,42,787,1626,1802,1263,1744,292
$RAFOS,2,1285316234,8.300000,8.287222,73,46,44,42,41,41,889,1450,26,218,375,926
$RAFOS,1,1285315746,8.166667,8.151667,52,48,45,44,44,41,923,1690,1506,1494,619,127
$RAFOS,0,1285315265,8.033334,8.018056,74,51,46,42,41,41,1054,1824,381,1145,160,1819
$RAFOS_FIX,-200.000000,-200.000000,060713,020207,6,102,0.11
$IRIDIUM_FIX,6636.54,-5742.73,240910,010125
$TT8_MAMPS,0.029211
$HUMID,52.40
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,22.7,14.027
$10V_AH,10.2,10.280
$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,16.650,111.475,392.850,18.200,0.000,22.312,18.600,133.424,0.000,0.000,33.030,3863.393,10143.700,549.842,2474.410,166.935,0.000,1754.974,0.000,2260.590,2520.000,0.535,0.000
$DEVICE_MAMPS,266.220,74.970,1136.025,354.195,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1031.046,927.917,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151664
$DATA_FILE_SIZE,53307,1374
$CAP_FILE_SIZE,156602,0
$CFSIZE,260165632,244682752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.4
$CURRENT,0.056,185.5,1
$GPS,240910,111301,6659.735,-5740.489,35,1.5,35,-37.7