version: 66.08
glider: 183
mission: 3
dive: 144
start: 10 6 110 21 39 6
data:
$ID,183
$MISSION,3
$DIVE,144
$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,-7898.2983
$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,33
$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
$GPS1,061010,213406,6658.812,-5721.025,40,0.8,40,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-70.2
$GPS2,061010,213832,6658.823,-5720.982,16,0.9,16,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,76.4,25043,-17.5,-10.000
$D_GRID,789
$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,12,begin dive
$GC,14,-0.57,-146.0,0.0,0.0,0,105,0.00,0.00,-88.60,0.000,2,0.000,0.000,294,2802,3276,0,0,0,0,0,0
$GC,107,-0.57,-146.0,5.1,-13.1,15,128,8.35,2.38,-5.03,0.000,4,0.262,0.060,2282,1365,3521,0,0,0,0,0,0
$GC,212,-0.57,-146.0,34.6,-17.9,33,219,0.00,2.30,0.00,0.000,6,0.000,0.060,2276,2768,3523,0,0,0,0,0,0
$GC,554,-0.57,-146.0,81.7,-13.0,94,561,0.00,1.92,0.00,0.000,4,0.000,0.070,2271,3928,3525,0,0,0,0,0,0
$GC,651,-0.57,-146.0,94.4,-12.3,111,658,0.00,1.88,0.00,0.000,6,0.000,0.046,2271,2762,3525,0,0,0,0,0,0
$GC,980,-0.57,-146.0,133.9,-12.3,146,984,0.00,2.00,0.00,0.000,4,0.000,0.073,2263,3929,3526,0,0,0,0,0,0
$GC,1035,-0.57,-146.0,141.1,-12.5,151,1039,0.00,1.83,0.00,0.000,6,0.000,0.047,2263,2778,3525,0,0,0,0,0,0
$GC,1366,-0.57,-146.0,182.6,-12.9,182,1370,0.00,2.20,0.00,0.000,4,0.000,0.051,2263,1372,3525,0,0,0,0,0,0
$GC,1393,-0.57,-146.0,186.1,-13.0,184,1398,0.12,2.33,0.00,0.000,6,0.187,0.063,2291,2795,3525,0,0,0,0,0,0
$GC,1719,-0.57,-146.0,217.9,-9.2,214,1723,0.00,1.92,0.00,0.000,4,0.000,0.074,2286,3931,3524,0,0,0,0,0,0
$GC,1765,-0.57,-146.0,222.3,-9.5,218,1768,0.00,1.80,0.00,0.000,6,0.000,0.048,2286,2792,3524,0,0,0,0,0,0
$GC,2095,-0.57,-146.0,252.7,-8.8,249,2099,0.00,2.22,0.00,0.000,4,0.000,0.050,2286,1371,3523,0,0,0,0,0,0
$GC,2140,-0.57,-146.0,256.7,-9.0,253,2144,0.00,2.33,0.00,0.000,6,0.000,0.063,2286,2799,3523,0,0,0,0,0,0
$GC,2465,-0.57,-146.0,283.6,-8.2,283,2468,0.00,1.88,0.00,0.000,4,0.000,0.073,2286,3928,3522,0,0,0,0,0,0
$GC,2503,-0.57,-146.0,286.9,-8.9,286,2510,0.00,1.80,0.00,0.000,6,0.000,0.048,2286,2782,3522,0,0,0,0,0,0
$GC,2828,-0.57,-146.0,313.2,-8.1,317,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2782,3522,0,0,0,0,0,0
$GC,3147,-0.57,-146.0,338.8,-8.1,347,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2782,3522,0,0,0,0,0,0
$GC,3465,-0.57,-146.0,365.7,-8.6,377,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2782,3522,0,0,0,0,0,0
$GC,3785,-0.57,-146.0,392.0,-8.4,407,3789,0.00,2.20,0.00,0.000,4,0.000,0.051,2286,1365,3522,0,0,0,0,0,0
$GC,3807,-0.57,-146.0,394.1,-8.5,408,3814,0.00,2.30,0.00,0.000,6,0.000,0.061,2285,2794,3522,0,0,0,0,0,0
$GC,4132,-0.57,-146.0,419.6,-7.7,439,4136,0.00,1.90,0.00,0.000,4,0.000,0.072,2283,3929,3522,0,0,0,0,0,0
$GC,4177,-0.57,-146.0,423.1,-7.6,443,4181,0.00,1.80,0.00,0.000,6,0.000,0.047,2283,2792,3522,0,0,0,0,0,0
$GC,4507,-0.57,-146.0,447.6,-6.9,474,4511,0.00,2.20,0.00,0.000,4,0.000,0.050,2283,1371,3522,0,0,0,0,0,0
$GC,4541,-0.57,-146.0,450.2,-7.1,476,4548,0.00,2.33,0.00,0.000,6,0.000,0.061,2280,2797,3522,0,0,0,0,0,0
$GC,4866,-0.57,-146.0,474.7,-7.9,507,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2797,3523,0,0,0,0,0,0
$GC,5185,-0.57,-146.0,499.0,-7.9,537,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2797,3523,0,0,0,0,0,0
$GC,5504,-0.57,-146.0,523.6,-7.6,567,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2797,3523,0,0,0,0,0,0
$GC,5822,-0.57,-146.0,547.1,-7.2,597,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2797,3522,0,0,0,0,0,0
$GC,6142,-0.57,-146.0,570.4,-7.0,627,6146,0.00,2.22,0.00,0.000,4,0.000,0.050,2280,1367,3523,0,0,0,0,0,0
$GC,6162,-0.57,-146.0,572.2,-7.6,628,6170,0.00,2.35,0.00,0.000,6,0.000,0.060,2280,2796,3523,0,0,0,0,0,0
$GC,6488,-0.57,-146.0,596.4,-7.7,659,6489,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2796,3523,0,0,0,0,0,0
$GC,6817,-0.57,-146.0,621.6,-7.7,673,6818,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2796,3523,0,0,0,0,0,0
$GC,7123,-0.57,-146.0,645.9,-7.9,683,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2796,3523,0,0,0,0,0,0
$GC,7430,-0.57,-146.0,669.5,-7.7,693,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2797,3522,0,0,0,0,0,0
$GC,7735,-0.57,-146.0,693.0,-7.6,703,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2796,3523,0,0,0,0,0,0
$GC,8042,-0.57,-146.0,715.4,-7.1,713,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2796,3523,0,0,0,0,0,0
$GC,8348,-0.57,-146.0,737.5,-7.1,723,8349,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2796,3522,0,0,0,0,0,0
$GC,8654,-0.57,-146.0,759.6,-7.1,733,8658,0.00,2.25,0.00,0.000,4,0.000,0.050,2280,1364,3522,0,0,0,0,0,0
$GC,8674,-0.57,-146.0,761.1,-6.9,733,8683,0.00,2.33,0.00,0.000,6,0.000,0.061,2279,2786,3522,0,0,0,0,0,0
$GC,8988,-0.57,-146.0,782.8,-6.9,744,8992,0.00,1.88,0.00,0.000,4,0.000,0.072,2274,3936,3522,0,0,0,0,0,0
$GC,9025,-0.57,-146.0,785.8,-8.1,745,9030,0.00,1.83,0.00,0.000,6,0.000,0.047,2274,2794,3522,0,0,0,0,0,0
$STATE,9084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9084,begin apogee
$GC,9088,-0.14,0.0,790.0,7.2,747,9215,0.45,0.00,121.30,1.101,4,0.142,0.000,2423,2597,2923,0,0,0,0,0,0
$STATE,9216,end apogee,CONTROL_FINISHED_OK
$STATE,9216,begin climb
$GC,9217,0.57,146.0,792.7,0.0,751,9353,0.70,2.40,127.10,1.081,4,0.084,0.050,2660,1181,2327,0,0,0,0,0,0
$GC,9487,0.57,146.0,766.9,12.1,759,9492,0.00,2.47,0.00,0.000,6,0.000,0.055,2660,2593,2318,0,0,0,0,0,0
$GC,9818,0.57,146.0,723.7,13.3,770,9822,0.00,2.33,0.00,0.000,4,0.000,0.053,2666,1184,2314,0,0,0,0,0,0
$GC,10040,0.57,146.0,695.8,13.0,776,10048,0.00,2.42,0.00,0.000,6,0.000,0.056,2666,2629,2313,0,0,0,0,0,0
$GC,10355,0.57,146.0,654.7,13.2,787,10359,0.00,2.17,0.00,0.000,4,0.000,0.068,2666,3928,2312,0,0,0,0,0,0
$GC,10392,0.57,146.0,648.6,15.9,788,10397,0.00,2.15,0.00,0.000,6,0.000,0.045,2674,2614,2311,0,0,0,0,0,0
$GC,10728,0.57,146.0,602.2,13.8,799,10729,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2613,2311,0,0,0,0,0,0
$GC,11045,0.57,146.0,558.0,14.2,827,11049,0.00,2.20,0.00,0.000,4,0.000,0.068,2674,3937,2311,0,0,0,0,0,0
$GC,11076,0.57,146.0,552.9,15.8,829,11085,0.00,2.12,0.00,0.000,6,0.000,0.043,2682,2618,2310,0,0,0,0,0,0
$GC,11405,0.57,146.0,506.2,14.3,860,11409,0.00,2.20,0.00,0.000,4,0.000,0.067,2682,3931,2310,0,0,0,0,0,0
$GC,11425,0.57,146.0,502.4,15.6,861,11434,0.10,2.10,0.00,0.000,6,0.194,0.044,2663,2624,2310,0,0,0,0,0,0
$GC,11751,0.57,146.0,459.8,13.0,892,11754,0.00,2.17,0.00,0.000,4,0.000,0.067,2663,3936,2310,0,0,0,0,0,0
$GC,11782,0.57,146.0,455.0,14.2,894,11790,0.00,2.10,0.00,0.000,6,0.000,0.044,2667,2629,2309,0,0,0,0,0,0
$GC,12107,0.57,146.0,410.5,13.5,925,12109,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2630,2309,0,0,0,0,0,0
$GC,12427,0.57,146.0,367.6,13.2,955,12431,0.00,2.15,0.00,0.000,4,0.000,0.067,2666,3928,2310,0,0,0,0,0,0
$GC,12498,0.57,146.0,356.4,16.4,961,12506,0.00,2.08,0.00,0.000,6,0.000,0.044,2672,2632,2309,0,0,0,0,0,0
$GC,12823,0.57,146.0,312.2,13.3,992,12825,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2632,2309,0,0,0,0,0,0
$GC,13143,0.57,146.0,271.0,12.7,1022,13147,0.00,2.15,0.00,0.000,4,0.000,0.067,2672,3927,2309,0,0,0,0,0,0
$GC,13177,0.57,146.0,265.9,14.6,1025,13181,0.00,2.03,0.00,0.000,6,0.000,0.044,2680,2634,2308,0,0,0,0,0,0
$GC,13507,0.57,146.0,222.2,13.0,1056,13511,0.00,2.12,0.00,0.000,4,0.000,0.066,2680,3928,2309,0,0,0,0,0,0
$GC,13533,0.57,146.0,218.3,15.3,1058,13541,0.00,2.05,0.00,0.000,6,0.000,0.043,2688,2644,2308,0,0,0,0,0,0
$GC,13859,0.57,146.0,176.2,12.6,1089,13860,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2644,2309,0,0,0,0,0,0
$GC,14178,0.57,146.0,135.9,12.8,1119,14181,0.00,2.10,0.00,0.000,4,0.000,0.066,2688,3931,2309,0,0,0,0,0,0
$GC,14200,0.57,146.0,132.6,15.1,1121,14205,0.15,2.00,0.00,0.000,6,0.210,0.044,2658,2645,2309,0,0,0,0,0,0
$GC,14525,0.58,159.5,99.4,9.4,1152,14538,0.00,0.00,9.32,0.663,6,0.000,0.000,2659,2645,2272,0,0,0,0,0,0
$GC,14873,0.58,165.6,65.9,9.7,1214,14887,0.00,2.12,6.70,0.619,4,0.000,0.065,2658,3932,2247,0,0,0,0,0,0
$GC,14910,0.58,165.6,62.2,11.1,1220,14916,0.00,2.03,0.00,0.000,6,0.000,0.044,2664,2652,2246,0,0,0,0,0,0
$GC,15252,0.60,188.8,33.0,8.9,1281,15278,0.00,2.40,20.38,0.649,4,0.000,0.051,2663,1183,2152,0,0,0,0,0,0
$GC,15428,0.66,287.1,24.4,5.5,1312,15515,0.00,2.35,79.62,0.631,6,0.000,0.054,2664,2643,1750,0,0,0,0,0,0
$STATE,15726,end climb,SURFACE_DEPTH_REACHED
$STATE,15726,begin surface coast
$FINISH,0.5,1.018323
$STATE,15771,end surface coast,CONTROL_FINISHED_OK
$STATE,15771,begin surface
$SM_CCo,15784,32.80,0.470,1,0,1494,350.04
$SM_GC,1.53,0.00,0.00,32.80,0.000,0.000,0.470,299,2782,1494,-6.80,0.06,350.04
$RAFOS_CLK,840
$RAFOS,6,1286412546,0.833333,0.818333,96,51,50,45,42,41,753,1408,337,1801,837,455
$RAFOS,5,1286412062,0.700000,0.683889,120,43,42,42,41,40,598,1088,598,1457,1795,970
$RAFOS,4,1286411597,0.566667,0.554722,86,46,45,42,41,41,749,198,145,432,102,1772
$RAFOS,3,1286411102,0.433333,0.417222,59,54,51,45,43,42,947,1632,316,893,1749,1158
$RAFOS,2,1286410623,0.300000,0.284167,47,46,45,44,41,40,996,1251,1217,1690,1713,1352
$RAFOS,1,1286410143,0.166667,0.150833,45,45,44,41,39,39,1015,162,535,1862,359,1696
$RAFOS,0,1286409676,0.033333,0.021111,90,46,45,43,42,41,1050,163,1447,225,722,228
$RAFOS_FIX,6703.953613,-5721.982422,071010,000008,4,98,0.90
$IRIDIUM_FIX,6631.12,-5711.93,061010,161659
$TT8_MAMPS,0.028462
$HUMID,49.64
$INTERNAL_PRESSURE,8.59255
$TCM_TEMP,15.20
$XPDR_PINGS,1
$24V_AH,22.7,20.004
$10V_AH,10.2,15.471
$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,16.300,107.300,364.425,32.800,0.000,27.163,17.929,106.103,0.250,0.000,19.230,3484.469,9528.025,521.124,2411.627,163.793,0.000,1704.536,0.000,2225.965,2520.000,0.536,0.000
$DEVICE_MAMPS,262.395,78.795,1100.835,469.710,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,955.010,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,189580
$DATA_FILE_SIZE,50048,1372
$CAP_FILE_SIZE,152435,0
$CFSIZE,260165632,240234496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.0
$CURRENT,0.108,338.9,1
$GPS,071010,020425,6701.134,-5718.806,37,1.0,37,-37.6