version: 66.08
glider: 183
mission: 3
dive: 145
start: 10 7 110 2 9 35
data:
$ID,183
$MISSION,3
$DIVE,145
$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,-7899.6479
$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,37
$R_STBD_OVSHOOT,25
$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
$GPS1,071010,020425,6701.134,-5718.806,37,1.0,37,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-71.0
$GPS2,071010,020902,6701.114,-5718.741,12,1.0,12,-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,142.6,22473,-17.5,-10.000
$D_GRID,780
$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,-146.0,0.0,0.0,0,105,0.00,0.00,-87.30,0.000,2,0.000,0.000,293,2784,3430,0,0,0,0,0,0
$GC,106,-0.57,-146.0,6.7,-17.5,14,128,8.35,2.30,-1.75,0.000,4,0.262,0.060,2283,1377,3521,0,0,0,0,0,0
$GC,323,-0.57,-146.0,49.2,-10.6,52,331,0.00,2.33,0.00,0.000,6,0.000,0.059,2277,2779,3525,0,0,0,0,0,0
$GC,666,-0.57,-146.0,89.7,-11.7,113,673,0.00,1.92,0.00,0.000,4,0.000,0.069,2270,3932,3525,0,0,0,0,0,0
$GC,772,-0.57,-146.0,103.3,-12.9,130,780,0.00,1.85,0.00,0.000,6,0.000,0.045,2270,2790,3525,0,0,0,0,0,0
$GC,1098,-0.57,-146.0,141.2,-11.7,161,1102,0.00,2.25,0.00,0.000,4,0.000,0.050,2269,1365,3524,0,0,0,0,0,0
$GC,1126,-0.57,-146.0,144.4,-10.6,163,1130,0.00,2.30,0.00,0.000,6,0.000,0.060,2263,2781,3524,0,0,0,0,0,0
$GC,1451,-0.57,-146.0,180.6,-11.3,193,1455,0.00,1.88,0.00,0.000,4,0.000,0.070,2255,3928,3523,0,0,0,0,0,0
$GC,1507,-0.57,-146.0,187.3,-12.3,198,1512,0.12,1.85,0.00,0.000,6,0.175,0.045,2288,2765,3523,0,0,0,0,0,0
$GC,1838,-0.57,-146.0,218.4,-9.3,229,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2765,3523,0,0,0,0,0,0
$GC,2158,-0.57,-146.0,246.8,-8.5,259,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2765,3523,0,0,0,0,0,0
$GC,2476,-0.57,-146.0,272.8,-7.9,289,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2765,3523,0,0,0,0,0,0
$GC,2795,-0.57,-146.0,296.8,-7.5,319,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2765,3523,0,0,0,0,0,0
$GC,3112,-0.57,-146.0,320.9,-7.5,349,3116,0.00,1.92,0.00,0.000,4,0.000,0.070,2282,3936,3524,0,0,0,0,0,0
$GC,3150,-0.57,-146.0,324.2,-8.2,352,3159,0.00,1.85,0.00,0.000,6,0.000,0.045,2282,2779,3523,0,0,0,0,0,0
$GC,3476,-0.57,-146.0,349.6,-8.0,383,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2779,3524,0,0,0,0,0,0
$GC,3796,-0.57,-146.0,374.9,-7.9,413,3800,0.00,1.92,0.00,0.000,4,0.000,0.070,2276,3924,3523,0,0,0,0,0,0
$GC,3830,-0.57,-146.0,377.8,-8.4,416,3834,0.00,1.77,0.00,0.000,6,0.000,0.046,2276,2782,3524,0,0,0,0,0,0
$GC,4160,-0.57,-146.0,407.7,-9.1,447,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2782,3523,0,0,0,0,0,0
$GC,4480,-0.57,-146.0,436.5,-8.9,477,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2782,3523,0,0,0,0,0,0
$GC,4798,-0.57,-146.0,464.4,-8.3,507,4802,0.00,2.17,0.00,0.000,4,0.000,0.049,2276,1374,3523,0,0,0,0,0,0
$GC,4825,-0.57,-146.0,467.1,-8.8,509,4832,0.00,2.28,0.00,0.000,6,0.000,0.060,2276,2792,3523,0,0,0,0,0,0
$GC,5150,-0.57,-146.0,494.6,-8.6,540,5154,0.00,1.85,0.00,0.000,4,0.000,0.070,2270,3931,3523,0,0,0,0,0,0
$GC,5188,-0.57,-146.0,498.0,-9.4,543,5196,0.00,1.80,0.00,0.000,6,0.000,0.046,2270,2803,3522,0,0,0,0,0,0
$GC,5514,-0.57,-146.0,527.0,-8.6,574,5518,0.00,2.25,0.00,0.000,4,0.000,0.050,2270,1361,3523,0,0,0,0,0,0
$GC,5546,-0.57,-146.0,530.0,-9.0,576,5554,0.00,2.33,0.00,0.000,6,0.000,0.060,2265,2798,3522,0,0,0,0,0,0
$GC,5871,-0.57,-146.0,559.0,-8.7,607,5875,0.00,1.88,0.00,0.000,4,0.000,0.070,2257,3925,3522,0,0,0,0,0,0
$GC,5897,-0.57,-146.0,561.8,-10.1,609,5905,0.08,1.83,0.00,0.000,6,0.155,0.045,2283,2786,3522,0,0,0,0,0,0
$GC,6223,-0.57,-146.0,586.5,-7.6,640,6227,0.00,2.20,0.00,0.000,4,0.000,0.050,2284,1361,3522,0,0,0,0,0,0
$GC,6262,-0.57,-146.0,589.5,-8.1,643,6266,0.00,2.30,0.00,0.000,6,0.000,0.060,2284,2794,3522,0,0,0,0,0,0
$GC,6590,-0.57,-146.0,613.7,-7.4,662,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2794,3522,0,0,0,0,0,0
$GC,6896,-0.57,-146.0,635.9,-7.3,672,6899,0.00,1.85,0.00,0.000,4,0.000,0.070,2282,3935,3522,0,0,0,0,0,0
$GC,6922,-0.57,-146.0,638.1,-7.6,672,6931,0.00,1.83,0.00,0.000,6,0.000,0.046,2282,2787,3522,0,0,0,0,0,0
$GC,7236,-0.57,-146.0,661.1,-7.3,683,7240,0.00,2.20,0.00,0.000,4,0.000,0.050,2282,1361,3522,0,0,0,0,0,0
$GC,7273,-0.57,-146.0,664.2,-7.9,684,7278,0.00,2.30,0.00,0.000,6,0.000,0.060,2280,2768,3522,0,0,0,0,0,0
$GC,7604,-0.57,-146.0,689.1,-7.5,695,7608,0.00,1.92,0.00,0.000,4,0.000,0.070,2273,3924,3522,0,0,0,0,0,0
$GC,7630,-0.57,-146.0,691.3,-7.2,695,7638,0.00,1.83,0.00,0.000,6,0.000,0.045,2273,2779,3522,0,0,0,0,0,0
$GC,7944,-0.57,-146.0,715.6,-7.8,706,7948,0.00,2.17,0.00,0.000,4,0.000,0.049,2273,1369,3522,0,0,0,0,0,0
$GC,7982,-0.57,-146.0,718.7,-8.0,707,7986,0.00,2.25,0.00,0.000,6,0.000,0.060,2273,2777,3522,0,0,0,0,0,0
$GC,8312,-0.57,-146.0,743.6,-7.7,718,8315,0.00,1.90,0.00,0.000,4,0.000,0.070,2271,3933,3522,0,0,0,0,0,0
$GC,8361,-0.57,-146.0,747.7,-8.4,719,8365,0.00,1.85,0.00,0.000,6,0.000,0.046,2271,2780,3522,0,0,0,0,0,0
$GC,8685,-0.57,-146.0,772.0,-7.6,730,8686,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2779,3522,0,0,0,0,0,0
$STATE,8806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8806,begin apogee
$GC,8810,-0.14,0.0,781.3,7.6,734,8936,0.47,0.00,121.03,1.089,4,0.140,0.000,2428,2599,2923,0,0,0,0,0,0
$STATE,8938,end apogee,CONTROL_FINISHED_OK
$STATE,8938,begin climb
$GC,8939,0.57,146.0,784.0,0.0,738,9075,0.68,2.38,126.60,1.069,4,0.080,0.050,2659,1188,2327,0,0,0,0,0,0
$GC,9214,0.57,146.0,758.1,12.2,746,9219,0.00,2.45,0.00,0.000,6,0.000,0.054,2659,2593,2318,0,0,0,0,0,0
$GC,9539,0.57,146.0,715.6,13.3,757,9543,0.00,2.30,0.00,0.000,4,0.000,0.052,2667,1183,2314,0,0,0,0,0,0
$GC,9760,0.57,146.0,687.4,12.5,763,9768,0.00,2.38,0.00,0.000,6,0.000,0.054,2666,2606,2313,0,0,0,0,0,0
$GC,10074,0.57,146.0,644.8,13.6,774,10078,0.00,2.22,0.00,0.000,4,0.000,0.067,2666,3934,2312,0,0,0,0,0,0
$GC,10112,0.57,146.0,638.7,16.2,775,10117,0.00,2.15,0.00,0.000,6,0.000,0.044,2672,2612,2311,0,0,0,0,0,0
$GC,10427,0.57,146.0,595.4,13.9,786,10430,0.00,2.20,0.00,0.000,4,0.000,0.066,2672,3932,2311,0,0,0,0,0,0
$GC,10453,0.57,146.0,591.2,16.0,788,10462,0.00,2.12,0.00,0.000,6,0.000,0.044,2680,2618,2310,0,0,0,0,0,0
$GC,10779,0.57,146.0,544.3,14.9,819,10780,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2618,2310,0,0,0,0,0,0
$GC,11099,0.57,146.0,497.9,13.9,849,11102,0.00,2.20,0.00,0.000,4,0.000,0.066,2680,3935,2310,0,0,0,0,0,0
$GC,11136,0.57,146.0,491.5,16.7,852,11146,0.10,2.12,0.00,0.000,6,0.197,0.043,2660,2614,2310,0,0,0,0,0,0
$GC,11462,0.57,146.0,450.2,12.5,883,11466,0.00,2.17,0.00,0.000,4,0.000,0.066,2660,3932,2310,0,0,0,0,0,0
$GC,11485,0.57,146.0,446.9,14.6,885,11489,0.00,2.05,0.00,0.000,6,0.000,0.044,2665,2625,2309,0,0,0,0,0,0
$GC,11816,0.57,146.0,404.9,12.2,916,11819,0.00,2.17,0.00,0.000,4,0.000,0.066,2665,3932,2309,0,0,0,0,0,0
$GC,11860,0.57,146.0,398.6,14.2,920,11864,0.00,2.03,0.00,0.000,6,0.000,0.044,2667,2638,2309,0,0,0,0,0,0
$GC,12189,0.57,146.0,357.5,11.5,951,12191,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2638,2309,0,0,0,0,0,0
$GC,12510,0.57,146.0,318.7,12.6,981,12513,0.00,2.12,0.00,0.000,4,0.000,0.067,2667,3931,2309,0,0,0,0,0,0
$GC,12536,0.57,146.0,314.7,13.7,983,12544,0.00,2.05,0.00,0.000,6,0.000,0.043,2673,2650,2308,0,0,0,0,0,0
$GC,12861,0.57,146.0,272.9,12.6,1014,12863,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2649,2308,0,0,0,0,0,0
$GC,13181,0.57,146.0,233.1,12.7,1044,13185,0.00,2.12,0.00,0.000,4,0.000,0.067,2673,3936,2308,0,0,0,0,0,0
$GC,13226,0.57,146.0,226.8,13.8,1048,13229,0.00,2.00,0.00,0.000,6,0.000,0.043,2680,2651,2308,0,0,0,0,0,0
$GC,13557,0.57,146.0,183.5,12.7,1079,13558,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2650,2309,0,0,0,0,0,0
$GC,13876,0.57,146.0,144.9,11.5,1109,13880,0.00,2.30,0.00,0.000,4,0.000,0.052,2680,1187,2309,0,0,0,0,0,0
$GC,13941,0.57,146.0,137.4,11.0,1114,13949,0.00,2.38,0.00,0.000,6,0.000,0.054,2681,2653,2309,0,0,0,0,0,0
$GC,14267,0.57,146.0,100.8,10.4,1145,14268,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2653,2309,0,0,0,0,0,0
$GC,14603,0.57,146.0,66.0,10.3,1204,14610,0.00,2.08,0.00,0.000,4,0.000,0.066,2681,3937,2309,0,0,0,0,0,0
$GC,14627,0.57,146.0,63.1,11.5,1208,14635,0.00,1.98,0.00,0.000,6,0.000,0.043,2688,2661,2309,0,0,0,0,0,0
$GC,14973,0.64,258.2,34.3,4.8,1269,15072,0.00,2.45,87.38,0.640,4,0.000,0.050,2689,1196,1867,0,0,0,0,0,0
$GC,15181,0.69,327.9,21.4,6.8,1304,15244,0.00,2.53,55.78,0.622,6,0.000,0.055,2688,2730,1585,0,0,0,0,0,0
$STATE,15404,end climb,SURFACE_DEPTH_REACHED
$STATE,15404,begin surface coast
$FINISH,0.7,1.019789
$STATE,15450,end surface coast,CONTROL_FINISHED_OK
$STATE,15450,begin surface
$SM_CCo,15464,14.23,0.262,1,0,1496,350.04
$SM_GC,1.36,0.00,0.00,14.23,0.000,0.000,0.262,303,2793,1496,-6.79,0.37,350.04
$RAFOS_CLK,809
$RAFOS,6,1286426945,4.833333,4.818056,87,44,43,43,42,40,778,602,1679,1471,1406,564
$RAFOS,5,1286426465,4.700000,4.684722,85,49,46,46,41,39,587,718,956,1392,332,587
$RAFOS,4,1286425997,4.566667,4.554722,85,44,43,42,42,39,758,180,995,1718,230,1764
$RAFOS,3,1286425501,4.433333,4.416945,86,43,43,42,38,36,954,184,1331,493,803,1589
$RAFOS,2,1286425041,4.300000,4.289166,70,44,43,43,42,41,916,1612,1768,1217,1242,964
$RAFOS,1,1286424548,4.166667,4.152222,89,51,44,43,42,39,980,1665,1479,168,1915,1557
$RAFOS,0,1286424085,4.033333,4.023611,64,46,46,42,41,39,1003,424,1535,280,617,26
$RAFOS_FIX,6701.628418,-5718.562988,071010,040434,7,81,0.12
$IRIDIUM_FIX,6636.54,-5722.85,061010,212144
$TT8_MAMPS,0.028462
$HUMID,50.51
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,22.7,20.116
$10V_AH,10.2,15.553
$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,16.275,118.450,390.775,14.225,0.000,22.339,36.315,108.167,0.000,0.000,15.126,3472.790,9172.493,540.441,2433.785,163.432,0.000,1736.567,0.000,2233.735,2520.000,0.537,0.000
$DEVICE_MAMPS,261.630,115.515,1089.360,261.630,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,938.883,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,189588
$DATA_FILE_SIZE,50034,1351
$CAP_FILE_SIZE,154473,0
$CFSIZE,260165632,240160768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.9
$CURRENT,0.117,152.3,1
$GPS,071010,062946,6659.742,-5713.130,53,1.7,68,-37.6