version: 66.08
glider: 183
mission: 3
dive: 160
start: 10 9 110 10 3 30
data:
$ID,183
$MISSION,3
$DIVE,160
$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,-7923.2324
$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,21
$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
$GPS1,091010,095837,6701.512,-5709.600,25,1.5,25,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-69.5
$GPS2,091010,100256,6701.510,-5709.589,15,1.6,15,-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,317.0,147300,-17.5,-10.000
$D_GRID,740
$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,-146.0,0.0,0.0,0,106,0.00,0.00,-89.00,0.000,2,0.000,0.000,286,2780,3337,0,0,0,0,0,0
$GC,108,-0.57,-146.0,5.4,-14.2,15,129,8.32,2.28,-3.70,0.000,4,0.260,0.060,2282,1369,3521,0,0,0,0,0,0
$GC,135,-0.57,-146.0,19.0,-44.4,19,142,0.00,2.33,0.00,0.000,6,0.000,0.058,2274,2783,3522,0,0,0,0,0,0
$GC,475,-0.57,-146.0,70.9,-12.7,80,482,0.00,2.25,0.00,0.000,4,0.000,0.048,2274,1364,3524,0,0,0,0,0,0
$GC,665,-0.57,-146.0,92.5,-10.8,114,672,0.00,2.35,0.00,0.000,6,0.000,0.062,2273,2787,3525,0,0,0,0,0,0
$GC,1000,-0.57,-146.0,131.3,-11.8,151,1004,0.00,1.92,0.00,0.000,4,0.000,0.072,2269,3925,3525,0,0,0,0,0,0
$GC,1055,-0.57,-146.0,138.1,-12.6,156,1059,0.00,1.80,0.00,0.000,6,0.000,0.047,2269,2786,3524,0,0,0,0,0,0
$GC,1385,-0.57,-146.0,176.2,-11.2,187,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2787,3524,0,0,0,0,0,0
$GC,1705,-0.57,-146.0,209.7,-10.2,217,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2786,3522,0,0,0,0,0,0
$GC,2024,-0.57,-146.0,241.1,-9.5,247,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2786,3522,0,0,0,0,0,0
$GC,2342,-0.57,-146.0,272.6,-10.0,277,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2786,3521,0,0,0,0,0,0
$GC,2661,-0.57,-146.0,304.8,-9.8,307,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2786,3522,0,0,0,0,0,0
$GC,2980,-0.57,-146.0,334.8,-9.4,337,2984,0.00,2.20,0.00,0.000,4,0.000,0.050,2269,1367,3522,0,0,0,0,0,0
$GC,3020,-0.57,-146.0,338.5,-9.1,340,3024,0.00,2.33,0.00,0.000,6,0.000,0.062,2264,2792,3522,0,0,0,0,0,0
$GC,3345,-0.57,-146.0,367.2,-8.4,370,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2792,3522,0,0,0,0,0,0
$GC,3664,-0.57,-146.0,395.7,-9.4,400,3668,0.00,2.25,0.00,0.000,4,0.000,0.050,2264,1362,3522,0,0,0,0,0,0
$GC,3687,-0.57,-146.0,397.9,-8.9,402,3692,0.10,2.30,0.00,0.000,6,0.188,0.061,2286,2777,3522,0,0,0,0,0,0
$GC,4012,-0.57,-146.0,423.4,-8.3,432,4015,0.00,1.88,0.00,0.000,4,0.000,0.072,2280,3928,3522,0,0,0,0,0,0
$GC,4050,-0.57,-146.0,426.9,-9.4,435,4057,0.00,1.83,0.00,0.000,6,0.000,0.047,2280,2783,3522,0,0,0,0,0,0
$GC,4376,-0.57,-146.0,454.5,-8.4,466,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2784,3522,0,0,0,0,0,0
$GC,4695,-0.57,-146.0,480.8,-8.1,496,4699,0.00,2.20,0.00,0.000,4,0.000,0.049,2280,1371,3522,0,0,0,0,0,0
$GC,4734,-0.57,-146.0,484.3,-8.5,499,4738,0.00,2.30,0.00,0.000,6,0.000,0.062,2279,2784,3522,0,0,0,0,0,0
$GC,5059,-0.57,-146.0,511.2,-8.2,529,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2784,3522,0,0,0,0,0,0
$GC,5380,-0.57,-146.0,536.8,-7.5,559,5381,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2784,3522,0,0,0,0,0,0
$GC,5696,-0.57,-146.0,561.6,-7.7,589,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2784,3522,0,0,0,0,0,0
$GC,6017,-0.57,-146.0,585.1,-7.2,619,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2784,3521,0,0,0,0,0,0
$GC,6350,-0.57,-146.0,609.4,-7.2,643,6351,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2784,3521,0,0,0,0,0,0
$GC,6655,-0.57,-146.0,630.6,-6.9,653,6659,0.00,1.90,0.00,0.000,4,0.000,0.073,2272,3933,3522,0,0,0,0,0,0
$GC,6692,-0.57,-146.0,633.2,-7.8,654,6695,0.00,1.83,0.00,0.000,6,0.000,0.048,2273,2780,3522,0,0,0,0,0,0
$GC,7032,-0.57,-146.0,657.9,-7.1,665,7036,0.00,2.20,0.00,0.000,4,0.000,0.050,2272,1364,3522,0,0,0,0,0,0
$GC,7059,-0.57,-146.0,660.1,-7.7,665,7066,0.00,2.33,0.00,0.000,6,0.000,0.062,2272,2791,3522,0,0,0,0,0,0
$GC,7371,-0.57,-146.0,682.2,-7.1,676,7375,0.00,1.85,0.00,0.000,4,0.000,0.074,2272,3927,3522,0,0,0,0,0,0
$GC,7392,-0.57,-146.0,683.9,-7.4,676,7397,0.00,1.83,0.00,0.000,6,0.000,0.048,2272,2788,3521,0,0,0,0,0,0
$GC,7711,-0.57,-146.0,706.9,-7.2,687,7715,0.00,2.22,0.00,0.000,4,0.000,0.050,2272,1363,3521,0,0,0,0,0,0
$GC,7731,-0.57,-146.0,708.5,-7.3,687,7736,0.00,2.33,0.00,0.000,6,0.000,0.062,2272,2779,3521,0,0,0,0,0,0
$GC,8051,-0.57,-146.0,731.2,-7.3,698,8055,0.00,1.92,0.00,0.000,4,0.000,0.074,2272,3928,3521,0,0,0,0,0,0
$GC,8095,-0.57,-146.0,734.9,-8.2,699,8099,0.00,1.83,0.00,0.000,6,0.000,0.048,2272,2793,3521,0,0,0,0,0,0
$STATE,8178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8178,begin apogee
$GC,8183,-0.14,0.0,741.1,7.4,702,8309,0.45,0.00,119.97,1.070,4,0.137,0.000,2422,2597,2923,0,0,0,0,0,0
$STATE,8310,end apogee,CONTROL_FINISHED_OK
$STATE,8310,begin climb
$GC,8311,0.57,146.0,743.7,0.0,706,8447,0.70,2.38,125.82,1.043,4,0.083,0.050,2662,1183,2326,0,0,0,0,0,0
$GC,8638,0.57,146.0,711.6,12.2,716,8643,0.00,2.45,0.00,0.000,6,0.000,0.057,2662,2607,2317,0,0,0,0,0,0
$GC,8976,0.57,146.0,667.5,13.3,727,8980,0.00,2.33,0.00,0.000,4,0.000,0.053,2666,1180,2313,0,0,0,0,0,0
$GC,9160,0.57,146.0,643.6,11.9,732,9165,0.00,2.40,0.00,0.000,6,0.000,0.058,2666,2612,2314,0,0,0,0,0,0
$GC,9482,0.57,146.0,601.9,12.9,743,9486,0.00,2.20,0.00,0.000,4,0.000,0.069,2667,3932,2312,0,0,0,0,0,0
$GC,9548,0.57,146.0,591.3,14.9,747,9556,0.00,2.15,0.00,0.000,6,0.000,0.045,2672,2615,2311,0,0,0,0,0,0
$GC,9874,0.57,146.0,547.1,13.6,778,9878,0.00,2.22,0.00,0.000,4,0.000,0.070,2672,3936,2310,0,0,0,0,0,0
$GC,9902,0.57,146.0,542.9,16.0,780,9906,0.00,2.10,0.00,0.000,6,0.000,0.045,2680,2613,2310,0,0,0,0,0,0
$GC,10233,0.57,146.0,496.5,14.2,811,10237,0.00,2.22,0.00,0.000,4,0.000,0.070,2680,3933,2310,0,0,0,0,0,0
$GC,10265,0.57,146.0,491.2,16.0,813,10273,0.08,2.12,0.00,0.000,6,0.204,0.045,2651,2619,2310,0,0,0,0,0,0
$GC,10591,0.57,146.0,451.1,11.8,844,10592,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2619,2309,0,0,0,0,0,0
$GC,10910,0.57,146.0,413.7,11.8,874,10911,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2619,2310,0,0,0,0,0,0
$GC,11227,0.57,146.0,376.5,11.2,904,11231,0.00,2.20,0.00,0.000,4,0.000,0.070,2651,3929,2309,0,0,0,0,0,0
$GC,11270,0.57,146.0,370.6,13.9,907,11278,0.00,2.08,0.00,0.000,6,0.000,0.046,2653,2636,2308,0,0,0,0,0,0
$GC,11596,0.57,146.0,330.8,12.6,938,11598,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2636,2309,0,0,0,0,0,0
$GC,11915,0.57,146.0,290.9,12.3,968,11919,0.00,2.15,0.00,0.000,4,0.000,0.070,2653,3935,2308,0,0,0,0,0,0
$GC,11964,0.57,146.0,283.4,15.0,972,11972,0.00,2.08,0.00,0.000,6,0.000,0.045,2660,2642,2308,0,0,0,0,0,0
$GC,12290,0.57,146.0,240.3,13.7,1003,12294,0.00,2.15,0.00,0.000,4,0.000,0.069,2661,3932,2308,0,0,0,0,0,0
$GC,12316,0.57,146.0,236.2,14.9,1005,12325,0.00,2.08,0.00,0.000,6,0.000,0.044,2666,2638,2308,0,0,0,0,0,0
$GC,12642,0.57,146.0,193.9,12.7,1036,12645,0.00,2.15,0.00,0.000,4,0.000,0.069,2666,3933,2308,0,0,0,0,0,0
$GC,12679,0.57,146.0,188.4,13.4,1039,12687,0.00,2.08,0.00,0.000,6,0.000,0.044,2667,2639,2308,0,0,0,0,0,0
$GC,13005,0.57,146.0,148.9,11.8,1070,13006,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2639,2308,0,0,0,0,0,0
$GC,13324,0.57,146.0,112.2,11.1,1100,13328,0.00,2.15,0.00,0.000,4,0.000,0.069,2666,3932,2309,0,0,0,0,0,0
$GC,13350,0.57,146.0,108.9,12.2,1102,13357,0.00,2.08,0.00,0.000,6,0.000,0.044,2666,2634,2309,0,0,0,0,0,0
$GC,13689,0.60,202.4,78.3,7.4,1155,13739,0.00,2.33,43.40,0.658,4,0.000,0.050,2667,1184,2097,0,0,0,0,0,0
$GC,13825,0.63,242.9,67.7,8.1,1178,13868,0.00,2.38,33.60,0.649,6,0.000,0.056,2667,2634,1930,0,0,0,0,0,0
$GC,14202,0.66,283.3,34.8,8.1,1245,14241,0.00,2.20,32.12,0.642,4,0.000,0.067,2667,3928,1768,0,0,0,0,0,0
$GC,14348,0.69,326.9,23.1,8.0,1270,14391,0.00,2.10,36.20,0.632,6,0.000,0.045,2667,2641,1589,0,0,0,0,0,0
$STATE,14627,end climb,SURFACE_DEPTH_REACHED
$STATE,14627,begin surface coast
$FINISH,0.9,1.025325
$STATE,14666,end surface coast,CONTROL_FINISHED_OK
$STATE,14666,begin surface
$SM_CCo,14679,16.73,0.331,1,0,1496,350.04
$SM_GC,1.48,0.00,0.00,16.73,0.000,0.000,0.331,300,2787,1496,-6.80,0.20,350.04
$RAFOS_CLK,767
$RAFOS,6,1286628544,12.833333,12.817778,89,49,48,43,42,42,773,250,1893,580,1026,1471
$RAFOS,5,1286628087,12.700000,12.690833,79,47,44,44,42,39,474,899,496,908,1733,938
$RAFOS,4,1286627581,12.566667,12.550278,67,45,43,41,41,39,847,1506,1640,600,1046,291
$RAFOS,3,1286627106,12.433333,12.418333,62,56,46,43,43,39,955,967,1872,409,1765,334
$RAFOS,2,1286626628,12.300000,12.285556,47,42,41,38,38,38,851,1589,628,1319,1339,1680
$RAFOS,1,1286626166,12.166667,12.157222,48,45,44,44,43,41,1266,1541,1051,1743,1013,1860
$RAFOS,0,1286625662,12.033333,12.017222,48,48,44,43,43,42,598,1148,471,426,235,1352
$RAFOS_FIX,6705.321777,-5716.142090,091010,121228,4,74,0.90
$IRIDIUM_FIX,6631.12,-5701.34,091010,050509
$TT8_MAMPS,0.028462
$HUMID,51.61
$INTERNAL_PRESSURE,8.59255
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,22.8,21.629
$10V_AH,10.2,16.672
$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,15.975,103.725,391.125,16.725,0.000,24.079,15.263,105.608,0.000,0.000,19.148,3379.588,8573.541,514.683,2348.964,166.740,0.000,1669.198,0.000,2172.130,2520.000,0.535,0.000
$DEVICE_MAMPS,260.100,81.855,1070.235,331.245,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,921.904,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,189552
$DATA_FILE_SIZE,46674,1326
$CAP_FILE_SIZE,146641,0
$CFSIZE,260165632,239140864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.3
$CURRENT,0.219,346.4,1
$GPS,091010,141031,6703.446,-5714.844,60,1.8,60,-37.7