version: 66.08
glider: 183
mission: 3
dive: 161
start: 10 9 110 14 15 57
data:
$ID,183
$MISSION,3
$DIVE,161
$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,-7924.582
$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,24
$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
$GPS1,091010,141031,6703.446,-5714.844,60,1.8,60,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-68.1
$GPS2,091010,141525,6703.491,-5714.933,9,1.2,9,-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,248.2,144363,-17.5,-10.000
$D_GRID,768
$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,-146.0,0.0,0.0,0,100,0.00,0.00,-82.78,0.000,2,0.000,0.000,288,2789,3267,0,0,0,0,0,0
$GC,101,-0.57,-146.0,5.1,-12.4,14,123,8.27,2.35,-5.28,0.000,4,0.258,0.063,2282,1364,3523,0,0,0,0,0,0
$GC,235,-0.57,-146.0,37.6,-16.8,37,242,0.00,2.35,0.00,0.000,6,0.000,0.062,2276,2778,3525,0,0,0,0,0,0
$GC,576,-0.57,-146.0,82.6,-11.5,98,583,0.00,1.92,0.00,0.000,4,0.000,0.071,2269,3929,3525,0,0,0,0,0,0
$GC,634,-0.57,-146.0,89.7,-11.5,108,641,0.00,1.88,0.00,0.000,6,0.000,0.047,2269,2763,3525,0,0,0,0,0,0
$GC,969,-0.57,-146.0,127.3,-11.3,147,973,0.00,2.20,0.00,0.000,4,0.000,0.050,2269,1370,3526,0,0,0,0,0,0
$GC,997,-0.57,-146.0,130.4,-10.8,149,1001,0.00,2.30,0.00,0.000,6,0.000,0.062,2263,2778,3525,0,0,0,0,0,0
$GC,1326,-0.57,-146.0,169.3,-11.4,180,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2778,3525,0,0,0,0,0,0
$GC,1646,-0.57,-146.0,202.3,-10.2,210,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2778,3524,0,0,0,0,0,0
$GC,1965,-0.57,-146.0,235.8,-10.6,240,1969,0.00,2.22,0.00,0.000,4,0.000,0.050,2263,1371,3523,0,0,0,0,0,0
$GC,2015,-0.57,-146.0,241.5,-10.8,244,2019,0.12,2.30,0.00,0.000,6,0.179,0.063,2292,2775,3523,0,0,0,0,0,0
$GC,2345,-0.57,-146.0,270.3,-8.7,275,2349,0.00,1.92,0.00,0.000,4,0.000,0.073,2286,3920,3523,0,0,0,0,0,0
$GC,2371,-0.57,-146.0,272.9,-8.7,277,2379,0.00,1.85,0.00,0.000,6,0.000,0.046,2286,2775,3523,0,0,0,0,0,0
$GC,2697,-0.57,-146.0,300.1,-7.9,308,2701,0.00,2.20,0.00,0.000,4,0.000,0.049,2286,1367,3523,0,0,0,0,0,0
$GC,2718,-0.57,-146.0,302.0,-8.6,309,2725,0.00,2.30,0.00,0.000,6,0.000,0.060,2286,2779,3523,0,0,0,0,0,0
$GC,3043,-0.57,-146.0,326.8,-7.5,340,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2779,3523,0,0,0,0,0,0
$GC,3363,-0.57,-146.0,351.1,-7.9,370,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2779,3524,0,0,0,0,0,0
$GC,3682,-0.57,-146.0,376.2,-8.0,400,3686,0.00,2.22,0.00,0.000,4,0.000,0.048,2286,1358,3525,0,0,0,0,0,0
$GC,3708,-0.57,-146.0,378.6,-8.2,402,3715,0.00,2.33,0.00,0.000,6,0.000,0.060,2286,2773,3525,0,0,0,0,0,0
$GC,4034,-0.57,-146.0,405.3,-8.1,433,4037,0.00,1.90,0.00,0.000,4,0.000,0.072,2282,3937,3525,0,0,0,0,0,0
$GC,4072,-0.57,-146.0,408.7,-9.2,436,4080,0.00,1.88,0.00,0.000,6,0.000,0.046,2282,2769,3524,0,0,0,0,0,0
$GC,4397,-0.57,-146.0,434.4,-7.8,467,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2769,3524,0,0,0,0,0,0
$GC,4717,-0.57,-146.0,458.1,-7.4,497,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2769,3524,0,0,0,0,0,0
$GC,5035,-0.57,-146.0,482.2,-7.8,527,5039,0.00,1.95,0.00,0.000,4,0.000,0.073,2276,3939,3524,0,0,0,0,0,0
$GC,5073,-0.57,-146.0,485.5,-8.5,530,5080,0.00,1.85,0.00,0.000,6,0.000,0.047,2276,2781,3524,0,0,0,0,0,0
$GC,5399,-0.57,-146.0,510.9,-7.7,561,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2781,3524,0,0,0,0,0,0
$GC,5718,-0.57,-146.0,536.3,-7.8,591,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2782,3524,0,0,0,0,0,0
$GC,6038,-0.57,-146.0,560.6,-7.5,621,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2781,3524,0,0,0,0,0,0
$GC,6355,-0.57,-146.0,584.0,-7.4,651,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2781,3524,0,0,0,0,0,0
$GC,6669,-0.57,-146.0,607.5,-7.6,675,6673,0.00,2.20,0.00,0.000,4,0.000,0.051,2275,1369,3524,0,0,0,0,0,0
$GC,6697,-0.57,-146.0,609.6,-7.5,676,6701,0.00,2.28,0.00,0.000,6,0.000,0.063,2275,2782,3524,0,0,0,0,0,0
$GC,7032,-0.57,-146.0,635.2,-7.8,687,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2782,3523,0,0,0,0,0,0
$GC,7339,-0.57,-146.0,658.7,-7.7,697,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2782,3523,0,0,0,0,0,0
$GC,7645,-0.57,-146.0,681.5,-7.5,707,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2782,3523,0,0,0,0,0,0
$GC,7951,-0.57,-146.0,704.8,-7.6,717,7954,0.00,1.90,0.00,0.000,4,0.000,0.073,2272,3931,3523,0,0,0,0,0,0
$GC,7985,-0.57,-146.0,707.6,-8.7,718,7989,0.00,1.85,0.00,0.000,6,0.000,0.047,2272,2776,3523,0,0,0,0,0,0
$GC,8325,-0.57,-146.0,734.2,-7.9,729,8329,0.00,2.20,0.00,0.000,4,0.000,0.050,2272,1366,3523,0,0,0,0,0,0
$GC,8354,-0.57,-146.0,736.7,-8.0,730,8358,0.00,2.30,0.00,0.000,6,0.000,0.062,2272,2778,3523,0,0,0,0,0,0
$GC,8689,-0.57,-146.0,763.0,-7.7,741,8690,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2778,3523,0,0,0,0,0,0
$STATE,8778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8778,begin apogee
$GC,8782,-0.14,0.0,770.2,7.9,744,8909,0.45,0.00,120.90,1.087,4,0.139,0.000,2422,2604,2922,0,0,0,0,0,0
$STATE,8910,end apogee,CONTROL_FINISHED_OK
$STATE,8910,begin climb
$GC,8911,0.57,146.0,774.2,0.0,748,9047,0.70,2.40,126.18,1.064,4,0.083,0.050,2660,1184,2326,0,0,0,0,0,0
$GC,9209,0.57,146.0,745.8,12.0,757,9214,0.00,2.47,0.00,0.000,6,0.000,0.056,2661,2604,2317,0,0,0,0,0,0
$GC,9544,0.57,146.0,703.2,13.0,768,9548,0.00,2.35,0.00,0.000,4,0.000,0.054,2666,1184,2313,0,0,0,0,0,0
$GC,9732,0.57,146.0,679.9,12.7,773,9740,0.00,2.38,0.00,0.000,6,0.000,0.056,2666,2597,2313,0,0,0,0,0,0
$GC,10045,0.57,146.0,638.6,13.3,784,10049,0.00,2.25,0.00,0.000,4,0.000,0.068,2666,3935,2312,0,0,0,0,0,0
$GC,10111,0.57,146.0,628.1,16.1,786,10116,0.00,2.17,0.00,0.000,6,0.000,0.045,2672,2607,2310,0,0,0,0,0,0
$GC,10430,0.57,146.0,583.0,14.1,803,10431,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2605,2310,0,0,0,0,0,0
$GC,10750,0.57,146.0,537.6,14.3,833,10754,0.00,2.20,0.00,0.000,4,0.000,0.069,2671,3928,2310,0,0,0,0,0,0
$GC,10792,0.57,146.0,530.4,16.9,836,10801,0.00,2.12,0.00,0.000,6,0.000,0.045,2679,2612,2309,0,0,0,0,0,0
$GC,11118,0.57,146.0,484.9,13.9,867,11122,0.00,2.22,0.00,0.000,4,0.000,0.070,2679,3935,2309,0,0,0,0,0,0
$GC,11156,0.57,146.0,479.1,15.6,870,11160,0.00,2.08,0.00,0.000,6,0.000,0.046,2687,2616,2309,0,0,0,0,0,0
$GC,11487,0.57,146.0,432.8,13.9,901,11491,0.00,2.20,0.00,0.000,4,0.000,0.070,2687,3930,2309,0,0,0,0,0,0
$GC,11526,0.57,146.0,426.5,15.9,904,11531,0.15,2.08,0.00,0.000,6,0.214,0.045,2659,2626,2308,0,0,0,0,0,0
$GC,11850,0.57,146.0,385.3,12.4,934,11852,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2625,2308,0,0,0,0,0,0
$GC,12169,0.57,146.0,345.1,12.8,964,12173,0.00,2.15,0.00,0.000,4,0.000,0.070,2659,3928,2309,0,0,0,0,0,0
$GC,12201,0.57,146.0,340.1,14.2,966,12209,0.00,2.10,0.00,0.000,6,0.000,0.044,2664,2622,2308,0,0,0,0,0,0
$GC,12527,0.57,146.0,298.4,13.3,997,12529,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2622,2308,0,0,0,0,0,0
$GC,12847,0.57,146.0,257.6,12.3,1027,12851,0.00,2.17,0.00,0.000,4,0.000,0.070,2664,3935,2308,0,0,0,0,0,0
$GC,12884,0.57,146.0,252.0,14.4,1030,12892,0.00,2.10,0.00,0.000,6,0.000,0.044,2666,2629,2307,0,0,0,0,0,0
$GC,13211,0.57,146.0,214.1,11.4,1061,13215,0.00,2.28,0.00,0.000,4,0.000,0.054,2666,1184,2308,0,0,0,0,0,0
$GC,13242,0.57,146.0,210.1,11.9,1063,13250,0.00,2.35,0.00,0.000,6,0.000,0.056,2667,2630,2309,0,0,0,0,0,0
$GC,13568,0.57,146.0,173.5,10.9,1094,13572,0.00,2.12,0.00,0.000,4,0.000,0.069,2666,3926,2308,0,0,0,0,0,0
$GC,13662,0.57,146.0,161.8,12.0,1102,13670,0.00,2.05,0.00,0.000,6,0.000,0.044,2667,2643,2308,0,0,0,0,0,0
$GC,13988,0.57,147.5,129.0,9.9,1133,13990,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2642,2309,0,0,0,0,0,0
$GC,14307,0.57,147.5,95.9,10.4,1166,14314,0.00,2.12,0.00,0.000,4,0.000,0.069,2667,3931,2309,0,0,0,0,0,0
$GC,14348,0.57,147.5,91.0,12.1,1173,14355,0.00,2.05,0.00,0.000,6,0.000,0.045,2667,2637,2309,0,0,0,0,0,0
$GC,14692,0.60,199.2,61.4,7.6,1234,14742,0.00,2.38,40.67,0.667,4,0.000,0.054,2667,1191,2108,0,0,0,0,0,0
$GC,14783,0.63,239.7,53.6,8.1,1249,14827,0.00,2.38,33.78,0.654,6,0.000,0.058,2667,2634,1943,0,0,0,0,0,0
$GC,15162,0.67,303.1,27.4,7.1,1316,15219,0.00,2.45,50.47,0.645,4,0.000,0.053,2667,1195,1686,0,0,0,0,0,0
$GC,15260,0.70,348.3,20.0,7.9,1332,15305,0.00,2.42,37.58,0.632,6,0.000,0.057,2666,2638,1501,0,0,0,0,0,0
$STATE,15482,end climb,SURFACE_DEPTH_REACHED
$STATE,15482,begin surface coast
$FINISH,0.6,1.019237
$STATE,15534,end surface coast,CONTROL_FINISHED_OK
$STATE,15535,begin surface
$SM_CCo,15608,0.00,0.000,0,0,1487,352.25
$SM_GC,1.53,6.43,0.00,0.00,0.057,0.000,0.000,301,2793,1487,-6.73,0.37,352.25
$RAFOS_CLK,820
$RAFOS,6,1286642943,16.833334,16.817499,62,48,44,41,40,39,756,713,773,294,669,8
$RAFOS,5,1286642474,16.700001,16.687222,44,43,42,40,39,38,521,486,1545,1076,1674,358
$RAFOS,4,1286641988,16.566668,16.552221,55,45,44,43,43,40,788,1885,607,661,1131,262
$RAFOS,3,1286641522,16.433332,16.422777,46,45,44,43,41,41,1865,845,854,1811,1198,1570
$RAFOS,2,1286641032,16.299999,16.286667,62,48,44,41,41,41,950,1557,1270,1151,1547,1823
$RAFOS,1,1286640542,16.166666,16.150555,57,49,47,44,44,40,1000,990,1915,326,471,1290
$RAFOS,0,1286640067,16.033333,16.018612,51,49,48,42,41,41,1090,1099,1859,1124,323,1360
$RAFOS_FIX,6703.352539,-5726.005859,091010,161612,2,62,0.95
$IRIDIUM_FIX,6631.12,-5716.55,091010,101007
$TT8_MAMPS,0.028462
$HUMID,51.53
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,22.7,21.744
$10V_AH,10.2,16.755
$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,16.125,109.225,409.575,0.000,0.000,31.400,40.097,108.499,0.000,0.000,12.014,3481.784,9278.812,520.510,2472.734,162.564,0.000,1721.636,0.000,2255.876,2520.000,0.536,0.000
$DEVICE_MAMPS,257.805,81.855,1087.065,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,959.413,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,189544
$DATA_FILE_SIZE,50002,1380
$CAP_FILE_SIZE,153405,0
$CFSIZE,260165632,239054848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.3
$CURRENT,0.206,312.0,1
$GPS,091010,183737,6703.026,-5720.657,39,1.5,39,-37.7