version: 66.08
glider: 183
mission: 3
dive: 164
start: 10 10 110 3 36 25
data:
$ID,183
$MISSION,3
$DIVE,164
$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,-7930.2612
$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,32
$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
$GPS1,101010,033040,6702.347,-5727.062,29,1.2,29,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-62.7
$GPS2,101010,033553,6702.362,-5727.194,10,5.1,29,-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,252.2,135156,-17.5,-10.000
$D_GRID,821
$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,-146.0,0.0,0.0,0,107,0.00,0.00,-90.12,0.000,2,0.000,0.000,295,2781,3437,0,0,0,0,0,0
$GC,109,-0.57,-146.0,6.3,-13.4,14,125,8.35,2.00,-1.67,0.000,4,0.262,0.081,2278,3936,3522,0,0,0,0,0,0
$GC,375,-0.57,-146.0,59.5,-12.9,61,382,0.00,1.90,0.00,0.000,6,0.000,0.050,2277,2773,3525,0,0,0,0,0,0
$GC,718,-0.57,-146.0,99.7,-11.3,122,724,0.00,2.25,0.00,0.000,4,0.000,0.053,2277,1366,3525,0,0,0,0,0,0
$GC,757,-0.57,-146.0,104.7,-11.3,126,765,0.00,2.35,0.00,0.000,6,0.000,0.065,2275,2764,3525,0,0,0,0,0,0
$GC,1083,-0.57,-146.0,143.3,-11.9,157,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2764,3525,0,0,0,0,0,0
$GC,1403,-0.57,-146.0,179.2,-11.2,187,1408,0.00,2.25,0.00,0.000,4,0.000,0.054,2274,1358,3524,0,0,0,0,0,0
$GC,1443,-0.57,-146.0,184.1,-11.1,190,1447,0.00,2.33,0.00,0.000,6,0.000,0.067,2274,2773,3525,0,0,0,0,0,0
$GC,1768,-0.57,-146.0,218.8,-10.3,220,1772,0.00,1.98,0.00,0.000,4,0.000,0.077,2269,3947,3524,0,0,0,0,0,0
$GC,1802,-0.57,-146.0,222.8,-11.7,223,1805,0.00,1.90,0.00,0.000,6,0.000,0.051,2269,2770,3524,0,0,0,0,0,0
$GC,2132,-0.57,-146.0,259.7,-11.5,254,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2769,3523,0,0,0,0,0,0
$GC,2451,-0.57,-146.0,295.9,-11.1,284,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2769,3523,0,0,0,0,0,0
$GC,2770,-0.57,-146.0,328.1,-9.4,314,2774,0.00,2.22,0.00,0.000,4,0.000,0.054,2269,1362,3522,0,0,0,0,0,0
$GC,2799,-0.57,-146.0,330.8,-9.4,316,2803,0.00,2.33,0.00,0.000,6,0.000,0.065,2264,2774,3522,0,0,0,0,0,0
$GC,3123,-0.57,-146.0,362.3,-9.5,346,3127,0.00,1.92,0.00,0.000,4,0.000,0.076,2256,3936,3523,0,0,0,0,0,0
$GC,3149,-0.57,-146.0,365.0,-10.2,348,3157,0.10,1.88,0.00,0.000,6,0.148,0.050,2289,2776,3522,0,0,0,0,0,0
$GC,3476,-0.57,-146.0,389.9,-7.4,379,3480,0.00,2.20,0.00,0.000,4,0.000,0.054,2289,1368,3522,0,0,0,0,0,0
$GC,3505,-0.57,-146.0,392.3,-7.9,381,3509,0.00,2.33,0.00,0.000,6,0.000,0.065,2287,2784,3523,0,0,0,0,0,0
$GC,3835,-0.57,-146.0,416.6,-7.3,412,3839,0.00,1.92,0.00,0.000,4,0.000,0.075,2280,3925,3522,0,0,0,0,0,0
$GC,3885,-0.57,-146.0,420.6,-7.9,416,3892,0.00,1.85,0.00,0.000,6,0.000,0.050,2280,2779,3522,0,0,0,0,0,0
$GC,4210,-0.57,-146.0,444.6,-7.8,447,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2779,3522,0,0,0,0,0,0
$GC,4529,-0.57,-146.0,470.9,-8.7,477,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2779,3522,0,0,0,0,0,0
$GC,4848,-0.57,-146.0,497.6,-8.2,507,4852,0.00,2.22,0.00,0.000,4,0.000,0.053,2280,1356,3522,0,0,0,0,0,0
$GC,4870,-0.57,-146.0,499.4,-8.4,509,4874,0.00,2.33,0.00,0.000,6,0.000,0.065,2279,2772,3522,0,0,0,0,0,0
$GC,5195,-0.57,-146.0,525.1,-7.3,539,5199,0.00,1.92,0.00,0.000,4,0.000,0.076,2272,3928,3522,0,0,0,0,0,0
$GC,5218,-0.57,-146.0,526.9,-7.3,541,5222,0.00,1.85,0.00,0.000,6,0.000,0.049,2272,2755,3522,0,0,0,0,0,0
$GC,5549,-0.57,-146.0,552.9,-8.1,572,5552,0.00,2.17,0.00,0.000,4,0.000,0.052,2272,1369,3523,0,0,0,0,0,0
$GC,5597,-0.57,-146.0,557.1,-8.2,576,5605,0.00,2.33,0.00,0.000,6,0.000,0.064,2272,2770,3522,0,0,0,0,0,0
$GC,5923,-0.57,-146.0,582.2,-7.9,607,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2770,3523,0,0,0,0,0,0
$GC,6240,-0.57,-146.0,607.5,-8.1,631,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2770,3522,0,0,0,0,0,0
$GC,6544,-0.57,-146.0,633.1,-8.5,641,6548,0.00,2.22,0.00,0.000,4,0.000,0.052,2272,1362,3523,0,0,0,0,0,0
$GC,6572,-0.57,-146.0,635.6,-9.1,642,6576,0.00,2.30,0.00,0.000,6,0.000,0.065,2272,2774,3522,0,0,0,0,0,0
$GC,6912,-0.57,-146.0,664.4,-8.6,653,6913,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2773,3522,0,0,0,0,0,0
$GC,7218,-0.57,-146.0,691.0,-8.7,663,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2773,3523,0,0,0,0,0,0
$GC,7524,-0.57,-146.0,717.3,-8.5,673,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2773,3522,0,0,0,0,0,0
$GC,7831,-0.57,-146.0,743.2,-8.6,683,7835,0.00,2.22,0.00,0.000,4,0.000,0.052,2272,1365,3523,0,0,0,0,0,0
$GC,7859,-0.57,-146.0,745.8,-9.1,684,7863,0.00,2.30,0.00,0.000,6,0.000,0.064,2272,2770,3522,0,0,0,0,0,0
$GC,8194,-0.57,-146.0,774.3,-8.5,695,8195,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2769,3522,0,0,0,0,0,0
$GC,8501,-0.57,-146.0,800.0,-8.3,705,8502,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2770,3523,0,0,0,0,0,0
$STATE,8774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8774,begin apogee
$GC,8778,-0.14,0.0,822.3,8.1,714,8906,0.45,0.00,121.65,1.125,4,0.142,0.000,2421,2599,2923,0,0,0,0,0,0
$STATE,8907,end apogee,CONTROL_FINISHED_OK
$STATE,8907,begin climb
$GC,8908,0.57,146.0,826.3,0.0,718,9044,0.70,2.40,127.82,1.105,4,0.083,0.052,2659,1188,2327,0,0,0,0,0,0
$GC,9202,0.57,146.0,799.9,11.5,727,9206,0.00,2.45,0.00,0.000,6,0.000,0.059,2659,2606,2317,0,0,0,0,0,0
$GC,9536,0.57,146.0,757.9,12.5,738,9540,0.00,2.35,0.00,0.000,4,0.000,0.057,2666,1177,2314,0,0,0,0,0,0
$GC,9724,0.57,146.0,735.0,12.5,743,9733,0.00,2.42,0.00,0.000,6,0.000,0.059,2666,2609,2313,0,0,0,0,0,0
$GC,10038,0.57,146.0,692.7,13.9,754,10042,0.00,2.22,0.00,0.000,4,0.000,0.070,2666,3936,2312,0,0,0,0,0,0
$GC,10075,0.57,146.0,686.6,15.5,755,10080,0.00,2.17,0.00,0.000,6,0.000,0.047,2668,2611,2311,0,0,0,0,0,0
$GC,10406,0.57,146.0,639.8,14.0,766,10407,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2610,2310,0,0,0,0,0,0
$GC,10712,0.57,146.0,597.2,13.7,776,10715,0.00,2.20,0.00,0.000,4,0.000,0.071,2668,3928,2310,0,0,0,0,0,0
$GC,10738,0.57,146.0,593.0,15.3,778,10746,0.00,2.12,0.00,0.000,6,0.000,0.047,2673,2619,2310,0,0,0,0,0,0
$GC,11064,0.57,146.0,548.6,13.1,809,11065,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2619,2310,0,0,0,0,0,0
$GC,11384,0.57,146.0,507.1,13.1,839,11387,0.00,2.22,0.00,0.000,4,0.000,0.071,2674,3937,2310,0,0,0,0,0,0
$GC,11406,0.57,146.0,504.0,13.4,841,11409,0.00,2.10,0.00,0.000,6,0.000,0.047,2681,2615,2309,0,0,0,0,0,0
$GC,11736,0.57,146.0,460.9,13.0,872,11737,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2614,2309,0,0,0,0,0,0
$GC,12055,0.57,146.0,417.5,14.2,902,12059,0.00,2.20,0.00,0.000,4,0.000,0.071,2681,3928,2309,0,0,0,0,0,0
$GC,12126,0.57,146.0,405.8,15.7,908,12134,0.08,2.10,0.00,0.000,6,0.198,0.047,2667,2625,2308,0,0,0,0,0,0
$GC,12452,0.57,146.0,362.3,13.3,939,12453,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2625,2308,0,0,0,0,0,0
$GC,12772,0.57,146.0,322.0,12.7,969,12773,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2625,2308,0,0,0,0,0,0
$GC,13090,0.57,146.0,283.5,11.8,999,13091,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2625,2308,0,0,0,0,0,0
$GC,13409,0.57,146.0,245.4,11.8,1029,13412,0.00,2.17,0.00,0.000,4,0.000,0.071,2667,3936,2308,0,0,0,0,0,0
$GC,13453,0.57,146.0,239.4,13.0,1033,13457,0.00,2.08,0.00,0.000,6,0.000,0.047,2667,2618,2309,0,0,0,0,0,0
$GC,13785,0.57,146.0,200.4,11.9,1064,13788,0.00,2.17,0.00,0.000,4,0.000,0.072,2666,3928,2308,0,0,0,0,0,0
$GC,13840,0.57,146.0,193.0,12.3,1069,13844,0.00,2.03,0.00,0.000,6,0.000,0.047,2667,2640,2308,0,0,0,0,0,0
$GC,14170,0.57,146.0,157.2,10.6,1100,14171,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2639,2308,0,0,0,0,0,0
$GC,14490,0.57,148.6,125.8,9.9,1130,14493,0.00,2.17,0.00,0.000,4,0.000,0.073,2667,3934,2309,0,0,0,0,0,0
$GC,14580,0.57,148.6,115.0,12.0,1138,14584,0.00,2.05,0.00,0.000,6,0.000,0.047,2667,2644,2309,0,0,0,0,0,0
$GC,14914,0.58,165.4,82.1,9.2,1185,14934,0.00,2.22,14.02,0.688,4,0.000,0.072,2667,3930,2247,0,0,0,0,0,0
$GC,14981,0.58,165.4,75.7,10.1,1196,14988,0.00,2.03,0.00,0.000,6,0.000,0.047,2667,2653,2245,0,0,0,0,0,0
$GC,15321,0.63,235.7,48.0,6.8,1257,15384,0.00,2.28,57.65,0.662,4,0.000,0.072,2667,3926,1961,0,0,0,0,0,0
$GC,15413,0.63,235.7,39.9,11.9,1272,15420,0.00,2.05,0.00,0.000,6,0.000,0.047,2667,2669,1956,0,0,0,0,0,0
$GC,15755,0.65,269.6,17.0,8.4,1333,15792,0.00,2.47,27.08,0.651,4,0.000,0.055,2667,1192,1821,0,0,0,0,0,0
$GC,15892,0.69,327.3,6.9,7.3,1357,15948,0.00,2.45,47.55,0.641,6,0.000,0.058,2667,2663,1586,0,0,0,0,0,0
$STATE,15964,end climb,SURFACE_DEPTH_REACHED
$STATE,15964,begin surface coast
$FINISH,0.6,1.025629
$STATE,16010,end surface coast,CONTROL_FINISHED_OK
$STATE,16010,begin surface
$SM_CCo,16024,14.62,0.275,1,0,1495,350.04
$SM_GC,1.12,0.00,0.00,14.62,0.000,0.000,0.275,302,2780,1495,-6.79,0.03,350.04
$RAFOS_CLK,857
$RAFOS,6,1286686142,4.833333,4.817222,110,44,43,42,41,40,747,389,1408,1287,1304,1805
$RAFOS,5,1286685664,4.700000,4.684444,99,45,41,41,41,39,563,904,566,1272,1890,1596
$RAFOS,4,1286685184,4.566667,4.551111,47,46,43,42,42,42,794,641,484,700,1198,1475
$RAFOS,3,1286684705,4.433333,4.418056,48,46,44,42,41,40,1080,363,277,911,296,1897
$RAFOS,2,1286684224,4.300000,4.284444,45,44,42,41,41,41,1033,1138,1475,453,26,1525
$RAFOS,1,1286683745,4.166667,4.151389,45,44,42,42,42,41,1224,1860,735,26,1837,944
$RAFOS,0,1286683264,4.033333,4.017778,49,48,44,41,40,39,936,1574,912,26,372,877
$RAFOS_FIX,6703.548340,-5732.736816,101010,040456,2,104,1.07
$IRIDIUM_FIX,6636.54,-5715.22,091010,232336
$TT8_MAMPS,0.031458
$HUMID,50.94
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,15.10
$XPDR_PINGS,1
$24V_AH,22.6,22.090
$10V_AH,10.2,17.002
$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,16.150,109.100,395.775,14.625,0.000,29.290,30.387,117.952,0.250,0.000,33.563,3529.080,9686.600,510.822,2471.670,172.602,0.000,1701.761,0.000,2242.799,2880.000,0.535,0.000
$DEVICE_MAMPS,261.630,91.800,1124.550,274.635,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,959.806,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,49977,1377
$CAP_FILE_SIZE,153251,0
$CFSIZE,260165632,238833664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.1
$CURRENT,0.057,216.9,1
$GPS,101010,080606,6700.363,-5730.761,72,1.3,83,-37.7