version: 66.08
glider: 183
mission: 3
dive: 165
start: 10 10 110 8 11 36
data:
$ID,183
$MISSION,3
$DIVE,165
$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,-7931.6123
$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,18
$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
$GPS1,101010,080606,6700.363,-5730.761,72,1.3,83,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-67.7
$GPS2,101010,081102,6700.301,-5730.756,14,1.5,14,-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,302.5,131708,-17.5,-10.000
$D_GRID,827
$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,-146.0,0.0,0.0,0,103,0.00,0.00,-85.47,0.000,2,0.000,0.000,284,2781,3301,0,0,0,0,0,0
$GC,105,-0.57,-146.0,5.0,-9.4,14,126,8.38,1.92,-4.60,0.000,4,0.259,0.076,2276,3936,3522,0,0,0,0,0,0
$GC,336,-0.57,-146.0,58.8,-12.9,55,342,0.00,1.90,0.00,0.000,6,0.000,0.049,2275,2774,3525,0,0,0,0,0,0
$GC,677,-0.57,-146.0,99.9,-12.1,116,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2774,3525,0,0,0,0,0,0
$GC,1001,-0.57,-146.0,137.7,-11.1,147,1005,0.00,2.22,0.00,0.000,4,0.000,0.053,2275,1364,3525,0,0,0,0,0,0
$GC,1022,-0.57,-146.0,140.1,-10.7,148,1030,0.00,2.38,0.00,0.000,6,0.000,0.064,2274,2778,3525,0,0,0,0,0,0
$GC,1348,-0.57,-146.0,173.8,-11.0,179,1352,0.00,2.28,0.00,0.000,4,0.000,0.053,2274,1359,3525,0,0,0,0,0,0
$GC,1369,-0.57,-146.0,176.3,-10.5,180,1377,0.00,2.35,0.00,0.000,6,0.000,0.064,2274,2762,3525,0,0,0,0,0,0
$GC,1695,-0.57,-146.0,211.5,-10.3,211,1699,0.00,1.98,0.00,0.000,4,0.000,0.075,2269,3939,3524,0,0,0,0,0,0
$GC,1763,-0.57,-146.0,219.0,-11.1,217,1768,0.00,1.90,0.00,0.000,6,0.000,0.050,2268,2776,3524,0,0,0,0,0,0
$GC,2093,-0.57,-146.0,254.8,-10.7,248,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2776,3524,0,0,0,0,0,0
$GC,2411,-0.57,-146.0,289.4,-10.6,278,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2776,3523,0,0,0,0,0,0
$GC,2731,-0.57,-146.0,324.0,-11.1,308,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2776,3523,0,0,0,0,0,0
$GC,3050,-0.57,-146.0,356.9,-9.7,338,3054,0.00,2.20,0.00,0.000,4,0.000,0.054,2268,1368,3523,0,0,0,0,0,0
$GC,3081,-0.57,-146.0,360.3,-9.8,340,3090,0.08,2.33,0.00,0.000,6,0.155,0.064,2288,2772,3523,0,0,0,0,0,0
$GC,3408,-0.57,-146.0,385.6,-7.7,371,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2772,3523,0,0,0,0,0,0
$GC,3727,-0.57,-146.0,410.9,-8.0,401,3731,0.00,2.20,0.00,0.000,4,0.000,0.052,2288,1367,3523,0,0,0,0,0,0
$GC,3748,-0.57,-146.0,413.1,-9.2,402,3756,0.00,2.33,0.00,0.000,6,0.000,0.063,2287,2773,3523,0,0,0,0,0,0
$GC,4074,-0.57,-146.0,438.9,-7.9,433,4077,0.00,1.90,0.00,0.000,4,0.000,0.075,2282,3928,3523,0,0,0,0,0,0
$GC,4099,-0.57,-146.0,441.0,-8.6,435,4103,0.00,1.85,0.00,0.000,6,0.000,0.049,2282,2756,3522,0,0,0,0,0,0
$GC,4429,-0.57,-146.0,469.4,-8.5,466,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2755,3523,0,0,0,0,0,0
$GC,4749,-0.57,-146.0,495.9,-8.5,496,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2755,3523,0,0,0,0,0,0
$GC,5069,-0.57,-146.0,521.5,-7.6,526,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2755,3523,0,0,0,0,0,0
$GC,5385,-0.57,-146.0,545.4,-7.3,556,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2756,3523,0,0,0,0,0,0
$GC,5704,-0.57,-146.0,568.0,-7.1,586,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2756,3523,0,0,0,0,0,0
$GC,6023,-0.57,-146.0,589.7,-6.8,616,6026,0.00,1.98,0.00,0.000,4,0.000,0.076,2275,3932,3523,0,0,0,0,0,0
$GC,6049,-0.57,-146.0,592.0,-7.9,618,6058,0.00,1.88,0.00,0.000,6,0.000,0.049,2274,2771,3523,0,0,0,0,0,0
$GC,6377,-0.57,-146.0,615.8,-7.3,636,6378,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2771,3523,0,0,0,0,0,0
$GC,6683,-0.57,-146.0,637.5,-7.1,646,6684,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2771,3523,0,0,0,0,0,0
$GC,6990,-0.57,-146.0,660.0,-7.4,656,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2771,3523,0,0,0,0,0,0
$GC,7295,-0.57,-146.0,683.0,-7.6,666,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2771,3523,0,0,0,0,0,0
$GC,7602,-0.57,-146.0,706.8,-8.0,676,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2771,3523,0,0,0,0,0,0
$GC,7908,-0.57,-146.0,730.8,-7.7,686,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2771,3523,0,0,0,0,0,0
$GC,8214,-0.57,-146.0,755.1,-8.0,696,8218,0.00,2.20,0.00,0.000,4,0.000,0.052,2274,1354,3523,0,0,0,0,0,0
$GC,8235,-0.57,-146.0,757.0,-8.0,696,8243,0.00,2.35,0.00,0.000,6,0.000,0.063,2274,2771,3523,0,0,0,0,0,0
$GC,8549,-0.57,-146.0,780.8,-7.7,707,8553,0.00,1.92,0.00,0.000,4,0.000,0.076,2274,3931,3523,0,0,0,0,0,0
$GC,8571,-0.57,-146.0,782.6,-7.5,707,8575,0.00,1.88,0.00,0.000,6,0.000,0.049,2274,2764,3522,0,0,0,0,0,0
$GC,8889,-0.57,-146.0,806.6,-7.4,718,8890,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2764,3523,0,0,0,0,0,0
$STATE,9194,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9194,begin apogee
$GC,9198,-0.14,0.0,828.6,6.9,728,9325,0.47,0.00,121.82,1.126,4,0.138,0.000,2431,2599,2923,0,0,0,0,0,0
$STATE,9326,end apogee,CONTROL_FINISHED_OK
$STATE,9326,begin climb
$GC,9328,0.57,146.0,831.4,0.0,732,9465,0.68,2.38,128.10,1.105,4,0.077,0.051,2663,1192,2326,0,0,0,0,0,0
$GC,9638,0.57,146.0,801.3,12.7,741,9642,0.00,2.45,0.00,0.000,6,0.000,0.059,2663,2592,2317,0,0,0,0,0,0
$GC,9963,0.57,146.0,758.3,13.3,752,9967,0.00,2.30,0.00,0.000,4,0.000,0.056,2667,1188,2314,0,0,0,0,0,0
$GC,10158,0.57,146.0,733.6,12.8,758,10162,0.00,2.38,0.00,0.000,6,0.000,0.060,2667,2610,2313,0,0,0,0,0,0
$GC,10492,0.57,146.0,688.6,13.5,769,10496,0.00,2.20,0.00,0.000,4,0.000,0.070,2667,3925,2312,0,0,0,0,0,0
$GC,10547,0.57,146.0,679.9,16.2,770,10556,0.00,2.15,0.00,0.000,6,0.000,0.047,2674,2614,2311,0,0,0,0,0,0
$GC,10860,0.57,146.0,635.6,14.1,781,10861,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2615,2311,0,0,0,0,0,0
$GC,11168,0.57,146.0,592.7,13.9,793,11172,0.00,2.20,0.00,0.000,4,0.000,0.071,2673,3926,2310,0,0,0,0,0,0
$GC,11218,0.57,146.0,585.0,15.9,797,11222,0.00,2.12,0.00,0.000,6,0.000,0.047,2680,2605,2309,0,0,0,0,0,0
$GC,11548,0.57,146.0,539.8,13.4,828,11549,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2605,2310,0,0,0,0,0,0
$GC,11867,0.57,146.0,498.1,13.1,858,11871,0.00,2.22,0.00,0.000,4,0.000,0.070,2680,3926,2310,0,0,0,0,0,0
$GC,11910,0.57,146.0,491.2,15.9,861,11918,0.10,2.12,0.00,0.000,6,0.194,0.047,2661,2616,2309,0,0,0,0,0,0
$GC,12235,0.57,146.0,451.1,12.6,892,12237,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2616,2309,0,0,0,0,0,0
$GC,12555,0.57,146.0,412.0,12.3,922,12559,0.00,2.17,0.00,0.000,4,0.000,0.072,2660,3925,2309,0,0,0,0,0,0
$GC,12587,0.57,146.0,407.5,12.9,925,12591,0.00,2.08,0.00,0.000,6,0.000,0.047,2665,2622,2308,0,0,0,0,0,0
$GC,12917,0.57,146.0,366.3,12.2,956,12919,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2621,2308,0,0,0,0,0,0
$GC,13238,0.57,146.0,327.3,12.1,986,13242,0.00,2.17,0.00,0.000,4,0.000,0.071,2665,3929,2308,0,0,0,0,0,0
$GC,13276,0.57,146.0,321.8,14.1,989,13283,0.00,2.10,0.00,0.000,6,0.000,0.047,2667,2625,2308,0,0,0,0,0,0
$GC,13601,0.57,146.0,281.6,12.1,1020,13602,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2624,2309,0,0,0,0,0,0
$GC,13922,0.57,146.0,244.0,11.7,1050,13926,0.00,2.15,0.00,0.000,4,0.000,0.070,2666,3926,2308,0,0,0,0,0,0
$GC,13961,0.57,146.0,238.8,13.1,1053,13965,0.00,2.08,0.00,0.000,6,0.000,0.047,2667,2622,2308,0,0,0,0,0,0
$GC,14286,0.57,149.5,203.4,9.8,1083,14288,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2621,2309,0,0,0,0,0,0
$GC,14605,0.57,153.1,171.5,9.8,1113,14615,0.00,0.00,4.12,0.567,6,0.000,0.000,2668,2621,2298,0,0,0,0,0,0
$GC,14933,0.57,153.6,138.0,10.0,1144,14937,0.00,2.17,0.00,0.000,4,0.000,0.070,2666,3929,2298,0,0,0,0,0,0
$GC,14960,0.57,153.6,135.1,11.4,1146,14968,0.00,2.08,0.00,0.000,6,0.000,0.046,2667,2636,2298,0,0,0,0,0,0
$GC,15286,0.58,162.5,104.1,9.6,1177,15297,0.00,0.00,9.43,0.681,6,0.000,0.000,2667,2636,2259,0,0,0,0,0,0
$GC,15629,0.59,174.0,73.5,9.5,1234,15642,0.00,0.00,11.27,0.675,6,0.000,0.000,2667,2636,2213,0,0,0,0,0,0
$GC,15979,0.61,204.1,40.8,8.6,1296,16009,0.00,0.00,25.52,0.667,6,0.000,0.000,2667,2636,2089,0,0,0,0,0,0
$GC,16345,0.63,238.2,14.2,8.4,1361,16376,0.00,0.00,28.17,0.652,6,0.000,0.000,2667,2636,1951,0,0,0,0,0,0
$STATE,16482,end climb,SURFACE_DEPTH_REACHED
$STATE,16482,begin surface coast
$FINISH,0.6,1.025623
$STATE,16532,end surface coast,CONTROL_FINISHED_OK
$STATE,16532,begin surface
$SM_CCo,16545,57.20,0.086,0,0,1496,350.04
$SM_GC,1.39,0.00,0.00,57.20,0.000,0.000,0.086,304,2779,1496,-6.78,-0.03,350.04
$RAFOS_CLK,888
$RAFOS,4,1286713982,12.566667,12.550555,61,46,41,40,39,39,778,891,325,470,1482,1784
$RAFOS,3,1286713507,12.433333,12.418612,60,52,44,43,41,41,878,1534,244,156,1313,1621
$RAFOS,2,1286713026,12.300000,12.285000,46,44,43,43,41,38,1376,1347,1022,1429,1875,752
$RAFOS,1,1286712548,12.166667,12.152223,44,44,43,43,39,38,834,1243,997,1478,391,1608
$RAFOS,0,1286712065,12.033333,12.018056,53,45,44,43,42,40,1892,436,1393,145,1791,1466
$RAFOS,6,1286700548,8.833333,8.818889,89,52,46,43,42,42,725,170,877,1595,312,1515
$RAFOS,5,1286700063,8.700000,8.684167,61,43,43,43,43,41,561,697,1264,548,1402,881
$RAFOS,4,1286699589,8.566667,8.552500,49,45,43,42,41,39,752,1596,624,915,1477,1504
$RAFOS,3,1286699104,8.433333,8.417778,46,44,43,42,41,40,909,1323,1165,337,491,26
$RAFOS,2,1286698625,8.300000,8.284722,58,41,41,40,39,37,968,654,1411,892,1085,437
$RAFOS,0,1286697665,8.033334,8.018056,47,45,43,41,40,38,351,1487,1666,1174,1740,353
$RAFOS_FIX,6702.346680,-5734.452148,101010,080856,2,75,2.16
$IRIDIUM_FIX,6625.71,-5826.42,101010,030323
$TT8_MAMPS,0.029211
$HUMID,51.10
$INTERNAL_PRESSURE,8.56325
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,22.6,22.195
$10V_AH,10.2,17.088
$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,16.000,81.950,328.450,57.200,0.000,23.754,41.096,115.190,0.000,0.000,16.670,3568.392,10239.211,491.118,2451.671,171.261,0.000,1661.818,0.000,2237.197,3960.000,0.535,0.000
$DEVICE_MAMPS,259.335,91.800,1126.080,85.680,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,973.101,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50049,1394
$CAP_FILE_SIZE,150592,0
$CFSIZE,260165632,238764032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.4
$CURRENT,0.081,116.9,1
$GPS,101010,125000,6659.828,-5734.161,35,1.7,41,-37.7