version: 66.08
glider: 183
mission: 3
dive: 249
start: 10 27 110 19 57 30
data:
$ID,183
$MISSION,3
$DIVE,249
$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,-8062.3076
$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,41
$R_STBD_OVSHOOT,22
$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
$GPS1,271010,195207,6703.355,-5700.185,36,1.6,36,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-71.2
$GPS2,271010,195656,6703.373,-5700.240,12,1.0,12,-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,157.8,8866,-17.5,-10.000
$D_GRID,612
$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,-146.0,0.0,0.0,0,99,0.00,0.00,-81.50,0.000,2,0.000,0.000,288,2785,3345,0,0,0,0,0,0
$GC,101,-0.57,-146.0,5.2,-11.0,13,122,8.25,2.28,-3.65,0.000,4,0.252,0.056,2284,1369,3522,0,0,0,0,0,0
$GC,245,-0.57,-146.0,36.4,-12.6,38,253,0.00,2.30,0.00,0.000,6,0.000,0.056,2284,2782,3524,0,0,0,0,0,0
$GC,591,-0.57,-146.0,83.2,-11.7,99,598,0.00,1.88,0.00,0.000,4,0.000,0.065,2276,3929,3523,0,0,0,0,0,0
$GC,671,-0.57,-146.0,93.6,-12.7,113,678,0.00,1.77,0.00,0.000,6,0.000,0.042,2276,2804,3522,0,0,0,0,0,0
$GC,1005,-0.57,-146.0,131.6,-10.7,149,1009,0.00,2.20,0.00,0.000,4,0.000,0.044,2276,1373,3522,0,0,0,0,0,0
$GC,1036,-0.57,-146.0,135.2,-10.0,151,1044,0.00,2.33,0.00,0.000,6,0.000,0.056,2275,2789,3522,0,0,0,0,0,0
$GC,1362,-0.57,-146.0,168.3,-9.5,182,1366,0.00,1.88,0.00,0.000,4,0.000,0.066,2272,3929,3521,0,0,0,0,0,0
$GC,1423,-0.57,-146.0,174.2,-9.7,187,1429,0.00,1.77,0.00,0.000,6,0.000,0.041,2272,2809,3521,0,0,0,0,0,0
$GC,1748,-0.57,-146.0,203.0,-8.8,218,1752,0.00,2.22,0.00,0.000,4,0.000,0.044,2272,1359,3521,0,0,0,0,0,0
$GC,1776,-0.57,-146.0,205.6,-8.6,220,1781,0.00,2.33,0.00,0.000,6,0.000,0.056,2272,2806,3521,0,0,0,0,0,0
$GC,2101,-0.57,-146.0,235.1,-9.2,250,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2806,3522,0,0,0,0,0,0
$GC,2421,-0.57,-146.0,263.9,-8.7,280,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2806,3522,0,0,0,0,0,0
$GC,2738,-0.57,-146.0,291.2,-8.9,310,2742,0.00,2.22,0.00,0.000,4,0.000,0.042,2272,1358,3522,0,0,0,0,0,0
$GC,2782,-0.57,-146.0,295.5,-9.6,313,2789,0.00,2.35,0.00,0.000,6,0.000,0.055,2272,2797,3522,0,0,0,0,0,0
$GC,3108,-0.57,-146.0,322.8,-8.0,344,3111,0.00,1.88,0.00,0.000,4,0.000,0.066,2272,3938,3522,0,0,0,0,0,0
$GC,3164,-0.57,-146.0,327.4,-8.3,349,3168,0.00,1.80,0.00,0.000,6,0.000,0.041,2272,2787,3522,0,0,0,0,0,0
$GC,3494,-0.57,-146.0,353.9,-8.1,380,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2787,3522,0,0,0,0,0,0
$GC,3816,-0.57,-146.0,379.4,-7.9,410,3820,0.00,2.20,0.00,0.000,4,0.000,0.043,2271,1361,3522,0,0,0,0,0,0
$GC,3848,-0.57,-146.0,382.3,-7.9,412,3855,0.00,2.33,0.00,0.000,6,0.000,0.055,2271,2795,3522,0,0,0,0,0,0
$GC,4174,-0.57,-146.0,405.1,-7.1,443,4178,0.00,2.20,0.00,0.000,4,0.000,0.042,2271,1371,3523,0,0,0,0,0,0
$GC,4207,-0.57,-146.0,407.6,-7.4,445,4214,0.00,2.28,0.00,0.000,6,0.000,0.056,2271,2789,3523,0,0,0,0,0,0
$GC,4532,-0.57,-146.0,430.0,-7.3,476,4536,0.00,2.17,0.00,0.000,4,0.000,0.042,2271,1371,3523,0,0,0,0,0,0
$GC,4561,-0.57,-146.0,432.3,-7.1,478,4565,0.00,2.25,0.00,0.000,6,0.000,0.055,2271,2776,3523,0,0,0,0,0,0
$GC,4886,-0.57,-146.0,458.2,-8.5,508,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2776,3523,0,0,0,0,0,0
$GC,5206,-0.57,-146.0,485.4,-8.1,538,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2776,3523,0,0,0,0,0,0
$GC,5524,-0.57,-146.0,510.6,-7.8,568,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2776,3523,0,0,0,0,0,0
$GC,5844,-0.57,-146.0,535.1,-7.4,598,5847,0.00,1.90,0.00,0.000,4,0.000,0.065,2270,3932,3523,0,0,0,0,0,0
$GC,5893,-0.57,-146.0,539.3,-8.0,602,5901,0.00,1.85,0.00,0.000,6,0.000,0.041,2270,2763,3523,0,0,0,0,0,0
$GC,6219,-0.57,-146.0,564.6,-7.7,633,6222,0.00,2.12,0.00,0.000,4,0.000,0.043,2269,1369,3523,0,0,0,0,0,0
$GC,6273,-0.57,-146.0,569.1,-8.1,637,6280,0.00,2.25,0.00,0.000,6,0.000,0.055,2265,2746,3523,0,0,0,0,0,0
$GC,6598,-0.57,-146.0,594.9,-7.5,668,6599,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2746,3523,0,0,0,0,0,0
$STATE,6824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6824,begin apogee
$GC,6829,-0.14,0.0,612.5,7.8,680,6956,0.47,0.00,116.90,0.947,4,0.130,0.000,2423,2593,2923,0,0,0,0,0,0
$STATE,6956,end apogee,CONTROL_FINISHED_OK
$STATE,6957,begin climb
$GC,6958,0.57,146.0,614.9,0.0,684,7086,0.68,2.28,120.28,0.933,4,0.068,0.044,2667,1191,2327,0,0,0,0,0,0
$GC,7238,0.57,146.0,585.3,12.8,697,7244,0.00,2.38,0.00,0.000,6,0.000,0.050,2667,2601,2320,0,0,0,0,0,0
$GC,7562,0.57,146.0,538.9,14.2,728,7566,0.00,2.25,0.00,0.000,4,0.000,0.047,2674,1196,2317,0,0,0,0,0,0
$GC,7758,0.57,146.0,512.5,13.5,745,7762,0.00,2.28,0.00,0.000,6,0.000,0.050,2673,2614,2316,0,0,0,0,0,0
$GC,8083,0.57,146.0,465.8,14.7,775,8087,0.00,2.15,0.00,0.000,4,0.000,0.061,2674,3928,2314,0,0,0,0,0,0
$GC,8134,0.57,146.0,457.5,17.0,779,8138,0.00,2.05,0.00,0.000,6,0.000,0.040,2681,2616,2313,0,0,0,0,0,0
$GC,8464,0.57,146.0,407.6,15.2,810,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2616,2313,0,0,0,0,0,0
$GC,8783,0.57,146.0,356.3,16.3,840,8787,0.00,2.20,0.00,0.000,4,0.000,0.047,2690,1193,2313,0,0,0,0,0,0
$GC,8801,0.57,146.0,353.5,16.0,841,8805,0.12,2.28,0.00,0.000,6,0.190,0.050,2660,2621,2313,0,0,0,0,0,0
$GC,9131,0.57,146.0,307.3,13.9,872,9135,0.00,2.12,0.00,0.000,4,0.000,0.061,2660,3930,2313,0,0,0,0,0,0
$GC,9170,0.57,146.0,301.6,15.5,875,9174,0.00,2.05,0.00,0.000,6,0.000,0.039,2664,2608,2312,0,0,0,0,0,0
$GC,9501,0.57,146.0,257.6,13.5,906,9505,0.00,2.15,0.00,0.000,4,0.000,0.063,2664,3925,2312,0,0,0,0,0,0
$GC,9564,0.57,146.0,247.9,15.9,911,9567,0.00,2.03,0.00,0.000,6,0.000,0.040,2666,2617,2312,0,0,0,0,0,0
$GC,9894,0.57,146.0,202.0,13.8,942,9898,0.00,2.15,0.00,0.000,4,0.000,0.061,2666,3926,2312,0,0,0,0,0,0
$GC,9931,0.57,146.0,195.9,17.0,945,9938,0.00,2.08,0.00,0.000,6,0.000,0.039,2666,2616,2312,0,0,0,0,0,0
$GC,10256,0.57,146.0,153.2,13.0,976,10260,0.00,2.12,0.00,0.000,4,0.000,0.062,2666,3925,2312,0,0,0,0,0,0
$GC,10296,0.57,146.0,147.7,14.7,979,10300,0.00,2.03,0.00,0.000,6,0.000,0.040,2666,2615,2312,0,0,0,0,0,0
$GC,10627,0.57,146.0,108.3,11.4,1010,10631,0.00,2.15,0.00,0.000,4,0.000,0.061,2666,3929,2312,0,0,0,0,0,0
$GC,10654,0.57,146.0,104.8,14.0,1012,10658,0.00,2.03,0.00,0.000,6,0.000,0.039,2667,2628,2312,0,0,0,0,0,0
$GC,10994,0.58,169.9,74.5,8.9,1068,11019,0.00,2.15,17.80,0.617,4,0.000,0.063,2667,3925,2229,0,0,0,0,0,0
$GC,11070,0.58,169.9,66.2,12.1,1081,11076,0.00,1.98,0.00,0.000,6,0.000,0.039,2667,2651,2227,0,0,0,0,0,0
$GC,11413,0.60,199.9,34.8,8.6,1142,11445,0.00,2.12,24.73,0.600,4,0.000,0.061,2667,3925,2107,0,0,0,0,0,0
$GC,11558,0.60,199.9,20.9,10.2,1167,11565,0.00,1.95,0.00,0.000,6,0.000,0.039,2667,2687,2102,0,0,0,0,0,0
$STATE,11805,end climb,SURFACE_DEPTH_REACHED
$STATE,11805,begin surface coast
$FINISH,0.9,1.003548
$STATE,11850,end surface coast,CONTROL_FINISHED_OK
$STATE,11850,begin surface
$SM_CCo,11864,70.22,0.077,0,0,1496,350.04
$SM_GC,1.79,0.00,0.00,70.22,0.000,0.000,0.077,301,2796,1496,-6.80,0.45,350.04
$RAFOS_CLK,475
$RAFOS,6,1288212545,20.833334,20.818056,63,43,43,41,41,40,813,1259,1280,1543,822,1860
$RAFOS,5,1288212070,20.700001,20.686111,129,44,44,41,40,39,616,558,1713,1870,779,368
$RAFOS,4,1288211592,20.566668,20.553333,56,51,44,41,39,38,831,145,1207,812,1126,1392
$RAFOS,3,1288211111,20.433332,20.419722,50,43,41,39,39,39,948,494,737,526,1396,563
$RAFOS,2,1288210630,20.299999,20.286112,60,56,46,46,43,39,1265,1022,183,1478,1453,8
$RAFOS,1,1288210144,20.166666,20.151112,75,48,45,41,40,39,1052,958,255,1357,1642,533
$RAFOS,0,1288209666,20.033333,20.018333,49,49,47,45,44,43,1298,1160,1172,1616,1716,1667
$RAFOS_FIX,6721.351074,-5650.477539,271010,202004,4,82,15.72
$IRIDIUM_FIX,6636.54,-5650.71,271010,161618
$TT8_MAMPS,0.028462
$HUMID,46.96
$INTERNAL_PRESSURE,8.68045
$TCM_TEMP,16.80
$XPDR_PINGS,0
$24V_AH,23.2,31.466
$10V_AH,10.2,24.513
$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,15.650,98.075,279.700,70.225,0.000,30.231,36.050,104.552,0.000,0.000,15.347,3115.590,6358.655,465.274,2162.770,182.498,0.000,1499.003,0.000,1967.245,2520.000,0.539,0.000
$DEVICE_MAMPS,251.685,83.385,947.070,77.265,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,841.156,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43253,1219
$CAP_FILE_SIZE,131074,0
$CFSIZE,260165632,232275968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1476.7
$CURRENT,0.087,135.2,1
$GPS,271010,231836,6702.326,-5655.966,33,1.6,33,-37.6