version: 66.08
glider: 183
mission: 3
dive: 338
start: 11 15 110 3 35 17
data:
$ID,183
$MISSION,3
$DIVE,338
$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,-8206.6738
$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,40
$R_STBD_OVSHOOT,30
$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
$GPS1,151110,032907,6659.423,-5710.202,28,1.6,28,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-70.0
$GPS2,151110,033443,6659.437,-5710.295,10,1.8,15,-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,84.7,17400,-17.5,-10.000
$D_GRID,738
$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,13,begin dive
$GC,15,-0.57,-146.0,0.0,0.0,0,113,0.00,0.00,-93.85,0.000,6,0.000,0.000,285,2789,3520,0,0,0,0,0,0
$GC,115,-0.57,-146.0,6.0,-13.9,16,129,8.43,2.30,0.00,0.000,4,0.252,0.038,2283,1358,3521,0,0,0,0,0,0
$GC,185,-0.57,-146.0,25.1,-11.7,28,192,0.00,2.35,0.00,0.000,6,0.000,0.056,2278,2780,3524,0,0,0,0,0,0
$GC,529,-0.57,-146.0,65.9,-10.4,89,535,0.00,1.92,0.00,0.000,4,0.000,0.065,2272,3932,3523,0,0,0,0,0,0
$GC,613,-0.57,-146.0,75.2,-11.6,104,620,0.00,1.80,0.00,0.000,6,0.000,0.042,2272,2799,3523,0,0,0,0,0,0
$GC,952,-0.57,-146.0,109.3,-9.4,156,956,0.00,2.22,0.00,0.000,4,0.000,0.044,2272,1370,3522,0,0,0,0,0,0
$GC,1014,-0.57,-146.0,115.0,-8.3,161,1018,0.00,2.35,0.00,0.000,6,0.000,0.056,2272,2799,3523,0,0,0,0,0,0
$GC,1340,-0.57,-146.0,142.4,-7.9,191,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2799,3522,0,0,0,0,0,0
$GC,1659,-0.57,-146.0,168.0,-8.2,221,1663,0.00,2.25,0.00,0.000,4,0.000,0.044,2272,1370,3523,0,0,0,0,0,0
$GC,1721,-0.57,-146.0,173.3,-7.9,226,1725,0.00,2.33,0.00,0.000,6,0.000,0.055,2272,2797,3523,0,0,0,0,0,0
$GC,2052,-0.57,-146.0,201.2,-8.3,257,2056,0.00,2.22,0.00,0.000,4,0.000,0.043,2272,1368,3523,0,0,0,0,0,0
$GC,2103,-0.57,-146.0,205.2,-7.7,261,2107,0.00,2.30,0.00,0.000,6,0.000,0.055,2272,2789,3523,0,0,0,0,0,0
$GC,2428,-0.57,-146.0,231.1,-8.3,291,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2789,3523,0,0,0,0,0,0
$GC,2748,-0.57,-146.0,257.4,-7.9,321,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2789,3524,0,0,0,0,0,0
$GC,3065,-0.57,-146.0,282.0,-7.7,351,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2789,3524,0,0,0,0,0,0
$GC,3385,-0.57,-146.0,306.1,-7.5,381,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2789,3525,0,0,0,0,0,0
$GC,3704,-0.57,-146.0,330.9,-8.1,411,3708,0.00,2.20,0.00,0.000,4,0.000,0.043,2272,1372,3525,0,0,0,0,0,0
$GC,3755,-0.57,-146.0,335.3,-8.0,415,3759,0.00,2.28,0.00,0.000,6,0.000,0.055,2272,2781,3525,0,0,0,0,0,0
$GC,4081,-0.57,-146.0,360.9,-8.5,445,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2782,3526,0,0,0,0,0,0
$GC,4400,-0.57,-146.0,386.7,-8.3,475,4404,0.00,2.20,0.00,0.000,4,0.000,0.044,2272,1367,3525,0,0,0,0,0,0
$GC,4441,-0.57,-146.0,390.1,-8.4,478,4445,0.00,2.28,0.00,0.000,6,0.000,0.055,2272,2777,3525,0,0,0,0,0,0
$GC,4766,-0.57,-146.0,415.0,-7.1,508,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2777,3525,0,0,0,0,0,0
$GC,5086,-0.57,-146.0,437.2,-7.0,538,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2777,3525,0,0,0,0,0,0
$GC,5405,-0.57,-146.0,459.7,-7.2,568,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2777,3525,0,0,0,0,0,0
$GC,5732,-0.57,-146.0,482.5,-6.9,599,5736,0.00,2.20,0.00,0.000,4,0.000,0.044,2272,1367,3524,0,0,0,0,0,0
$GC,5772,-0.57,-146.0,485.4,-7.0,602,5776,0.00,2.30,0.00,0.000,6,0.000,0.057,2272,2774,3524,0,0,0,0,0,0
$GC,6115,-0.57,-146.0,508.7,-6.8,626,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2774,3524,0,0,0,0,0,0
$GC,6420,-0.57,-146.0,529.4,-6.6,636,6424,0.00,2.20,0.00,0.000,4,0.000,0.046,2272,1374,3523,0,0,0,0,0,0
$GC,6446,-0.57,-146.0,531.4,-7.5,636,6453,0.00,2.28,0.00,0.000,6,0.000,0.057,2272,2774,3523,0,0,0,0,0,0
$GC,6760,-0.57,-146.0,554.6,-7.7,647,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2774,3524,0,0,0,0,0,0
$GC,7066,-0.57,-146.0,578.1,-7.6,657,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2774,3523,0,0,0,0,0,0
$GC,7372,-0.57,-146.0,600.8,-7.1,667,7377,0.00,2.22,0.00,0.000,4,0.000,0.047,2272,1366,3523,0,0,0,0,0,0
$GC,7400,-0.57,-146.0,603.1,-8.2,667,7407,0.00,2.30,0.00,0.000,6,0.000,0.057,2272,2775,3523,0,0,0,0,0,0
$GC,7713,-0.57,-146.0,625.4,-7.0,678,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2775,3523,0,0,0,0,0,0
$GC,8019,-0.57,-146.0,645.8,-6.7,688,8023,0.00,2.22,0.00,0.000,4,0.000,0.047,2272,1368,3522,0,0,0,0,0,0
$GC,8046,-0.57,-146.0,647.9,-7.6,688,8053,0.00,2.30,0.00,0.000,6,0.000,0.058,2271,2763,3522,0,0,0,0,0,0
$GC,8359,-0.57,-146.0,670.5,-7.2,699,8363,0.00,1.98,0.00,0.000,4,0.000,0.069,2272,3924,3522,0,0,0,0,0,0
$GC,8386,-0.57,-146.0,672.6,-7.5,699,8393,0.00,1.88,0.00,0.000,6,0.000,0.044,2271,2768,3521,0,0,0,0,0,0
$GC,8700,-0.57,-146.0,693.7,-7.2,710,8704,0.00,2.20,0.00,0.000,4,0.000,0.047,2271,1370,3521,0,0,0,0,0,0
$GC,8755,-0.57,-146.0,698.0,-7.4,711,8759,0.00,2.25,0.00,0.000,6,0.000,0.059,2271,2753,3520,0,0,0,0,0,0
$GC,9074,-0.57,-146.0,720.5,-7.1,722,9075,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2753,3520,0,0,0,0,0,0
$STATE,9348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9348,begin apogee
$GC,9354,-0.14,0.0,739.4,6.8,731,9482,0.45,0.00,120.47,1.056,4,0.130,0.000,2421,2593,2922,0,0,0,0,0,0
$STATE,9483,end apogee,CONTROL_FINISHED_OK
$STATE,9483,begin climb
$GC,9485,0.57,146.0,742.8,0.0,735,9622,0.68,2.38,126.53,1.034,4,0.073,0.047,2658,1182,2329,0,0,0,0,0,0
$GC,9740,0.57,146.0,720.1,12.3,742,9748,0.00,2.45,0.00,0.000,6,0.000,0.054,2658,2602,2321,0,0,0,0,0,0
$GC,10054,0.57,146.0,680.1,12.7,753,10058,0.00,2.33,0.00,0.000,4,0.000,0.050,2662,1189,2317,0,0,0,0,0,0
$GC,10271,0.57,146.0,654.6,11.0,759,10276,0.00,2.38,0.00,0.000,6,0.000,0.054,2662,2615,2317,0,0,0,0,0,0
$GC,10590,0.57,146.0,616.0,12.3,770,10594,0.00,2.17,0.00,0.000,4,0.000,0.066,2662,3921,2315,0,0,0,0,0,0
$GC,10634,0.57,146.0,609.5,15.0,771,10638,0.00,2.12,0.00,0.000,6,0.000,0.043,2666,2614,2314,0,0,0,0,0,0
$GC,10964,0.57,146.0,566.9,13.1,782,10965,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2613,2314,0,0,0,0,0,0
$GC,11271,0.57,146.0,527.2,13.0,792,11272,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2613,2314,0,0,0,0,0,0
$GC,11580,0.57,146.0,486.9,12.6,808,11584,0.00,2.20,0.00,0.000,4,0.000,0.067,2666,3925,2314,0,0,0,0,0,0
$GC,11608,0.57,146.0,483.1,13.6,810,11612,0.00,2.10,0.00,0.000,6,0.000,0.043,2666,2611,2313,0,0,0,0,0,0
$GC,11938,0.57,146.0,442.2,12.2,841,11942,0.00,2.20,0.00,0.000,4,0.000,0.067,2666,3924,2313,0,0,0,0,0,0
$GC,11959,0.57,146.0,439.0,13.7,842,11968,0.00,2.10,0.00,0.000,6,0.000,0.043,2666,2618,2312,0,0,0,0,0,0
$GC,12285,0.57,146.0,396.0,13.7,873,12289,0.00,2.17,0.00,0.000,4,0.000,0.066,2666,3921,2311,0,0,0,0,0,0
$GC,12319,0.57,146.0,390.7,16.1,876,12323,0.00,2.03,0.00,0.000,6,0.000,0.043,2666,2636,2312,0,0,0,0,0,0
$GC,12649,0.57,146.0,346.1,13.1,907,12653,0.00,2.15,0.00,0.000,4,0.000,0.066,2666,3922,2312,0,0,0,0,0,0
$GC,12676,0.57,146.0,342.0,14.6,909,12683,0.00,2.05,0.00,0.000,6,0.000,0.042,2666,2649,2311,0,0,0,0,0,0
$GC,13002,0.57,146.0,299.9,12.8,940,13003,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2649,2311,0,0,0,0,0,0
$GC,13321,0.57,146.0,257.4,13.5,970,13322,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2649,2311,0,0,0,0,0,0
$GC,13640,0.57,146.0,216.2,13.1,1000,13644,0.00,2.12,0.00,0.000,4,0.000,0.064,2667,3930,2311,0,0,0,0,0,0
$GC,13667,0.57,146.0,212.0,14.6,1002,13676,0.00,2.05,0.00,0.000,6,0.000,0.041,2666,2647,2311,0,0,0,0,0,0
$GC,13993,0.57,146.0,169.2,13.0,1033,13994,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2647,2311,0,0,0,0,0,0
$GC,14313,0.57,146.0,128.4,12.2,1063,14317,0.00,2.10,0.00,0.000,4,0.000,0.063,2666,3923,2312,0,0,0,0,0,0
$GC,14328,0.57,146.0,125.9,12.9,1064,14335,0.00,2.05,0.00,0.000,6,0.000,0.040,2667,2639,2312,0,0,0,0,0,0
$GC,14657,0.57,146.0,88.4,10.7,1104,14663,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2639,2312,0,0,0,0,0,0
$GC,14998,0.58,158.4,51.1,9.4,1165,15012,0.00,2.33,9.18,0.587,4,0.000,0.047,2667,1191,2277,0,0,0,0,0,0
$GC,15037,0.59,178.8,47.6,9.1,1171,15062,0.00,2.35,17.98,0.603,6,0.000,0.051,2667,2653,2193,0,0,0,0,0,0
$GC,15400,0.59,186.7,14.1,9.6,1235,15413,0.00,0.00,7.22,0.548,6,0.000,0.000,2667,2653,2163,0,0,0,0,0,0
$STATE,15513,end climb,SURFACE_DEPTH_REACHED
$STATE,15513,begin surface coast
$FINISH,0.9,1.026036
$STATE,15546,end surface coast,CONTROL_FINISHED_OK
$STATE,15546,begin surface
$SM_CCo,15561,74.35,0.079,0,0,1495,350.04
$SM_GC,1.86,0.00,0.00,74.35,0.000,0.000,0.079,300,2781,1495,-6.80,0.03,350.04
$RAFOS_CLK,734
$RAFOS,6,1289796544,4.833333,4.817778,104,44,42,42,39,39,800,1082,1855,1731,964,1035
$RAFOS,5,1289796068,4.700000,4.685555,104,54,48,46,42,41,603,1203,1819,26,745,1277
$RAFOS,4,1289795583,4.566667,4.550833,57,43,40,39,38,38,856,233,467,1697,619,1099
$RAFOS,3,1289795105,4.433333,4.418056,75,54,54,46,44,44,958,612,940,949,679,1529
$RAFOS,2,1289794628,4.300000,4.285555,58,44,43,42,42,42,1007,207,998,304,1391,1875
$RAFOS,1,1289794146,4.166667,4.151667,55,53,50,45,41,40,1022,162,1011,970,730,363
$RAFOS,0,1289793667,4.033333,4.018611,44,43,43,41,41,40,1166,282,1778,859,1492,184
$RAFOS_FIX,6702.190430,-5711.524414,151110,040453,3,94,1.31
$IRIDIUM_FIX,6631.12,-5708.95,141110,222222
$TT8_MAMPS,0.027713
$HUMID,47.00
$INTERNAL_PRESSURE,8.66091
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,22.4,41.334
$10V_AH,10.0,32.185
$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,15.850,101.600,281.375,74.350,0.000,29.634,49.094,123.261,0.000,0.000,18.126,3254.135,9720.074,485.888,2298.394,230.321,0.000,1587.815,0.000,2069.343,2520.000,0.538,0.000
$DEVICE_MAMPS,251.685,81.090,1056.465,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,872.081,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,189576
$DATA_FILE_SIZE,46688,1261
$CAP_FILE_SIZE,143711,0
$CFSIZE,260165632,225513472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.2
$CURRENT,0.085, 94.6,1
$GPS,151110,075731,6700.670,-5705.026,41,1.0,41,-37.6