version: 66.08
glider: 183
mission: 3
dive: 340
start: 11 15 110 12 21 24
data:
$ID,183
$MISSION,3
$DIVE,340
$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,-8211.2549
$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,39
$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
$GPS1,151110,121607,6702.239,-5702.569,38,0.9,38,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-69.9
$GPS2,151110,122050,6702.250,-5702.686,12,1.6,12,-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,143.2,10696,-17.5,-10.000
$D_GRID,679
$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,-146.0,0.0,0.0,0,112,0.00,0.00,-93.00,0.000,6,0.000,0.000,290,2796,3520,0,0,0,0,0,0
$GC,115,-0.57,-146.0,5.8,-11.7,16,128,8.35,2.30,0.00,0.000,4,0.252,0.041,2282,1369,3522,0,0,0,0,0,0
$GC,314,-0.57,-146.0,41.0,-10.6,51,321,0.00,2.28,0.00,0.000,6,0.000,0.055,2278,2773,3524,0,0,0,0,0,0
$GC,657,-0.57,-146.0,81.3,-11.4,112,664,0.00,2.20,0.00,0.000,4,0.000,0.044,2278,1366,3523,0,0,0,0,0,0
$GC,687,-0.57,-146.0,84.7,-11.0,117,693,0.00,2.33,0.00,0.000,6,0.000,0.055,2275,2786,3523,0,0,0,0,0,0
$GC,1021,-0.57,-146.0,118.7,-8.2,160,1025,0.00,1.92,0.00,0.000,4,0.000,0.065,2272,3930,3522,0,0,0,0,0,0
$GC,1047,-0.57,-146.0,121.0,-8.3,162,1055,0.00,1.85,0.00,0.000,6,0.000,0.041,2272,2770,3522,0,0,0,0,0,0
$GC,1373,-0.57,-146.0,149.2,-9.1,193,1377,0.00,2.17,0.00,0.000,4,0.000,0.044,2272,1364,3521,0,0,0,0,0,0
$GC,1419,-0.57,-146.0,153.5,-9.3,197,1423,0.00,2.28,0.00,0.000,6,0.000,0.054,2272,2764,3522,0,0,0,0,0,0
$GC,1746,-0.57,-146.0,183.5,-9.3,227,1750,0.00,1.92,0.00,0.000,4,0.000,0.064,2272,3928,3522,0,0,0,0,0,0
$GC,1792,-0.57,-146.0,187.6,-9.3,231,1796,0.00,1.80,0.00,0.000,6,0.000,0.041,2272,2764,3522,0,0,0,0,0,0
$GC,2123,-0.57,-146.0,213.8,-7.6,262,2127,0.00,2.15,0.00,0.000,4,0.000,0.044,2272,1369,3522,0,0,0,0,0,0
$GC,2162,-0.57,-146.0,216.9,-7.7,265,2167,0.00,2.25,0.00,0.000,6,0.000,0.054,2272,2766,3521,0,0,0,0,0,0
$GC,2488,-0.57,-146.0,241.4,-7.9,295,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2766,3522,0,0,0,0,0,0
$GC,2807,-0.57,-146.0,264.7,-7.3,325,2811,0.00,2.17,0.00,0.000,4,0.000,0.043,2272,1373,3522,0,0,0,0,0,0
$GC,2839,-0.57,-146.0,267.4,-8.0,327,2846,0.00,2.25,0.00,0.000,6,0.000,0.054,2272,2762,3522,0,0,0,0,0,0
$GC,3164,-0.57,-146.0,290.0,-7.0,358,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2762,3523,0,0,0,0,0,0
$GC,3485,-0.57,-146.0,312.3,-7.3,388,3489,0.00,2.15,0.00,0.000,4,0.000,0.042,2272,1371,3523,0,0,0,0,0,0
$GC,3525,-0.57,-146.0,315.3,-7.3,391,3529,0.00,2.22,0.00,0.000,6,0.000,0.054,2272,2757,3523,0,0,0,0,0,0
$GC,3850,-0.57,-146.0,341.2,-8.6,421,3854,0.00,1.92,0.00,0.000,4,0.000,0.063,2272,3935,3523,0,0,0,0,0,0
$GC,3896,-0.57,-146.0,345.3,-9.0,425,3900,0.00,1.83,0.00,0.000,6,0.000,0.041,2272,2756,3524,0,0,0,0,0,0
$GC,4226,-0.57,-146.0,373.2,-8.0,456,4230,0.00,2.12,0.00,0.000,4,0.000,0.043,2271,1374,3523,0,0,0,0,0,0
$GC,4261,-0.57,-146.0,376.1,-8.1,459,4265,0.00,2.22,0.00,0.000,6,0.000,0.054,2271,2757,3523,0,0,0,0,0,0
$GC,4586,-0.57,-146.0,398.4,-6.8,489,4590,0.00,2.15,0.00,0.000,4,0.000,0.042,2272,1367,3523,0,0,0,0,0,0
$GC,4616,-0.57,-146.0,400.5,-7.1,491,4620,0.00,2.22,0.00,0.000,6,0.000,0.054,2272,2753,3523,0,0,0,0,0,0
$GC,4942,-0.57,-146.0,422.1,-6.7,521,4946,0.00,1.98,0.00,0.000,4,0.000,0.064,2271,3929,3524,0,0,0,0,0,0
$GC,4980,-0.57,-146.0,424.9,-7.2,524,4987,0.00,1.88,0.00,0.000,6,0.000,0.040,2271,2750,3524,0,0,0,0,0,0
$GC,5307,-0.57,-146.0,447.5,-7.6,555,5310,0.00,2.12,0.00,0.000,4,0.000,0.043,2271,1368,3523,0,0,0,0,0,0
$GC,5341,-0.57,-146.0,450.3,-8.6,558,5345,0.00,2.25,0.00,0.000,6,0.000,0.054,2271,2753,3523,0,0,0,0,0,0
$GC,5666,-0.57,-146.0,476.1,-7.8,588,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2752,3523,0,0,0,0,0,0
$GC,5988,-0.57,-146.0,500.8,-7.7,618,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2752,3523,0,0,0,0,0,0
$GC,6291,-0.57,-146.0,523.1,-7.1,628,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2753,3524,0,0,0,0,0,0
$GC,6598,-0.57,-146.0,544.1,-6.9,638,6599,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2753,3522,0,0,0,0,0,0
$GC,6904,-0.57,-146.0,566.0,-7.3,648,6908,0.00,2.17,0.00,0.000,4,0.000,0.044,2271,1364,3523,0,0,0,0,0,0
$GC,6932,-0.57,-146.0,568.1,-7.0,649,6936,0.00,2.22,0.00,0.000,6,0.000,0.054,2271,2743,3524,0,0,0,0,0,0
$GC,7274,-0.57,-146.0,590.4,-6.3,660,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2743,3523,0,0,0,0,0,0
$GC,7579,-0.57,-146.0,609.1,-6.1,670,7581,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2743,3523,0,0,0,0,0,0
$GC,7886,-0.57,-146.0,629.0,-6.8,680,7887,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2743,3524,0,0,0,0,0,0
$GC,8192,-0.57,-146.0,650.4,-7.3,690,8194,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2743,3523,0,0,0,0,0,0
$GC,8498,-0.57,-146.0,671.4,-6.7,700,8502,0.00,1.95,0.00,0.000,4,0.000,0.067,2271,3925,3523,0,0,0,0,0,0
$GC,8536,-0.57,-146.0,674.2,-7.6,701,8540,0.00,1.88,0.00,0.000,6,0.000,0.041,2271,2748,3523,0,0,0,0,0,0
$STATE,8625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8625,begin apogee
$GC,8631,-0.14,0.0,680.2,6.5,704,8758,0.45,0.00,119.62,0.996,4,0.126,0.000,2423,2602,2922,0,0,0,0,0,0
$STATE,8759,end apogee,CONTROL_FINISHED_OK
$STATE,8759,begin climb
$GC,8761,0.57,146.0,683.1,0.0,708,8894,0.68,2.33,124.18,0.980,4,0.066,0.045,2667,1189,2327,0,0,0,0,0,0
$GC,9052,0.57,146.0,654.7,12.9,717,9056,0.00,2.40,0.00,0.000,6,0.000,0.051,2667,2598,2319,0,0,0,0,0,0
$GC,9387,0.57,146.0,609.1,13.7,728,9391,0.00,2.28,0.00,0.000,4,0.000,0.049,2672,1189,2315,0,0,0,0,0,0
$GC,9637,0.57,146.0,575.8,13.4,735,9642,0.00,2.30,0.00,0.000,6,0.000,0.053,2672,2612,2315,0,0,0,0,0,0
$GC,9956,0.57,146.0,530.7,14.3,746,9957,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2612,2313,0,0,0,0,0,0
$GC,10266,0.57,146.0,485.4,14.5,762,10270,0.00,2.17,0.00,0.000,4,0.000,0.063,2672,3932,2312,0,0,0,0,0,0
$GC,10317,0.57,146.0,477.1,17.0,766,10320,0.00,2.08,0.00,0.000,6,0.000,0.041,2680,2608,2310,0,0,0,0,0,0
$GC,10647,0.57,146.0,426.4,15.2,797,10648,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2608,2311,0,0,0,0,0,0
$GC,10969,0.57,146.0,379.4,15.3,827,10975,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2608,2310,0,0,0,0,0,0
$GC,11295,0.57,146.0,330.9,15.2,858,11299,0.00,2.17,0.00,0.000,4,0.000,0.063,2679,3925,2310,0,0,0,0,0,0
$GC,11335,0.57,146.0,324.1,17.4,861,11339,0.00,2.05,0.00,0.000,6,0.000,0.041,2683,2612,2309,0,0,0,0,0,0
$GC,11665,0.57,146.0,275.4,14.4,892,11669,0.00,2.17,0.00,0.000,4,0.000,0.063,2683,3926,2309,0,0,0,0,0,0
$GC,11706,0.57,146.0,268.7,16.4,895,11711,0.12,2.03,0.00,0.000,6,0.207,0.041,2662,2623,2309,0,0,0,0,0,0
$GC,12031,0.57,146.0,224.8,13.1,925,12035,0.00,2.25,0.00,0.000,4,0.000,0.047,2665,1185,2309,0,0,0,0,0,0
$GC,12063,0.57,146.0,220.3,12.5,927,12070,0.00,2.30,0.00,0.000,6,0.000,0.050,2665,2628,2310,0,0,0,0,0,0
$GC,12388,0.57,146.0,179.0,12.2,958,12392,0.00,2.12,0.00,0.000,4,0.000,0.062,2665,3925,2309,0,0,0,0,0,0
$GC,12437,0.57,146.0,171.8,14.8,962,12446,0.00,2.05,0.00,0.000,6,0.000,0.040,2666,2636,2309,0,0,0,0,0,0
$GC,12763,0.57,146.0,132.5,12.2,993,12767,0.00,2.15,0.00,0.000,4,0.000,0.062,2666,3932,2309,0,0,0,0,0,0
$GC,12825,0.57,146.0,123.7,14.0,998,12833,0.00,2.00,0.00,0.000,6,0.000,0.039,2666,2642,2309,0,0,0,0,0,0
$GC,13155,0.57,146.1,90.7,10.0,1037,13162,0.00,2.12,0.00,0.000,4,0.000,0.060,2666,3926,2310,0,0,0,0,0,0
$GC,13190,0.57,146.1,86.5,12.2,1043,13197,0.00,1.98,0.00,0.000,6,0.000,0.039,2666,2648,2310,0,0,0,0,0,0
$GC,13534,0.57,151.5,48.6,9.8,1104,13541,0.00,2.10,0.00,0.000,4,0.000,0.061,2666,3928,2310,0,0,0,0,0,0
$GC,13681,0.57,151.5,33.3,10.3,1130,13689,0.00,1.98,0.00,0.000,6,0.000,0.037,2667,2662,2310,0,0,0,0,0,0
$GC,14025,0.59,174.1,3.9,9.0,1191,14039,0.00,0.00,11.88,0.563,2,0.000,0.000,2666,2662,2233,0,0,0,0,0,0
$STATE,14040,end climb,SURFACE_DEPTH_REACHED
$STATE,14040,begin surface coast
$FINISH,1.0,1.020805
$STATE,14080,end surface coast,CONTROL_FINISHED_OK
$STATE,14080,begin surface
$SM_CCo,14095,79.62,0.078,0,0,1496,350.04
$SM_GC,1.67,0.00,0.00,79.62,0.000,0.000,0.078,299,2787,1496,-6.80,0.20,350.04
$RAFOS_CLK,583
$RAFOS,1,1289837345,16.166666,16.151388,60,47,45,44,41,41,1034,1580,1254,1267,1162,1171
$RAFOS,0,1289836861,16.033333,16.016945,60,44,44,44,39,38,1186,1192,26,404,1611,1105
$RAFOS,6,1289825352,12.833333,12.820000,65,51,41,41,40,40,769,587,778,1432,783,1788
$RAFOS,5,1289824864,12.700000,12.684444,87,53,47,46,43,43,642,1326,494,896,1818,1572
$RAFOS,4,1289824382,12.566667,12.550555,78,44,43,42,42,40,874,966,1557,1282,1747,1526
$RAFOS,3,1289823901,12.433333,12.416945,58,44,43,42,41,41,991,1251,154,881,862,1586
$RAFOS,1,1289822945,12.166667,12.151389,63,52,51,45,45,39,1022,1031,1095,698,1801,1325
$RAFOS_FIX,6705.081055,-5704.144043,151110,121244,4,73,6.01
$IRIDIUM_FIX,6636.54,-5520.39,151110,070718
$TT8_MAMPS,0.028462
$HUMID,47.00
$INTERNAL_PRESSURE,8.68045
$TCM_TEMP,16.80
$XPDR_PINGS,0
$24V_AH,22.6,41.506
$10V_AH,10.2,32.339
$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,15.825,106.600,255.675,79.625,0.000,28.872,18.206,112.315,0.000,0.000,15.788,3136.955,8502.395,459.924,2183.708,222.995,0.000,1528.273,0.000,2006.390,2160.000,0.540,0.000
$DEVICE_MAMPS,251.685,77.265,996.030,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,829.043,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,189584
$DATA_FILE_SIZE,43343,1200
$CAP_FILE_SIZE,140821,0
$CFSIZE,260165632,225378304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1476.1
$CURRENT,0.044,337.1,1
$GPS,151110,161936,6702.197,-5659.044,30,1.0,30,-37.6