version: 66.08
glider: 183
mission: 3
dive: 20
start: 9 12 110 9 20 39
data:
$ID,183
$MISSION,3
$DIVE,20
$N_DIVES,0
$D_SURF,4
$D_FLARE,5
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,50
$D_BOOST,4
$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,-2
$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,0
$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,-7709.3403
$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,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,330
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$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,6
$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,0
$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
$GPS1,120910,091531,6638.983,-6033.949,67,1.7,67,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-66.7
$GPS2,120910,092008,6638.848,-6033.941,11,1.3,11,-38.0
$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,112.7,169182,-17.5,-10.000
$D_GRID,498
$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,-146.0,0.0,0.0,0,121,0.00,0.00,-103.82,0.000,2,0.000,0.000,297,2700,3438,0,0,0,0,0,0
$GC,123,-0.57,-146.0,7.0,-23.0,18,143,8.75,2.12,-1.50,0.000,4,0.278,0.080,2279,3935,3523,0,0,0,0,0,0
$GC,149,0.13,-146.0,23.6,-55.6,22,157,0.88,2.03,0.00,0.000,6,0.201,0.047,2514,2688,3524,0,0,0,0,0,0
$GC,495,-0.27,-146.0,54.4,-6.9,83,502,0.38,2.28,0.00,0.000,4,0.131,0.053,2390,1285,3526,0,0,0,0,0,0
$GC,756,-0.56,-146.0,78.0,-9.2,129,763,0.30,2.17,0.00,0.000,6,0.116,0.062,2290,2616,3526,0,0,0,0,0,0
$GC,1095,-0.66,-146.0,110.0,-9.2,180,1099,0.00,2.20,0.00,0.000,4,0.000,0.076,2289,3931,3526,0,0,0,0,0,0
$GC,1157,-0.66,-146.0,116.2,-10.8,185,1161,0.00,2.00,0.00,0.000,6,0.000,0.048,2290,2671,3526,0,0,0,0,0,0
$GC,1487,-0.68,-146.0,149.4,-9.3,216,1491,0.00,2.12,0.00,0.000,4,0.000,0.076,2289,3932,3526,0,0,0,0,0,0
$GC,1600,-0.71,-146.0,160.0,-9.2,226,1605,0.12,1.98,0.00,0.000,6,0.115,0.050,2238,2687,3525,0,0,0,0,0,0
$GC,1930,-0.66,-146.0,200.9,-12.7,257,1934,0.00,2.10,0.00,0.000,4,0.000,0.078,2232,3931,3525,0,0,0,0,0,0
$GC,1990,-0.61,-146.0,209.5,-14.5,262,1998,0.12,2.00,0.00,0.000,6,0.172,0.049,2270,2702,3525,0,0,0,0,0,0
$GC,2316,-0.61,-146.0,242.2,-9.5,293,2320,0.00,2.22,0.00,0.000,4,0.000,0.054,2270,1285,3524,0,0,0,0,0,0
$GC,2348,-0.63,-146.0,245.4,-9.5,295,2355,0.00,2.35,0.00,0.000,6,0.000,0.067,2270,2710,3524,0,0,0,0,0,0
$GC,2673,-0.63,-146.0,275.2,-9.2,326,2677,0.00,2.03,0.00,0.000,4,0.000,0.079,2266,3926,3524,0,0,0,0,0,0
$GC,2785,-0.63,-146.0,286.9,-10.7,336,2789,0.00,1.95,0.00,0.000,6,0.000,0.050,2266,2697,3523,0,0,0,0,0,0
$GC,3115,-0.63,-146.0,320.6,-9.3,367,3119,0.00,2.20,0.00,0.000,4,0.000,0.055,2266,1293,3524,0,0,0,0,0,0
$GC,3166,-0.65,-146.0,325.5,-9.3,371,3170,0.00,2.33,0.00,0.000,6,0.000,0.066,2265,2706,3524,0,0,0,0,0,0
$GC,3491,-0.65,-146.0,355.2,-9.0,401,3495,0.00,2.03,0.00,0.000,4,0.000,0.079,2261,3928,3523,0,0,0,0,0,0
$GC,3563,-0.67,-146.0,361.8,-9.3,407,3570,0.00,1.98,0.00,0.000,6,0.000,0.050,2261,2706,3523,0,0,0,0,0,0
$GC,3888,-0.67,-146.0,388.2,-8.4,438,3892,0.00,2.05,0.00,0.000,4,0.000,0.078,2253,3935,3523,0,0,0,0,0,0
$GC,3936,-0.67,-146.0,392.5,-8.4,442,3944,0.00,1.98,0.00,0.000,6,0.000,0.050,2253,2717,3523,0,0,0,0,0,0
$GC,4262,-0.67,-146.0,420.3,-8.8,473,4266,0.00,2.22,0.00,0.000,4,0.000,0.054,2253,1290,3523,0,0,0,0,0,0
$GC,4306,-0.69,-146.0,424.4,-9.0,476,4313,0.00,2.35,0.00,0.000,6,0.000,0.065,2251,2727,3523,0,0,0,0,0,0
$GC,4631,-0.69,-146.0,452.6,-9.7,507,4635,0.00,2.28,0.00,0.000,4,0.000,0.054,2251,1292,3523,0,0,0,0,0,0
$GC,4665,-0.69,-146.0,455.7,-9.3,510,4669,0.00,2.33,0.00,0.000,6,0.000,0.065,2248,2713,3523,0,0,0,0,0,0
$GC,4990,-0.69,-146.0,483.9,-8.1,540,4994,0.00,2.00,0.00,0.000,4,0.000,0.076,2248,3928,3523,0,0,0,0,0,0
$GC,5069,-0.69,-146.0,491.7,-9.2,547,5073,0.00,1.95,0.00,0.000,6,0.000,0.049,2247,2716,3523,0,0,0,0,0,0
$STATE,5142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5142,begin apogee
$GC,5146,-0.14,0.0,498.3,9.2,554,5271,0.55,0.00,119.30,0.944,4,0.160,0.000,2422,2553,2923,0,0,0,0,0,0
$STATE,5271,end apogee,CONTROL_FINISHED_OK
$STATE,5271,begin climb
$GC,5273,0.57,146.0,502.4,0.0,565,5405,0.73,2.42,123.72,0.918,4,0.097,0.053,2658,1132,2327,0,0,0,0,0,0
$GC,5540,0.57,146.0,480.9,10.6,589,5544,0.00,2.42,0.00,0.000,6,0.000,0.060,2658,2549,2318,0,0,0,0,0,0
$GC,5871,0.53,146.0,442.1,12.3,620,5875,0.00,2.33,0.00,0.000,4,0.000,0.055,2669,1142,2314,0,0,0,0,0,0
$GC,6048,0.51,146.0,422.0,11.0,635,6056,0.00,2.38,0.00,0.000,6,0.000,0.060,2669,2551,2314,0,0,0,0,0,0
$GC,6374,0.46,146.0,384.1,11.6,666,6379,0.17,2.33,0.00,0.000,4,0.194,0.073,2624,3932,2312,0,0,0,0,0,0
$GC,6402,0.42,146.0,381.1,11.3,668,6406,0.00,2.25,0.00,0.000,6,0.000,0.049,2632,2540,2311,0,0,0,0,0,0
$GC,6727,0.46,200.2,352.7,7.5,698,6775,0.00,2.45,43.30,0.844,4,0.000,0.071,2632,3929,2106,0,0,0,0,0,0
$GC,6832,0.46,200.2,343.0,12.4,707,6836,0.00,2.28,0.00,0.000,6,0.000,0.047,2642,2549,2102,0,0,0,0,0,0
$GC,7157,0.50,231.6,314.4,8.6,737,7191,0.00,2.33,27.08,0.819,4,0.000,0.055,2651,1145,1978,0,0,0,0,0,0
$GC,7241,0.56,246.1,306.3,9.3,744,7260,0.00,2.35,13.62,0.786,6,0.000,0.059,2651,2548,1919,0,0,0,0,0,0
$GC,7577,0.59,246.1,271.0,11.5,776,7581,0.00,2.35,0.00,0.000,4,0.000,0.073,2651,3930,1912,0,0,0,0,0,0
$GC,7632,0.59,246.1,263.5,15.2,781,7637,0.00,2.25,0.00,0.000,6,0.000,0.048,2661,2544,1911,0,0,0,0,0,0
$GC,7957,0.62,246.1,221.4,13.2,811,7961,0.00,2.35,0.00,0.000,4,0.000,0.073,2661,3929,1910,0,0,0,0,0,0
$GC,8011,0.62,246.1,213.3,14.9,815,8019,0.00,2.22,0.00,0.000,6,0.000,0.048,2669,2579,1909,0,0,0,0,0,0
$GC,8337,0.65,246.1,174.1,10.5,846,8341,0.00,2.30,0.00,0.000,4,0.000,0.057,2678,1139,1909,0,0,0,0,0,0
$GC,8365,0.68,246.1,171.1,10.1,848,8369,0.00,2.35,0.00,0.000,6,0.000,0.060,2678,2579,1909,0,0,0,0,0,0
$GC,8689,0.70,275.9,140.1,8.6,878,8723,0.00,2.35,24.55,0.748,4,0.000,0.073,2678,3922,1796,0,0,0,0,0,0
$GC,8780,0.70,275.9,130.7,11.4,886,8784,0.00,2.17,0.00,0.000,6,0.000,0.049,2686,2583,1792,0,0,0,0,0,0
$GC,9106,0.74,276.3,97.8,10.0,918,9113,0.00,2.30,0.00,0.000,4,0.000,0.075,2686,3926,1790,0,0,0,0,0,0
$GC,9188,0.74,276.3,88.9,11.1,932,9195,0.00,2.15,0.00,0.000,6,0.000,0.049,2694,2605,1789,0,0,0,0,0,0
$GC,9533,0.77,276.3,50.8,10.9,993,9539,0.00,2.22,0.00,0.000,4,0.000,0.075,2694,3926,1788,0,0,0,0,0,0
$GC,9556,0.77,276.3,47.9,12.3,997,9563,0.00,2.08,0.00,0.000,6,0.000,0.050,2703,2630,1788,0,0,0,0,0,0
$GC,9901,0.88,360.2,18.9,6.1,1058,9977,0.15,2.58,68.90,0.679,4,0.113,0.060,2767,1140,1454,0,0,0,0,0,0
$STATE,10066,end climb,SURFACE_DEPTH_REACHED
$STATE,10066,begin surface coast
$FINISH,0.3,1.024628
$STATE,10110,end surface coast,CONTROL_FINISHED_OK
$STATE,10110,begin surface
$SM_CCo,10186,0.00,0.000,0,0,1441,363.53
$SM_GC,0.67,7.05,0.00,0.00,0.081,0.000,0.000,304,2700,1441,-6.72,0.00,363.53
$RAFOS_CLK,536
$RAFOS,0,1284292863,12.033333,12.017500,50,45,44,42,41,40,952,1800,901,1816,1608,52
$RAFOS_FIX,6639.868164,-6031.985840,120910,080812,2,92,0.43
$IRIDIUM_FIX,6609.62,-6011.94,120910,060624
$TT8_MAMPS,0.031458
$HUMID,52.20
$INTERNAL_PRESSURE,8.53396
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,23.2,6.642
$10V_AH,10.3,4.280
$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,19.200,111.350,420.475,0.000,0.000,30.547,41.074,101.714,0.000,0.000,14.533,2595.363,5228.163,519.353,2031.268,100.001,0.000,1510.215,0.000,1815.382,720.000,0.535,0.000
$DEVICE_MAMPS,277.695,80.325,944.010,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,772.032,807.074,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151728
$DATA_FILE_SIZE,43348,1094
$CAP_FILE_SIZE,125043,0
$CFSIZE,260165632,249925632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.5
$GPS,120910,121137,6638.158,-6031.948,31,0.8,31,-37.9