version: 66.08
glider: 183
mission: 3
dive: 22
start: 9 12 110 14 58 15
data:
$ID,183
$MISSION,3
$DIVE,22
$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,-7711.8535
$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,31
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$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
$GPS1,120910,145245,6639.895,-6030.340,38,1.9,46,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-70.8
$GPS2,120910,145744,6639.928,-6030.456,14,1.2,14,-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,113.1,166231,-17.5,-10.000
$D_GRID,510
$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,-146.0,0.0,0.0,0,110,0.00,0.00,-92.25,0.000,2,0.000,0.000,307,2713,3219,0,0,0,0,0,0
$GC,111,-0.57,-146.0,5.1,-16.0,16,131,8.77,2.38,-5.78,0.000,4,0.282,0.063,2286,1285,3521,0,0,0,0,0,0
$GC,177,-0.54,-146.0,29.0,-20.3,27,184,0.00,2.38,0.00,0.000,6,0.000,0.066,2280,2702,3524,0,0,0,0,0,0
$GC,522,-0.51,-146.0,72.6,-11.2,88,529,0.12,2.33,0.00,0.000,4,0.196,0.054,2311,1282,3525,0,0,0,0,0,0
$GC,559,-0.53,-146.0,76.4,-9.6,94,565,0.00,2.33,0.00,0.000,6,0.000,0.063,2310,2678,3525,0,0,0,0,0,0
$GC,898,-0.56,-146.0,107.2,-8.6,147,902,0.00,2.12,0.00,0.000,4,0.000,0.076,2305,3932,3526,0,0,0,0,0,0
$GC,1060,-0.59,-146.0,123.1,-9.5,161,1068,0.00,1.98,0.00,0.000,6,0.000,0.050,2305,2694,3526,0,0,0,0,0,0
$GC,1385,-0.62,-146.0,155.8,-10.1,192,1390,0.00,2.10,0.00,0.000,4,0.000,0.079,2303,3932,3525,0,0,0,0,0,0
$GC,1408,-0.65,-146.0,158.2,-10.7,194,1412,0.12,1.98,0.00,0.000,6,0.116,0.050,2253,2708,3525,0,0,0,0,0,0
$GC,1738,-0.62,-146.0,204.3,-13.1,225,1741,0.00,2.05,0.00,0.000,4,0.000,0.079,2248,3928,3524,0,0,0,0,0,0
$GC,1783,-0.58,-146.0,210.4,-13.6,229,1787,0.15,1.92,0.00,0.000,6,0.191,0.050,2286,2717,3524,0,0,0,0,0,0
$GC,2113,-0.61,-146.0,241.8,-9.0,260,2117,0.00,2.05,0.00,0.000,4,0.000,0.080,2281,3937,3524,0,0,0,0,0,0
$GC,2158,-0.63,-146.0,246.1,-9.3,264,2162,0.00,1.92,0.00,0.000,6,0.000,0.051,2281,2759,3523,0,0,0,0,0,0
$GC,2489,-0.63,-146.0,277.0,-9.0,295,2493,0.00,2.33,0.00,0.000,4,0.000,0.056,2281,1285,3522,0,0,0,0,0,0
$GC,2566,-0.67,-146.0,284.5,-9.1,301,2573,0.00,2.42,0.00,0.000,6,0.000,0.067,2279,2757,3523,0,0,0,0,0,0
$GC,2892,-0.69,-146.0,315.5,-9.1,332,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2757,3523,0,0,0,0,0,0
$GC,3212,-0.71,-146.0,341.9,-7.9,362,3216,0.00,1.98,0.00,0.000,4,0.000,0.080,2272,3934,3523,0,0,0,0,0,0
$GC,3251,-0.73,-146.0,345.4,-9.0,365,3258,0.00,1.95,0.00,0.000,6,0.000,0.050,2272,2729,3523,0,0,0,0,0,0
$GC,3576,-0.75,-146.0,374.3,-8.9,396,3581,0.12,2.03,0.00,0.000,4,0.119,0.080,2220,3930,3523,0,0,0,0,0,0
$GC,3622,-0.69,-146.0,379.7,-12.9,400,3626,0.08,1.90,0.00,0.000,6,0.178,0.050,2243,2757,3523,0,0,0,0,0,0
$GC,3951,-0.68,-146.0,416.3,-10.9,431,3955,0.00,1.95,0.00,0.000,4,0.000,0.079,2236,3931,3523,0,0,0,0,0,0
$GC,4002,-0.65,-146.0,422.3,-11.9,435,4008,0.00,1.88,0.00,0.000,6,0.000,0.049,2237,2756,3523,0,0,0,0,0,0
$GC,4326,-0.63,-146.0,458.0,-10.3,466,4331,0.12,2.30,0.00,0.000,4,0.200,0.054,2267,1293,3523,0,0,0,0,0,0
$GC,4343,-0.63,-146.0,459.7,-10.4,467,4347,0.00,2.42,0.00,0.000,6,0.000,0.066,2264,2778,3523,0,0,0,0,0,0
$GC,4669,-0.65,-146.0,488.3,-9.0,497,4673,0.00,1.90,0.00,0.000,4,0.000,0.077,2260,3932,3523,0,0,0,0,0,0
$GC,4741,-0.67,-146.0,495.6,-9.3,503,4748,0.00,1.85,0.00,0.000,6,0.000,0.049,2260,2782,3523,0,0,0,0,0,0
$STATE,4905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4905,begin apogee
$GC,4910,-0.14,0.0,510.9,10.1,519,5038,0.52,0.00,119.38,0.950,4,0.158,0.000,2426,2552,2922,0,0,0,0,0,0
$STATE,5039,end apogee,CONTROL_FINISHED_OK
$STATE,5039,begin climb
$GC,5040,0.57,146.0,513.7,0.0,531,5171,0.68,0.00,123.72,0.914,6,0.104,0.000,2653,2552,2326,0,0,0,0,0,0
$GC,5488,0.53,146.0,467.4,12.7,573,5492,0.00,2.40,0.00,0.000,4,0.000,0.072,2653,3929,2315,0,0,0,0,0,0
$GC,5572,0.46,146.0,454.6,15.3,580,5577,0.15,2.20,0.00,0.000,6,0.203,0.047,2629,2589,2314,0,0,0,0,0,0
$GC,5897,0.46,153.9,420.9,9.6,610,5909,0.00,2.30,5.28,0.713,4,0.000,0.072,2628,3928,2297,0,0,0,0,0,0
$GC,5954,0.43,153.9,414.5,11.4,615,5958,0.00,2.15,0.00,0.000,6,0.000,0.047,2636,2607,2296,0,0,0,0,0,0
$GC,6284,0.43,153.9,381.6,10.0,646,6288,0.00,2.25,0.00,0.000,4,0.000,0.073,2637,3932,2296,0,0,0,0,0,0
$GC,6335,0.38,153.9,375.8,12.3,650,6340,0.17,2.10,0.00,0.000,6,0.194,0.047,2602,2629,2295,0,0,0,0,0,0
$GC,6665,0.45,207.6,349.8,7.5,681,6720,0.00,2.33,46.65,0.842,4,0.000,0.073,2602,3933,2075,0,0,0,0,0,0
$GC,6744,0.50,210.8,343.3,9.9,688,6747,0.00,2.12,0.00,0.000,6,0.000,0.046,2608,2648,2072,0,0,0,0,0,0
$GC,7068,0.58,236.1,315.2,8.8,718,7103,0.15,2.55,24.10,0.817,4,0.109,0.056,2673,1143,1959,0,0,0,0,0,0
$GC,7107,0.58,236.1,310.8,11.7,721,7115,0.00,2.58,0.00,0.000,6,0.000,0.058,2673,2647,1958,0,0,0,0,0,0
$GC,7432,0.58,236.1,268.6,12.5,752,7436,0.00,2.47,0.00,0.000,4,0.000,0.056,2683,1142,1954,0,0,0,0,0,0
$GC,7483,0.61,236.1,262.3,12.5,756,7487,0.00,2.50,0.00,0.000,6,0.000,0.060,2683,2642,1954,0,0,0,0,0,0
$GC,7807,0.61,236.1,221.6,12.3,786,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2642,1953,0,0,0,0,0,0
$GC,8128,0.61,236.1,181.8,13.3,816,8132,0.00,2.17,0.00,0.000,4,0.000,0.074,2683,3929,1952,0,0,0,0,0,0
$GC,8179,0.57,236.1,174.3,14.9,820,8183,0.12,2.15,0.00,0.000,6,0.209,0.048,2664,2587,1950,0,0,0,0,0,0
$GC,8503,0.60,241.9,138.5,9.7,850,8516,0.00,2.33,4.82,0.630,4,0.000,0.059,2671,1141,1937,0,0,0,0,0,0
$GC,8543,0.66,241.9,134.4,10.3,853,8550,0.00,2.42,0.00,0.000,6,0.000,0.060,2671,2601,1937,0,0,0,0,0,0
$GC,8869,0.69,242.6,102.7,10.0,884,8870,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2600,1936,0,0,0,0,0,0
$GC,9204,0.79,313.6,71.3,6.7,941,9269,0.17,0.00,60.40,0.705,6,0.112,0.000,2734,2600,1643,0,0,0,0,0,0
$GC,9606,0.83,369.5,27.7,7.4,1012,9659,0.00,2.33,45.60,0.674,4,0.000,0.073,2735,3926,1415,0,0,0,0,0,0
$GC,9700,0.88,387.7,20.9,9.2,1028,9724,0.00,2.25,15.77,0.655,6,0.000,0.050,2738,2591,1341,0,0,0,0,0,0
$STATE,9870,end climb,SURFACE_DEPTH_REACHED
$STATE,9870,begin surface coast
$FINISH,-0.0,1.024593
$STATE,9910,end surface coast,CONTROL_FINISHED_OK
$STATE,9910,begin surface
$SM_CCo,9983,0.00,0.000,0,0,1330,390.76
$SM_GC,0.81,6.85,0.00,0.00,0.072,0.000,0.000,307,2703,1330,-6.72,0.06,390.76
$RAFOS_CLK,530
$RAFOS,6,1284310147,16.833334,16.818611,80,41,41,39,39,39,842,848,855,328,630,1877
$RAFOS,5,1284309672,16.700001,16.686666,44,42,39,39,39,39,534,1339,896,1354,1402,1859
$RAFOS,4,1284309188,16.566668,16.552221,50,46,44,43,42,42,265,795,174,1610,998,1267
$RAFOS,3,1284308705,16.433332,16.418056,129,43,43,43,42,41,792,641,1840,1236,1659,1098
$RAFOS,2,1284308224,16.299999,16.284445,63,48,46,46,45,43,658,845,838,44,339,560
$RAFOS,1,1284307745,16.166666,16.151388,44,44,42,42,40,40,1913,231,1119,1217,307,1776
$RAFOS,0,1284307264,16.033333,16.017778,47,44,43,42,41,38,924,144,1269,1660,1100,154
$RAFOS_FIX,6642.860352,-6025.174316,120910,161642,3,91,1.17
$IRIDIUM_FIX,6609.62,-6029.40,120910,121201
$TT8_MAMPS,0.029211
$HUMID,52.12
$INTERNAL_PRESSURE,8.51442
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,23.2,6.876
$10V_AH,10.3,4.411
$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,18.325,92.575,445.725,0.000,0.000,25.731,68.441,100.245,0.000,0.000,17.107,2511.765,5228.226,519.611,1944.663,100.546,0.000,1461.732,0.000,1711.700,2520.000,0.535,0.000
$DEVICE_MAMPS,281.520,85.680,950.130,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,752.185,785.535,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151664
$DATA_FILE_SIZE,43334,1065
$CAP_FILE_SIZE,121775,0
$CFSIZE,260165632,249798656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.3
$GPS,120910,174613,6641.953,-6028.105,35,1.6,41,-38.0