version: 66.08
glider: 183
mission: 3
dive: 200
start: 10 18 110 9 40 47
data:
$ID,183
$MISSION,3
$DIVE,200
$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,-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,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,-7982.9761
$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,33
$R_STBD_OVSHOOT,24
$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
$GPS1,181010,093208,6648.128,-5948.634,41,1.1,48,-38.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-72.0
$GPS2,181010,094014,6648.179,-5948.788,11,1.0,11,-38.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,269.2,28302,-17.5,-10.000
$D_GRID,803
$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,-146.0,0.0,0.0,0,108,0.00,0.00,-90.32,0.000,2,0.000,0.000,303,2783,3315,0,0,0,0,0,0
$GC,110,-0.57,-146.0,6.0,-15.3,15,131,8.45,2.30,-4.15,0.000,4,0.265,0.060,2283,1365,3521,0,0,0,0,0,0
$GC,304,-0.57,-146.0,46.3,-12.7,49,312,0.00,2.40,0.00,0.000,6,0.000,0.066,2279,2784,3524,0,0,0,0,0,0
$GC,647,-0.57,-146.0,93.8,-12.3,110,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2785,3524,0,0,0,0,0,0
$GC,976,-0.57,-146.0,134.3,-11.4,145,979,0.00,1.95,0.00,0.000,4,0.000,0.076,2273,3932,3523,0,0,0,0,0,0
$GC,1033,-0.57,-146.0,140.9,-11.2,150,1036,0.00,1.90,0.00,0.000,6,0.000,0.050,2273,2762,3523,0,0,0,0,0,0
$GC,1363,-0.57,-146.0,177.5,-11.6,181,1367,0.00,2.22,0.00,0.000,4,0.000,0.054,2272,1364,3523,0,0,0,0,0,0
$GC,1400,-0.57,-146.0,182.0,-11.7,184,1407,0.00,2.38,0.00,0.000,6,0.000,0.067,2272,2772,3523,0,0,0,0,0,0
$GC,1725,-0.57,-146.0,220.4,-11.9,215,1729,0.00,1.98,0.00,0.000,4,0.000,0.078,2271,3933,3522,0,0,0,0,0,0
$GC,1782,-0.57,-146.0,227.4,-12.4,220,1785,0.00,1.88,0.00,0.000,6,0.000,0.050,2271,2761,3522,0,0,0,0,0,0
$GC,2112,-0.57,-146.0,263.9,-10.6,251,2116,0.00,2.22,0.00,0.000,4,0.000,0.054,2271,1361,3521,0,0,0,0,0,0
$GC,2134,-0.57,-146.0,266.2,-10.8,253,2138,0.00,2.33,0.00,0.000,6,0.000,0.067,2266,2769,3521,0,0,0,0,0,0
$GC,2458,-0.57,-146.0,300.4,-10.3,283,2462,0.00,1.95,0.00,0.000,4,0.000,0.077,2260,3935,3521,0,0,0,0,0,0
$GC,2514,-0.57,-146.0,306.3,-11.1,288,2518,0.08,1.90,0.00,0.000,6,0.151,0.050,2284,2773,3521,0,0,0,0,0,0
$GC,2844,-0.57,-146.0,334.2,-8.0,319,2848,0.00,2.22,0.00,0.000,4,0.000,0.054,2285,1369,3521,0,0,0,0,0,0
$GC,2870,-0.57,-146.0,336.6,-7.9,321,2879,0.00,2.35,0.00,0.000,6,0.000,0.065,2285,2770,3521,0,0,0,0,0,0
$GC,3196,-0.57,-146.0,362.7,-8.1,352,3200,0.00,1.92,0.00,0.000,4,0.000,0.076,2284,3929,3521,0,0,0,0,0,0
$GC,3253,-0.57,-146.0,367.2,-8.5,357,3256,0.00,1.85,0.00,0.000,6,0.000,0.050,2284,2779,3521,0,0,0,0,0,0
$GC,3583,-0.57,-146.0,394.3,-7.8,388,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2778,3521,0,0,0,0,0,0
$GC,3904,-0.57,-146.0,419.7,-8.1,418,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2779,3522,0,0,0,0,0,0
$GC,4221,-0.57,-146.0,444.9,-8.0,448,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2778,3522,0,0,0,0,0,0
$GC,4540,-0.57,-146.0,470.5,-7.9,478,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2778,3522,0,0,0,0,0,0
$GC,4859,-0.57,-146.0,497.3,-8.4,508,4863,0.00,2.20,0.00,0.000,4,0.000,0.051,2284,1368,3523,0,0,0,0,0,0
$GC,4887,-0.57,-146.0,500.0,-9.4,510,4892,0.00,2.35,0.00,0.000,6,0.000,0.064,2280,2792,3523,0,0,0,0,0,0
$GC,5218,-0.57,-146.0,529.3,-8.8,541,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2792,3523,0,0,0,0,0,0
$GC,5537,-0.57,-146.0,556.2,-8.1,571,5541,0.00,2.28,0.00,0.000,4,0.000,0.050,2279,1358,3523,0,0,0,0,0,0
$GC,5592,-0.57,-146.0,561.0,-9.0,575,5599,0.00,2.33,0.00,0.000,6,0.000,0.064,2280,2782,3523,0,0,0,0,0,0
$GC,5918,-0.57,-146.0,586.6,-8.0,606,5921,0.00,1.90,0.00,0.000,4,0.000,0.074,2274,3931,3523,0,0,0,0,0,0
$GC,5964,-0.57,-146.0,590.5,-8.8,610,5967,0.00,1.85,0.00,0.000,6,0.000,0.048,2274,2774,3523,0,0,0,0,0,0
$GC,6296,-0.57,-146.0,618.4,-8.3,628,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2774,3523,0,0,0,0,0,0
$GC,6603,-0.57,-146.0,643.7,-8.3,638,6604,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2774,3523,0,0,0,0,0,0
$GC,6909,-0.57,-146.0,668.9,-8.1,648,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2774,3523,0,0,0,0,0,0
$GC,7215,-0.57,-146.0,692.8,-7.7,658,7216,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2774,3523,0,0,0,0,0,0
$GC,7521,-0.57,-146.0,715.5,-7.3,668,7525,0.00,2.20,0.00,0.000,4,0.000,0.050,2273,1369,3524,0,0,0,0,0,0
$GC,7541,-0.57,-146.0,717.2,-7.7,668,7546,0.00,2.35,0.00,0.000,6,0.000,0.063,2273,2782,3524,0,0,0,0,0,0
$GC,7861,-0.57,-146.0,742.2,-8.0,679,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2782,3524,0,0,0,0,0,0
$GC,8166,-0.57,-146.0,765.1,-7.5,689,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2782,3524,0,0,0,0,0,0
$GC,8473,-0.57,-146.0,788.1,-7.5,699,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2782,3524,0,0,0,0,0,0
$STATE,8686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8686,begin apogee
$GC,8691,-0.14,0.0,804.1,7.6,706,8817,0.45,0.00,122.20,1.106,4,0.137,0.000,2422,2597,2923,0,0,0,0,0,0
$STATE,8818,end apogee,CONTROL_FINISHED_OK
$STATE,8818,begin climb
$GC,8820,0.57,146.0,807.6,0.0,710,8956,0.70,2.42,128.43,1.082,4,0.077,0.051,2664,1182,2327,0,0,0,0,0,0
$GC,9124,0.57,146.0,779.1,11.2,719,9128,0.00,2.47,0.00,0.000,6,0.000,0.058,2664,2592,2318,0,0,0,0,0,0
$GC,9454,0.57,146.0,737.6,12.7,730,9458,0.00,2.33,0.00,0.000,4,0.000,0.055,2666,1184,2315,0,0,0,0,0,0
$GC,9638,0.57,146.0,715.7,12.3,735,9643,0.00,2.38,0.00,0.000,6,0.000,0.059,2666,2615,2314,0,0,0,0,0,0
$GC,9950,0.57,146.0,676.6,12.5,745,9954,0.00,2.20,0.00,0.000,4,0.000,0.070,2666,3927,2313,0,0,0,0,0,0
$GC,9994,0.57,146.0,670.2,15.0,746,9998,0.00,2.17,0.00,0.000,6,0.000,0.046,2670,2609,2311,0,0,0,0,0,0
$GC,10319,0.57,146.0,630.3,12.1,757,10323,0.00,2.25,0.00,0.000,4,0.000,0.070,2670,3926,2312,0,0,0,0,0,0
$GC,10347,0.57,146.0,626.3,14.1,758,10351,0.00,2.10,0.00,0.000,6,0.000,0.047,2676,2615,2311,0,0,0,0,0,0
$GC,10666,0.57,146.0,584.1,13.3,775,10670,0.00,2.22,0.00,0.000,4,0.000,0.070,2677,3927,2311,0,0,0,0,0,0
$GC,10697,0.57,146.0,579.1,15.8,777,10705,0.00,2.12,0.00,0.000,6,0.000,0.047,2682,2622,2310,0,0,0,0,0,0
$GC,11023,0.57,146.0,533.1,14.2,808,11024,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2622,2311,0,0,0,0,0,0
$GC,11341,0.57,146.0,488.7,13.9,838,11342,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2622,2311,0,0,0,0,0,0
$GC,11663,0.57,146.0,445.6,13.4,868,11667,0.00,2.15,0.00,0.000,4,0.000,0.071,2682,3919,2311,0,0,0,0,0,0
$GC,11700,0.57,146.0,439.3,15.5,871,11708,0.10,2.10,0.00,0.000,6,0.192,0.046,2661,2623,2310,0,0,0,0,0,0
$GC,12025,0.57,146.0,401.3,11.2,902,12029,0.00,2.20,0.00,0.000,4,0.000,0.070,2661,3926,2310,0,0,0,0,0,0
$GC,12080,0.57,146.0,393.8,13.7,906,12089,0.00,2.10,0.00,0.000,6,0.000,0.047,2666,2630,2310,0,0,0,0,0,0
$GC,12405,0.57,146.0,355.0,12.4,937,12406,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2629,2310,0,0,0,0,0,0
$GC,12725,0.57,146.0,315.1,12.1,967,12727,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2629,2310,0,0,0,0,0,0
$GC,13044,0.57,146.0,277.2,10.9,997,13045,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2629,2310,0,0,0,0,0,0
$GC,13363,0.57,146.0,239.9,12.4,1027,13364,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2629,2310,0,0,0,0,0,0
$GC,13681,0.57,147.6,203.8,9.9,1057,13685,0.00,2.30,0.00,0.000,4,0.000,0.056,2666,1180,2310,0,0,0,0,0,0
$GC,13724,0.59,179.6,199.6,8.5,1060,13756,0.00,2.38,26.20,0.744,6,0.000,0.058,2666,2627,2189,0,0,0,0,0,0
$GC,14071,0.59,179.6,163.6,10.6,1093,14075,0.00,2.20,0.00,0.000,4,0.000,0.071,2666,3932,2184,0,0,0,0,0,0
$GC,14204,0.59,179.6,146.8,12.1,1104,14211,0.00,2.08,0.00,0.000,6,0.000,0.047,2666,2642,2182,0,0,0,0,0,0
$GC,14530,0.62,219.0,116.8,8.2,1135,14567,0.00,2.35,32.40,0.704,4,0.000,0.054,2666,1191,2029,0,0,0,0,0,0
$GC,14663,0.64,259.9,105.9,8.1,1146,14704,0.00,2.38,34.65,0.689,6,0.000,0.059,2666,2633,1862,0,0,0,0,0,0
$GC,15035,0.67,296.9,73.1,8.3,1207,15072,0.00,0.00,30.45,0.678,6,0.000,0.000,2666,2632,1710,0,0,0,0,0,0
$GC,15407,0.70,352.0,40.6,7.5,1273,15458,0.10,2.47,45.30,0.662,4,0.122,0.057,2706,1194,1486,0,0,0,0,0,0
$GC,15488,0.71,369.1,33.2,9.2,1286,15509,0.00,2.45,14.93,0.641,6,0.000,0.060,2706,2638,1418,0,0,0,0,0,0
$STATE,15833,end climb,SURFACE_DEPTH_REACHED
$STATE,15833,begin surface coast
$FINISH,0.7,1.009559
$STATE,15872,end surface coast,CONTROL_FINISHED_OK
$STATE,15872,begin surface
$SM_CCo,15946,0.00,0.000,0,0,1404,372.37
$SM_GC,1.85,6.60,0.00,0.00,0.066,0.000,0.000,300,2787,1404,-6.74,0.20,372.37
$RAFOS_CLK,858
$RAFOS,6,1287406145,12.833333,12.818055,146,53,40,40,39,39,762,1729,393,1314,961,1070
$RAFOS,5,1287405667,12.700000,12.685278,113,49,45,44,43,41,878,532,1196,851,1410,257
$RAFOS,4,1287405186,12.566667,12.551666,121,45,42,40,39,38,653,1668,418,595,167,1669
$RAFOS,3,1287404704,12.433333,12.417778,79,45,44,44,43,42,755,386,319,1532,989,1628
$RAFOS,2,1287404238,12.300000,12.288333,117,52,45,44,42,41,583,144,584,1420,1402,1475
$RAFOS,1,1287403745,12.166667,12.151389,79,57,52,52,40,40,564,573,1025,582,389,1663
$RAFOS,0,1287403287,12.033333,12.024167,64,48,47,43,43,41,563,1562,1025,1564,1700,244
$RAFOS_FIX,6648.084473,-5949.530273,181010,121234,7,103,0.06
$IRIDIUM_FIX,6614.97,-5956.38,181010,090950
$TT8_MAMPS,0.028462
$HUMID,50.27
$INTERNAL_PRESSURE,8.50466
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.6,25.974
$10V_AH,10.1,20.365
$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,16.475,101.575,434.550,0.000,0.000,57.064,55.778,182.393,0.000,0.000,13.731,3462.984,9711.679,508.044,2576.952,193.725,0.000,1705.755,0.000,2243.304,2520.000,0.535,0.000
$DEVICE_MAMPS,264.690,90.270,1106.190,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,944.968,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,189472
$DATA_FILE_SIZE,49969,1354
$CAP_FILE_SIZE,154026,0
$CFSIZE,260165632,235937792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.2
$CURRENT,0.120,351.2,1
$GPS,181010,140815,6648.040,-5953.029,32,1.4,40,-38.1