version: 66.08
glider: 183
mission: 3
dive: 206
start: 10 19 110 9 37 12
data:
$ID,183
$MISSION,3
$DIVE,206
$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,-7993.5835
$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,29
$R_STBD_OVSHOOT,26
$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
$GPS1,191010,093215,6645.667,-6008.706,37,99.0,56,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-71.0
$GPS2,191010,093638,6645.651,-6008.736,10,1.1,10,-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,290.3,12995,-17.5,-10.000
$D_GRID,578
$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,12,begin dive
$GC,14,-0.57,-146.0,0.0,0.0,0,113,0.00,0.00,-96.12,0.000,2,0.000,0.000,286,2786,3230,0,0,0,0,0,0
$GC,115,-0.57,-146.0,6.1,-12.8,16,136,8.48,2.00,-5.78,0.000,4,0.264,0.086,2279,3925,3522,0,0,0,0,0,0
$GC,330,-0.57,-146.0,55.8,-15.1,54,338,0.00,1.90,0.00,0.000,6,0.000,0.050,2279,2767,3525,0,0,0,0,0,0
$GC,678,-0.57,-146.0,104.5,-12.9,113,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2766,3525,0,0,0,0,0,0
$GC,997,-0.57,-146.0,143.5,-11.6,143,1001,0.00,2.25,0.00,0.000,4,0.000,0.054,2279,1365,3525,0,0,0,0,0,0
$GC,1108,-0.57,-146.0,156.1,-10.6,152,1116,0.00,2.38,0.00,0.000,6,0.000,0.067,2276,2771,3525,0,0,0,0,0,0
$GC,1434,-0.57,-146.0,192.5,-11.0,183,1438,0.00,1.98,0.00,0.000,4,0.000,0.078,2272,3936,3525,0,0,0,0,0,0
$GC,1483,-0.57,-146.0,198.5,-11.6,187,1491,0.00,1.90,0.00,0.000,6,0.000,0.050,2272,2780,3525,0,0,0,0,0,0
$GC,1809,-0.57,-146.0,234.8,-10.9,218,1812,0.00,2.00,0.00,0.000,4,0.000,0.080,2272,3946,3524,0,0,0,0,0,0
$GC,1836,-0.57,-146.0,238.0,-11.2,220,1843,0.00,1.90,0.00,0.000,6,0.000,0.051,2272,2789,3524,0,0,0,0,0,0
$GC,2161,-0.57,-146.0,272.6,-10.5,251,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2789,3524,0,0,0,0,0,0
$GC,2480,-0.57,-146.0,306.4,-10.9,281,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2789,3523,0,0,0,0,0,0
$GC,2799,-0.57,-146.0,339.9,-10.2,311,2803,0.00,1.98,0.00,0.000,4,0.000,0.079,2271,3933,3523,0,0,0,0,0,0
$GC,2848,-0.57,-146.0,345.3,-10.8,315,2855,0.00,1.85,0.00,0.000,6,0.000,0.051,2271,2803,3523,0,0,0,0,0,0
$GC,3174,-0.57,-146.0,376.9,-9.6,346,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2803,3523,0,0,0,0,0,0
$GC,3493,-0.57,-146.0,407.6,-10.1,376,3496,0.00,1.90,0.00,0.000,4,0.000,0.077,2265,3936,3523,0,0,0,0,0,0
$GC,3527,-0.57,-146.0,411.1,-10.9,379,3531,0.00,1.83,0.00,0.000,6,0.000,0.051,2265,2786,3523,0,0,0,0,0,0
$GC,3857,-0.57,-146.0,444.4,-10.1,410,3861,0.00,1.95,0.00,0.000,4,0.000,0.078,2258,3936,3523,0,0,0,0,0,0
$GC,3891,-0.57,-146.0,447.8,-10.4,413,3895,0.12,1.80,0.00,0.000,6,0.170,0.050,2292,2817,3523,0,0,0,0,0,0
$GC,4220,-0.57,-146.0,474.0,-7.7,444,4225,0.00,2.28,0.00,0.000,4,0.000,0.052,2292,1365,3523,0,0,0,0,0,0
$GC,4253,-0.57,-146.0,476.6,-7.8,446,4261,0.00,2.42,0.00,0.000,6,0.000,0.065,2292,2822,3523,0,0,0,0,0,0
$GC,4579,-0.57,-146.0,501.3,-7.4,477,4583,0.00,2.33,0.00,0.000,4,0.000,0.052,2292,1363,3524,0,0,0,0,0,0
$GC,4611,-0.57,-146.0,504.0,-8.2,479,4618,0.00,2.35,0.00,0.000,6,0.000,0.064,2292,2807,3524,0,0,0,0,0,0
$GC,4936,-0.57,-146.0,530.2,-6.6,510,4940,0.00,2.28,0.00,0.000,4,0.000,0.052,2292,1361,3524,0,0,0,0,0,0
$GC,4976,-0.57,-146.0,533.0,-7.1,513,4981,0.00,2.33,0.00,0.000,6,0.000,0.064,2292,2788,3524,0,0,0,0,0,0
$GC,5302,-0.57,-146.0,554.4,-7.4,543,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2788,3524,0,0,0,0,0,0
$GC,5621,-0.57,-146.0,577.9,-7.5,573,5625,0.00,2.15,0.00,0.000,3,0.000,0.052,2292,1410,3524,0,0,0,0,0,0
$STATE,5626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5626,begin apogee
$GC,5632,-0.14,0.0,578.5,7.5,573,5762,0.40,0.00,119.47,0.977,4,0.135,0.000,2426,2609,2922,0,0,0,0,0,0
$STATE,5762,end apogee,CONTROL_FINISHED_OK
$STATE,5763,begin climb
$GC,5764,0.57,146.0,581.7,0.0,585,5900,0.68,2.40,123.20,0.953,4,0.080,0.051,2658,1189,2329,0,0,0,0,0,0
$GC,6106,0.57,146.0,550.1,10.9,615,6115,0.00,2.45,0.00,0.000,6,0.000,0.057,2658,2593,2321,0,0,0,0,0,0
$GC,6432,0.57,146.0,512.0,12.2,646,6436,0.00,2.30,0.00,0.000,4,0.000,0.054,2662,1189,2319,0,0,0,0,0,0
$GC,6605,0.57,146.0,492.0,11.9,661,6609,0.00,2.40,0.00,0.000,6,0.000,0.058,2662,2630,2319,0,0,0,0,0,0
$GC,6929,0.57,146.0,453.4,11.5,691,6933,0.00,2.20,0.00,0.000,4,0.000,0.070,2662,3929,2317,0,0,0,0,0,0
$GC,6989,0.57,146.0,445.2,13.9,696,6997,0.00,2.15,0.00,0.000,6,0.000,0.046,2665,2617,2316,0,0,0,0,0,0
$GC,7314,0.57,146.0,404.3,13.1,727,7318,0.00,2.20,0.00,0.000,4,0.000,0.070,2665,3926,2316,0,0,0,0,0,0
$GC,7354,0.57,146.0,398.8,14.1,730,7358,0.00,2.10,0.00,0.000,6,0.000,0.047,2666,2627,2316,0,0,0,0,0,0
$GC,7684,0.57,146.0,358.4,11.9,761,7688,0.00,2.20,0.00,0.000,4,0.000,0.070,2666,3927,2316,0,0,0,0,0,0
$GC,7706,0.57,146.0,355.5,13.1,762,7712,0.00,2.10,0.00,0.000,6,0.000,0.047,2666,2621,2316,0,0,0,0,0,0
$GC,8030,0.57,146.0,319.8,10.6,793,8034,0.00,2.20,0.00,0.000,4,0.000,0.071,2666,3932,2315,0,0,0,0,0,0
$GC,8087,0.57,146.0,312.9,12.7,798,8091,0.00,2.08,0.00,0.000,6,0.000,0.047,2667,2642,2315,0,0,0,0,0,0
$GC,8417,0.57,146.0,278.3,10.3,829,8421,0.00,2.33,0.00,0.000,4,0.000,0.055,2667,1187,2316,0,0,0,0,0,0
$GC,8438,0.57,147.2,276.1,9.9,830,8445,0.00,2.38,0.00,0.000,6,0.000,0.057,2667,2656,2316,0,0,0,0,0,0
$GC,8763,0.57,151.5,243.0,9.8,861,8775,0.00,2.15,4.18,0.607,4,0.000,0.072,2667,3923,2304,0,0,0,0,0,0
$GC,8809,0.57,151.5,237.7,11.4,865,8813,0.00,2.05,0.00,0.000,6,0.000,0.047,2667,2647,2304,0,0,0,0,0,0
$GC,9140,0.57,155.7,204.3,9.8,896,9150,0.00,0.00,5.30,0.656,6,0.000,0.000,2667,2646,2287,0,0,0,0,0,0
$GC,9468,0.57,155.7,171.0,10.0,927,9469,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2647,2287,0,0,0,0,0,0
$GC,9787,0.59,172.5,140.4,9.2,957,9810,0.00,2.35,15.77,0.731,4,0.000,0.055,2667,1191,2217,0,0,0,0,0,0
$GC,9871,0.59,173.7,132.3,9.9,964,9879,0.00,2.40,0.00,0.000,6,0.000,0.059,2667,2636,2217,0,0,0,0,0,0
$GC,10197,0.61,209.8,103.6,8.3,995,10234,0.00,2.42,31.20,0.710,4,0.000,0.056,2667,1190,2066,0,0,0,0,0,0
$GC,10308,0.64,251.1,94.4,8.1,1011,10352,0.00,2.35,34.30,0.693,6,0.000,0.059,2667,2613,1900,0,0,0,0,0,0
$GC,10686,0.66,291.1,62.0,8.2,1078,10729,0.00,2.35,33.15,0.680,4,0.000,0.073,2667,3932,1733,0,0,0,0,0,0
$GC,10758,0.66,291.1,55.3,10.2,1090,10764,0.00,2.20,0.00,0.000,6,0.000,0.048,2667,2609,1730,0,0,0,0,0,0
$GC,11099,0.73,390.2,29.6,5.4,1151,11187,0.12,2.40,80.22,0.654,4,0.109,0.057,2718,1185,1330,0,0,0,0,0,0
$GC,11211,0.74,409.6,19.6,9.1,1169,11237,0.00,2.42,16.40,0.630,6,0.000,0.059,2718,2611,1252,0,0,0,0,0,0
$STATE,11404,end climb,SURFACE_DEPTH_REACHED
$STATE,11404,begin surface coast
$FINISH,0.6,1.025062
$STATE,11444,end surface coast,CONTROL_FINISHED_OK
$STATE,11444,begin surface
$SM_CCo,11519,0.00,0.000,0,0,1240,412.84
$SM_GC,1.66,6.60,0.00,0.00,0.059,0.000,0.000,305,2785,1240,-6.72,0.14,412.84
$RAFOS_CLK,615
$RAFOS,5,1287492062,12.700000,12.683888,46,46,45,45,45,43,280,1674,1095,959,1611,145
$RAFOS,4,1287491583,12.566667,12.550834,59,48,48,43,40,39,727,712,1271,908,1181,1798
$RAFOS,3,1287491110,12.433333,12.419444,63,49,45,45,41,39,757,1104,1872,885,1919,1095
$RAFOS,2,1287490626,12.300000,12.285000,61,46,46,45,41,40,639,834,907,651,1162,1645
$RAFOS,1,1287490150,12.166667,12.152778,142,73,44,43,41,40,519,519,721,1440,733,1652
$RAFOS,0,1287489666,12.033333,12.018333,66,45,44,44,43,40,623,1221,668,1015,653,1899
$RAFOS_FIX,6645.529297,-6010.067383,191010,121228,4,83,0.10
$IRIDIUM_FIX,6614.97,-5954.40,191010,060608
$TT8_MAMPS,0.028462
$HUMID,50.19
$INTERNAL_PRESSURE,8.48513
$TCM_TEMP,14.20
$XPDR_PINGS,1
$24V_AH,22.8,26.684
$10V_AH,10.1,20.828
$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,16.400,100.600,463.200,0.000,0.000,30.976,15.618,104.362,0.250,0.000,13.862,2982.169,5978.266,572.525,2109.504,157.062,0.000,1618.647,0.000,1934.672,2160.000,0.536,0.000
$DEVICE_MAMPS,263.925,85.680,976.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,840.451,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43338,1210
$CAP_FILE_SIZE,128637,0
$CFSIZE,260165632,235540480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.5
$CURRENT,0.192,355.8,1
$GPS,191010,125036,6646.432,-6012.331,31,1.1,31,-38.1