version: 66.08
glider: 183
mission: 3
dive: 209
start: 10 19 110 19 13 6
data:
$ID,183
$MISSION,3
$DIVE,209
$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,-7998.9551
$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,21
$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
$GPS1,191010,190808,6644.486,-6010.536,37,1.6,44,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-70.6
$GPS2,191010,191232,6644.426,-6010.481,13,1.2,13,-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,84.0,150213,-17.5,-10.000
$D_GRID,579
$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,-93.38,0.000,2,0.000,0.000,287,2785,3178,0,0,0,0,0,0
$GC,112,-0.57,-146.0,5.4,-12.7,15,134,8.48,2.38,-7.07,0.000,4,0.265,0.066,2282,1361,3523,0,0,0,0,0,0
$GC,174,-0.57,-146.0,26.2,-21.5,25,182,0.00,2.38,0.00,0.000,6,0.000,0.067,2278,2778,3525,0,0,0,0,0,0
$GC,519,-0.57,-146.0,76.4,-13.8,86,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2778,3525,0,0,0,0,0,0
$GC,853,-0.57,-146.0,120.4,-12.4,132,857,0.00,1.92,0.00,0.000,4,0.000,0.076,2273,3929,3526,0,0,0,0,0,0
$GC,890,-0.57,-146.0,125.3,-12.8,135,898,0.00,1.85,0.00,0.000,6,0.000,0.050,2273,2802,3526,0,0,0,0,0,0
$GC,1216,-0.57,-146.0,164.6,-11.7,166,1220,0.00,2.30,0.00,0.000,4,0.000,0.054,2272,1365,3525,0,0,0,0,0,0
$GC,1369,-0.57,-146.0,182.5,-11.8,179,1373,0.00,2.33,0.00,0.000,6,0.000,0.067,2272,2774,3525,0,0,0,0,0,0
$GC,1693,-0.57,-146.0,220.9,-11.6,209,1697,0.00,1.92,0.00,0.000,4,0.000,0.078,2272,3926,3525,0,0,0,0,0,0
$GC,1742,-0.57,-146.0,226.7,-10.9,213,1750,0.00,1.90,0.00,0.000,6,0.000,0.051,2272,2768,3524,0,0,0,0,0,0
$GC,2067,-0.57,-146.0,261.3,-10.6,244,2071,0.00,1.98,0.00,0.000,4,0.000,0.078,2272,3926,3524,0,0,0,0,0,0
$GC,2101,-0.57,-146.0,264.8,-10.7,247,2105,0.00,1.88,0.00,0.000,6,0.000,0.051,2272,2769,3524,0,0,0,0,0,0
$GC,2432,-0.57,-146.0,298.4,-9.9,278,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2769,3523,0,0,0,0,0,0
$GC,2751,-0.57,-146.0,328.5,-9.3,308,2755,0.00,2.22,0.00,0.000,4,0.000,0.054,2272,1369,3523,0,0,0,0,0,0
$GC,2784,-0.57,-146.0,332.0,-9.7,310,2791,0.00,2.35,0.00,0.000,6,0.000,0.066,2272,2775,3523,0,0,0,0,0,0
$GC,3110,-0.57,-146.0,363.1,-9.5,341,3113,0.00,1.92,0.00,0.000,4,0.000,0.077,2272,3932,3523,0,0,0,0,0,0
$GC,3167,-0.57,-146.0,368.7,-9.8,346,3171,0.00,1.83,0.00,0.000,6,0.000,0.052,2272,2780,3523,0,0,0,0,0,0
$GC,3500,-0.57,-146.0,401.4,-10.0,377,3504,0.00,2.22,0.00,0.000,4,0.000,0.054,2272,1364,3523,0,0,0,0,0,0
$GC,3550,-0.57,-146.0,406.6,-9.6,381,3554,0.00,2.33,0.00,0.000,6,0.000,0.066,2272,2771,3523,0,0,0,0,0,0
$GC,3875,-0.57,-146.0,437.7,-9.3,411,3879,0.00,1.92,0.00,0.000,4,0.000,0.076,2272,3931,3523,0,0,0,0,0,0
$GC,3898,-0.57,-146.0,439.8,-9.0,413,3902,0.00,1.85,0.00,0.000,6,0.000,0.050,2272,2766,3523,0,0,0,0,0,0
$GC,4229,-0.57,-146.0,468.1,-8.2,444,4233,0.00,2.20,0.00,0.000,4,0.000,0.053,2272,1361,3524,0,0,0,0,0,0
$GC,4272,-0.57,-146.0,471.8,-8.2,447,4279,0.00,2.30,0.00,0.000,6,0.000,0.064,2272,2769,3523,0,0,0,0,0,0
$GC,4598,-0.57,-146.0,497.8,-8.4,478,4601,0.00,1.92,0.00,0.000,4,0.000,0.076,2272,3931,3524,0,0,0,0,0,0
$GC,4666,-0.57,-146.0,503.8,-8.8,484,4670,0.00,1.85,0.00,0.000,6,0.000,0.050,2272,2763,3524,0,0,0,0,0,0
$GC,4996,-0.57,-146.0,533.4,-8.9,515,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2763,3523,0,0,0,0,0,0
$GC,5315,-0.57,-146.0,558.1,-7.5,545,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2763,3524,0,0,0,0,0,0
$STATE,5589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5589,begin apogee
$GC,5595,-0.14,0.0,579.5,7.5,571,5718,0.47,0.00,119.20,0.979,4,0.140,0.000,2427,2601,2923,0,0,0,0,0,0
$STATE,5719,end apogee,CONTROL_FINISHED_OK
$STATE,5719,begin climb
$GC,5721,0.57,146.0,582.3,0.0,582,5855,0.68,2.40,123.88,0.951,4,0.082,0.052,2658,1183,2327,0,0,0,0,0,0
$GC,5985,0.57,146.0,558.5,11.8,606,5990,0.00,2.47,0.00,0.000,6,0.000,0.057,2658,2599,2319,0,0,0,0,0,0
$GC,6310,0.57,146.0,518.0,13.1,636,6314,0.00,2.35,0.00,0.000,4,0.000,0.055,2662,1188,2316,0,0,0,0,0,0
$GC,6556,0.57,146.0,487.6,12.6,657,6564,0.00,2.35,0.00,0.000,6,0.000,0.058,2662,2609,2315,0,0,0,0,0,0
$GC,6880,0.57,146.0,448.0,12.0,688,6884,0.00,2.22,0.00,0.000,4,0.000,0.070,2662,3928,2315,0,0,0,0,0,0
$GC,6937,0.57,146.0,440.2,13.9,693,6941,0.00,2.15,0.00,0.000,6,0.000,0.047,2666,2595,2313,0,0,0,0,0,0
$GC,7262,0.57,146.0,402.5,10.9,723,7266,0.00,2.25,0.00,0.000,4,0.000,0.056,2666,1183,2313,0,0,0,0,0,0
$GC,7305,0.57,146.0,397.7,10.4,726,7312,0.00,2.35,0.00,0.000,6,0.000,0.058,2666,2596,2313,0,0,0,0,0,0
$GC,7630,0.57,146.0,361.4,11.6,757,7631,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2596,2313,0,0,0,0,0,0
$GC,7950,0.57,146.0,324.7,11.5,787,7951,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2596,2313,0,0,0,0,0,0
$GC,8268,0.57,146.0,289.8,10.5,817,8272,0.00,2.22,0.00,0.000,4,0.000,0.071,2666,3940,2313,0,0,0,0,0,0
$GC,8295,0.57,146.0,286.4,12.4,819,8299,0.00,2.15,0.00,0.000,6,0.000,0.047,2666,2591,2311,0,0,0,0,0,0
$GC,8620,0.57,146.0,251.9,10.9,849,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2590,2312,0,0,0,0,0,0
$GC,8939,0.57,146.0,218.5,10.4,879,8943,0.00,2.22,0.00,0.000,4,0.000,0.055,2666,1191,2312,0,0,0,0,0,0
$GC,8967,0.57,146.0,215.4,11.0,881,8971,0.00,2.28,0.00,0.000,6,0.000,0.059,2666,2603,2313,0,0,0,0,0,0
$GC,9296,0.57,146.0,181.7,10.5,912,9297,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2603,2312,0,0,0,0,0,0
$GC,9617,0.58,167.1,150.9,9.0,942,9640,0.00,2.28,15.98,0.729,4,0.000,0.056,2666,1187,2242,0,0,0,0,0,0
$GC,9791,0.59,179.9,135.0,9.4,957,9811,0.00,2.28,12.38,0.711,6,0.000,0.059,2666,2562,2188,0,0,0,0,0,0
$GC,10129,0.62,222.7,104.5,8.0,989,10174,0.00,2.40,35.55,0.703,4,0.000,0.072,2666,3926,2013,0,0,0,0,0,0
$GC,10209,0.62,222.7,97.0,10.8,998,10216,0.00,2.22,0.00,0.000,6,0.000,0.048,2666,2567,2011,0,0,0,0,0,0
$GC,10552,0.64,254.7,69.9,8.5,1059,10583,0.00,2.33,26.58,0.688,4,0.000,0.057,2666,1190,1883,0,0,0,0,0,0
$GC,10645,0.67,299.3,61.7,7.9,1075,10690,0.00,2.25,37.58,0.674,6,0.000,0.060,2666,2550,1701,0,0,0,0,0,0
$GC,11027,0.72,386.1,32.6,6.0,1142,11108,0.12,2.47,69.95,0.658,4,0.107,0.071,2720,3926,1346,0,0,0,0,0,0
$GC,11172,0.72,386.1,18.2,11.2,1166,11179,0.00,2.25,0.00,0.000,6,0.000,0.049,2720,2585,1340,0,0,0,0,0,0
$STATE,11328,end climb,SURFACE_DEPTH_REACHED
$STATE,11328,begin surface coast
$FINISH,0.5,1.019991
$STATE,11361,end surface coast,CONTROL_FINISHED_OK
$STATE,11361,begin surface
$SM_CCo,11436,0.00,0.000,0,0,1331,390.52
$SM_GC,1.63,6.60,0.00,0.00,0.060,0.000,0.000,296,2786,1331,-6.71,0.17,390.52
$RAFOS_CLK,612
$RAFOS,6,1287521344,20.833334,20.817778,92,48,47,45,39,39,806,145,953,1745,853,962
$RAFOS,5,1287520868,20.700001,20.685556,62,53,46,42,41,40,913,165,933,788,803,303
$RAFOS,4,1287520390,20.566668,20.552778,55,50,46,45,41,38,682,671,980,940,1252,1481
$RAFOS,3,1287519905,20.433332,20.418056,77,47,45,43,41,40,770,594,922,1288,163,237
$RAFOS,2,1287519427,20.299999,20.285278,61,52,47,45,41,39,630,1420,1751,614,1175,1348
$RAFOS,1,1287518944,20.166666,20.151112,89,44,43,42,41,38,539,548,789,1594,1596,540
$RAFOS,0,1287518470,20.033333,20.019444,43,41,40,40,40,40,895,228,911,1039,1566,1778
$RAFOS_FIX,6646.170410,-6007.065918,191010,202056,5,76,0.87
$IRIDIUM_FIX,6620.33,-6018.02,191010,161631
$TT8_MAMPS,0.028462
$HUMID,50.15
$INTERNAL_PRESSURE,8.49489
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.7,27.025
$10V_AH,10.1,21.035
$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,16.350,92.250,441.075,0.000,0.000,28.914,19.826,103.949,0.000,0.000,16.342,2949.538,5977.558,521.570,2121.133,155.976,0.000,1562.497,0.000,1939.161,2520.000,0.536,0.000
$DEVICE_MAMPS,265.455,78.030,979.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,834.579,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,189528
$DATA_FILE_SIZE,43357,1200
$CAP_FILE_SIZE,125958,0
$CFSIZE,260165632,235360256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.6
$CURRENT,0.075,317.9,1
$GPS,191010,222527,6645.664,-6008.949,25,99.0,44,-38.1