version: 66.08
glider: 183
mission: 3
dive: 211
start: 10 20 110 1 54 18
data:
$ID,183
$MISSION,3
$DIVE,211
$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,-8002.3389
$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,35
$R_STBD_OVSHOOT,19
$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
$GPS1,201010,014921,6646.154,-6005.884,35,4.1,54,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-70.8
$GPS2,201010,015344,6646.165,-6005.939,11,1.4,11,-38.1
$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,137.1,146302,-17.5,-10.000
$D_GRID,621
$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,-146.0,0.0,0.0,0,114,0.00,0.00,-96.57,0.000,2,0.000,0.000,290,2779,3297,0,0,0,0,0,0
$GC,116,-0.57,-146.0,6.3,-16.3,16,137,8.50,2.30,-4.40,0.000,4,0.266,0.064,2282,1368,3523,0,0,0,0,0,0
$GC,233,-0.57,-146.0,37.6,-14.0,36,239,0.00,2.35,0.00,0.000,6,0.000,0.067,2279,2780,3525,0,0,0,0,0,0
$GC,576,-0.57,-146.0,85.5,-12.6,97,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2780,3525,0,0,0,0,0,0
$GC,912,-0.57,-146.0,127.8,-11.8,138,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2779,3525,0,0,0,0,0,0
$GC,1234,-0.57,-146.0,162.6,-10.0,168,1237,0.00,1.95,0.00,0.000,4,0.000,0.077,2272,3930,3525,0,0,0,0,0,0
$GC,1327,-0.57,-146.0,173.7,-11.2,176,1335,0.00,1.90,0.00,0.000,6,0.000,0.051,2272,2771,3524,0,0,0,0,0,0
$GC,1653,-0.57,-146.0,210.1,-11.1,207,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2771,3524,0,0,0,0,0,0
$GC,1972,-0.57,-146.0,242.7,-10.0,237,1976,0.00,1.98,0.00,0.000,4,0.000,0.079,2272,3928,3523,0,0,0,0,0,0
$GC,2010,-0.57,-146.0,246.7,-10.2,240,2017,0.00,1.90,0.00,0.000,6,0.000,0.051,2272,2768,3523,0,0,0,0,0,0
$GC,2335,-0.57,-146.0,277.7,-9.6,271,2339,0.00,2.22,0.00,0.000,4,0.000,0.054,2272,1368,3523,0,0,0,0,0,0
$GC,2398,-0.57,-146.0,283.7,-9.8,276,2402,0.00,2.28,0.00,0.000,6,0.000,0.066,2272,2755,3523,0,0,0,0,0,0
$GC,2723,-0.57,-146.0,316.5,-10.4,306,2727,0.00,1.98,0.00,0.000,4,0.000,0.077,2268,3939,3523,0,0,0,0,0,0
$GC,2790,-0.57,-146.0,323.8,-10.9,312,2794,0.00,1.88,0.00,0.000,6,0.000,0.052,2268,2762,3522,0,0,0,0,0,0
$GC,3120,-0.57,-146.0,356.2,-9.4,343,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2762,3523,0,0,0,0,0,0
$GC,3442,-0.57,-146.0,385.1,-9.1,373,3446,0.00,2.20,0.00,0.000,4,0.000,0.053,2268,1360,3523,0,0,0,0,0,0
$GC,3492,-0.57,-146.0,389.9,-8.9,377,3496,0.00,2.33,0.00,0.000,6,0.000,0.067,2266,2777,3522,0,0,0,0,0,0
$GC,3817,-0.57,-146.0,420.3,-9.9,407,3821,0.00,1.92,0.00,0.000,4,0.000,0.077,2265,3935,3522,0,0,0,0,0,0
$GC,3852,-0.57,-146.0,423.8,-9.9,410,3855,0.00,1.85,0.00,0.000,6,0.000,0.050,2265,2769,3523,0,0,0,0,0,0
$GC,4182,-0.57,-146.0,456.5,-10.0,441,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2769,3523,0,0,0,0,0,0
$GC,4501,-0.57,-146.0,486.4,-9.0,471,4505,0.00,1.95,0.00,0.000,4,0.000,0.076,2259,3933,3523,0,0,0,0,0,0
$GC,4558,-0.57,-146.0,491.7,-9.4,476,4563,0.08,1.88,0.00,0.000,6,0.150,0.050,2299,2780,3523,0,0,0,0,0,0
$GC,4888,-0.57,-146.0,514.5,-6.8,507,4889,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2780,3524,0,0,0,0,0,0
$GC,5208,-0.57,-146.0,535.6,-6.1,537,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2780,3524,0,0,0,0,0,0
$GC,5526,-0.57,-146.0,555.7,-6.5,567,5530,0.00,2.25,0.00,0.000,4,0.000,0.052,2299,1369,3524,0,0,0,0,0,0
$GC,5554,-0.57,-146.0,557.8,-6.9,569,5562,0.00,2.33,0.00,0.000,6,0.000,0.064,2299,2784,3524,0,0,0,0,0,0
$GC,5879,-0.57,-146.0,579.0,-6.5,600,5882,0.00,1.90,0.00,0.000,4,0.000,0.075,2299,3933,3524,0,0,0,0,0,0
$GC,5924,-0.57,-146.0,582.1,-6.7,604,5928,0.00,1.83,0.00,0.000,6,0.000,0.050,2299,2778,3524,0,0,0,0,0,0
$GC,6264,-0.57,-146.0,603.9,-6.3,632,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2777,3524,0,0,0,0,0,0
$STATE,6536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6536,begin apogee
$GC,6541,-0.14,0.0,621.6,6.7,641,6668,0.38,0.00,119.75,1.007,4,0.130,0.000,2426,2601,2922,0,0,0,0,0,0
$STATE,6669,end apogee,CONTROL_FINISHED_OK
$STATE,6669,begin climb
$GC,6671,0.57,146.0,625.3,0.0,645,6804,0.68,2.40,124.75,0.982,4,0.079,0.052,2659,1179,2327,0,0,0,0,0,0
$GC,6938,0.57,146.0,603.2,11.4,653,6943,0.00,2.47,0.00,0.000,6,0.000,0.058,2659,2598,2318,0,0,0,0,0,0
$GC,7268,0.57,146.0,564.3,11.6,681,7272,0.00,2.35,0.00,0.000,4,0.000,0.055,2662,1187,2314,0,0,0,0,0,0
$GC,7480,0.57,146.0,540.4,11.1,699,7488,0.00,2.40,0.00,0.000,6,0.000,0.058,2662,2607,2314,0,0,0,0,0,0
$GC,7806,0.57,146.0,501.0,12.1,730,7810,0.00,2.25,0.00,0.000,4,0.000,0.070,2662,3937,2314,0,0,0,0,0,0
$GC,7849,0.57,146.0,494.9,14.4,733,7858,0.00,2.20,0.00,0.000,6,0.000,0.047,2665,2598,2312,0,0,0,0,0,0
$GC,8174,0.57,146.0,455.7,12.1,764,8178,0.00,2.28,0.00,0.000,4,0.000,0.070,2664,3937,2312,0,0,0,0,0,0
$GC,8217,0.57,146.0,449.4,15.4,767,8225,0.00,2.15,0.00,0.000,6,0.000,0.047,2667,2622,2311,0,0,0,0,0,0
$GC,8543,0.57,146.0,408.5,12.7,798,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2622,2311,0,0,0,0,0,0
$GC,8863,0.57,146.0,368.8,12.3,828,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2622,2311,0,0,0,0,0,0
$GC,9180,0.57,146.0,329.3,12.3,858,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2622,2311,0,0,0,0,0,0
$GC,9499,0.57,146.0,290.9,12.0,888,9502,0.00,2.17,0.00,0.000,4,0.000,0.071,2666,3929,2311,0,0,0,0,0,0
$GC,9528,0.57,146.0,287.1,14.0,890,9535,0.00,2.10,0.00,0.000,6,0.000,0.046,2666,2602,2311,0,0,0,0,0,0
$GC,9853,0.57,146.0,248.6,11.2,921,9857,0.00,2.22,0.00,0.000,4,0.000,0.055,2666,1187,2311,0,0,0,0,0,0
$GC,9874,0.57,146.0,246.0,11.2,922,9882,0.00,2.35,0.00,0.000,6,0.000,0.057,2666,2622,2312,0,0,0,0,0,0
$GC,10199,0.57,146.0,212.3,10.2,953,10203,0.00,2.15,0.00,0.000,4,0.000,0.070,2667,3926,2311,0,0,0,0,0,0
$GC,10239,0.57,146.0,207.8,12.2,956,10243,0.00,2.08,0.00,0.000,6,0.000,0.047,2666,2613,2311,0,0,0,0,0,0
$GC,10566,0.57,156.4,176.6,9.5,986,10575,0.00,0.00,7.30,0.699,6,0.000,0.000,2666,2612,2285,0,0,0,0,0,0
$GC,10893,0.59,175.4,145.3,9.1,1017,10917,0.00,2.22,17.23,0.730,4,0.000,0.071,2666,3926,2207,0,0,0,0,0,0
$GC,10940,0.59,175.4,140.6,11.5,1021,10944,0.00,2.10,0.00,0.000,6,0.000,0.047,2666,2615,2205,0,0,0,0,0,0
$GC,11271,0.61,207.4,110.9,8.5,1052,11306,0.00,2.33,27.27,0.713,4,0.000,0.057,2666,1197,2075,0,0,0,0,0,0
$GC,11333,0.64,259.4,106.0,7.6,1057,11386,0.00,2.33,43.65,0.695,6,0.000,0.058,2666,2597,1864,0,0,0,0,0,0
$GC,11716,0.65,271.8,71.6,9.4,1120,11731,0.00,2.35,10.10,0.670,4,0.000,0.072,2666,3935,1813,0,0,0,0,0,0
$GC,11770,0.65,271.8,65.9,10.6,1129,11778,0.00,2.15,0.00,0.000,6,0.000,0.048,2666,2613,1811,0,0,0,0,0,0
$GC,12116,0.68,318.7,37.5,7.8,1190,12166,0.00,2.40,39.22,0.671,4,0.000,0.057,2666,1194,1620,0,0,0,0,0,0
$GC,12201,0.72,377.6,30.4,7.3,1204,12258,0.12,2.42,49.03,0.654,6,0.108,0.059,2718,2637,1382,0,0,0,0,0,0
$STATE,12512,end climb,SURFACE_DEPTH_REACHED
$STATE,12512,begin surface coast
$FINISH,0.5,1.012047
$STATE,12539,end surface coast,CONTROL_FINISHED_OK
$STATE,12539,begin surface
$SM_CCo,12613,0.00,0.000,0,0,1365,381.93
$SM_GC,1.50,6.57,0.00,0.00,0.059,0.000,0.000,303,2783,1365,-6.72,0.08,381.93
$RAFOS_CLK,677
$RAFOS,6,1287550146,4.833333,4.818333,83,45,43,43,42,41,791,1796,835,802,1677,696
$RAFOS,5,1287549665,4.700000,4.684722,49,45,45,40,39,39,925,1015,1903,1839,366,960
$RAFOS,4,1287549183,4.566667,4.550833,78,46,45,44,42,41,701,1047,609,1233,26,1706
$RAFOS,3,1287548709,4.433333,4.419167,78,47,44,44,41,41,723,1854,26,513,587,1496
$RAFOS,2,1287548231,4.300000,4.286389,80,45,44,44,43,40,593,821,1203,1664,244,261
$RAFOS,1,1287547746,4.166667,4.151667,87,76,45,41,41,41,526,528,1761,767,1475,26
$RAFOS,0,1287547271,4.033333,4.019722,49,46,46,43,42,40,614,1741,646,298,403,877
$RAFOS_FIX,6645.206543,-5959.908691,201010,040413,5,81,0.51
$IRIDIUM_FIX,6620.33,-6013.28,191010,222205
$TT8_MAMPS,0.029211
$HUMID,49.84
$INTERNAL_PRESSURE,8.50466
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.7,27.256
$10V_AH,10.1,21.184
$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,16.325,91.550,438.300,0.000,0.000,27.646,17.669,102.062,0.000,0.000,15.215,3206.256,6772.950,530.327,2221.688,170.860,0.000,1624.199,0.000,2047.863,2520.000,0.536,0.000
$DEVICE_MAMPS,266.220,91.035,1006.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,881.332,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,189524
$DATA_FILE_SIZE,46640,1264
$CAP_FILE_SIZE,133804,0
$CFSIZE,260165632,235212800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.2
$CURRENT,0.192,169.4,1
$GPS,201010,052655,6644.545,-6001.602,64,1.6,82,-38.0