version: 66.08
glider: 183
mission: 3
dive: 9
start: 9 11 110 4 56 30
data:
$ID,183
$MISSION,3
$DIVE,9
$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,400
$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,-7695.5298
$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,2650
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$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
$GPS1,110910,045157,6638.714,-6046.065,25,99.0,44,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-72.0
$GPS2,110910,045601,6638.701,-6045.983,13,1.7,30,-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,113.3,177653,-17.5,-10.000
$D_GRID,429
$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,-146.0,0.0,0.0,0,117,0.00,0.00,-99.20,0.000,2,0.000,0.000,304,2654,3437,0,0,0,0,0,0
$GC,118,-0.57,-146.0,7.2,-24.2,17,138,8.45,2.20,-1.48,0.000,4,0.269,0.082,2277,3932,3522,0,0,0,0,0,0
$GC,392,-0.54,-146.0,70.9,-14.8,65,398,0.00,2.10,0.00,0.000,6,0.000,0.051,2277,2649,3524,0,0,0,0,0,0
$GC,734,-0.51,-146.0,116.9,-12.4,115,739,0.12,2.20,0.00,0.000,4,0.189,0.078,2300,3934,3525,0,0,0,0,0,0
$GC,991,-0.54,-146.0,145.3,-11.0,137,999,0.00,2.12,0.00,0.000,6,0.000,0.052,2301,2640,3526,0,0,0,0,0,0
$GC,1317,-0.56,-146.0,181.4,-11.4,168,1320,0.00,2.20,0.00,0.000,4,0.000,0.079,2292,3930,3525,0,0,0,0,0,0
$GC,1576,-0.59,-146.0,210.9,-9.9,191,1579,0.00,2.08,0.00,0.000,6,0.000,0.052,2292,2645,3525,0,0,0,0,0,0
$GC,1906,-0.61,-146.0,243.3,-10.5,222,1909,0.00,2.17,0.00,0.000,4,0.000,0.079,2285,3937,3524,0,0,0,0,0,0
$GC,2165,-0.65,-146.0,271.0,-10.7,245,2168,0.00,2.10,0.00,0.000,6,0.000,0.054,2285,2640,3524,0,0,0,0,0,0
$GC,2495,-0.67,-146.0,300.7,-8.0,276,2499,0.00,2.20,0.00,0.000,4,0.000,0.080,2276,3933,3523,0,0,0,0,0,0
$GC,2753,-0.70,-146.0,322.3,-7.8,298,2760,0.00,2.10,0.00,0.000,6,0.000,0.054,2275,2647,3523,0,0,0,0,0,0
$GC,3080,-0.72,-146.0,349.3,-8.1,329,3083,0.00,2.17,0.00,0.000,4,0.000,0.080,2267,3931,3523,0,0,0,0,0,0
$GC,3339,-0.74,-146.0,373.7,-9.6,352,3343,0.00,2.05,0.00,0.000,6,0.000,0.053,2267,2653,3523,0,0,0,0,0,0
$GC,3669,-0.76,-146.0,403.2,-8.2,383,3674,0.10,2.17,0.00,0.000,4,0.131,0.080,2219,3929,3523,0,0,0,0,0,0
$STATE,3886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3886,begin apogee
$GC,3892,-0.14,0.0,429.3,13.0,402,4016,0.68,0.00,118.78,0.921,4,0.164,0.000,2430,2499,2923,0,0,0,0,0,0
$STATE,4016,end apogee,CONTROL_FINISHED_OK
$STATE,4017,begin climb
$GC,4018,0.57,146.0,433.2,0.0,413,4149,0.70,2.42,123.10,0.885,4,0.096,0.057,2658,1083,2328,0,0,0,0,0,0
$GC,4243,0.57,146.0,417.1,10.9,433,4251,0.00,2.47,0.00,0.000,6,0.000,0.060,2659,2499,2319,0,0,0,0,0,0
$GC,4569,0.52,146.0,380.2,11.5,464,4573,0.00,2.45,0.00,0.000,4,0.000,0.074,2659,3915,2314,0,0,0,0,0,0
$GC,4624,0.43,146.0,372.9,13.3,468,4632,0.20,2.35,0.00,0.000,6,0.202,0.050,2620,2500,2313,0,0,0,0,0,0
$GC,4949,0.44,160.1,341.6,9.3,499,4965,0.00,2.45,10.82,0.800,4,0.000,0.073,2620,3915,2270,0,0,0,0,0,0
$GC,5025,0.42,160.1,333.6,10.4,505,5033,0.00,2.35,0.00,0.000,6,0.000,0.050,2628,2505,2268,0,0,0,0,0,0
$GC,5350,0.42,160.1,301.1,10.3,536,5355,0.00,2.42,0.00,0.000,4,0.000,0.074,2628,3918,2268,0,0,0,0,0,0
$GC,5461,0.38,160.1,287.3,12.6,545,5470,0.12,2.30,0.00,0.000,6,0.178,0.050,2603,2527,2266,0,0,0,0,0,0
$GC,5787,0.46,191.2,258.7,8.6,576,5818,0.00,0.00,27.08,0.800,6,0.000,0.000,2603,2527,2143,0,0,0,0,0,0
$GC,6136,0.57,252.7,232.1,7.2,609,6195,0.17,2.53,51.97,0.789,4,0.103,0.073,2664,3916,1892,0,0,0,0,0,0
$GC,6249,0.57,252.7,218.4,13.8,619,6257,0.00,2.38,0.00,0.000,6,0.000,0.050,2674,2523,1886,0,0,0,0,0,0
$GC,6576,0.59,252.7,180.4,11.8,650,6580,0.00,2.38,0.00,0.000,4,0.000,0.074,2674,3914,1882,0,0,0,0,0,0
$GC,6630,0.59,252.7,172.8,14.0,654,6638,0.00,2.30,0.00,0.000,6,0.000,0.051,2683,2530,1881,0,0,0,0,0,0
$GC,6955,0.59,252.7,132.9,11.9,685,6956,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2530,1881,0,0,0,0,0,0
$GC,7275,0.62,256.1,99.9,9.8,715,7282,0.00,2.33,0.00,0.000,4,0.000,0.076,2683,3915,1880,0,0,0,0,0,0
$GC,7376,0.62,256.1,88.2,11.8,733,7383,0.00,2.25,0.00,0.000,6,0.000,0.052,2693,2532,1879,0,0,0,0,0,0
$GC,7721,0.67,289.9,56.1,8.4,794,7757,0.00,2.47,29.88,0.706,4,0.000,0.075,2693,3922,1739,0,0,0,0,0,0
$GC,7837,0.67,289.9,43.0,13.1,814,7844,0.00,2.28,0.00,0.000,6,0.000,0.052,2702,2543,1734,0,0,0,0,0,0
$GC,8181,0.81,394.3,17.2,5.2,875,8275,0.00,2.47,85.40,0.675,4,0.000,0.062,2704,1101,1312,0,0,0,0,0,0
$GC,8344,0.99,450.9,6.9,7.4,903,8381,0.25,2.47,31.20,0.653,2,0.092,0.060,2792,2547,1161,0,0,0,0,0,0
$STATE,8382,end climb,SURFACE_DEPTH_REACHED
$STATE,8382,begin surface coast
$FINISH,-0.4,1.011515
$STATE,8410,end surface coast,CONTROL_FINISHED_OK
$STATE,8411,begin surface
$SM_CCo,8485,0.00,0.000,0,0,1153,434.18
$SM_GC,0.54,7.18,0.00,0.00,0.073,0.000,0.000,305,2660,1153,-6.72,0.28,434.18
$RAFOS_CLK,446
$RAFOS,6,1284180541,4.833333,4.816945,52,44,43,43,43,41,932,1075,214,1253,1189,1352
$RAFOS_FIX,6638.410645,-6043.072266,110910,000042,3,108,4.11
$IRIDIUM_FIX,6614.97,-6040.90,110910,020213
$TT8_MAMPS,0.029211
$HUMID,54.05
$INTERNAL_PRESSURE,8.50466
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,23.3,5.416
$10V_AH,10.2,3.555
$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,17.975,73.450,478.225,0.000,0.000,28.405,12.562,88.834,0.000,0.000,33.305,2142.494,4179.932,538.091,1798.479,80.517,0.000,1410.316,0.000,1614.350,0.000,0.535,0.000
$DEVICE_MAMPS,269.280,85.680,921.060,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,648.150,666.078,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151660
$DATA_FILE_SIZE,36723,914
$CAP_FILE_SIZE,101518,0
$CFSIZE,260165632,250613760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.1
$GPS,110910,071906,6638.517,-6045.877,30,2.0,30,-38.0