version: 66.08
glider: 183
mission: 3
dive: 17
start: 9 12 110 1 4 23
data:
$ID,183
$MISSION,3
$DIVE,17
$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,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,-7705.5703
$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,2700
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,20
$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
$GPS1,120910,005938,6637.818,-6039.324,37,1.3,37,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-68.1
$GPS2,120910,010352,6637.802,-6039.406,12,2.0,12,-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,112.4,173503,-17.5,-10.000
$D_GRID,455
$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,-146.0,0.0,0.0,0,105,0.00,0.00,-87.45,0.000,2,0.000,0.000,291,2703,3312,0,0,0,0,0,0
$GC,106,-0.57,-146.0,6.4,-20.8,15,126,8.70,2.33,-3.72,0.000,4,0.276,0.067,2286,1283,3521,0,0,0,0,0,0
$GC,149,-0.29,-146.0,27.8,-39.3,22,157,0.35,2.40,0.00,0.000,6,0.176,0.065,2376,2701,3522,0,0,0,0,0,0
$GC,495,-0.38,-146.0,55.4,-8.0,83,502,0.00,2.30,0.00,0.000,4,0.000,0.054,2377,1283,3524,0,0,0,0,0,0
$GC,531,-0.48,-146.0,58.3,-7.7,89,538,0.17,2.35,0.00,0.000,6,0.096,0.064,2310,2690,3523,0,0,0,0,0,0
$GC,876,-0.50,-146.0,97.1,-11.3,150,883,0.00,2.28,0.00,0.000,4,0.000,0.055,2310,1283,3524,0,0,0,0,0,0
$GC,968,-0.55,-146.0,106.5,-10.1,161,972,0.00,2.33,0.00,0.000,6,0.000,0.065,2310,2684,3524,0,0,0,0,0,0
$GC,1293,-0.58,-146.0,138.6,-10.1,191,1297,0.00,2.10,0.00,0.000,4,0.000,0.078,2310,3935,3524,0,0,0,0,0,0
$GC,1477,-0.63,-146.0,157.0,-9.4,207,1485,0.08,2.05,0.00,0.000,6,0.086,0.050,2269,2678,3523,0,0,0,0,0,0
$GC,1802,-0.63,-146.0,195.0,-11.5,238,1805,0.00,2.10,0.00,0.000,4,0.000,0.079,2262,3928,3522,0,0,0,0,0,0
$GC,1852,-0.61,-146.0,201.2,-12.2,242,1859,0.00,2.00,0.00,0.000,6,0.000,0.050,2261,2685,3522,0,0,0,0,0,0
$GC,2177,-0.59,-146.0,238.7,-11.1,273,2181,0.00,2.25,0.00,0.000,4,0.000,0.057,2261,1288,3522,0,0,0,0,0,0
$GC,2214,-0.59,-146.0,243.2,-10.7,276,2222,0.00,2.38,0.00,0.000,6,0.000,0.067,2261,2706,3522,0,0,0,0,0,0
$GC,2540,-0.59,-146.0,277.8,-11.0,307,2544,0.00,2.05,0.00,0.000,4,0.000,0.079,2260,3932,3522,0,0,0,0,0,0
$GC,2644,-0.59,-146.0,289.7,-11.2,316,2652,0.00,2.00,0.00,0.000,6,0.000,0.050,2259,2702,3521,0,0,0,0,0,0
$GC,2970,-0.59,-146.0,324.3,-10.7,347,2974,0.00,2.08,0.00,0.000,4,0.000,0.080,2257,3937,3521,0,0,0,0,0,0
$GC,3063,-0.59,-146.0,334.6,-10.5,355,3071,0.00,2.00,0.00,0.000,6,0.000,0.050,2257,2706,3521,0,0,0,0,0,0
$GC,3389,-0.59,-146.0,367.1,-9.7,386,3392,0.00,2.05,0.00,0.000,4,0.000,0.078,2249,3935,3521,0,0,0,0,0,0
$GC,3426,-0.57,-146.0,371.3,-10.8,389,3435,0.10,1.95,0.00,0.000,6,0.171,0.050,2280,2729,3521,0,0,0,0,0,0
$GC,3752,-0.60,-146.0,398.0,-8.0,420,3757,0.00,2.28,0.00,0.000,4,0.000,0.056,2280,1292,3521,0,0,0,0,0,0
$GC,3792,-0.65,-146.0,401.3,-8.6,423,3799,0.00,2.35,0.00,0.000,6,0.000,0.066,2279,2724,3521,0,0,0,0,0,0
$GC,4117,-0.68,-146.0,427.9,-7.9,454,4121,0.00,2.00,0.00,0.000,4,0.000,0.078,2273,3934,3521,0,0,0,0,0,0
$GC,4151,-0.70,-146.0,430.6,-8.5,457,4155,0.00,1.92,0.00,0.000,6,0.000,0.050,2273,2713,3521,0,0,0,0,0,0
$STATE,4448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4448,begin apogee
$GC,4452,-0.14,0.0,455.4,8.4,485,4576,0.47,0.00,118.60,0.930,4,0.158,0.000,2423,2549,2922,0,0,0,0,0,0
$STATE,4577,end apogee,CONTROL_FINISHED_OK
$STATE,4577,begin climb
$GC,4578,0.57,146.0,459.3,0.0,496,4709,0.73,2.40,123.10,0.898,4,0.102,0.054,2657,1142,2327,0,0,0,0,0,0
$GC,4822,0.57,146.0,440.1,10.6,518,4826,0.00,2.45,0.00,0.000,6,0.000,0.060,2657,2558,2318,0,0,0,0,0,0
$GC,5147,0.54,146.0,402.4,11.5,548,5151,0.00,2.35,0.00,0.000,4,0.000,0.057,2667,1143,2314,0,0,0,0,0,0
$GC,5355,0.52,146.0,379.7,11.1,566,5359,0.00,2.35,0.00,0.000,6,0.000,0.060,2667,2560,2314,0,0,0,0,0,0
$GC,5679,0.47,146.0,342.6,11.8,596,5684,0.15,2.30,0.00,0.000,4,0.200,0.073,2630,3928,2312,0,0,0,0,0,0
$GC,5786,0.44,146.0,330.0,12.0,605,5791,0.00,2.25,0.00,0.000,6,0.000,0.049,2638,2549,2311,0,0,0,0,0,0
$GC,6111,0.44,146.0,297.3,10.3,635,6115,0.00,2.35,0.00,0.000,4,0.000,0.074,2638,3936,2311,0,0,0,0,0,0
$GC,6251,0.39,146.0,280.0,12.1,647,6256,0.17,2.20,0.00,0.000,6,0.196,0.048,2605,2564,2310,0,0,0,0,0,0
$GC,6581,0.46,179.0,250.8,8.5,678,6615,0.00,2.38,25.83,0.789,4,0.000,0.074,2604,3935,2193,0,0,0,0,0,0
$GC,6642,0.50,179.0,245.0,10.2,683,6650,0.00,2.22,0.00,0.000,6,0.000,0.048,2609,2596,2190,0,0,0,0,0,0
$GC,6968,0.61,254.3,220.6,6.5,714,7038,0.17,2.38,63.30,0.774,4,0.106,0.073,2673,3926,1886,0,0,0,0,0,0
$GC,7047,0.61,254.3,212.5,11.7,721,7056,0.00,2.28,0.00,0.000,6,0.000,0.047,2683,2600,1883,0,0,0,0,0,0
$GC,7374,0.63,254.3,177.9,10.2,752,7378,0.00,2.40,0.00,0.000,4,0.000,0.058,2692,1140,1875,0,0,0,0,0,0
$GC,7402,0.66,254.3,174.9,10.7,754,7406,0.00,2.47,0.00,0.000,6,0.000,0.061,2692,2617,1875,0,0,0,0,0,0
$GC,7726,0.66,254.3,137.7,11.8,784,7730,0.00,2.40,0.00,0.000,4,0.000,0.059,2701,1141,1873,0,0,0,0,0,0
$GC,7746,0.66,254.3,135.2,12.0,785,7754,0.00,2.45,0.00,0.000,6,0.000,0.061,2701,2598,1872,0,0,0,0,0,0
$GC,8073,0.66,254.3,94.9,12.4,819,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2599,1871,0,0,0,0,0,0
$GC,8415,0.66,254.3,58.8,10.3,880,8422,0.00,2.35,0.00,0.000,4,0.000,0.060,2708,1140,1870,0,0,0,0,0,0
$GC,8501,0.70,254.3,50.5,10.1,895,8509,0.00,2.40,0.00,0.000,6,0.000,0.062,2709,2596,1870,0,0,0,0,0,0
$GC,8846,0.79,330.2,20.4,6.5,956,8917,0.00,2.38,60.83,0.682,4,0.000,0.076,2709,3922,1573,0,0,0,0,0,0
$GC,8991,0.86,335.4,8.4,9.8,981,9005,0.10,2.22,4.07,0.523,6,0.132,0.051,2750,2592,1557,0,0,0,0,0,0
$STATE,9038,end climb,SURFACE_DEPTH_REACHED
$STATE,9038,begin surface coast
$FINISH,-0.3,1.009986
$STATE,9101,end surface coast,CONTROL_FINISHED_OK
$STATE,9101,begin surface
$SM_CCo,9114,13.48,0.335,1,0,1495,350.04
$SM_GC,0.15,0.00,0.00,13.48,0.000,0.000,0.335,301,2707,1495,-6.80,0.20,350.04
$RAFOS_CLK,481
$RAFOS_FIX,6638.845703,-6037.209961,120910,000042,3,95,0.46
$IRIDIUM_FIX,6609.62,-6043.56,110910,222236
$TT8_MAMPS,0.029211
$HUMID,52.32
$INTERNAL_PRESSURE,8.52419
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,23.2,6.295
$10V_AH,10.3,4.075
$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,18.075,94.950,395.725,13.475,0.000,28.745,35.064,91.760,0.000,0.000,14.608,2383.564,4555.165,514.468,1852.838,93.107,0.000,1422.544,0.000,1664.085,0.000,0.537,0.000
$DEVICE_MAMPS,276.165,86.445,930.240,335.070,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,708.849,733.873,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151732
$DATA_FILE_SIZE,40023,1000
$CAP_FILE_SIZE,112907,0
$CFSIZE,260165632,250134528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.7
$GPS,120910,033752,6639.725,-6038.043,14,99.0,33,-38.0