version: 66.08
glider: 183
mission: 3
dive: 18
start: 9 12 110 3 43 9
data:
$ID,183
$MISSION,3
$DIVE,18
$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,-7706.8291
$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,29
$R_STBD_OVSHOOT,24
$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
$GPS1,120910,033752,6639.725,-6038.043,14,99.0,33,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-66.8
$GPS2,120910,034238,6639.764,-6038.078,12,1.3,12,-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,113.5,171632,-17.5,-10.000
$D_GRID,494
$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,-146.0,0.0,0.0,0,99,0.00,0.00,-81.82,0.000,2,0.000,0.000,291,2709,3217,0,0,0,0,0,0
$GC,100,-0.57,-146.0,5.1,-12.3,14,121,8.75,2.40,-5.93,0.000,4,0.277,0.069,2282,1282,3523,0,0,0,0,0,0
$GC,161,-0.46,-146.0,28.3,-26.7,24,169,0.17,2.40,0.00,0.000,6,0.179,0.067,2324,2694,3524,0,0,0,0,0,0
$GC,507,-0.49,-146.0,65.1,-9.7,85,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2694,3526,0,0,0,0,0,0
$GC,851,-0.52,-146.0,99.6,-9.0,146,857,0.00,2.25,0.00,0.000,4,0.000,0.056,2324,1290,3526,0,0,0,0,0,0
$GC,947,-0.58,-146.0,108.6,-8.3,155,955,0.12,2.33,0.00,0.000,6,0.112,0.065,2275,2689,3526,0,0,0,0,0,0
$GC,1272,-0.57,-146.0,148.2,-12.4,186,1276,0.00,2.08,0.00,0.000,4,0.000,0.078,2273,3927,3526,0,0,0,0,0,0
$GC,1331,-0.57,-146.0,156.2,-12.8,191,1339,0.00,2.03,0.00,0.000,6,0.000,0.050,2273,2684,3526,0,0,0,0,0,0
$GC,1657,-0.57,-146.0,194.7,-11.0,222,1661,0.00,2.10,0.00,0.000,4,0.000,0.079,2273,3931,3525,0,0,0,0,0,0
$GC,1678,-0.55,-146.0,197.1,-10.9,223,1686,0.00,2.03,0.00,0.000,6,0.000,0.050,2273,2688,3525,0,0,0,0,0,0
$GC,2003,-0.55,-146.0,233.0,-11.5,254,2007,0.00,2.20,0.00,0.000,4,0.000,0.057,2273,1293,3525,0,0,0,0,0,0
$GC,2042,-0.55,-146.0,237.2,-11.1,257,2047,0.00,2.30,0.00,0.000,6,0.000,0.065,2273,2689,3525,0,0,0,0,0,0
$GC,2367,-0.55,-146.0,271.3,-10.2,287,2370,0.00,2.08,0.00,0.000,4,0.000,0.079,2273,3934,3525,0,0,0,0,0,0
$GC,2443,-0.55,-146.0,279.5,-10.8,293,2451,0.00,2.03,0.00,0.000,6,0.000,0.051,2273,2694,3524,0,0,0,0,0,0
$GC,2768,-0.55,-146.0,312.7,-10.1,324,2772,0.00,2.08,0.00,0.000,4,0.000,0.080,2273,3929,3524,0,0,0,0,0,0
$GC,2817,-0.55,-146.0,317.7,-9.9,328,2825,0.00,1.98,0.00,0.000,6,0.000,0.051,2273,2711,3523,0,0,0,0,0,0
$GC,3143,-0.55,-146.0,349.3,-9.6,359,3146,0.00,2.05,0.00,0.000,4,0.000,0.080,2270,3935,3523,0,0,0,0,0,0
$GC,3188,-0.57,-146.0,353.6,-9.9,363,3192,0.00,1.95,0.00,0.000,6,0.000,0.052,2270,2707,3523,0,0,0,0,0,0
$GC,3519,-0.57,-146.0,385.1,-8.9,394,3522,0.00,2.05,0.00,0.000,4,0.000,0.079,2262,3934,3523,0,0,0,0,0,0
$GC,3545,-0.57,-146.0,388.0,-9.5,396,3553,0.00,1.98,0.00,0.000,6,0.000,0.051,2262,2716,3523,0,0,0,0,0,0
$GC,3871,-0.57,-146.0,417.8,-8.6,427,3875,0.00,2.03,0.00,0.000,4,0.000,0.080,2260,3926,3522,0,0,0,0,0,0
$GC,3910,-0.57,-146.0,421.4,-9.2,430,3918,0.12,1.90,0.00,0.000,6,0.188,0.050,2291,2724,3523,0,0,0,0,0,0
$GC,4235,-0.62,-146.0,443.0,-6.7,461,4239,0.00,2.00,0.00,0.000,4,0.000,0.079,2289,3926,3523,0,0,0,0,0,0
$GC,4269,-0.67,-146.0,445.4,-7.6,464,4273,0.00,1.85,0.00,0.000,6,0.000,0.050,2288,2753,3523,0,0,0,0,0,0
$GC,4600,-0.72,-146.0,468.9,-7.2,495,4605,0.12,2.33,0.00,0.000,4,0.115,0.055,2237,1290,3523,0,0,0,0,0,0
$GC,4621,-0.72,-146.0,470.8,-8.5,496,4628,0.00,2.42,0.00,0.000,6,0.000,0.066,2235,2753,3523,0,0,0,0,0,0
$STATE,4849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4849,begin apogee
$GC,4853,-0.14,0.0,494.5,10.5,518,4977,0.57,0.00,119.05,0.946,4,0.168,0.000,2414,2549,2923,0,0,0,0,0,0
$STATE,4977,end apogee,CONTROL_FINISHED_OK
$STATE,4978,begin climb
$GC,4979,0.57,146.0,497.3,0.0,529,5111,0.77,2.50,123.55,0.916,4,0.124,0.075,2651,3924,2327,0,0,0,0,0,0
$GC,5351,0.49,146.0,452.4,14.0,562,5359,0.00,2.33,0.00,0.000,6,0.000,0.047,2662,2550,2316,0,0,0,0,0,0
$GC,5677,0.44,146.0,412.9,11.7,593,5682,0.17,2.30,0.00,0.000,4,0.193,0.057,2626,1142,2315,0,0,0,0,0,0
$GC,5900,0.47,146.0,391.1,10.2,612,5908,0.00,2.38,0.00,0.000,6,0.000,0.060,2626,2553,2314,0,0,0,0,0,0
$GC,6225,0.47,146.0,359.2,10.1,643,6229,0.00,2.35,0.00,0.000,4,0.000,0.073,2626,3933,2314,0,0,0,0,0,0
$GC,6315,0.43,146.0,348.9,11.8,651,6319,0.00,2.20,0.00,0.000,6,0.000,0.049,2637,2567,2312,0,0,0,0,0,0
$GC,6640,0.43,146.0,315.5,10.1,681,6644,0.00,2.30,0.00,0.000,4,0.000,0.073,2637,3932,2312,0,0,0,0,0,0
$GC,6683,0.38,146.0,310.2,12.8,684,6691,0.15,2.17,0.00,0.000,6,0.180,0.048,2603,2600,2312,0,0,0,0,0,0
$GC,7009,0.45,176.5,282.0,8.6,715,7043,0.00,2.33,24.27,0.799,4,0.000,0.073,2603,3925,2201,0,0,0,0,0,0
$GC,7081,0.48,176.5,274.8,11.0,721,7088,0.00,2.17,0.00,0.000,6,0.000,0.047,2609,2611,2198,0,0,0,0,0,0
$GC,7407,0.55,192.0,244.2,9.3,752,7430,0.12,2.45,13.70,0.776,4,0.117,0.057,2665,1141,2140,0,0,0,0,0,0
$GC,7457,0.57,192.0,238.5,11.3,756,7465,0.00,2.47,0.00,0.000,6,0.000,0.060,2665,2609,2138,0,0,0,0,0,0
$GC,7783,0.57,192.0,201.3,11.2,787,7787,0.00,2.22,0.00,0.000,4,0.000,0.074,2665,3927,2135,0,0,0,0,0,0
$GC,7821,0.52,192.0,196.5,12.5,790,7828,0.00,2.12,0.00,0.000,6,0.000,0.048,2674,2607,2134,0,0,0,0,0,0
$GC,8146,0.52,192.0,159.8,11.5,821,8150,0.00,2.22,0.00,0.000,4,0.000,0.075,2674,3927,2134,0,0,0,0,0,0
$GC,8174,0.48,192.0,156.2,13.8,823,8178,0.20,2.12,0.00,0.000,6,0.196,0.049,2632,2614,2134,0,0,0,0,0,0
$GC,8499,0.56,236.8,127.8,7.9,853,8543,0.00,2.42,37.22,0.737,4,0.000,0.058,2639,1142,1958,0,0,0,0,0,0
$GC,8590,0.69,288.7,121.0,7.6,861,8645,0.17,2.47,44.45,0.715,6,0.105,0.060,2701,2620,1744,0,0,0,0,0,0
$GC,8973,0.71,288.7,77.7,12.0,912,8980,0.00,2.45,0.00,0.000,4,0.000,0.060,2709,1143,1734,0,0,0,0,0,0
$GC,9105,0.77,288.7,61.7,11.5,935,9111,0.00,2.42,0.00,0.000,6,0.000,0.062,2709,2607,1733,0,0,0,0,0,0
$GC,9450,0.86,379.8,30.9,5.8,996,9533,0.12,2.50,74.03,0.675,4,0.122,0.060,2762,1144,1371,0,0,0,0,0,0
$GC,9590,0.92,379.8,16.8,11.7,1020,9597,0.00,2.45,0.00,0.000,6,0.000,0.062,2763,2572,1365,0,0,0,0,0,0
$STATE,9697,end climb,SURFACE_DEPTH_REACHED
$STATE,9697,begin surface coast
$FINISH,-0.3,1.024688
$STATE,9727,end surface coast,CONTROL_FINISHED_OK
$STATE,9727,begin surface
$SM_CCo,9801,0.00,0.000,0,0,1356,384.39
$SM_GC,0.62,6.85,0.00,0.00,0.063,0.000,0.000,299,2711,1356,-6.73,0.34,384.39
$RAFOS_CLK,524
$RAFOS,6,1284266946,4.833333,4.818333,49,46,43,41,40,40,868,1522,1701,475,1006,1929
$RAFOS,5,1284266464,4.700000,4.684444,46,45,44,42,42,40,1907,610,582,673,144,1901
$RAFOS,4,1284265982,4.566667,4.550556,48,43,42,41,41,41,635,248,951,561,609,954
$RAFOS,3,1284265501,4.433333,4.416945,103,43,42,41,41,40,831,540,849,921,1670,182
$RAFOS,2,1284265024,4.300000,4.284444,160,45,44,44,44,42,671,1094,651,670,26,1031
$RAFOS,1,1284264549,4.166667,4.152500,50,47,46,43,42,41,995,1113,469,565,1255,1410
$RAFOS,0,1284264068,4.033333,4.018889,53,43,42,40,39,38,1586,566,1570,386,1145,1817
$RAFOS_FIX,6637.583984,-6041.159180,120910,040428,2,132,1.89
$IRIDIUM_FIX,6609.62,-6050.93,120910,010158
$TT8_MAMPS,0.029211
$HUMID,52.12
$INTERNAL_PRESSURE,8.52419
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,23.2,6.408
$10V_AH,10.3,4.143
$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,18.450,102.725,436.275,0.000,0.000,25.881,61.161,101.662,0.000,0.000,15.206,2510.769,5024.219,540.829,1954.209,94.728,0.000,1492.321,0.000,1732.953,2520.000,0.536,0.000
$DEVICE_MAMPS,276.930,80.325,945.540,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,735.265,766.696,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151616
$DATA_FILE_SIZE,40077,1044
$CAP_FILE_SIZE,121252,0
$CFSIZE,260165632,250064896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.8
$GPS,120910,062859,6640.443,-6036.208,60,2.3,79,-38.0