version: 66.08
glider: 183
mission: 3
dive: 21
start: 9 12 110 12 16 32
data:
$ID,183
$MISSION,3
$DIVE,21
$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,-7710.5981
$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,30
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$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
$GPS1,120910,121137,6638.158,-6031.948,31,0.8,31,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-70.9
$GPS2,120910,121601,6638.111,-6032.016,11,0.8,15,-37.9
$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,112.0,168211,-17.5,-10.000
$D_GRID,496
$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,-88.07,0.000,2,0.000,0.000,301,2701,3352,0,0,0,0,0,0
$GC,107,-0.57,-146.0,6.4,-16.2,15,127,8.77,2.30,-3.08,0.000,4,0.281,0.060,2284,1275,3520,0,0,0,0,0,0
$GC,195,-0.52,-146.0,32.3,-13.2,30,202,0.00,2.40,0.00,0.000,6,0.000,0.063,2276,2700,3521,0,0,0,0,0,0
$GC,539,-0.49,-146.0,82.9,-14.7,91,546,0.15,2.30,0.00,0.000,4,0.190,0.053,2314,1290,3524,0,0,0,0,0,0
$GC,665,-0.54,-146.0,98.3,-11.5,113,672,0.00,2.35,0.00,0.000,6,0.000,0.065,2315,2697,3524,0,0,0,0,0,0
$GC,995,-0.58,-146.0,130.8,-7.3,145,999,0.00,2.08,0.00,0.000,4,0.000,0.078,2314,3933,3524,0,0,0,0,0,0
$GC,1141,-0.63,-146.0,142.4,-8.6,157,1148,0.12,1.98,0.00,0.000,6,0.116,0.050,2264,2694,3523,0,0,0,0,0,0
$GC,1465,-0.61,-146.0,186.6,-14.5,188,1471,0.00,2.08,0.00,0.000,4,0.000,0.079,2260,3927,3523,0,0,0,0,0,0
$GC,1548,-0.61,-146.0,199.0,-14.1,195,1556,0.00,1.98,0.00,0.000,6,0.000,0.050,2259,2717,3523,0,0,0,0,0,0
$GC,1876,-0.60,-146.0,238.6,-11.5,226,1879,0.00,2.03,0.00,0.000,4,0.000,0.080,2253,3926,3522,0,0,0,0,0,0
$GC,1925,-0.57,-146.0,244.9,-12.2,230,1933,0.10,1.90,0.00,0.000,6,0.168,0.050,2284,2759,3521,0,0,0,0,0,0
$GC,2250,-0.60,-146.0,276.2,-10.0,261,2255,0.00,2.33,0.00,0.000,4,0.000,0.056,2284,1285,3521,0,0,0,0,0,0
$GC,2301,-0.65,-146.0,281.6,-10.3,265,2306,0.00,2.42,0.00,0.000,6,0.000,0.067,2284,2762,3521,0,0,0,0,0,0
$GC,2626,-0.67,-146.0,314.2,-10.0,295,2630,0.00,2.35,0.00,0.000,4,0.000,0.055,2284,1291,3521,0,0,0,0,0,0
$GC,2654,-0.71,-146.0,317.1,-10.8,297,2658,0.00,2.38,0.00,0.000,6,0.000,0.066,2279,2746,3521,0,0,0,0,0,0
$GC,2979,-0.73,-146.0,349.9,-9.1,327,2983,0.12,1.98,0.00,0.000,4,0.119,0.079,2224,3929,3521,0,0,0,0,0,0
$GC,3024,-0.68,-146.0,355.3,-12.8,331,3028,0.12,1.85,0.00,0.000,6,0.199,0.050,2253,2757,3520,0,0,0,0,0,0
$GC,3353,-0.68,-146.0,389.8,-9.9,362,3357,0.00,1.98,0.00,0.000,4,0.000,0.079,2248,3929,3521,0,0,0,0,0,0
$GC,3381,-0.66,-146.0,392.7,-10.4,364,3387,0.00,1.85,0.00,0.000,6,0.000,0.050,2248,2759,3521,0,0,0,0,0,0
$GC,3705,-0.66,-146.0,422.4,-8.5,395,3709,0.00,2.30,0.00,0.000,4,0.000,0.054,2247,1289,3521,0,0,0,0,0,0
$GC,3726,-0.66,-146.0,424.3,-8.5,396,3734,0.00,2.45,0.00,0.000,6,0.000,0.066,2248,2767,3520,0,0,0,0,0,0
$GC,4052,-0.66,-146.0,451.6,-8.4,427,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2766,3521,0,0,0,0,0,0
$GC,4371,-0.66,-146.0,482.0,-10.0,457,4374,0.00,1.95,0.00,0.000,4,0.000,0.077,2247,3936,3521,0,0,0,0,0,0
$GC,4404,-0.66,-146.0,485.4,-10.0,460,4408,0.00,1.90,0.00,0.000,6,0.000,0.050,2248,2728,3521,0,0,0,0,0,0
$STATE,4510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4510,begin apogee
$GC,4514,-0.14,0.0,496.9,10.4,470,4638,0.55,0.00,119.05,0.944,4,0.161,0.000,2421,2549,2923,0,0,0,0,0,0
$STATE,4639,end apogee,CONTROL_FINISHED_OK
$STATE,4639,begin climb
$GC,4640,0.57,146.0,500.2,0.0,481,4772,0.73,2.40,123.65,0.907,4,0.099,0.053,2656,1139,2327,0,0,0,0,0,0
$GC,4877,0.57,146.0,480.0,10.9,502,4886,0.00,2.45,0.00,0.000,6,0.000,0.059,2656,2544,2318,0,0,0,0,0,0
$GC,5204,0.53,146.0,442.8,11.2,533,5208,0.00,2.33,0.00,0.000,4,0.000,0.055,2666,1141,2314,0,0,0,0,0,0
$GC,5423,0.51,146.0,418.2,10.6,552,5427,0.00,2.38,0.00,0.000,6,0.000,0.060,2666,2573,2314,0,0,0,0,0,0
$GC,5748,0.46,146.0,380.6,11.3,582,5752,0.15,2.30,0.00,0.000,4,0.200,0.073,2629,3934,2312,0,0,0,0,0,0
$GC,5837,0.42,146.0,370.1,11.4,590,5842,0.00,2.20,0.00,0.000,6,0.000,0.047,2637,2581,2311,0,0,0,0,0,0
$GC,6162,0.42,147.3,336.4,9.9,620,6166,0.00,2.28,0.00,0.000,4,0.000,0.073,2637,3930,2311,0,0,0,0,0,0
$GC,6262,0.38,147.3,324.9,11.3,628,6270,0.17,2.10,0.00,0.000,6,0.197,0.047,2603,2614,2311,0,0,0,0,0,0
$GC,6587,0.47,232.6,303.8,6.1,659,6665,0.00,2.55,70.57,0.818,4,0.000,0.056,2609,1142,1973,0,0,0,0,0,0
$GC,6692,0.62,308.0,297.3,6.5,668,6765,0.20,2.53,64.03,0.790,6,0.096,0.058,2682,2630,1666,0,0,0,0,0,0
$GC,7082,0.65,308.0,250.3,12.2,705,7086,0.00,2.47,0.00,0.000,4,0.000,0.057,2691,1142,1655,0,0,0,0,0,0
$GC,7109,0.69,308.0,246.8,12.4,707,7116,0.00,2.47,0.00,0.000,6,0.000,0.059,2691,2594,1654,0,0,0,0,0,0
$GC,7434,0.73,308.0,206.8,12.2,738,7438,0.00,2.28,0.00,0.000,4,0.000,0.073,2691,3939,1652,0,0,0,0,0,0
$GC,7479,0.73,308.0,200.6,14.2,742,7483,0.00,2.22,0.00,0.000,6,0.000,0.048,2699,2583,1651,0,0,0,0,0,0
$GC,7804,0.75,308.0,156.8,13.3,772,7808,0.00,2.33,0.00,0.000,4,0.000,0.059,2708,1137,1650,0,0,0,0,0,0
$GC,7836,0.79,308.0,152.5,12.3,774,7843,0.00,2.42,0.00,0.000,6,0.000,0.060,2708,2589,1650,0,0,0,0,0,0
$GC,8161,0.81,308.0,115.0,10.7,805,8165,0.00,2.25,0.00,0.000,4,0.000,0.075,2708,3934,1649,0,0,0,0,0,0
$GC,8206,0.79,308.0,109.6,12.1,809,8211,0.00,2.17,0.00,0.000,6,0.000,0.050,2717,2594,1648,0,0,0,0,0,0
$GC,8544,0.79,308.0,74.4,10.7,861,8551,0.00,2.33,0.00,0.000,4,0.000,0.059,2726,1138,1648,0,0,0,0,0,0
$GC,8580,0.83,308.0,70.7,11.0,867,8587,0.00,2.30,0.00,0.000,6,0.000,0.061,2726,2553,1648,0,0,0,0,0,0
$GC,8925,0.88,348.1,33.2,8.2,928,8961,0.00,2.40,31.30,0.697,4,0.000,0.060,2732,1141,1503,0,0,0,0,0,0
$GC,9008,1.02,395.1,26.2,7.8,942,9055,0.20,2.22,39.50,0.677,6,0.103,0.060,2803,2489,1311,0,0,0,0,0,0
$STATE,9173,end climb,SURFACE_DEPTH_REACHED
$STATE,9173,begin surface coast
$FINISH,-0.0,1.024538
$STATE,9203,end surface coast,CONTROL_FINISHED_OK
$STATE,9203,begin surface
$SM_CCo,9277,0.00,0.000,0,0,1299,398.37
$SM_GC,0.88,7.07,0.00,0.00,0.076,0.000,0.000,310,2713,1299,-6.72,0.37,398.37
$RAFOS_CLK,486
$RAFOS,6,1284295743,12.833333,12.817500,88,50,41,41,41,40,891,1344,170,1429,412,698
$RAFOS,5,1284295262,12.700000,12.683888,41,41,41,40,40,40,394,655,991,501,601,1489
$RAFOS,4,1284294782,12.566667,12.550555,48,47,45,42,41,41,547,1074,1584,536,792,1767
$RAFOS,3,1284294301,12.433333,12.416945,74,45,41,41,41,41,819,493,565,1038,1499,1602
$RAFOS,2,1284293826,12.300000,12.285000,58,49,44,43,43,42,643,633,277,502,195,1217
$RAFOS,1,1284293344,12.166667,12.151111,47,46,40,39,39,38,153,502,932,599,1383,941
$RAFOS_FIX,6641.340332,-6030.853516,120910,121224,2,81,4.51
$IRIDIUM_FIX,6609.62,-6014.64,120910,090952
$TT8_MAMPS,0.029211
$HUMID,52.12
$INTERNAL_PRESSURE,8.51442
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,23.2,6.759
$10V_AH,10.3,4.343
$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,18.475,99.125,448.100,0.000,0.000,28.512,17.331,112.128,0.000,0.000,18.026,2316.330,4804.000,519.312,1821.976,96.102,0.000,1423.524,0.000,1623.368,1800.000,0.535,0.000
$DEVICE_MAMPS,280.755,79.560,944.010,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,688.087,721.048,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151652
$DATA_FILE_SIZE,40032,976
$CAP_FILE_SIZE,115902,0
$CFSIZE,260165632,249872384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.9
$GPS,120910,145245,6639.895,-6030.340,38,1.9,46,-38.0