version: 66.08
glider: 183
mission: 3
dive: 23
start: 9 12 110 17 51 12
data:
$ID,183
$MISSION,3
$DIVE,23
$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,-7713.1108
$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,28
$R_STBD_OVSHOOT,19
$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
$GPS1,120910,174613,6641.953,-6028.105,35,1.6,41,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-70.9
$GPS2,120910,175043,6641.967,-6028.170,8,1.8,14,-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,114.2,163697,-17.5,-10.000
$D_GRID,515
$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,-146.0,0.0,0.0,0,108,0.00,0.00,-90.93,0.000,2,0.000,0.000,303,2703,3222,0,0,0,0,0,0
$GC,110,-0.57,-146.0,5.0,-12.9,16,129,8.75,0.00,-5.78,0.000,6,0.280,0.000,2282,2703,3523,0,0,0,0,0,0
$GC,466,-0.53,-146.0,77.2,-13.9,79,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2703,3526,0,0,0,0,0,0
$GC,806,-0.52,-146.0,119.2,-11.6,126,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2703,3526,0,0,0,0,0,0
$GC,1125,-0.52,-146.0,156.0,-11.9,156,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2703,3527,0,0,0,0,0,0
$GC,1445,-0.52,-146.0,192.1,-10.8,186,1449,0.00,2.08,0.00,0.000,4,0.000,0.079,2276,3929,3526,0,0,0,0,0,0
$GC,1704,-0.53,-146.0,221.5,-10.5,209,1708,0.00,2.00,0.00,0.000,6,0.000,0.050,2276,2684,3525,0,0,0,0,0,0
$GC,2034,-0.53,-146.0,253.8,-9.6,240,2038,0.00,2.12,0.00,0.000,4,0.000,0.079,2269,3935,3525,0,0,0,0,0,0
$GC,2293,-0.53,-146.0,280.8,-10.7,263,2297,0.12,1.98,0.00,0.000,6,0.178,0.051,2302,2692,3523,0,0,0,0,0,0
$GC,2623,-0.58,-146.0,308.0,-7.4,294,2626,0.00,2.08,0.00,0.000,4,0.000,0.080,2300,3930,3523,0,0,0,0,0,0
$GC,2882,-0.65,-146.0,328.3,-7.8,317,2886,0.10,1.98,0.00,0.000,6,0.129,0.050,2258,2697,3523,0,0,0,0,0,0
$GC,3212,-0.65,-146.0,358.7,-9.4,348,3215,0.00,2.08,0.00,0.000,4,0.000,0.079,2250,3929,3523,0,0,0,0,0,0
$GC,3470,-0.65,-146.0,384.8,-9.7,371,3474,0.00,1.95,0.00,0.000,6,0.000,0.050,2250,2707,3523,0,0,0,0,0,0
$GC,3800,-0.65,-146.0,416.9,-9.7,402,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2707,3523,0,0,0,0,0,0
$GC,4119,-0.65,-146.0,447.5,-9.8,432,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2708,3523,0,0,0,0,0,0
$GC,4438,-0.65,-146.0,478.8,-10.0,462,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2708,3523,0,0,0,0,0,0
$GC,4757,-0.65,-146.0,510.4,-9.9,492,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2708,3523,0,0,0,0,0,0
$STATE,4808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4808,begin apogee
$GC,4812,-0.14,0.0,515.7,9.9,497,4936,0.55,0.00,119.50,0.952,4,0.160,0.000,2424,2542,2923,0,0,0,0,0,0
$STATE,4937,end apogee,CONTROL_FINISHED_OK
$STATE,4937,begin climb
$GC,4939,0.57,146.0,519.6,0.0,508,5070,0.73,2.40,123.68,0.920,4,0.097,0.053,2660,1139,2327,0,0,0,0,0,0
$GC,5119,0.57,146.0,505.4,11.5,524,5127,0.00,2.50,0.00,0.000,6,0.000,0.059,2660,2553,2320,0,0,0,0,0,0
$GC,5445,0.53,146.0,463.4,12.5,555,5449,0.00,2.35,0.00,0.000,4,0.000,0.055,2670,1141,2314,0,0,0,0,0,0
$GC,5702,0.50,146.0,431.2,11.8,577,5710,0.10,2.38,0.00,0.000,6,0.185,0.059,2642,2552,2314,0,0,0,0,0,0
$GC,6027,0.50,146.0,395.0,11.2,608,6031,0.00,2.35,0.00,0.000,4,0.000,0.073,2642,3930,2313,0,0,0,0,0,0
$GC,6072,0.44,146.0,388.9,13.8,612,6077,0.12,2.22,0.00,0.000,6,0.210,0.048,2622,2563,2312,0,0,0,0,0,0
$GC,6396,0.45,160.0,356.8,9.4,642,6409,0.00,0.00,10.55,0.812,6,0.000,0.000,2622,2563,2270,0,0,0,0,0,0
$GC,6725,0.47,160.0,323.8,10.6,673,6729,0.00,2.30,0.00,0.000,4,0.000,0.073,2622,3925,2268,0,0,0,0,0,0
$GC,6773,0.46,160.0,317.8,12.6,677,6781,0.00,2.20,0.00,0.000,6,0.000,0.047,2629,2580,2267,0,0,0,0,0,0
$GC,7099,0.46,162.3,284.3,9.9,708,7103,0.00,2.25,0.00,0.000,4,0.000,0.073,2629,3925,2267,0,0,0,0,0,0
$GC,7138,0.44,162.3,279.9,11.6,711,7142,0.00,2.17,0.00,0.000,6,0.000,0.047,2638,2579,2267,0,0,0,0,0,0
$GC,7464,0.44,162.3,244.3,11.2,741,7468,0.00,2.25,0.00,0.000,4,0.000,0.074,2638,3925,2267,0,0,0,0,0,0
$GC,7507,0.40,162.3,238.5,12.7,744,7515,0.12,2.17,0.00,0.000,6,0.178,0.047,2611,2589,2267,0,0,0,0,0,0
$GC,7833,0.48,200.5,208.9,8.2,775,7877,0.00,2.35,34.47,0.769,4,0.000,0.074,2611,3919,2103,0,0,0,0,0,0
$GC,7900,0.53,200.5,202.8,10.3,781,7904,0.00,2.15,0.00,0.000,6,0.000,0.047,2614,2598,2100,0,0,0,0,0,0
$GC,8225,0.63,241.5,174.8,8.1,811,8266,0.17,0.00,34.12,0.750,6,0.105,0.000,2678,2598,1939,0,0,0,0,0,0
$GC,8583,0.64,241.5,134.0,11.6,845,8584,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2598,1932,0,0,0,0,0,0
$GC,8902,0.69,276.8,103.3,8.4,875,8938,0.00,2.45,29.52,0.718,4,0.000,0.058,2688,1148,1792,0,0,0,0,0,0
$GC,8980,0.79,329.5,97.2,7.6,885,9033,0.12,2.45,45.20,0.703,6,0.125,0.062,2732,2612,1578,0,0,0,0,0,0
$GC,9370,0.82,329.5,48.7,15.1,954,9377,0.00,2.25,0.00,0.000,4,0.000,0.076,2732,3927,1567,0,0,0,0,0,0
$GC,9440,0.80,329.5,37.2,17.0,966,9446,0.00,2.17,0.00,0.000,6,0.000,0.050,2740,2605,1564,0,0,0,0,0,0
$STATE,9760,end climb,SURFACE_DEPTH_REACHED
$STATE,9760,begin surface coast
$FINISH,-0.2,1.024268
$STATE,9806,end surface coast,CONTROL_FINISHED_OK
$STATE,9806,begin surface
$SM_CCo,9819,17.33,0.402,2,0,1497,350.04
$SM_GC,0.97,0.00,0.00,17.33,0.000,0.000,0.402,304,2709,1497,-6.79,0.25,350.04
$RAFOS_CLK,524
$RAFOS,3,1284323107,20.433332,20.418612,99,45,44,42,39,37,783,560,535,330,1192,1242
$RAFOS,2,1284322624,20.299999,20.284445,155,47,42,42,41,40,642,1384,800,1227,1811,145
$RAFOS,1,1284322146,20.166666,20.151667,50,44,44,42,38,36,1812,1079,765,485,1221,1710
$RAFOS,0,1284321671,20.033333,20.019722,50,47,44,44,43,41,1219,25,1304,1906,367,1483
$RAFOS_FIX,6636.228516,-6038.051758,120910,202028,2,127,1.41
$IRIDIUM_FIX,6604.29,-6125.10,120910,141432
$TT8_MAMPS,0.030709
$HUMID,52.28
$INTERNAL_PRESSURE,8.53396
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,23.2,6.984
$10V_AH,10.3,4.477
$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,17.675,58.050,397.050,17.325,0.000,28.859,26.399,115.364,0.000,0.000,16.887,2451.987,5198.106,480.954,1926.816,94.633,0.000,1390.254,0.000,1731.684,1800.000,0.536,0.000
$DEVICE_MAMPS,279.990,91.800,952.425,402.390,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,730.591,764.662,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151700
$DATA_FILE_SIZE,39993,1031
$CAP_FILE_SIZE,108701,0
$CFSIZE,260165632,249745408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1452.8
$GPS,120910,203706,6641.627,-6027.583,36,1.7,36,-38.0