version: 66.08
glider: 183
mission: 3
dive: 40
start: 9 14 110 22 21 10
data:
$ID,183
$MISSION,3
$DIVE,40
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,50
$D_BOOST,3
$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,-7738.4062
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,330
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,2780
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2.5
$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,5
$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,1
$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
$GPS1,140910,221636,6644.554,-5953.830,28,0.9,28,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-73.7
$GPS2,140910,222038,6644.542,-5953.736,13,1.0,13,-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,113.7,138416,-17.5,-10.000
$D_GRID,721
$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,-146.0,0.0,0.0,0,114,0.00,0.00,-96.45,0.000,2,0.000,0.000,305,2777,3222,0,0,0,0,0,0
$GC,115,-0.57,-146.0,5.3,-15.8,17,135,8.82,2.03,-5.72,0.000,4,0.282,0.084,2278,3932,3522,0,0,0,0,0,0
$GC,264,-0.57,-146.0,44.9,-15.3,43,271,0.00,1.88,0.00,0.000,6,0.000,0.050,2278,2782,3525,0,0,0,0,0,0
$GC,609,-0.57,-146.0,94.2,-12.5,104,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2781,3526,0,0,0,0,0,0
$GC,936,-0.57,-146.0,137.4,-13.7,139,940,0.00,2.28,0.00,0.000,4,0.000,0.055,2278,1365,3526,0,0,0,0,0,0
$GC,956,-0.57,-146.0,140.3,-12.8,140,964,0.00,2.40,0.00,0.000,6,0.000,0.065,2275,2794,3527,0,0,0,0,0,0
$GC,1282,-0.57,-146.0,178.7,-11.0,171,1285,0.00,1.90,0.00,0.000,4,0.000,0.077,2269,3931,3527,0,0,0,0,0,0
$GC,1338,-0.57,-146.0,185.3,-11.4,176,1341,0.00,1.83,0.00,0.000,6,0.000,0.051,2269,2788,3526,0,0,0,0,0,0
$GC,1667,-0.57,-146.0,221.5,-11.2,207,1671,0.00,2.25,0.00,0.000,4,0.000,0.056,2268,1365,3526,0,0,0,0,0,0
$GC,1733,-0.57,-146.0,229.0,-11.2,212,1741,0.00,2.40,0.00,0.000,6,0.000,0.067,2264,2800,3525,0,0,0,0,0,0
$GC,2058,-0.57,-146.0,264.8,-10.8,243,2062,0.00,1.92,0.00,0.000,4,0.000,0.079,2261,3926,3525,0,0,0,0,0,0
$GC,2092,-0.57,-146.0,268.4,-11.3,246,2096,0.00,1.83,0.00,0.000,6,0.000,0.050,2261,2809,3525,0,0,0,0,0,0
$GC,2422,-0.57,-146.0,302.8,-9.8,277,2424,0.10,0.00,0.00,0.000,6,0.201,0.000,2286,2809,3524,0,0,0,0,0,0
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$GC,3139,-0.57,-146.0,362.5,-8.4,343,3142,0.00,1.83,0.00,0.000,4,0.000,0.077,2277,3928,3523,0,0,0,0,0,0
$GC,3195,-0.57,-146.0,367.4,-8.6,348,3199,0.00,1.75,0.00,0.000,6,0.000,0.050,2277,2819,3523,0,0,0,0,0,0
$GC,3525,-0.57,-146.0,396.0,-8.2,379,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2819,3523,0,0,0,0,0,0
$GC,3844,-0.57,-146.0,423.0,-8.1,409,3848,0.00,2.28,0.00,0.000,4,0.000,0.054,2278,1360,3524,0,0,0,0,0,0
$GC,3899,-0.57,-146.0,428.0,-8.8,413,3906,0.00,2.35,0.00,0.000,6,0.000,0.065,2275,2810,3523,0,0,0,0,0,0
$GC,4224,-0.57,-146.0,455.1,-8.3,444,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2810,3523,0,0,0,0,0,0
$GC,4544,-0.57,-146.0,480.3,-7.7,474,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2810,3524,0,0,0,0,0,0
$GC,4862,-0.57,-146.0,504.9,-8.0,504,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2810,3524,0,0,0,0,0,0
$GC,5183,-0.57,-146.0,528.9,-7.5,534,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2809,3524,0,0,0,0,0,0
$GC,5499,-0.57,-146.0,551.9,-7.0,564,5503,0.00,2.28,0.00,0.000,4,0.000,0.053,2275,1368,3524,0,0,0,0,0,0
$GC,5543,-0.57,-146.0,555.4,-7.5,567,5550,0.00,2.38,0.00,0.000,6,0.000,0.065,2275,2810,3524,0,0,0,0,0,0
$GC,5868,-0.57,-146.0,577.9,-7.3,598,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2811,3524,0,0,0,0,0,0
$GC,6209,-0.57,-146.0,602.5,-7.2,628,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2811,3525,0,0,0,0,0,0
$GC,6513,-0.57,-146.0,625.5,-7.6,638,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2810,3525,0,0,0,0,0,0
$GC,6819,-0.57,-146.0,648.7,-7.4,648,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2811,3525,0,0,0,0,0,0
$GC,7126,-0.57,-146.0,671.2,-7.3,658,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2811,3525,0,0,0,0,0,0
$GC,7432,-0.57,-146.0,693.9,-7.6,668,7437,0.00,2.28,0.00,0.000,4,0.000,0.053,2274,1358,3525,0,0,0,0,0,0
$GC,7492,-0.57,-146.0,698.8,-8.2,669,7500,0.00,2.38,0.00,0.000,6,0.000,0.065,2275,2802,3525,0,0,0,0,0,0
$STATE,7806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7806,begin apogee
$GC,7810,-0.14,0.0,721.2,7.0,680,7938,0.45,0.00,122.03,1.066,4,0.153,0.000,2420,2596,2924,0,0,0,0,0,0
$STATE,7939,end apogee,CONTROL_FINISHED_OK
$STATE,7939,begin climb
$GC,7940,0.57,146.0,724.9,0.0,684,8075,0.73,2.42,126.78,1.034,4,0.096,0.053,2657,1183,2327,0,0,0,0,0,0
$GC,8215,0.57,146.0,700.2,29856.9,692,8219,0.00,2.45,0.00,0.000,6,0.000,0.058,2657,2617,2318,0,0,0,0,0,0
$GC,8533,0.57,146.0,659.0,29856.9,703,8537,0.00,2.38,0.00,0.000,4,0.000,0.056,2667,1185,2315,0,0,0,0,0,0
$GC,8772,0.57,146.0,628.1,29856.9,710,8777,0.00,2.40,0.00,0.000,6,0.000,0.058,2667,2606,2314,0,0,0,0,0,0
$GC,9094,0.57,146.0,584.9,29856.9,726,9098,0.00,2.22,0.00,0.000,4,0.000,0.070,2667,3933,2312,0,0,0,0,0,0
$GC,9115,0.57,146.0,581.5,29856.9,727,9123,0.00,2.20,0.00,0.000,6,0.000,0.046,2677,2599,2311,0,0,0,0,0,0
$GC,9440,0.57,146.0,536.3,29856.9,758,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2598,2311,0,0,0,0,0,0
$GC,9760,0.57,146.0,489.8,29856.9,788,9764,0.00,2.22,0.00,0.000,4,0.000,0.071,2677,3929,2311,0,0,0,0,0,0
$GC,9813,0.57,146.0,480.7,29856.9,792,9821,0.00,2.15,0.00,0.000,6,0.000,0.046,2687,2611,2310,0,0,0,0,0,0
$GC,10139,0.57,146.0,434.3,29856.9,823,10140,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2611,2310,0,0,0,0,0,0
$GC,10459,0.57,146.0,390.8,29856.9,853,10464,0.00,2.20,0.00,0.000,4,0.000,0.072,2687,3933,2310,0,0,0,0,0,0
$GC,10525,0.57,146.0,379.8,29856.9,858,10534,0.12,2.12,0.00,0.000,6,0.196,0.047,2661,2621,2310,0,0,0,0,0,0
$GC,10851,0.57,146.0,337.8,29856.9,889,10855,0.00,2.17,0.00,0.000,4,0.000,0.071,2661,3927,2310,0,0,0,0,0,0
$GC,10910,0.57,146.0,329.2,29856.9,894,10918,0.00,2.08,0.00,0.000,6,0.000,0.047,2669,2645,2309,0,0,0,0,0,0
$GC,11235,0.57,146.0,285.8,29856.9,925,11237,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2645,2310,0,0,0,0,0,0
$GC,11557,0.57,146.0,249.8,29856.9,955,11558,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2645,2309,0,0,0,0,0,0
$GC,11873,0.57,146.0,218.2,29856.9,985,11877,0.00,2.12,0.00,0.000,4,0.000,0.072,2669,3933,2309,0,0,0,0,0,0
$GC,11907,0.57,146.0,214.0,29856.9,988,11911,0.00,2.05,0.00,0.000,6,0.000,0.047,2679,2643,2309,0,0,0,0,0,0
$GC,12237,0.57,146.0,177.8,29856.9,1019,12241,0.00,2.30,0.00,0.000,4,0.000,0.057,2689,1186,2310,0,0,0,0,0,0
$GC,12298,0.57,146.0,171.1,29856.9,1024,12303,0.00,2.35,0.00,0.000,6,0.000,0.060,2689,2640,2311,0,0,0,0,0,0
$GC,12623,0.57,146.0,133.8,29856.9,1054,12625,0.12,0.00,0.00,0.000,6,0.203,0.000,2658,2641,2311,0,0,0,0,0,0
$GC,12941,0.57,146.0,104.5,29856.9,1084,12942,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2641,2311,0,0,0,0,0,0
$GC,13275,0.57,146.0,81.6,29856.9,1138,13281,0.00,2.12,0.00,0.000,4,0.000,0.074,2658,3926,2310,0,0,0,0,0,0
$GC,13371,0.57,146.0,73.6,29856.9,1155,13378,0.00,2.08,0.00,0.000,6,0.000,0.049,2665,2618,2309,0,0,0,0,0,0
$GC,13716,0.57,146.0,54.5,29856.9,1216,13722,0.00,2.20,0.00,0.000,4,0.000,0.076,2665,3929,2309,0,0,0,0,0,0
$GC,13745,0.57,146.0,52.4,29856.9,1221,13752,0.00,2.05,0.00,0.000,6,0.000,0.049,2674,2639,2309,0,0,0,0,0,0
$GC,14089,0.57,146.0,32.7,29856.9,1282,14096,0.00,2.12,0.00,0.000,4,0.000,0.076,2673,3926,2309,0,0,0,0,0,0
$GC,14186,0.57,146.0,27.7,29856.9,1299,14193,0.00,2.05,0.00,0.000,6,0.000,0.050,2683,2634,2308,0,0,0,0,0,0
$GC,14530,0.57,146.0,19.7,29856.9,1360,14537,0.00,2.28,0.00,0.000,4,0.000,0.059,2687,1180,2309,0,0,0,0,0,0
$GC,14790,0.57,146.0,21.2,29856.9,1406,14797,0.00,2.33,0.00,0.000,6,0.000,0.062,2687,2623,2308,0,0,0,0,0,0
$GC,15133,0.57,146.0,19.3,29856.9,1467,15140,0.00,2.28,0.00,0.000,4,0.000,0.057,2695,1186,2307,0,0,0,0,0,0
$GC,15393,0.57,146.0,19.0,29856.9,1513,15400,0.12,2.33,0.00,0.000,6,0.187,0.061,2663,2629,2307,0,0,0,0,0,0
$GC,15738,0.57,146.0,16.8,29856.9,1574,15745,0.00,2.28,0.00,0.000,4,0.000,0.057,2666,1188,2307,0,0,0,0,0,0
$GC,16000,0.57,146.0,16.9,29856.9,1620,16007,0.00,2.30,0.00,0.000,6,0.000,0.060,2665,2622,2307,0,0,0,0,0,0
$GC,16344,0.57,146.0,17.8,29856.9,1681,16352,0.00,2.28,0.00,0.000,4,0.000,0.056,2667,1180,2308,0,0,0,0,0,0
$GC,16363,0.57,146.0,17.8,29856.9,1684,16370,0.00,2.28,0.00,0.000,6,0.000,0.059,2667,2600,2308,0,0,0,0,0,0
$GC,16708,0.57,146.0,13.6,29856.9,1745,16714,0.00,2.20,0.00,0.000,4,0.000,0.056,2667,1187,2308,0,0,0,0,0,0
$GC,16721,0.57,146.0,13.6,29856.9,1747,16727,0.00,2.25,0.00,0.000,6,0.000,0.059,2667,2593,2308,0,0,0,0,0,0
$GC,17064,0.57,146.0,10.3,29856.9,1808,17071,0.00,2.17,0.00,0.000,4,0.000,0.071,2666,3923,2308,0,0,0,0,0,0
$GC,17324,0.57,146.0,9.1,29856.9,1854,17331,0.00,2.10,0.00,0.000,6,0.000,0.047,2671,2573,2308,0,0,0,0,0,0
$GC,17668,0.57,146.0,4.2,29856.9,1915,17674,0.00,2.22,0.00,0.000,4,0.000,0.071,2672,3930,2308,0,0,0,0,0,0
$STATE,17764,end climb,SURFACE_DEPTH_REACHED
$STATE,17764,begin surface coast
$FINISH,2.8,1.024453
$STATE,17770,end surface coast,CONTROL_FINISHED_OK
$STATE,17771,begin surface
$SM_CCo,17786,109.72,0.573,1,0,1495,350.04
$SM_GC,0.88,0.00,0.00,109.72,0.000,0.000,0.573,300,2773,1495,-6.80,-0.20,350.04
$RAFOS_CLK,965
$RAFOS_FIX,1371000.000000,1371600.000000,240507,232312,18006,13723,-0.00
$IRIDIUM_FIX,6620.33,-5956.38,140910,181817
$TT8_MAMPS,0.028462
$HUMID,48.58
$INTERNAL_PRESSURE,8.59255
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,13648.0,13654.0
$ALTIM_BOTTOM_PING,13603.0,13637.0
$24V_AH,23.0,8.873
$10V_AH,10.3,5.892
$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,17.150,122.800,248.800,109.725,0.000,26.103,12.646,102.139,0.000,0.000,15.971,4611.100,9606.083,552.747,3212.905,170.217,0.000,2079.062,0.000,3023.792,2520.000,0.535,0.000
$DEVICE_MAMPS,281.520,84.150,1065.645,572.985,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1367.607,1431.371,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151644
$DATA_FILE_SIZE,73260,1933
$CAP_FILE_SIZE,184140,0
$CFSIZE,260165632,248524800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1455.4
$GPS,150910,032054,6642.867,-5947.887,22,0.8,39,-37.9