version: 66.08
glider: 183
mission: 3
dive: 152
start: 10 8 110 5 48 12
data:
$ID,183
$MISSION,3
$DIVE,152
$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,-3
$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,2
$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,-7910.6841
$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,40
$R_STBD_OVSHOOT,26
$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
$GPS1,081010,054300,6702.605,-5652.218,35,1.5,35,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-70.5
$GPS2,081010,054738,6702.637,-5652.245,14,1.5,14,-37.5
$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,110.0,3138,-17.5,-10.000
$D_GRID,555
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.57,-146.0,0.0,0.0,0,107,0.00,0.00,-90.47,0.000,2,0.000,0.000,296,2779,3472,0,0,0,0,0,0
$GC,109,-0.57,-146.0,6.5,-18.2,15,124,8.25,1.95,-0.93,0.000,4,0.259,0.074,2279,3935,3522,0,0,0,0,0,0
$GC,307,-0.57,-146.0,54.1,-12.7,50,314,0.00,1.83,0.00,0.000,6,0.000,0.044,2279,2779,3525,0,0,0,0,0,0
$GC,649,-0.57,-146.0,91.9,-11.4,111,656,0.00,2.20,0.00,0.000,4,0.000,0.047,2278,1365,3524,0,0,0,0,0,0
$GC,707,-0.57,-146.0,98.5,-11.0,121,715,0.00,2.25,0.00,0.000,6,0.000,0.058,2273,2763,3524,0,0,0,0,0,0
$GC,1035,-0.57,-146.0,133.2,-9.4,153,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2763,3524,0,0,0,0,0,0
$GC,1353,-0.57,-146.0,164.2,-10.6,183,1357,0.00,2.17,0.00,0.000,4,0.000,0.047,2273,1370,3523,0,0,0,0,0,0
$GC,1388,-0.57,-146.0,167.9,-10.7,186,1392,0.00,2.25,0.00,0.000,6,0.000,0.059,2273,2768,3523,0,0,0,0,0,0
$GC,1713,-0.57,-146.0,197.0,-9.1,216,1717,0.00,1.90,0.00,0.000,4,0.000,0.069,2270,3936,3523,0,0,0,0,0,0
$GC,1751,-0.57,-146.0,201.1,-9.9,219,1758,0.00,1.88,0.00,0.000,6,0.000,0.043,2269,2758,3522,0,0,0,0,0,0
$GC,2076,-0.57,-146.0,234.8,-10.1,250,2080,0.00,1.92,0.00,0.000,4,0.000,0.069,2262,3932,3522,0,0,0,0,0,0
$GC,2103,-0.57,-146.0,237.8,-10.8,252,2111,0.00,1.88,0.00,0.000,6,0.000,0.043,2261,2757,3522,0,0,0,0,0,0
$GC,2429,-0.57,-146.0,269.9,-9.8,283,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2756,3522,0,0,0,0,0,0
$GC,2748,-0.57,-146.0,301.5,-9.5,313,2753,0.10,1.92,0.00,0.000,4,0.182,0.068,2281,3927,3522,0,0,0,0,0,0
$GC,2793,-0.57,-146.0,305.6,-8.5,317,2797,0.00,1.80,0.00,0.000,6,0.000,0.044,2281,2762,3522,0,0,0,0,0,0
$GC,3123,-0.57,-146.0,331.9,-7.5,348,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2762,3522,0,0,0,0,0,0
$GC,3442,-0.57,-146.0,356.0,-7.7,378,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2762,3522,0,0,0,0,0,0
$GC,3761,-0.57,-146.0,381.3,-7.9,408,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2762,3522,0,0,0,0,0,0
$GC,4080,-0.57,-146.0,407.4,-8.4,438,4083,0.00,2.12,0.00,0.000,4,0.000,0.046,2281,1371,3522,0,0,0,0,0,0
$GC,4106,-0.57,-146.0,410.0,-8.9,440,4114,0.00,2.28,0.00,0.000,6,0.000,0.057,2279,2774,3522,0,0,0,0,0,0
$GC,4432,-0.57,-146.0,436.6,-7.8,471,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2774,3522,0,0,0,0,0,0
$GC,4752,-0.57,-146.0,462.2,-8.0,501,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2774,3522,0,0,0,0,0,0
$GC,5070,-0.57,-146.0,487.7,-8.4,531,5074,0.00,2.15,0.00,0.000,4,0.000,0.046,2279,1373,3522,0,0,0,0,0,0
$GC,5097,-0.57,-146.0,490.2,-8.9,533,5105,0.00,2.25,0.00,0.000,6,0.000,0.057,2279,2775,3522,0,0,0,0,0,0
$GC,5422,-0.57,-146.0,515.8,-7.9,564,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2775,3522,0,0,0,0,0,0
$GC,5742,-0.57,-146.0,541.0,-7.8,594,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2775,3522,0,0,0,0,0,0
$STATE,5932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5932,begin apogee
$GC,5936,-0.14,0.0,555.0,7.1,612,6060,0.43,0.00,117.10,0.932,4,0.133,0.000,2423,2596,2923,0,0,0,0,0,0
$STATE,6061,end apogee,CONTROL_FINISHED_OK
$STATE,6061,begin climb
$GC,6062,0.57,146.0,558.2,0.0,623,6191,0.68,2.33,121.00,0.916,4,0.083,0.046,2656,1186,2327,0,0,0,0,0,0
$GC,6371,0.57,146.0,528.4,12.1,650,6376,0.00,2.38,0.00,0.000,6,0.000,0.051,2656,2598,2319,0,0,0,0,0,0
$GC,6696,0.57,146.0,487.7,12.5,680,6700,0.00,2.28,0.00,0.000,4,0.000,0.048,2663,1186,2316,0,0,0,0,0,0
$GC,6937,0.57,146.0,458.9,12.3,701,6941,0.00,2.30,0.00,0.000,6,0.000,0.052,2663,2612,2315,0,0,0,0,0,0
$GC,7261,0.57,146.0,417.5,12.2,731,7264,0.00,2.17,0.00,0.000,4,0.000,0.063,2663,3926,2313,0,0,0,0,0,0
$GC,7339,0.57,146.0,405.8,15.7,738,7343,0.00,2.08,0.00,0.000,6,0.000,0.042,2666,2605,2312,0,0,0,0,0,0
$GC,7669,0.57,146.0,362.3,13.1,769,7673,0.00,2.17,0.00,0.000,4,0.000,0.063,2667,3932,2313,0,0,0,0,0,0
$GC,7712,0.57,146.0,355.6,15.8,772,7721,0.00,2.08,0.00,0.000,6,0.000,0.041,2673,2635,2312,0,0,0,0,0,0
$GC,8038,0.57,146.0,311.8,13.1,803,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2635,2312,0,0,0,0,0,0
$GC,8357,0.57,146.0,270.8,13.4,833,8361,0.00,2.12,0.00,0.000,4,0.000,0.064,2674,3926,2312,0,0,0,0,0,0
$GC,8417,0.57,146.0,261.5,15.3,838,8425,0.00,2.05,0.00,0.000,6,0.000,0.041,2681,2639,2311,0,0,0,0,0,0
$GC,8742,0.57,146.0,216.5,13.5,869,8746,0.00,2.12,0.00,0.000,4,0.000,0.063,2681,3932,2311,0,0,0,0,0,0
$GC,8765,0.57,146.0,213.1,15.2,871,8769,0.12,2.03,0.00,0.000,6,0.213,0.041,2661,2640,2311,0,0,0,0,0,0
$GC,9089,0.57,146.0,175.9,10.5,901,9090,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2639,2311,0,0,0,0,0,0
$GC,9408,0.57,146.0,138.4,12.7,931,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2640,2311,0,0,0,0,0,0
$GC,9727,0.57,146.0,101.4,10.9,961,9731,0.00,2.10,0.00,0.000,4,0.000,0.063,2660,3934,2311,0,0,0,0,0,0
$GC,9811,0.57,146.0,91.3,12.4,974,9818,0.00,2.00,0.00,0.000,6,0.000,0.041,2666,2651,2311,0,0,0,0,0,0
$GC,10156,0.59,177.2,59.2,8.6,1035,10187,0.00,2.12,23.77,0.642,4,0.000,0.063,2666,3936,2199,0,0,0,0,0,0
$GC,10222,0.60,188.8,53.1,9.5,1046,10241,0.00,2.03,10.65,0.615,6,0.000,0.041,2666,2645,2152,0,0,0,0,0,0
$GC,10572,0.65,273.9,27.2,6.1,1109,10646,0.00,2.42,68.45,0.622,4,0.000,0.047,2666,1192,1804,0,0,0,0,0,0
$GC,10697,0.70,354.6,19.9,6.3,1130,10772,0.10,2.42,64.62,0.607,6,0.117,0.051,2708,2675,1475,0,0,0,0,0,0
$STATE,10885,end climb,SURFACE_DEPTH_REACHED
$STATE,10885,begin surface coast
$FINISH,0.7,1.013588
$STATE,10913,end surface coast,CONTROL_FINISHED_OK
$STATE,10913,begin surface
$SM_CCo,10987,0.00,0.000,0,0,1461,358.38
$SM_GC,1.51,6.55,0.00,0.00,0.057,0.000,0.000,303,2785,1461,-6.74,0.14,358.38
$RAFOS_CLK,544
$RAFOS,5,1286527264,8.700000,8.684444,112,45,44,41,39,39,678,480,1771,909,668,823
$RAFOS,4,1286526782,8.566667,8.550555,109,46,45,45,44,41,919,1921,809,26,1579,184
$RAFOS,3,1286526309,8.433333,8.419167,77,43,41,41,39,39,985,390,319,1380,475,1218
$RAFOS,2,1286525831,8.300000,8.286389,50,45,45,43,42,40,1051,871,427,1594,1062,634
$RAFOS,1,1286525346,8.166667,8.151667,75,53,45,43,43,40,1065,590,277,26,648,1797
$RAFOS,0,1286524865,8.033334,8.018056,52,49,49,46,43,41,1196,1128,1783,742,162,1323
$RAFOS_FIX,6702.364258,-5648.202148,081010,080820,4,93,0.31
$IRIDIUM_FIX,6636.54,-5652.31,081010,020239
$TT8_MAMPS,0.030709
$HUMID,48.54
$INTERNAL_PRESSURE,8.61208
$TCM_TEMP,15.40
$XPDR_PINGS,1
$24V_AH,23.5,20.807
$10V_AH,10.2,16.080
$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,16.225,72.400,405.600,0.000,0.000,29.639,37.751,100.933,0.250,0.000,17.250,2878.802,5786.280,475.514,2017.474,133.244,0.000,1443.356,0.000,1822.423,2520.000,0.538,0.000
$DEVICE_MAMPS,259.335,87.975,931.770,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,805.485,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,189588
$DATA_FILE_SIZE,43289,1167
$CAP_FILE_SIZE,117607,0
$CFSIZE,260165632,239710208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.5
$CURRENT,0.174,154.9,1
$GPS,081010,085255,6702.129,-5648.007,39,1.9,39,-37.5