version: 66.08
glider: 183
mission: 3
dive: 153
start: 10 8 110 8 57 49
data:
$ID,183
$MISSION,3
$DIVE,153
$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,-7912.5635
$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,39
$R_STBD_OVSHOOT,24
$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
$GPS1,081010,085255,6702.129,-5648.007,39,1.9,39,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-69.4
$GPS2,081010,085715,6702.133,-5647.899,10,1.3,17,-37.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,336.2,163050,-17.5,-10.000
$D_GRID,547
$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,-146.0,0.0,0.0,0,107,0.00,0.00,-89.38,0.000,2,0.000,0.000,301,2785,3431,0,0,0,0,0,0
$GC,109,-0.57,-146.0,6.1,-13.5,14,130,8.25,1.95,-1.75,0.000,4,0.260,0.075,2278,3935,3522,0,0,0,0,0,0
$GC,380,-0.57,-146.0,62.7,-11.1,62,387,0.00,1.85,0.00,0.000,6,0.000,0.044,2277,2779,3525,0,0,0,0,0,0
$GC,724,-0.57,-146.0,101.2,-10.4,122,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2779,3525,0,0,0,0,0,0
$GC,1043,-0.57,-146.0,135.3,-11.1,152,1047,0.00,2.22,0.00,0.000,4,0.000,0.048,2277,1362,3524,0,0,0,0,0,0
$GC,1063,-0.57,-146.0,138.0,-11.6,153,1071,0.00,2.33,0.00,0.000,6,0.000,0.058,2273,2774,3523,0,0,0,0,0,0
$GC,1389,-0.57,-146.0,173.1,-10.1,184,1392,0.00,1.90,0.00,0.000,4,0.000,0.068,2268,3930,3523,0,0,0,0,0,0
$GC,1423,-0.57,-146.0,176.6,-10.7,187,1426,0.00,1.80,0.00,0.000,6,0.000,0.044,2268,2790,3523,0,0,0,0,0,0
$GC,1753,-0.57,-146.0,210.1,-9.2,218,1757,0.00,2.22,0.00,0.000,4,0.000,0.047,2268,1364,3523,0,0,0,0,0,0
$GC,1782,-0.57,-146.0,213.1,-9.7,220,1786,0.00,2.30,0.00,0.000,6,0.000,0.059,2264,2792,3523,0,0,0,0,0,0
$GC,2112,-0.57,-146.0,243.3,-8.9,251,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2792,3523,0,0,0,0,0,0
$GC,2432,-0.57,-146.0,272.1,-9.1,281,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2792,3522,0,0,0,0,0,0
$GC,2750,-0.57,-146.0,300.7,-8.9,311,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2792,3522,0,0,0,0,0,0
$GC,3069,-0.57,-146.0,330.1,-8.8,341,3073,0.00,2.22,0.00,0.000,4,0.000,0.045,2264,1363,3523,0,0,0,0,0,0
$GC,3098,-0.57,-146.0,332.9,-8.7,343,3102,0.12,2.30,0.00,0.000,6,0.177,0.058,2291,2797,3523,0,0,0,0,0,0
$GC,3428,-0.57,-146.0,356.2,-7.3,374,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2797,3523,0,0,0,0,0,0
$GC,3747,-0.57,-146.0,380.2,-7.8,404,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2797,3522,0,0,0,0,0,0
$GC,4066,-0.57,-146.0,404.5,-7.4,434,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2797,3523,0,0,0,0,0,0
$GC,4384,-0.57,-146.0,426.3,-6.9,464,4388,0.00,2.22,0.00,0.000,4,0.000,0.047,2292,1371,3522,0,0,0,0,0,0
$GC,4435,-0.57,-146.0,429.9,-7.4,468,4439,0.00,2.28,0.00,0.000,6,0.000,0.059,2292,2790,3522,0,0,0,0,0,0
$GC,4760,-0.57,-146.0,450.4,-6.1,498,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2790,3522,0,0,0,0,0,0
$GC,5079,-0.57,-146.0,470.0,-6.9,528,5083,0.00,2.20,0.00,0.000,4,0.000,0.047,2291,1371,3522,0,0,0,0,0,0
$GC,5113,-0.57,-146.0,472.5,-6.8,531,5117,0.00,2.25,0.00,0.000,6,0.000,0.060,2291,2781,3521,0,0,0,0,0,0
$GC,5438,-0.57,-146.0,493.4,-6.5,561,5442,0.00,1.85,0.00,0.000,4,0.000,0.070,2285,3928,3521,0,0,0,0,0,0
$GC,5464,-0.57,-146.0,495.5,-7.3,563,5472,0.00,1.83,0.00,0.000,6,0.000,0.044,2284,2780,3521,0,0,0,0,0,0
$GC,5790,-0.57,-146.0,518.1,-7.0,594,5794,0.00,2.22,0.00,0.000,4,0.000,0.047,2284,1362,3521,0,0,0,0,0,0
$GC,5817,-0.57,-146.0,520.2,-7.2,596,5825,0.00,2.28,0.00,0.000,6,0.000,0.059,2279,2773,3521,0,0,0,0,0,0
$GC,6142,-0.57,-146.0,532.8,-0.2,627,6146,0.00,2.20,0.00,0.000,4,0.000,0.050,2279,1369,3522,0,0,0,0,0,0
$STATE,6156,end dive,NO_VERTICAL_VELOCITY
$STATE,6156,begin apogee
$GC,6162,-0.14,0.0,532.8,0.0,628,6289,0.40,0.00,117.22,0.923,4,0.103,0.000,2426,2612,2922,0,0,0,0,0,0
$STATE,6290,end apogee,CONTROL_FINISHED_OK
$STATE,6290,begin climb
$GC,6291,0.57,146.0,532.6,0.0,640,6420,0.68,2.38,120.72,0.904,4,0.073,0.047,2665,1191,2327,0,0,0,0,0,0
$GC,6634,0.57,146.0,499.7,12.0,670,6638,0.00,2.35,0.00,0.000,6,0.000,0.053,2666,2602,2318,0,0,0,0,0,0
$GC,6958,0.57,146.0,455.6,13.2,700,6962,0.00,2.28,0.00,0.000,4,0.000,0.050,2666,1192,2315,0,0,0,0,0,0
$GC,7132,0.57,146.0,434.2,12.1,715,7136,0.00,2.33,0.00,0.000,6,0.000,0.054,2667,2616,2315,0,0,0,0,0,0
$GC,7457,0.57,146.0,391.2,13.1,745,7460,0.00,2.17,0.00,0.000,4,0.000,0.063,2667,3926,2314,0,0,0,0,0,0
$GC,7512,0.57,146.0,382.6,15.9,750,7516,0.00,2.08,0.00,0.000,6,0.000,0.042,2673,2608,2313,0,0,0,0,0,0
$GC,7842,0.57,146.0,337.1,13.9,781,7843,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2607,2312,0,0,0,0,0,0
$GC,8162,0.57,146.0,294.3,13.1,811,8166,0.00,2.17,0.00,0.000,4,0.000,0.064,2673,3925,2313,0,0,0,0,0,0
$GC,8198,0.57,146.0,289.2,15.2,814,8201,0.00,2.05,0.00,0.000,6,0.000,0.042,2681,2615,2312,0,0,0,0,0,0
$GC,8528,0.57,146.0,244.5,13.4,845,8532,0.00,2.15,0.00,0.000,4,0.000,0.065,2681,3925,2312,0,0,0,0,0,0
$GC,8573,0.57,146.0,237.8,15.6,849,8578,0.12,2.05,0.00,0.000,6,0.216,0.043,2660,2626,2311,0,0,0,0,0,0
$GC,8899,0.57,146.0,198.9,11.5,879,8900,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2625,2311,0,0,0,0,0,0
$GC,9218,0.57,146.0,162.1,11.0,909,9219,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2625,2311,0,0,0,0,0,0
$GC,9537,0.57,146.0,128.4,10.5,939,9538,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2625,2312,0,0,0,0,0,0
$GC,9856,0.57,155.7,95.6,9.6,973,9869,0.00,2.25,6.90,0.620,4,0.000,0.048,2664,1191,2287,0,0,0,0,0,0
$GC,9891,0.57,155.7,91.7,10.6,979,9898,0.00,2.30,0.00,0.000,6,0.000,0.054,2664,2626,2287,0,0,0,0,0,0
$GC,10236,0.59,176.2,57.8,9.1,1040,10261,0.00,0.00,18.17,0.644,6,0.000,0.000,2664,2627,2203,0,0,0,0,0,0
$GC,10595,0.67,304.4,30.4,4.1,1104,10708,0.00,2.28,102.12,0.622,4,0.000,0.066,2664,3919,1680,0,0,0,0,0,0
$GC,10797,0.70,345.3,18.2,8.1,1138,10835,0.10,2.12,32.90,0.607,6,0.119,0.043,2704,2601,1515,0,0,0,0,0,0
$STATE,10946,end climb,SURFACE_DEPTH_REACHED
$STATE,10946,begin surface coast
$FINISH,0.4,1.013705
$STATE,10980,end surface coast,CONTROL_FINISHED_OK
$STATE,10980,begin surface
$SM_CCo,10994,1.62,0.103,0,0,1496,350.04
$SM_GC,1.85,0.00,0.00,1.62,0.000,0.000,0.103,300,2781,1496,-6.80,0.03,350.04
$RAFOS_CLK,546
$RAFOS,6,1286527743,8.833333,8.817500,52,48,48,46,45,42,842,1269,960,861,1234,1533
$RAFOS_FIX,6702.364258,-5648.202148,081010,080820,4,93,0.31
$IRIDIUM_FIX,6631.12,-5641.49,081010,050532
$TT8_MAMPS,0.028462
$HUMID,48.74
$INTERNAL_PRESSURE,8.61208
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.5,20.905
$10V_AH,10.2,16.146
$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,16.075,73.725,398.050,1.625,0.000,30.811,16.320,100.495,0.000,0.000,20.385,2881.216,5785.085,463.886,2002.984,134.162,0.000,1431.324,0.000,1825.696,0.000,0.536,0.000
$DEVICE_MAMPS,260.100,83.385,923.355,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,808.322,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,189548
$DATA_FILE_SIZE,43353,1170
$CAP_FILE_SIZE,117280,0
$CFSIZE,260165632,239644672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.8
$CURRENT,0.155,  3.6,1
$GPS,081010,120254,6703.563,-5650.332,66,1.3,66,-37.6