version: 66.08
glider: 183
mission: 3
dive: 308
start: 11 8 110 19 16 42
data:
$ID,183
$MISSION,3
$DIVE,308
$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,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,-8157.7402
$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,23
$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
$GPS1,081110,191106,6645.294,-6006.869,26,1.1,26,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.9
$GPS2,081110,191608,6645.293,-6006.782,13,1.2,13,-38.1
$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,72.3,147247,-17.5,-10.000
$D_GRID,608
$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,-146.0,0.0,0.0,0,112,0.00,0.00,-95.20,0.000,2,0.000,0.000,302,2779,3095,0,0,0,0,0,0
$GC,114,-0.57,-146.0,5.3,-13.1,16,141,8.40,2.33,-8.88,0.000,4,0.259,0.064,2282,1369,3523,0,0,0,0,0,0
$GC,147,-0.57,-146.0,19.1,-38.6,21,155,0.00,2.35,0.00,0.000,6,0.000,0.062,2275,2780,3525,0,0,0,0,0,0
$GC,494,-0.57,-146.0,76.6,-15.7,82,501,0.00,1.98,0.00,0.000,4,0.000,0.074,2269,3938,3525,0,0,0,0,0,0
$GC,710,-0.57,-146.0,108.6,-13.8,115,713,0.00,1.90,0.00,0.000,6,0.000,0.048,2268,2756,3525,0,0,0,0,0,0
$GC,1042,-0.57,-146.0,152.0,-12.2,146,1046,0.00,2.20,0.00,0.000,4,0.000,0.052,2268,1370,3524,0,0,0,0,0,0
$GC,1073,-0.57,-146.0,156.4,-12.2,148,1081,0.00,2.33,0.00,0.000,6,0.000,0.063,2266,2746,3524,0,0,0,0,0,0
$GC,1399,-0.57,-146.0,192.8,-10.6,179,1403,0.00,2.03,0.00,0.000,4,0.000,0.074,2258,3938,3524,0,0,0,0,0,0
$GC,1437,-0.57,-146.0,197.4,-11.7,182,1445,0.08,1.90,0.00,0.000,6,0.156,0.047,2282,2779,3524,0,0,0,0,0,0
$GC,1764,-0.57,-146.0,227.6,-9.5,213,1768,0.00,2.25,0.00,0.000,4,0.000,0.053,2283,1362,3524,0,0,0,0,0,0
$GC,1827,-0.57,-146.0,233.7,-9.8,218,1831,0.00,2.33,0.00,0.000,6,0.000,0.063,2283,2772,3524,0,0,0,0,0,0
$GC,2152,-0.57,-146.0,264.1,-9.0,248,2156,0.00,1.95,0.00,0.000,4,0.000,0.074,2280,3933,3524,0,0,0,0,0,0
$GC,2177,-0.57,-146.0,266.3,-9.4,250,2181,0.00,1.88,0.00,0.000,6,0.000,0.049,2280,2770,3524,0,0,0,0,0,0
$GC,2508,-0.57,-146.0,296.4,-8.7,281,2512,0.00,2.22,0.00,0.000,4,0.000,0.052,2279,1362,3523,0,0,0,0,0,0
$GC,2560,-0.57,-146.0,301.0,-9.2,285,2564,0.00,2.33,0.00,0.000,6,0.000,0.063,2279,2774,3523,0,0,0,0,0,0
$GC,2885,-0.57,-146.0,329.0,-8.3,315,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2775,3523,0,0,0,0,0,0
$GC,3203,-0.57,-146.0,355.3,-8.4,345,3207,0.00,2.22,0.00,0.000,4,0.000,0.051,2279,1371,3523,0,0,0,0,0,0
$GC,3225,-0.57,-146.0,357.2,-8.0,346,3232,0.00,2.33,0.00,0.000,6,0.000,0.063,2279,2772,3523,0,0,0,0,0,0
$GC,3550,-0.57,-146.0,384.9,-8.8,377,3554,0.00,2.22,0.00,0.000,4,0.000,0.050,2279,1367,3523,0,0,0,0,0,0
$GC,3572,-0.57,-146.0,386.8,-8.4,378,3579,0.00,2.30,0.00,0.000,6,0.000,0.062,2279,2769,3523,0,0,0,0,0,0
$GC,3897,-0.57,-146.0,413.5,-8.0,409,3901,0.00,2.22,0.00,0.000,4,0.000,0.050,2279,1365,3523,0,0,0,0,0,0
$GC,3930,-0.57,-146.0,416.5,-8.6,411,3937,0.00,2.28,0.00,0.000,6,0.000,0.061,2278,2757,3523,0,0,0,0,0,0
$GC,4258,-0.57,-146.0,443.2,-7.9,442,4261,0.00,1.95,0.00,0.000,4,0.000,0.073,2272,3926,3523,0,0,0,0,0,0
$GC,4296,-0.57,-146.0,446.8,-8.5,445,4305,0.00,1.85,0.00,0.000,6,0.000,0.048,2272,2761,3524,0,0,0,0,0,0
$GC,4621,-0.57,-146.0,472.0,-8.0,476,4625,0.00,1.98,0.00,0.000,4,0.000,0.075,2273,3929,3524,0,0,0,0,0,0
$GC,4693,-0.57,-146.0,477.9,-8.0,482,4700,0.00,1.88,0.00,0.000,6,0.000,0.048,2272,2778,3524,0,0,0,0,0,0
$GC,5017,-0.57,-146.0,503.1,-8.0,511,5021,0.00,2.22,0.00,0.000,4,0.000,0.050,2272,1371,3524,0,0,0,0,0,0
$GC,5094,-0.57,-146.0,509.6,-8.4,513,5098,0.00,2.30,0.00,0.000,6,0.000,0.062,2272,2760,3524,0,0,0,0,0,0
$GC,5425,-0.57,-146.0,533.9,-7.2,524,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2760,3524,0,0,0,0,0,0
$GC,5731,-0.57,-146.0,555.4,-7.0,534,5735,0.00,2.20,0.00,0.000,4,0.000,0.050,2272,1370,3525,0,0,0,0,0,0
$GC,5759,-0.57,-146.0,557.6,-7.4,535,5763,0.00,2.28,0.00,0.000,6,0.000,0.061,2272,2757,3525,0,0,0,0,0,0
$GC,6101,-0.57,-146.0,582.5,-7.4,546,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2757,3525,0,0,0,0,0,0
$GC,6406,-0.57,-146.0,605.5,-7.7,556,6410,0.00,2.20,0.00,0.000,4,0.000,0.050,2272,1365,3525,0,0,0,0,0,0
$GC,6427,-0.57,-146.0,607.3,-8.2,556,6434,0.00,2.28,0.00,0.000,6,0.000,0.060,2272,2755,3525,0,0,0,0,0,0
$STATE,6463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6463,begin apogee
$GC,6468,-0.14,0.0,610.1,7.9,558,6595,0.45,0.00,120.05,1.005,4,0.135,0.000,2420,2597,2922,0,0,0,0,0,0
$STATE,6596,end apogee,CONTROL_FINISHED_OK
$STATE,6596,begin climb
$GC,6598,0.57,146.0,613.0,0.0,562,6734,0.70,2.40,125.45,0.981,4,0.080,0.050,2659,1188,2327,0,0,0,0,0,0
$GC,6893,0.57,146.0,586.7,11.4,571,6897,0.00,2.45,0.00,0.000,6,0.000,0.054,2659,2602,2319,0,0,0,0,0,0
$GC,7227,0.57,146.0,548.1,11.2,582,7232,0.00,2.33,0.00,0.000,4,0.000,0.052,2662,1189,2315,0,0,0,0,0,0
$GC,7451,0.57,146.0,524.2,10.2,588,7458,0.00,2.33,0.00,0.000,6,0.000,0.055,2662,2608,2315,0,0,0,0,0,0
$GC,7766,0.57,146.0,489.3,11.5,603,7770,0.00,2.20,0.00,0.000,4,0.000,0.067,2662,3926,2314,0,0,0,0,0,0
$GC,7816,0.57,146.0,482.5,13.9,607,7820,0.00,2.12,0.00,0.000,6,0.000,0.044,2665,2603,2313,0,0,0,0,0,0
$GC,8146,0.57,146.0,440.9,13.1,638,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2602,2313,0,0,0,0,0,0
$GC,8466,0.57,146.0,399.5,13.0,668,8470,0.00,2.25,0.00,0.000,4,0.000,0.067,2665,3934,2313,0,0,0,0,0,0
$GC,8585,0.57,146.0,382.0,15.3,678,8588,0.00,2.10,0.00,0.000,6,0.000,0.044,2666,2625,2312,0,0,0,0,0,0
$GC,8909,0.57,146.0,339.8,12.9,708,8913,0.00,2.28,0.00,0.000,4,0.000,0.052,2666,1182,2312,0,0,0,0,0,0
$GC,8941,0.57,146.0,335.9,12.0,710,8948,0.00,2.35,0.00,0.000,6,0.000,0.054,2666,2637,2313,0,0,0,0,0,0
$GC,9266,0.57,146.0,296.9,12.1,741,9270,0.00,2.15,0.00,0.000,4,0.000,0.067,2666,3932,2312,0,0,0,0,0,0
$GC,9309,0.57,146.0,290.9,14.7,744,9316,0.00,2.12,0.00,0.000,6,0.000,0.044,2666,2619,2312,0,0,0,0,0,0
$GC,9634,0.57,146.0,254.3,10.6,775,9638,0.00,2.25,0.00,0.000,4,0.000,0.053,2666,1189,2312,0,0,0,0,0,0
$GC,9678,0.57,146.0,249.7,10.6,778,9685,0.00,2.33,0.00,0.000,6,0.000,0.054,2666,2618,2312,0,0,0,0,0,0
$GC,10003,0.57,149.7,218.0,9.8,809,10004,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2618,2312,0,0,0,0,0,0
$GC,10323,0.58,159.1,186.9,9.6,839,10338,0.00,2.22,9.60,0.731,4,0.000,0.067,2666,3926,2274,0,0,0,0,0,0
$GC,10357,0.58,159.1,183.5,10.5,842,10361,0.00,2.12,0.00,0.000,6,0.000,0.045,2667,2590,2272,0,0,0,0,0,0
$GC,10681,0.58,159.1,150.5,10.1,872,10685,0.00,2.22,0.00,0.000,4,0.000,0.053,2667,1179,2272,0,0,0,0,0,0
$GC,10770,0.58,164.9,141.6,9.7,879,10781,0.00,2.30,6.53,0.675,6,0.000,0.055,2666,2574,2250,0,0,0,0,0,0
$GC,11102,0.61,210.3,113.0,7.9,910,11146,0.00,2.33,38.53,0.713,4,0.000,0.053,2666,1191,2065,0,0,0,0,0,0
$GC,11162,0.63,247.7,107.9,8.3,915,11203,0.00,2.30,31.73,0.694,6,0.000,0.055,2667,2559,1912,0,0,0,0,0,0
$GC,11536,0.66,288.8,74.1,8.1,974,11578,0.00,2.40,33.33,0.689,4,0.000,0.069,2667,3926,1743,0,0,0,0,0,0
$GC,11602,0.66,288.8,68.3,10.1,985,11610,0.00,2.25,0.00,0.000,6,0.000,0.046,2666,2564,1740,0,0,0,0,0,0
$GC,11949,0.71,361.4,43.6,6.7,1046,12016,0.10,2.28,58.88,0.672,4,0.125,0.054,2707,1190,1448,0,0,0,0,0,0
$GC,12029,0.73,389.4,36.9,8.7,1059,12061,0.00,2.33,23.88,0.651,6,0.000,0.055,2706,2581,1333,0,0,0,0,0,0
$GC,12394,0.77,461.9,9.0,6.7,1124,12458,0.00,2.40,57.42,0.650,4,0.000,0.054,2707,1188,1038,0,0,0,0,0,0
$STATE,12486,end climb,SURFACE_DEPTH_REACHED
$STATE,12487,begin surface coast
$FINISH,0.7,1.012371
$STATE,12514,end surface coast,CONTROL_FINISHED_OK
$STATE,12514,begin surface
$SM_CCo,12591,0.00,0.000,0,0,1030,464.35
$SM_GC,1.42,6.68,0.00,0.00,0.062,0.000,0.000,298,2780,1030,-6.74,0.00,464.35
$RAFOS_CLK,679
$RAFOS,6,1289249347,20.833334,20.818611,77,46,43,42,40,39,793,1175,373,1199,1493,1629
$RAFOS,5,1289248867,20.700001,20.685278,64,44,42,41,41,39,917,1050,1725,1712,109,1608
$RAFOS,4,1289248389,20.566668,20.552500,84,51,46,44,42,41,665,674,1678,1888,1475,1225
$RAFOS,3,1289247907,20.433332,20.418612,66,46,43,42,42,42,743,150,1752,265,755,1232
$RAFOS,2,1289247421,20.299999,20.283611,89,49,48,47,45,41,643,180,1371,1319,1802,425
$RAFOS,1,1289246950,20.166666,20.152779,131,55,50,48,41,41,504,505,924,145,104,1451
$RAFOS,0,1289246462,20.033333,20.017221,80,51,43,43,40,39,658,1631,681,1878,211,1596
$RAFOS_FIX,6644.631836,-6002.754883,081110,202016,7,84,0.75
$IRIDIUM_FIX,6620.33,-6001.10,081110,151506
$TT8_MAMPS,0.028462
$HUMID,48.93
$INTERNAL_PRESSURE,8.45583
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.4,37.871
$10V_AH,10.0,29.561
$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,16.400,124.450,505.375,0.000,0.000,26.067,41.241,108.252,0.000,0.000,16.523,2879.174,7056.517,607.541,2174.983,204.904,0.000,1697.174,0.000,1966.627,2520.000,0.536,0.000
$DEVICE_MAMPS,259.335,74.970,1005.210,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,795.611,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,189592
$DATA_FILE_SIZE,40043,1144
$CAP_FILE_SIZE,138810,0
$CFSIZE,260165632,227827712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.9
$CURRENT,0.435,172.0,1
$GPS,081110,224807,6643.363,-6004.017,27,1.1,27,-38.0