version: 66.08
glider: 183
mission: 3
dive: 311
start: 11 9 110 6 18 30
data:
$ID,183
$MISSION,3
$DIVE,311
$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,-8162.6265
$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,29
$R_STBD_OVSHOOT,22
$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
$GPS1,091110,061307,6644.877,-5958.829,24,1.0,24,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-67.2
$GPS2,091110,061756,6644.850,-5958.853,13,1.1,13,-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,116.1,141864,-17.5,-10.000
$D_GRID,679
$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,15,-0.57,-146.0,0.0,0.0,0,120,0.00,0.00,-102.95,0.000,2,0.000,0.000,299,2788,3102,0,0,0,0,0,0
$GC,122,-0.57,-146.0,5.3,-10.3,17,149,8.45,2.35,-8.62,0.000,4,0.261,0.063,2284,1366,3523,0,0,0,0,0,0
$GC,268,-0.57,-146.0,40.2,-14.2,42,276,0.00,2.38,0.00,0.000,6,0.000,0.063,2280,2786,3524,0,0,0,0,0,0
$GC,613,-0.57,-146.0,89.9,-14.1,103,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2786,3525,0,0,0,0,0,0
$GC,947,-0.57,-146.0,134.2,-13.7,141,951,0.00,2.28,0.00,0.000,4,0.000,0.053,2280,1369,3525,0,0,0,0,0,0
$GC,990,-0.57,-146.0,139.9,-12.6,144,997,0.00,2.33,0.00,0.000,6,0.000,0.064,2279,2777,3524,0,0,0,0,0,0
$GC,1315,-0.57,-146.0,177.1,-10.3,175,1319,0.00,1.98,0.00,0.000,4,0.000,0.075,2273,3938,3524,0,0,0,0,0,0
$GC,1417,-0.57,-146.0,188.0,-10.3,184,1420,0.00,1.88,0.00,0.000,6,0.000,0.050,2273,2773,3524,0,0,0,0,0,0
$GC,1747,-0.57,-146.0,221.4,-10.6,215,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2773,3524,0,0,0,0,0,0
$GC,2068,-0.57,-146.0,252.9,-9.8,245,2072,0.00,2.00,0.00,0.000,4,0.000,0.077,2273,3947,3523,0,0,0,0,0,0
$GC,2105,-0.57,-146.0,257.1,-10.6,248,2113,0.00,1.92,0.00,0.000,6,0.000,0.050,2272,2780,3523,0,0,0,0,0,0
$GC,2432,-0.57,-146.0,286.6,-8.3,279,2436,0.00,2.28,0.00,0.000,4,0.000,0.054,2272,1366,3522,0,0,0,0,0,0
$GC,2499,-0.57,-146.0,292.4,-8.4,285,2503,0.00,2.33,0.00,0.000,6,0.000,0.064,2272,2775,3522,0,0,0,0,0,0
$GC,2824,-0.57,-146.0,319.0,-8.3,315,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2775,3522,0,0,0,0,0,0
$GC,3143,-0.57,-146.0,345.5,-8.1,345,3147,0.00,2.25,0.00,0.000,4,0.000,0.052,2272,1369,3522,0,0,0,0,0,0
$GC,3205,-0.57,-146.0,350.8,-8.7,350,3212,0.00,2.35,0.00,0.000,6,0.000,0.063,2272,2780,3522,0,0,0,0,0,0
$GC,3530,-0.57,-146.0,378.9,-8.1,381,3534,0.00,2.28,0.00,0.000,4,0.000,0.053,2272,1365,3522,0,0,0,0,0,0
$GC,3559,-0.57,-146.0,381.4,-8.1,383,3563,0.00,2.33,0.00,0.000,6,0.000,0.063,2272,2766,3522,0,0,0,0,0,0
$GC,3884,-0.57,-146.0,408.9,-8.9,413,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2766,3523,0,0,0,0,0,0
$GC,4205,-0.57,-146.0,435.9,-8.5,443,4208,0.00,1.98,0.00,0.000,4,0.000,0.073,2272,3933,3524,0,0,0,0,0,0
$GC,4243,-0.57,-146.0,439.5,-8.7,446,4252,0.00,1.90,0.00,0.000,6,0.000,0.048,2272,2770,3523,0,0,0,0,0,0
$GC,4569,-0.57,-146.0,465.5,-8.2,477,4573,0.00,2.25,0.00,0.000,4,0.000,0.051,2272,1355,3524,0,0,0,0,0,0
$GC,4608,-0.57,-146.0,469.1,-8.8,480,4612,0.00,2.35,0.00,0.000,6,0.000,0.063,2272,2772,3523,0,0,0,0,0,0
$GC,4934,-0.57,-146.0,495.8,-8.3,510,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2772,3524,0,0,0,0,0,0
$GC,5262,-0.57,-146.0,522.5,-8.0,524,5266,0.00,2.25,0.00,0.000,4,0.000,0.051,2272,1364,3524,0,0,0,0,0,0
$GC,5288,-0.57,-146.0,524.8,-8.3,524,5295,0.00,2.33,0.00,0.000,6,0.000,0.062,2272,2770,3524,0,0,0,0,0,0
$GC,5602,-0.57,-146.0,548.8,-7.5,535,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2770,3525,0,0,0,0,0,0
$GC,5908,-0.57,-146.0,571.8,-7.3,545,5909,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2770,3524,0,0,0,0,0,0
$GC,6214,-0.57,-146.0,593.4,-7.1,555,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2770,3524,0,0,0,0,0,0
$GC,6520,-0.57,-146.0,615.8,-7.5,565,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2770,3525,0,0,0,0,0,0
$GC,6827,-0.57,-146.0,638.8,-7.7,575,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2770,3525,0,0,0,0,0,0
$GC,7136,-0.57,-146.0,661.6,-7.5,585,7140,0.00,2.22,0.00,0.000,4,0.000,0.050,2272,1363,3525,0,0,0,0,0,0
$GC,7180,-0.57,-146.0,665.5,-7.6,586,7184,0.00,2.33,0.00,0.000,6,0.000,0.061,2271,2766,3525,0,0,0,0,0,0
$STATE,7373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7373,begin apogee
$GC,7378,-0.14,0.0,680.2,7.6,593,7506,0.47,0.00,121.00,1.046,4,0.134,0.000,2428,2595,2922,0,0,0,0,0,0
$STATE,7507,end apogee,CONTROL_FINISHED_OK
$STATE,7507,begin climb
$GC,7509,0.57,146.0,683.1,0.0,597,7645,0.68,2.40,126.90,1.017,4,0.074,0.050,2661,1187,2327,0,0,0,0,0,0
$GC,7806,0.57,146.0,655.5,12.1,606,7812,0.00,2.50,0.00,0.000,6,0.000,0.055,2661,2601,2318,0,0,0,0,0,0
$GC,8142,0.57,146.0,613.7,12.5,617,8147,0.00,2.35,0.00,0.000,4,0.000,0.053,2663,1184,2315,0,0,0,0,0,0
$GC,8359,0.57,146.0,588.2,11.7,623,8364,0.00,2.40,0.00,0.000,6,0.000,0.056,2663,2609,2315,0,0,0,0,0,0
$GC,8678,0.57,146.0,547.5,12.9,634,8682,0.00,2.22,0.00,0.000,4,0.000,0.067,2663,3927,2314,0,0,0,0,0,0
$GC,8710,0.57,146.0,542.6,15.7,635,8714,0.00,2.15,0.00,0.000,6,0.000,0.044,2666,2602,2313,0,0,0,0,0,0
$GC,9048,0.57,146.0,499.1,13.1,646,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2602,2313,0,0,0,0,0,0
$GC,9374,0.57,146.0,455.2,13.2,677,9378,0.00,2.22,0.00,0.000,4,0.000,0.069,2666,3928,2313,0,0,0,0,0,0
$GC,9417,0.57,146.0,448.4,15.6,680,9424,0.00,2.15,0.00,0.000,6,0.000,0.044,2666,2605,2311,0,0,0,0,0,0
$GC,9743,0.57,146.0,406.1,12.8,711,9744,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2605,2311,0,0,0,0,0,0
$GC,10062,0.57,146.0,366.4,12.0,741,10066,0.00,2.22,0.00,0.000,4,0.000,0.068,2666,3930,2312,0,0,0,0,0,0
$GC,10145,0.57,146.0,354.8,13.6,748,10152,0.00,2.10,0.00,0.000,6,0.000,0.044,2666,2614,2311,0,0,0,0,0,0
$GC,10470,0.57,146.0,315.7,11.8,779,10472,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2614,2311,0,0,0,0,0,0
$GC,10790,0.57,146.0,279.5,11.0,809,10794,0.00,2.28,0.00,0.000,4,0.000,0.053,2667,1189,2311,0,0,0,0,0,0
$GC,10832,0.57,146.0,274.8,10.8,812,10840,0.00,2.35,0.00,0.000,6,0.000,0.056,2667,2619,2311,0,0,0,0,0,0
$GC,11159,0.57,148.9,239.7,9.9,843,11163,0.00,2.17,0.00,0.000,4,0.000,0.068,2666,3936,2311,0,0,0,0,0,0
$GC,11190,0.57,148.9,235.9,12.2,845,11198,0.00,2.17,0.00,0.000,6,0.000,0.044,2666,2595,2311,0,0,0,0,0,0
$GC,11517,0.57,149.6,203.2,10.0,876,11521,0.00,2.22,0.00,0.000,4,0.000,0.068,2666,3929,2310,0,0,0,0,0,0
$GC,11549,0.57,149.6,199.3,11.8,878,11557,0.00,2.17,0.00,0.000,6,0.000,0.044,2667,2584,2311,0,0,0,0,0,0
$GC,11874,0.59,176.9,167.8,8.7,909,11909,0.00,2.35,24.20,0.741,4,0.000,0.069,2666,3935,2198,0,0,0,0,0,0
$GC,11925,0.59,176.9,162.7,11.0,913,11932,0.00,2.17,0.00,0.000,6,0.000,0.044,2667,2591,2196,0,0,0,0,0,0
$GC,12250,0.60,192.1,132.4,9.3,944,12270,0.00,0.00,13.23,0.717,6,0.000,0.000,2667,2591,2138,0,0,0,0,0,0
$GC,12589,0.62,232.1,103.2,8.2,976,12628,0.00,2.28,33.75,0.707,4,0.000,0.053,2666,1191,1976,0,0,0,0,0,0
$GC,12652,0.65,272.2,98.3,8.1,982,12696,0.00,2.35,34.22,0.689,6,0.000,0.057,2667,2615,1811,0,0,0,0,0,0
$GC,13032,0.68,322.0,66.7,7.7,1049,13082,0.00,2.30,40.05,0.683,4,0.000,0.070,2667,3921,1608,0,0,0,0,0,0
$GC,13111,0.69,333.5,59.8,9.5,1062,13130,0.00,2.15,10.98,0.650,6,0.000,0.046,2667,2604,1562,0,0,0,0,0,0
$GC,13468,0.72,379.9,30.9,7.9,1125,13513,0.12,2.33,37.20,0.666,4,0.111,0.054,2718,1192,1374,0,0,0,0,0,0
$GC,13593,0.75,422.7,19.2,8.0,1146,13637,0.00,2.30,35.88,0.652,6,0.000,0.056,2718,2583,1198,0,0,0,0,0,0
$STATE,13785,end climb,SURFACE_DEPTH_REACHED
$STATE,13785,begin surface coast
$FINISH,0.7,1.024949
$STATE,13826,end surface coast,CONTROL_FINISHED_OK
$STATE,13826,begin surface
$SM_CCo,13902,0.00,0.000,0,0,1185,426.33
$SM_GC,1.62,6.50,0.00,0.00,0.052,0.000,0.000,299,2785,1185,-6.71,0.14,426.33
$RAFOS_CLK,751
$RAFOS,6,1289292553,8.833333,8.820278,103,41,41,40,40,40,737,1512,1941,974,986,1343
$RAFOS,5,1289292064,8.700000,8.684444,55,48,46,39,39,39,901,396,939,347,839,1928
$RAFOS,4,1289291589,8.566667,8.552500,51,50,48,45,45,42,641,653,263,1123,1657,1266
$RAFOS,3,1289291101,8.433333,8.416945,59,49,47,47,42,40,757,465,1826,145,1014,620
$RAFOS,2,1289290640,8.300000,8.288889,75,44,42,42,39,39,531,1568,733,1706,1745,26
$RAFOS,1,1289290151,8.166667,8.153055,99,45,45,45,43,42,521,1295,290,531,711,1445
$RAFOS,0,1289289691,8.033334,8.025278,63,43,42,39,39,38,528,1554,1388,1108,1415,212
$RAFOS_FIX,6644.747559,-5954.025391,091110,080820,4,85,0.48
$IRIDIUM_FIX,6614.97,-5954.40,091110,020241
$TT8_MAMPS,0.029211
$HUMID,48.85
$INTERNAL_PRESSURE,8.47536
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.4,38.253
$10V_AH,10.1,29.784
$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,16.225,103.425,477.400,0.000,0.000,31.009,23.240,110.846,0.000,0.000,16.805,3000.334,8225.111,594.701,2181.588,208.810,0.000,1688.138,0.000,1988.894,2520.000,0.535,0.000
$DEVICE_MAMPS,260.865,77.265,1045.755,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,826.093,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,189560
$DATA_FILE_SIZE,43348,1187
$CAP_FILE_SIZE,138027,0
$CFSIZE,260165632,227627008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.0
$CURRENT,0.219,166.4,1
$GPS,091110,101137,6643.672,-5954.066,27,1.1,27,-38.0