version: 66.08
glider: 183
mission: 3
dive: 28
start: 9 13 110 8 30 26
data:
$ID,183
$MISSION,3
$DIVE,28
$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,-7720.2495
$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,2700
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,0
$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
$GPS1,130910,082525,6641.292,-6024.635,38,1.1,38,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-72.5
$GPS2,130910,082956,6641.258,-6024.551,13,1.2,13,-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,113.6,161483,-17.5,-10.000
$D_GRID,523
$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,13,begin dive
$GC,14,-0.57,-146.0,0.0,0.0,0,115,0.00,0.00,-98.38,0.000,2,0.000,0.000,307,2703,3220,0,0,0,0,0,0
$GC,117,-0.57,-146.0,5.4,-16.5,17,137,8.82,2.15,-5.65,0.000,4,0.282,0.085,2276,3926,3522,0,0,0,0,0,0
$GC,390,-0.57,-146.0,62.8,-14.3,65,397,0.00,2.03,0.00,0.000,6,0.000,0.050,2276,2692,3525,0,0,0,0,0,0
$GC,728,-0.57,-146.0,109.8,-13.4,119,732,0.00,2.12,0.00,0.000,4,0.000,0.078,2268,3927,3526,0,0,0,0,0,0
$GC,984,-0.57,-146.0,144.0,-12.7,141,992,0.00,2.00,0.00,0.000,6,0.000,0.050,2268,2707,3526,0,0,0,0,0,0
$GC,1310,-0.57,-146.0,184.4,-11.5,172,1314,0.00,2.08,0.00,0.000,4,0.000,0.079,2262,3926,3526,0,0,0,0,0,0
$GC,1567,-0.57,-146.0,214.1,-11.5,195,1572,0.00,2.00,0.00,0.000,6,0.000,0.050,2261,2705,3526,0,0,0,0,0,0
$GC,1897,-0.57,-146.0,253.3,-11.8,226,1901,0.10,2.08,0.00,0.000,4,0.207,0.079,2279,3926,3525,0,0,0,0,0,0
$GC,2156,-0.57,-146.0,278.3,-8.6,249,2159,0.00,1.98,0.00,0.000,6,0.000,0.052,2279,2686,3524,0,0,0,0,0,0
$GC,2486,-0.57,-146.0,306.5,-8.5,280,2489,0.00,2.08,0.00,0.000,4,0.000,0.079,2272,3925,3523,0,0,0,0,0,0
$GC,2744,-0.57,-146.0,330.0,-9.1,303,2748,0.00,1.98,0.00,0.000,6,0.000,0.052,2271,2696,3523,0,0,0,0,0,0
$GC,3074,-0.57,-146.0,362.3,-10.3,334,3078,0.00,2.05,0.00,0.000,4,0.000,0.079,2265,3926,3523,0,0,0,0,0,0
$GC,3333,-0.57,-146.0,390.3,-10.6,357,3336,0.00,1.95,0.00,0.000,6,0.000,0.051,2265,2695,3523,0,0,0,0,0,0
$GC,3663,-0.57,-146.0,421.4,-9.2,388,3666,0.00,2.05,0.00,0.000,4,0.000,0.078,2261,3925,3522,0,0,0,0,0,0
$GC,3921,-0.57,-146.0,446.6,-9.8,411,3926,0.10,1.95,0.00,0.000,6,0.197,0.050,2285,2689,3522,0,0,0,0,0,0
$GC,4251,-0.57,-146.0,471.8,-6.9,442,4255,0.00,2.08,0.00,0.000,4,0.000,0.078,2281,3926,3523,0,0,0,0,0,0
$GC,4509,-0.57,-146.0,491.7,-7.1,465,4513,0.00,1.92,0.00,0.000,6,0.000,0.050,2281,2701,3523,0,0,0,0,0,0
$GC,4840,-0.57,-146.0,516.7,-7.8,496,4843,0.00,2.03,0.00,0.000,4,0.000,0.076,2274,3926,3523,0,0,0,0,0,0
$STATE,4917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4917,begin apogee
$GC,4922,-0.14,0.0,523.4,8.1,503,5047,0.45,0.00,119.85,0.946,6,0.149,0.000,2420,2549,2923,0,0,0,0,0,0
$STATE,5048,end apogee,CONTROL_FINISHED_OK
$STATE,5048,begin climb
$GC,5049,0.57,146.0,527.1,0.0,514,5181,0.70,2.53,123.57,0.913,4,0.106,0.054,2659,1141,2326,0,0,0,0,0,0
$GC,5433,0.57,146.0,490.8,10.9,548,5441,0.00,2.42,0.00,0.000,6,0.000,0.058,2659,2551,2317,0,0,0,0,0,0
$GC,5760,0.57,146.0,451.3,12.0,579,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2551,2314,0,0,0,0,0,0
$GC,6077,0.57,146.0,412.4,11.9,609,6082,0.00,2.33,0.00,0.000,4,0.000,0.072,2659,3930,2314,0,0,0,0,0,0
$GC,6139,0.57,146.0,403.8,14.3,614,6143,0.00,2.25,0.00,0.000,6,0.000,0.047,2669,2547,2312,0,0,0,0,0,0
$GC,6463,0.57,146.0,363.1,12.1,644,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2546,2313,0,0,0,0,0,0
$GC,6784,0.57,146.0,324.1,12.2,674,6788,0.00,2.33,0.00,0.000,4,0.000,0.072,2670,3933,2312,0,0,0,0,0,0
$GC,6826,0.57,146.0,317.3,14.3,677,6835,0.00,2.25,0.00,0.000,6,0.000,0.047,2680,2552,2312,0,0,0,0,0,0
$GC,7152,0.57,146.0,275.3,13.5,708,7156,0.00,2.33,0.00,0.000,4,0.000,0.073,2680,3928,2312,0,0,0,0,0,0
$GC,7247,0.57,146.0,260.9,15.7,716,7252,0.12,2.22,0.00,0.000,6,0.215,0.047,2662,2539,2312,0,0,0,0,0,0
$GC,7576,0.57,146.0,223.0,10.8,747,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2538,2312,0,0,0,0,0,0
$GC,7895,0.57,146.0,189.5,10.3,777,7899,0.00,2.33,0.00,0.000,4,0.000,0.073,2662,3934,2312,0,0,0,0,0,0
$GC,8042,0.57,146.0,173.1,11.0,789,8048,0.00,2.22,0.00,0.000,6,0.000,0.048,2670,2544,2312,0,0,0,0,0,0
$GC,8366,0.59,177.3,144.1,8.6,820,8400,0.00,2.40,24.30,0.725,4,0.000,0.074,2670,3920,2198,0,0,0,0,0,0
$GC,8468,0.59,177.3,133.0,12.4,829,8472,0.00,2.22,0.00,0.000,6,0.000,0.048,2680,2552,2196,0,0,0,0,0,0
$GC,8794,0.59,177.3,96.4,10.2,862,8800,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2551,2194,0,0,0,0,0,0
$GC,9137,0.60,200.6,65.6,8.9,923,9163,0.00,2.42,19.60,0.691,4,0.000,0.074,2680,3926,2103,0,0,0,0,0,0
$GC,9225,0.61,208.3,57.8,9.6,938,9239,0.00,2.25,7.70,0.653,6,0.000,0.050,2689,2550,2072,0,0,0,0,0,0
$GC,9577,0.68,314.2,32.9,5.1,1000,9671,0.00,2.45,87.32,0.668,4,0.000,0.058,2690,1143,1640,0,0,0,0,0,0
$GC,9773,0.74,403.5,20.5,5.9,1034,9855,0.00,2.40,72.55,0.640,6,0.000,0.061,2690,2553,1276,0,0,0,0,0,0
$STATE,10045,end climb,SURFACE_DEPTH_REACHED
$STATE,10045,begin surface coast
$FINISH,-0.2,1.012037
$STATE,10097,end surface coast,CONTROL_FINISHED_OK
$STATE,10097,begin surface
$SM_CCo,10170,0.00,0.000,0,0,1260,407.93
$SM_GC,0.94,6.72,0.00,0.00,0.070,0.000,0.000,305,2702,1260,-6.73,0.06,407.93
$RAFOS_CLK,540
$RAFOS,6,1284367743,8.833333,8.817500,62,49,47,45,44,43,876,505,461,1636,355,1009
$RAFOS,5,1284367262,8.700000,8.683888,47,45,42,40,39,39,230,280,1415,1781,622,1761
$RAFOS,4,1284366785,8.566667,8.551389,44,42,42,41,40,39,1202,1595,896,154,1688,970
$RAFOS,2,1284365827,8.300000,8.285277,70,44,43,43,42,40,621,1682,1345,633,348,565
$RAFOS_FIX,6641.509277,-6019.562012,130910,080812,2,66,11.81
$IRIDIUM_FIX,6614.97,-6016.65,130910,050531
$TT8_MAMPS,0.029211
$HUMID,50.47
$INTERNAL_PRESSURE,8.51442
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,23.2,7.566
$10V_AH,10.3,4.832
$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,17.025,74.325,454.900,0.000,0.000,28.308,37.045,99.861,0.000,0.000,16.653,2568.193,5139.005,503.516,2141.905,104.077,0.000,1521.586,0.000,1940.403,1080.000,0.535,0.000
$DEVICE_MAMPS,281.520,84.915,945.540,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,780.444,800.381,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151592
$DATA_FILE_SIZE,43335,1091
$CAP_FILE_SIZE,112960,0
$CFSIZE,260165632,249434112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.4
$GPS,130910,112124,6640.051,-6023.910,38,1.3,38,-38.0