version: 66.08
glider: 183
mission: 3
dive: 118
start: 10 1 110 5 21 30
data:
$ID,183
$MISSION,3
$DIVE,118
$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,-7843.0679
$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,32
$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
$GPS1,011010,051624,6648.248,-5937.724,40,1.0,40,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-75.0
$GPS2,011010,052056,6648.200,-5937.719,9,2.0,9,-38.0
$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,317.4,36167,-17.5,-10.000
$D_GRID,888
$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,-146.0,0.0,0.0,0,100,0.00,0.00,-82.97,0.000,2,0.000,0.000,302,2773,3118,0,0,0,0,0,0
$GC,102,-0.57,-146.0,5.7,-15.3,14,128,8.60,2.35,-7.85,0.000,4,0.274,0.066,2283,1364,3523,0,0,0,0,0,0
$GC,349,-0.57,-146.0,53.3,-12.8,58,356,0.00,2.38,0.00,0.000,6,0.000,0.063,2278,2782,3526,0,0,0,0,0,0
$GC,692,-0.57,-146.0,98.3,-12.5,119,699,0.00,1.95,0.00,0.000,4,0.000,0.074,2272,3936,3526,0,0,0,0,0,0
$GC,716,-0.57,-146.0,101.3,-12.4,123,720,0.00,1.88,0.00,0.000,6,0.000,0.049,2272,2775,3526,0,0,0,0,0,0
$GC,1046,-0.57,-146.0,143.3,-12.3,154,1050,0.00,1.98,0.00,0.000,4,0.000,0.076,2270,3936,3525,0,0,0,0,0,0
$GC,1068,-0.57,-146.0,146.1,-12.1,156,1072,0.00,1.85,0.00,0.000,6,0.000,0.050,2270,2778,3526,0,0,0,0,0,0
$GC,1398,-0.57,-146.0,183.8,-11.1,187,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2778,3525,0,0,0,0,0,0
$GC,1720,-0.57,-146.0,220.6,-11.8,217,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2778,3525,0,0,0,0,0,0
$GC,2036,-0.57,-146.0,255.5,-10.6,247,2040,0.00,2.22,0.00,0.000,4,0.000,0.053,2270,1360,3524,0,0,0,0,0,0
$GC,2098,-0.57,-146.0,262.0,-9.9,252,2102,0.00,2.35,0.00,0.000,6,0.000,0.065,2266,2784,3524,0,0,0,0,0,0
$GC,2422,-0.57,-146.0,296.4,-10.8,282,2426,0.00,1.92,0.00,0.000,4,0.000,0.075,2262,3936,3524,0,0,0,0,0,0
$GC,2456,-0.57,-146.0,300.0,-11.1,285,2460,0.00,1.85,0.00,0.000,6,0.000,0.049,2262,2779,3524,0,0,0,0,0,0
$GC,2787,-0.57,-146.0,335.2,-10.9,316,2791,0.10,1.98,0.00,0.000,4,0.195,0.076,2280,3926,3524,0,0,0,0,0,0
$GC,2809,-0.57,-146.0,337.5,-10.0,318,2813,0.00,1.80,0.00,0.000,6,0.000,0.050,2280,2786,3523,0,0,0,0,0,0
$GC,3140,-0.57,-146.0,367.9,-9.3,349,3144,0.00,2.20,0.00,0.000,4,0.000,0.052,2280,1372,3524,0,0,0,0,0,0
$GC,3206,-0.57,-146.0,374.4,-9.7,354,3213,0.00,2.30,0.00,0.000,6,0.000,0.064,2280,2781,3524,0,0,0,0,0,0
$GC,3532,-0.57,-146.0,403.0,-8.2,385,3536,0.00,2.22,0.00,0.000,4,0.000,0.051,2279,1362,3524,0,0,0,0,0,0
$GC,3555,-0.57,-146.0,405.0,-8.4,387,3559,0.00,2.30,0.00,0.000,6,0.000,0.063,2280,2774,3524,0,0,0,0,0,0
$GC,3880,-0.57,-146.0,431.9,-8.4,417,3884,0.00,1.92,0.00,0.000,4,0.000,0.073,2273,3933,3524,0,0,0,0,0,0
$GC,3907,-0.57,-146.0,434.5,-8.8,419,3914,0.00,1.85,0.00,0.000,6,0.000,0.047,2273,2780,3524,0,0,0,0,0,0
$GC,4232,-0.57,-146.0,462.4,-8.6,450,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2780,3524,0,0,0,0,0,0
$GC,4552,-0.57,-146.0,489.7,-8.5,480,4555,0.00,2.22,0.00,0.000,4,0.000,0.050,2273,1362,3525,0,0,0,0,0,0
$GC,4589,-0.57,-146.0,493.2,-8.4,483,4597,0.00,2.33,0.00,0.000,6,0.000,0.062,2273,2773,3525,0,0,0,0,0,0
$GC,4915,-0.57,-146.0,520.2,-8.2,514,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2773,3525,0,0,0,0,0,0
$GC,5234,-0.57,-146.0,546.9,-8.5,544,5238,0.00,2.20,0.00,0.000,4,0.000,0.050,2273,1369,3526,0,0,0,0,0,0
$GC,5257,-0.57,-146.0,548.9,-8.5,546,5261,0.00,2.30,0.00,0.000,6,0.000,0.063,2273,2781,3526,0,0,0,0,0,0
$GC,5581,-0.57,-146.0,576.5,-8.9,576,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2781,3526,0,0,0,0,0,0
$GC,5919,-0.57,-146.0,605.7,-8.6,604,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2781,3526,0,0,0,0,0,0
$GC,6225,-0.57,-146.0,630.6,-7.9,614,6226,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2781,3526,0,0,0,0,0,0
$GC,6531,-0.57,-146.0,655.2,-8.0,624,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2781,3525,0,0,0,0,0,0
$GC,6838,-0.57,-146.0,681.0,-8.4,634,6842,0.00,2.20,0.00,0.000,4,0.000,0.050,2273,1367,3525,0,0,0,0,0,0
$GC,6866,-0.57,-146.0,683.6,-9.0,635,6870,0.00,2.28,0.00,0.000,6,0.000,0.063,2273,2778,3525,0,0,0,0,0,0
$GC,7200,-0.57,-146.0,710.0,-7.9,646,7201,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2779,3525,0,0,0,0,0,0
$GC,7506,-0.57,-146.0,734.9,-8.2,656,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2779,3526,0,0,0,0,0,0
$GC,7813,-0.57,-146.0,760.0,-8.2,666,7816,0.00,1.90,0.00,0.000,4,0.000,0.073,2270,3929,3525,0,0,0,0,0,0
$GC,7833,-0.57,-146.0,761.9,-8.0,666,7838,0.00,1.85,0.00,0.000,6,0.000,0.047,2270,2775,3525,0,0,0,0,0,0
$GC,8153,-0.57,-146.0,788.1,-8.2,677,8154,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2775,3526,0,0,0,0,0,0
$GC,8458,-0.57,-146.0,812.7,-8.1,687,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2775,3525,0,0,0,0,0,0
$GC,8765,-0.57,-146.0,837.7,-8.0,697,8769,0.00,2.17,0.00,0.000,4,0.000,0.051,2270,1367,3526,0,0,0,0,0,0
$GC,8799,-0.57,-146.0,840.4,-7.8,698,8803,0.00,2.28,0.00,0.000,6,0.000,0.063,2268,2776,3525,0,0,0,0,0,0
$GC,9140,-0.57,-146.0,867.5,-8.0,709,9141,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2776,3525,0,0,0,0,0,0
$STATE,9414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9414,begin apogee
$GC,9418,-0.14,0.0,889.6,8.0,718,9547,0.47,0.00,124.35,1.167,4,0.145,0.000,2424,2599,2922,0,0,0,0,0,0
$STATE,9548,end apogee,CONTROL_FINISHED_OK
$STATE,9548,begin climb
$GC,9550,0.57,146.0,893.0,0.0,722,9688,0.70,2.42,128.88,1.141,4,0.081,0.050,2662,1181,2328,0,0,0,0,0,0
$GC,9865,0.57,146.0,862.0,36746.0,731,9874,0.00,2.47,0.00,0.000,6,0.000,0.057,2662,2590,2319,0,0,0,0,0,0
$GC,10179,0.57,146.0,821.7,36746.0,742,10183,0.00,2.35,0.00,0.000,4,0.000,0.055,2666,1183,2315,0,0,0,0,0,0
$GC,10353,0.57,146.0,799.7,36746.0,747,10357,0.00,2.40,0.00,0.000,6,0.000,0.057,2667,2622,2315,0,0,0,0,0,0
$GC,10676,0.57,146.0,755.7,36746.0,758,10680,0.00,2.22,0.00,0.000,4,0.000,0.070,2667,3930,2314,0,0,0,0,0,0
$GC,10741,0.57,146.0,745.2,36746.0,760,10746,0.00,2.17,0.00,0.000,6,0.000,0.045,2675,2607,2313,0,0,0,0,0,0
$GC,11077,0.57,146.0,698.8,36746.0,771,11078,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2605,2313,0,0,0,0,0,0
$GC,11384,0.57,146.0,657.4,36746.0,781,11388,0.00,2.20,0.00,0.000,4,0.000,0.070,2675,3927,2312,0,0,0,0,0,0
$GC,11427,0.57,146.0,650.4,36746.0,782,11432,0.08,2.12,0.00,0.000,6,0.209,0.046,2664,2618,2312,0,0,0,0,0,0
$GC,11751,0.57,146.0,609.1,36746.0,793,11755,0.00,2.17,0.00,0.000,4,0.000,0.070,2664,3928,2312,0,0,0,0,0,0
$GC,11804,0.57,146.0,600.9,36746.0,794,11812,0.00,2.10,0.00,0.000,6,0.000,0.046,2669,2632,2311,0,0,0,0,0,0
$GC,12129,0.57,146.0,556.9,36746.0,823,12133,0.00,2.15,0.00,0.000,4,0.000,0.070,2668,3927,2311,0,0,0,0,0,0
$GC,12169,0.57,146.0,550.7,36746.0,826,12172,0.00,2.05,0.00,0.000,6,0.000,0.045,2677,2630,2312,0,0,0,0,0,0
$GC,12499,0.57,146.0,503.3,36746.0,857,12503,0.00,2.28,0.00,0.000,4,0.000,0.055,2683,1188,2312,0,0,0,0,0,0
$GC,12519,0.57,146.0,500.3,36746.0,858,12527,0.00,2.38,0.00,0.000,6,0.000,0.057,2684,2638,2312,0,0,0,0,0,0
$GC,12845,0.57,146.0,453.5,36746.0,889,12849,0.00,2.12,0.00,0.000,4,0.000,0.069,2683,3926,2312,0,0,0,0,0,0
$GC,12946,0.57,146.0,437.2,36746.0,898,12951,0.12,2.00,0.00,0.000,6,0.226,0.046,2663,2654,2310,0,0,0,0,0,0
$GC,13276,0.57,146.0,395.5,36746.0,929,13277,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2654,2310,0,0,0,0,0,0
$GC,13596,0.57,146.0,356.5,36746.0,959,13600,0.00,2.10,0.00,0.000,4,0.000,0.070,2663,3930,2311,0,0,0,0,0,0
$GC,13623,0.57,146.0,352.5,36746.0,961,13631,0.00,2.05,0.00,0.000,6,0.000,0.046,2666,2655,2310,0,0,0,0,0,0
$GC,13948,0.57,146.0,314.2,36746.0,992,13952,0.00,2.30,0.00,0.000,4,0.000,0.055,2667,1184,2310,0,0,0,0,0,0
$GC,13980,0.57,146.0,310.4,36746.0,994,13988,0.00,2.40,0.00,0.000,6,0.000,0.057,2667,2654,2311,0,0,0,0,0,0
$GC,14306,0.57,146.0,270.8,36746.0,1025,14309,0.00,2.10,0.00,0.000,4,0.000,0.070,2666,3932,2311,0,0,0,0,0,0
$GC,14351,0.57,146.0,264.3,36746.0,1029,14354,0.00,2.03,0.00,0.000,6,0.000,0.046,2673,2640,2311,0,0,0,0,0,0
$GC,14680,0.57,146.0,221.6,36746.0,1060,14682,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2639,2310,0,0,0,0,0,0
$GC,15001,0.57,146.0,182.6,36746.0,1090,15002,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2639,2310,0,0,0,0,0,0
$GC,15319,0.57,146.0,148.0,36746.0,1120,15323,0.00,2.15,0.00,0.000,4,0.000,0.070,2672,3930,2311,0,0,0,0,0,0
$GC,15409,0.57,146.0,138.6,36746.0,1128,15412,0.00,2.00,0.00,0.000,6,0.000,0.045,2680,2647,2311,0,0,0,0,0,0
$GC,15739,0.57,146.0,114.0,36746.0,1159,15742,0.00,2.10,0.00,0.000,4,0.000,0.070,2680,3926,2311,0,0,0,0,0,0
$GC,15910,0.57,146.0,101.0,36746.0,1174,15918,0.00,2.00,0.00,0.000,6,0.000,0.047,2687,2671,2311,0,0,0,0,0,0
$GC,16252,0.57,146.0,79.4,36746.0,1233,16259,0.00,2.33,0.00,0.000,4,0.000,0.056,2694,1180,2312,0,0,0,0,0,0
$GC,16305,0.57,146.0,75.1,36746.0,1242,16312,0.12,2.38,0.00,0.000,6,0.192,0.060,2662,2656,2312,0,0,0,0,0,0
$GC,16651,0.57,146.0,48.6,36746.0,1303,16658,0.00,2.08,0.00,0.000,4,0.000,0.072,2663,3926,2311,0,0,0,0,0,0
$GC,16861,0.57,146.0,36.3,36746.0,1340,16867,0.00,2.00,0.00,0.000,6,0.000,0.048,2664,2663,2310,0,0,0,0,0,0
$GC,17205,0.57,146.0,21.5,36746.0,1401,17212,0.00,2.33,0.00,0.000,4,0.000,0.057,2664,1182,2310,0,0,0,0,0,0
$GC,17465,0.57,146.0,16.8,36746.0,1447,17472,0.00,2.38,0.00,0.000,6,0.000,0.061,2664,2651,2310,0,0,0,0,0,0
$GC,17809,0.57,146.0,18.3,36746.0,1508,17816,0.00,2.10,0.00,0.000,4,0.000,0.073,2664,3930,2308,0,0,0,0,0,0
$GC,17964,0.57,146.0,16.8,36746.0,1535,17971,0.00,2.03,0.00,0.000,6,0.000,0.048,2666,2640,2309,0,0,0,0,0,0
$GC,18308,0.57,146.0,14.0,36746.0,1596,18315,0.00,2.30,0.00,0.000,4,0.000,0.056,2666,1182,2309,0,0,0,0,0,0
$GC,18569,0.57,146.0,8.5,36746.0,1642,18575,0.00,2.38,0.00,0.000,6,0.000,0.060,2666,2659,2309,0,0,0,0,0,0
$GC,18914,0.57,146.0,7.4,36746.0,1703,18920,0.00,2.33,0.00,0.000,4,0.000,0.054,2667,1179,2309,0,0,0,0,0,0
$GC,19174,0.57,146.0,5.1,36746.0,1749,19181,0.00,2.40,0.00,0.000,6,0.000,0.058,2666,2686,2309,0,0,0,0,0,0
$GC,19518,0.57,146.0,4.4,36746.0,1810,19525,0.00,2.38,0.00,0.000,4,0.000,0.054,2666,1177,2309,0,0,0,0,0,0
$GC,19777,0.57,146.0,5.1,36746.0,1856,19783,0.00,2.38,0.00,0.000,6,0.000,0.058,2666,2672,2309,0,0,0,0,0,0
$GC,20121,0.57,146.0,8.1,36746.0,1917,20127,0.00,2.33,0.00,0.000,4,0.000,0.053,2666,1181,2309,0,0,0,0,0,0
$GC,20380,0.57,146.0,7.5,36746.0,1963,20387,0.00,2.38,0.00,0.000,6,0.000,0.058,2666,2677,2309,0,0,0,0,0,0
$RESTART_TIME,Fri Oct  1 11:15:33 2010