version: 66.08
glider: 183
mission: 3
dive: 395
start: 11 25 110 8 0 4
data:
$ID,183
$MISSION,3
$DIVE,395
$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,9
$D_PITCH,3
$D_SAFE,500
$D_CALL,4
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$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,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$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,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,609.0799
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8271.1582
$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,0.02
$PITCH_ADJ_DBAND,1
$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,30
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$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,48
$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
$GPS1,020414,133129,-200.000,-200.000,0,8071.8,0,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.65
$_SM_ANGLEo,-7.4
$GPS2,020414,133129,-200.000,-200.000,0,8071.8,0,-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,20.9,8031828,-17.5,-10.000
$D_GRID,250
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-6.55,0.000,2,0.000,0.000,2510,1182,2630,0,0,0,0,0,0
$GC,26,-0.57,-146.0,9.2,-0.0,1,57,0.57,0.30,-21.95,0.000,4,0.073,0.181,2286,1373,3522,0,0,0,0,0,0
$GC,271,-0.57,-146.0,44.0,-13.5,44,277,0.00,2.35,0.00,0.000,6,0.000,0.066,2286,2779,3524,0,0,0,0,0,0
$GC,616,-0.57,-146.0,87.7,-11.7,105,623,0.00,1.95,0.00,0.000,4,0.000,0.076,2283,3932,3523,0,0,0,0,0,0
$GC,636,-0.57,-146.0,90.1,-11.7,108,643,0.00,1.88,0.00,0.000,6,0.000,0.050,2283,2775,3523,0,0,0,0,0,0
$GC,967,-0.57,-146.0,126.3,-10.6,146,971,0.00,2.22,0.00,0.000,4,0.000,0.053,2283,1372,3522,0,0,0,0,0,0
$GC,1018,-0.60,-146.0,131.8,-11.0,150,1023,0.00,2.33,0.00,0.000,6,0.000,0.064,2280,2777,3523,0,0,0,0,0,0
$GC,1348,-0.60,-146.0,168.6,-10.3,181,1352,0.00,1.95,0.00,0.000,4,0.000,0.076,2276,3936,3523,0,0,0,0,0,0
$GC,1370,-0.60,-146.0,170.9,-10.1,183,1374,0.00,1.88,0.00,0.000,6,0.000,0.050,2276,2777,3523,0,0,0,0,0,0
$GC,1702,-0.60,-146.0,203.5,-9.6,214,1706,0.00,2.25,0.00,0.000,4,0.000,0.053,2276,1366,3522,0,0,0,0,0,0
$GC,1740,-0.63,-146.0,207.4,-9.7,217,1747,0.00,2.33,0.00,0.000,6,0.000,0.064,2276,2774,3522,0,0,0,0,0,0
$GC,2067,-0.66,-146.0,235.7,-8.8,248,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2775,3522,0,0,0,0,0,0
$STATE,2244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2244,begin apogee
$GC,2249,-0.14,0.0,250.4,8.0,265,2372,0.47,0.00,116.20,0.802,4,0.145,0.000,2426,2605,2922,0,0,0,0,0,0
$STATE,2373,end apogee,CONTROL_FINISHED_OK
$STATE,2373,begin climb
$GC,2375,0.57,146.0,254.3,0.0,276,2508,0.68,2.40,120.68,0.769,4,0.085,0.054,2657,1188,2327,0,0,0,0,0,0
$GC,2666,0.64,216.5,238.8,6.7,302,2735,0.00,2.47,60.88,0.750,6,0.000,0.057,2657,2600,2039,0,0,0,0,0,0
$GC,3062,0.67,216.5,199.7,10.0,339,3066,0.00,2.38,0.00,0.000,4,0.000,0.056,2658,1188,2028,0,0,0,0,0,0
$GC,3197,0.76,246.8,187.2,8.6,350,3228,0.17,2.40,25.62,0.734,6,0.096,0.057,2725,2612,1915,0,0,0,0,0,0
$GC,3554,0.71,246.8,135.7,13.9,384,3558,0.00,2.25,0.00,0.000,4,0.000,0.070,2725,3926,1908,0,0,0,0,0,0
$GC,3632,0.61,246.8,124.0,15.3,390,3640,0.22,2.12,0.00,0.000,6,0.193,0.048,2674,2618,1907,0,0,0,0,0,0
$GC,3961,0.68,268.5,94.1,9.0,427,3986,0.00,2.33,17.77,0.702,4,0.000,0.055,2674,1186,1830,0,0,0,0,0,0
$GC,4033,0.82,311.2,88.2,8.0,439,4082,0.20,2.40,37.80,0.690,6,0.090,0.058,2752,2629,1653,0,0,0,0,0,0
$GC,4420,0.80,311.2,35.4,13.5,507,4426,0.00,2.35,0.00,0.000,4,0.000,0.057,2751,1184,1643,0,0,0,0,0,0
$GC,4535,0.91,352.4,23.6,8.1,527,4578,0.00,2.35,34.03,0.664,6,0.000,0.059,2751,2614,1484,0,0,0,0,0,0
$FREEZE,8.54,-1.632,-1.687,2,9,0
$STATE,4696,end climb,FINISH_DEPTH_REACHED
$STATE,4696,begin subsurface finish
$FINISH1,8.5,1.024733,136
$GC,4702,0.09,135.9,8.5,-8.7,555,4738,0.80,2.28,-27.67,0.000,4,0.155,0.085,2508,3930,2371,0,0,0,0,0,0
$FINISH2,6.8
$STATE,4739,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4739,begin surface
$RAFOS_CLK,298
$RAFOS,6,1290674946,8.833333,8.818334,69,55,51,47,45,41,789,799,1131,507,691,1452
$RAFOS,5,1290674464,8.700000,8.684444,52,44,43,43,42,41,934,875,791,1779,1183,1116
$RAFOS,4,1290673982,8.566667,8.550555,63,46,43,42,40,39,713,837,1606,26,527,965
$RAFOS,3,1290673501,8.433333,8.416945,65,55,42,41,40,38,781,796,971,334,1810,344
$RAFOS,2,1290673026,8.300000,8.285000,101,47,46,43,42,42,629,691,294,26,823,967
$RAFOS,1,1290672545,8.166667,8.151389,95,94,49,45,43,42,521,521,533,1086,1708,1159
$RAFOS,0,1290672066,8.033334,8.018333,70,47,41,40,40,40,640,1547,1453,824,1568,1836
$RAFOS_FIX,6645.852051,-186003.000000,251110,080818,5,74,0.02
$IRIDIUM_FIX,6620.33,-5936.77,241110,010130
$TT8_MAMPS,0.029211
$HUMID,50.11
$INTERNAL_PRESSURE,8.56325
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,22.6,47.869
$10V_AH,10.0,36.379
$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,3.125,45.425,412.975,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1344.773,2101.365,406.715,928.667,77.452,0.000,949.094,0.000,925.203,2520.000,2.807,0.000
$DEVICE_MAMPS,192.780,181.305,801.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.117,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151720
$DATA_FILE_SIZE,20106,561
$CAP_FILE_SIZE,60996,0
$CFSIZE,260165632,221679616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.2
$GPS,020414,133129,-200.000,-200.000,0,8071.8,0,-38.1