version: 66.08
glider: 183
mission: 3
dive: 400
start: 11 25 110 15 0 30
data:
$ID,183
$MISSION,3
$DIVE,400
$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,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,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,8.77
$_SM_ANGLEo,-7.6
$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,13,begin dive
$GC,15,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-6.22,0.000,2,0.000,0.000,2513,1197,2638,0,0,0,0,0,0
$GC,26,-0.57,-146.0,9.9,-0.0,1,57,0.60,4.75,-20.85,0.000,4,0.079,0.075,2282,3929,3522,0,0,0,0,0,0
$GC,266,-0.54,-146.0,47.4,-14.1,43,273,0.00,1.88,0.00,0.000,6,0.000,0.049,2282,2780,3523,0,0,0,0,0,0
$GC,611,-0.51,-146.0,92.9,-13.2,104,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2780,3523,0,0,0,0,0,0
$GC,947,-0.51,-146.0,133.6,-11.3,140,950,0.00,1.98,0.00,0.000,4,0.000,0.078,2279,3925,3522,0,0,0,0,0,0
$GC,970,-0.51,-146.0,136.5,-11.7,142,974,0.10,1.85,0.00,0.000,6,0.187,0.050,2303,2787,3522,0,0,0,0,0,0
$GC,1301,-0.57,-146.0,165.8,-8.4,173,1305,0.00,2.25,0.00,0.000,4,0.000,0.053,2303,1369,3521,0,0,0,0,0,0
$GC,1341,-0.66,-146.0,169.2,-8.5,176,1346,0.12,2.33,0.00,0.000,6,0.107,0.064,2253,2781,3522,0,0,0,0,0,0
$GC,1667,-0.63,-146.0,208.8,-13.1,206,1670,0.00,1.92,0.00,0.000,4,0.000,0.075,2250,3929,3521,0,0,0,0,0,0
$GC,1691,-0.59,-146.0,211.9,-13.4,208,1695,0.12,1.83,0.00,0.000,6,0.174,0.050,2283,2786,3520,0,0,0,0,0,0
$GC,2021,-0.63,-146.0,246.8,-10.0,239,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2786,3521,0,0,0,0,0,0
$STATE,2061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2061,begin apogee
$GC,2067,-0.14,0.0,250.9,9.7,243,2188,0.43,0.00,116.20,0.804,4,0.145,0.000,2422,2597,2922,0,0,0,0,0,0
$STATE,2189,end apogee,CONTROL_FINISHED_OK
$STATE,2189,begin climb
$GC,2191,0.57,146.0,256.7,0.0,254,2324,0.70,2.40,121.05,0.776,4,0.092,0.054,2656,1184,2327,0,0,0,0,0,0
$GC,2329,0.62,221.0,254.0,6.5,266,2402,0.00,2.58,65.60,0.756,6,0.000,0.057,2656,2599,2021,0,0,0,0,0,0
$GC,2721,0.65,222.7,215.2,9.9,303,2725,0.00,2.33,0.00,0.000,4,0.000,0.070,2656,3929,2010,0,0,0,0,0,0
$GC,2775,0.65,222.7,208.9,11.3,307,2782,0.00,2.28,0.00,0.000,6,0.000,0.047,2659,2597,2008,0,0,0,0,0,0
$GC,3101,0.69,227.6,178.2,9.8,338,3114,0.10,2.30,4.62,0.602,4,0.124,0.057,2699,1185,1995,0,0,0,0,0,0
$GC,3130,0.69,227.6,174.9,10.9,340,3137,0.00,2.38,0.00,0.000,6,0.000,0.058,2699,2593,1995,0,0,0,0,0,0
$GC,3456,0.66,227.6,138.1,11.1,371,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2593,1994,0,0,0,0,0,0
$GC,3776,0.66,230.2,104.5,9.9,401,3788,0.00,2.33,4.00,0.563,4,0.000,0.057,2700,1194,1983,0,0,0,0,0,0
$GC,3801,0.67,236.1,102.0,9.7,403,3813,0.00,2.28,7.05,0.666,6,0.000,0.059,2699,2577,1960,0,0,0,0,0,0
$GC,4149,0.67,242.2,69.9,9.7,463,4162,0.00,2.28,6.78,0.659,4,0.000,0.070,2700,3926,1934,0,0,0,0,0,0
$GC,4247,0.64,242.2,58.7,11.9,480,4254,0.00,2.15,0.00,0.000,6,0.000,0.048,2703,2591,1932,0,0,0,0,0,0
$GC,4593,0.76,337.4,27.9,5.6,541,4681,0.00,2.35,79.80,0.666,4,0.000,0.070,2703,3928,1545,0,0,0,0,0,0
$GC,4756,0.90,388.5,16.7,7.6,569,4809,0.17,2.12,42.58,0.647,6,0.093,0.048,2771,2635,1337,0,0,0,0,0,0
$FREEZE,8.35,-1.629,-1.696,2,14,0
$STATE,4839,end climb,FINISH_DEPTH_REACHED
$STATE,4839,begin subsurface finish
$FINISH1,8.4,1.024864,129
$GC,4845,0.08,129.5,8.4,-10.8,583,4886,0.88,2.38,-32.72,0.000,4,0.155,0.067,2510,1191,2397,0,0,0,0,0,0
$FINISH2,7.1
$STATE,4887,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4887,begin surface
$RAFOS_CLK,305
$RAFOS,1,1290701342,16.166666,16.150555,79,55,52,50,50,42,568,1060,1352,1135,680,1308
$RAFOS,0,1290700865,16.033333,16.018055,79,57,49,43,40,40,669,1882,626,1644,327,1648
$RAFOS_FIX,6646.758301,-41957.921875,251110,161628,2,79,0.00
$IRIDIUM_FIX,6620.33,-5936.77,241110,010130
$TT8_MAMPS,0.031458
$HUMID,48.62
$INTERNAL_PRESSURE,8.56325
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.3
$24V_AH,22.3,48.320
$10V_AH,10.1,36.549
$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,3.225,49.200,447.675,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1351.839,2170.256,442.490,925.921,85.933,0.000,990.107,0.000,927.617,1080.000,2.624,0.000
$DEVICE_MAMPS,186.660,78.030,804.015,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,407.782,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151724
$DATA_FILE_SIZE,20140,590
$CAP_FILE_SIZE,64690,0
$CFSIZE,260165632,221495296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.7
$GPS,020414,133129,-200.000,-200.000,0,8071.8,0,-38.1