version: 66.08
glider: 183
mission: 3
dive: 404
start: 11 25 110 20 37 9
data:
$ID,183
$MISSION,3
$DIVE,404
$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,29
$R_STBD_OVSHOOT,21
$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,12.17
$_SM_ANGLEo,-8.1
$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,-6.25,0.000,2,0.000,0.000,2507,1189,2707,0,0,0,0,0,0
$GC,26,-0.57,-146.0,13.6,-0.0,1,51,0.57,0.28,-16.40,0.000,4,0.080,0.176,2290,1372,3521,0,0,0,0,0,0
$GC,216,-0.54,-146.0,41.5,-14.3,34,223,0.00,2.33,0.00,0.000,6,0.000,0.064,2289,2779,3523,0,0,0,0,0,0
$GC,560,-0.54,-146.0,85.1,-12.3,95,567,0.00,1.95,0.00,0.000,4,0.000,0.076,2286,3927,3523,0,0,0,0,0,0
$GC,653,-0.56,-146.0,95.7,-10.9,111,660,0.00,1.85,0.00,0.000,6,0.000,0.050,2286,2771,3522,0,0,0,0,0,0
$GC,981,-0.56,-146.0,131.7,-11.3,145,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2771,3522,0,0,0,0,0,0
$GC,1301,-0.59,-146.0,165.2,-10.1,175,1305,0.00,2.22,0.00,0.000,4,0.000,0.053,2286,1363,3523,0,0,0,0,0,0
$GC,1357,-0.64,-146.0,171.1,-9.9,179,1363,0.00,2.38,0.00,0.000,6,0.000,0.063,2286,2802,3522,0,0,0,0,0,0
$GC,1682,-0.67,-146.0,201.9,-9.1,210,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2802,3522,0,0,0,0,0,0
$GC,2003,-0.72,-146.0,229.9,-8.4,240,2007,0.12,2.33,0.00,0.000,4,0.116,0.054,2235,1365,3522,0,0,0,0,0,0
$GC,2040,-0.68,-146.0,234.4,-11.4,243,2047,0.00,2.35,0.00,0.000,6,0.000,0.065,2235,2785,3522,0,0,0,0,0,0
$STATE,2183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2183,begin apogee
$GC,2189,-0.14,0.0,251.1,12.2,257,2312,0.60,0.00,116.25,0.806,4,0.155,0.000,2422,2600,2922,0,0,0,0,0,0
$STATE,2313,end apogee,CONTROL_FINISHED_OK
$STATE,2313,begin climb
$GC,2315,0.57,146.0,256.8,0.0,268,2445,0.70,2.42,121.25,0.773,4,0.093,0.053,2655,1181,2327,0,0,0,0,0,0
$GC,2594,0.59,186.6,243.0,8.1,293,2636,0.00,2.50,35.00,0.750,6,0.000,0.057,2655,2604,2162,0,0,0,0,0,0
$GC,2962,0.61,203.2,208.9,9.2,328,2985,0.00,2.42,14.50,0.736,4,0.000,0.056,2656,1195,2093,0,0,0,0,0,0
$GC,3125,0.70,248.4,194.8,7.9,342,3176,0.12,2.40,39.58,0.741,6,0.111,0.057,2704,2615,1908,0,0,0,0,0,0
$GC,3493,0.70,248.4,149.1,13.0,377,3497,0.00,2.35,0.00,0.000,4,0.000,0.056,2705,1188,1900,0,0,0,0,0,0
$GC,3555,0.74,248.4,141.7,12.1,382,3559,0.00,2.28,0.00,0.000,6,0.000,0.059,2705,2569,1900,0,0,0,0,0,0
$GC,3880,0.74,248.4,101.3,12.2,412,3884,0.00,2.30,0.00,0.000,4,0.000,0.070,2705,3934,1898,0,0,0,0,0,0
$GC,3925,0.68,248.4,95.5,13.5,418,3932,0.00,2.20,0.00,0.000,6,0.000,0.047,2705,2569,1897,0,0,0,0,0,0
$GC,4270,0.70,276.4,60.1,8.7,479,4300,0.00,2.25,23.05,0.691,4,0.000,0.056,2705,1181,1794,0,0,0,0,0,0
$GC,4341,0.80,318.7,54.2,8.1,491,4383,0.00,2.33,36.62,0.672,6,0.000,0.057,2705,2580,1622,0,0,0,0,0,0
$GC,4722,0.97,389.9,23.2,6.7,558,4790,0.22,2.38,58.60,0.657,4,0.086,0.070,2791,3934,1331,0,0,0,0,0,0
$GC,4820,0.91,389.9,11.0,14.8,574,4827,0.00,2.28,0.00,0.000,6,0.000,0.047,2794,2575,1327,0,0,0,0,0,0
$FREEZE,8.33,-1.588,-1.703,2,18,0
$FREEZE,7.54,-1.590,-1.702,2,18,0
$FREEZE,7.03,-1.596,-1.701,2,18,0
$FREEZE,6.36,-1.609,-1.699,2,18,0
$STATE,4854,end climb,FINISH_DEPTH_REACHED
$STATE,4854,begin subsurface finish
$FINISH1,6.4,1.024929,126
$GC,4860,0.08,126.3,6.4,-12.7,580,4907,0.98,2.28,-39.08,0.000,4,0.170,0.066,2510,1177,2411,0,0,0,0,0,0
$FINISH2,5.1
$STATE,4908,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4908,begin surface
$RAFOS_CLK,314
$RAFOS,6,1290718143,20.833334,20.817499,60,58,48,45,45,45,1754,788,312,1171,1430,124
$RAFOS,5,1290717662,20.700001,20.683889,64,56,54,45,43,43,923,914,170,970,805,1595
$RAFOS,4,1290717187,20.566668,20.551945,89,45,43,42,42,40,670,448,1476,1351,1884,791
$RAFOS_FIX,42610.878906,-222034.687500,251110,202053,7,84,0.03
$IRIDIUM_FIX,6620.33,-5936.77,241110,010130
$TT8_MAMPS,0.028462
$HUMID,49.76
$INTERNAL_PRESSURE,8.56325
$TCM_TEMP,13.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.2
$24V_AH,22.5,48.671
$10V_AH,9.9,36.684
$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,3.325,46.350,444.850,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1388.734,2166.176,441.182,958.868,82.548,0.000,1001.359,0.000,961.622,720.000,2.618,0.000
$DEVICE_MAMPS,169.830,175.950,805.545,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,406.330,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20125,588
$CAP_FILE_SIZE,64859,0
$CFSIZE,260165632,221343744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.9
$GPS,020414,133129,-200.000,-200.000,0,8071.8,0,-38.1