version: 66.08
glider: 183
mission: 3
dive: 435
start: 12 1 110 17 4 40
data:
$ID,183
$MISSION,3
$DIVE,435
$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,-3
$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,-8294.2529
$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,43
$R_STBD_OVSHOOT,24
$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
$GPS1,011210,164656,6703.313,-5701.014,0,2068.0,0,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,69.58
$_SM_ANGLEo,6.6
$GPS2,011210,164656,6703.313,-5701.014,0,2068.0,0,-37.6
$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,131.1,9416,-17.5,-10.000
$D_GRID,633
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-6.55,0.000,2,0.000,0.000,2491,3925,3521,0,0,0,0,0,0
$GC,27,-0.57,-146.0,69.9,-0.0,1,35,0.60,4.07,0.00,0.000,4,0.145,0.039,2299,1368,3523,0,0,0,0,0,0
$GC,126,-0.66,-146.0,76.6,-6.3,18,134,0.10,2.28,0.00,0.000,6,0.110,0.054,2251,2783,3524,0,0,0,0,0,0
$GC,466,-0.63,-146.0,113.2,-10.7,68,469,0.00,1.90,0.00,0.000,4,0.000,0.065,2247,3935,3525,0,0,0,0,0,0
$GC,549,-0.61,-146.0,123.2,-11.7,75,556,0.12,1.77,0.00,0.000,6,0.163,0.039,2282,2784,3525,0,0,0,0,0,0
$GC,875,-0.67,-146.0,151.3,-7.6,106,879,0.00,2.20,0.00,0.000,4,0.000,0.043,2282,1371,3525,0,0,0,0,0,0
$GC,920,-0.75,-146.0,154.9,-7.6,109,927,0.12,2.28,0.00,0.000,6,0.098,0.054,2219,2790,3525,0,0,0,0,0,0
$GC,1245,-0.68,-146.0,194.0,-12.4,140,1249,0.12,1.88,0.00,0.000,4,0.177,0.064,2246,3929,3525,0,0,0,0,0,0
$GC,1307,-0.68,-146.0,200.6,-9.5,145,1314,0.00,1.80,0.00,0.000,6,0.000,0.039,2246,2766,3525,0,0,0,0,0,0
$GC,1634,-0.68,-146.0,229.5,-8.5,176,1638,0.00,2.15,0.00,0.000,4,0.000,0.042,2245,1365,3525,0,0,0,0,0,0
$GC,1669,-0.68,-146.0,232.5,-8.9,179,1673,0.00,2.25,0.00,0.000,6,0.000,0.054,2243,2770,3525,0,0,0,0,0,0
$GC,1994,-0.68,-146.0,260.3,-8.6,209,1998,0.00,1.90,0.00,0.000,4,0.000,0.063,2235,3935,3526,0,0,0,0,0,0
$GC,2056,-0.68,-146.0,266.0,-8.9,214,2063,0.00,1.83,0.00,0.000,6,0.000,0.039,2235,2756,3526,0,0,0,0,0,0
$GC,2381,-0.68,-146.0,295.7,-9.5,245,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2756,3526,0,0,0,0,0,0
$GC,2701,-0.68,-146.0,326.4,-9.5,275,2705,0.00,1.92,0.00,0.000,4,0.000,0.063,2228,3928,3526,0,0,0,0,0,0
$GC,2729,-0.65,-146.0,329.4,-10.4,277,2736,0.05,1.83,0.00,0.000,6,0.147,0.038,2262,2771,3526,0,0,0,0,0,0
$GC,3055,-0.69,-146.0,353.0,-7.0,308,3058,0.00,1.90,0.00,0.000,4,0.000,0.063,2255,3929,3527,0,0,0,0,0,0
$GC,3078,-0.73,-146.0,354.7,-6.8,310,3082,0.00,1.80,0.00,0.000,6,0.000,0.039,2254,2763,3527,0,0,0,0,0,0
$GC,3410,-0.76,-146.0,378.2,-6.9,341,3414,0.00,2.15,0.00,0.000,4,0.000,0.043,2255,1369,3527,0,0,0,0,0,0
$GC,3437,-0.80,-146.0,380.5,-7.8,343,3444,0.00,2.25,0.00,0.000,6,0.000,0.054,2252,2770,3527,0,0,0,0,0,0
$GC,3763,-0.82,-146.0,406.1,-8.4,374,3765,0.12,0.00,0.00,0.000,6,0.101,0.000,2190,2770,3527,0,0,0,0,0,0
$GC,4081,-0.71,-146.0,445.8,-12.3,404,4083,0.20,0.00,0.00,0.000,6,0.162,0.000,2246,2770,3527,0,0,0,0,0,0
$GC,4400,-0.71,-146.0,472.3,-7.9,434,4404,0.00,1.92,0.00,0.000,4,0.000,0.064,2240,3923,3527,0,0,0,0,0,0
$GC,4434,-0.71,-146.0,475.3,-9.3,437,4438,0.00,1.83,0.00,0.000,6,0.000,0.041,2240,2747,3527,0,0,0,0,0,0
$GC,4784,-0.71,-146.0,505.4,-8.3,466,4787,0.00,1.95,0.00,0.000,4,0.000,0.065,2233,3928,3527,0,0,0,0,0,0
$GC,4833,-0.71,-146.0,510.0,-9.0,467,4837,0.00,1.85,0.00,0.000,6,0.000,0.041,2233,2768,3528,0,0,0,0,0,0
$GC,5159,-0.71,-146.0,537.0,-8.1,478,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2769,3528,0,0,0,0,0,0
$GC,5464,-0.71,-146.0,562.1,-8.2,488,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2769,3527,0,0,0,0,0,0
$GC,5770,-0.71,-146.0,586.7,-8.2,498,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2769,3527,0,0,0,0,0,0
$GC,6077,-0.71,-146.0,614.1,-8.9,508,6081,0.00,2.17,0.00,0.000,4,0.000,0.045,2233,1367,3526,0,0,0,0,0,0
$GC,6109,-0.71,-146.0,617.3,-9.1,509,6113,0.00,2.30,0.00,0.000,6,0.000,0.057,2230,2783,3526,0,0,0,0,0,0
$STATE,6289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6289,begin apogee
$GC,6295,-0.14,0.0,633.2,8.9,515,6425,0.60,0.00,121.12,0.981,4,0.134,0.000,2425,2608,2922,0,0,0,0,0,0
$STATE,6425,end apogee,CONTROL_FINISHED_OK
$STATE,6425,begin climb
$GC,6427,0.57,146.0,636.2,0.0,519,6564,0.68,2.38,125.68,0.960,4,0.064,0.046,2670,1188,2326,0,0,0,0,0,0
$GC,6699,0.57,146.0,610.4,24095.6,527,6703,0.00,2.42,0.00,0.000,6,0.000,0.051,2670,2607,2318,0,0,0,0,0,0
$GC,7018,0.57,146.0,569.6,24095.6,538,7022,0.00,2.28,0.00,0.000,4,0.000,0.047,2672,1186,2314,0,0,0,0,0,0
$GC,7255,0.57,146.0,541.9,24095.6,545,7259,0.00,2.33,0.00,0.000,6,0.000,0.053,2673,2617,2313,0,0,0,0,0,0
$GC,7590,0.57,146.0,499.7,24095.6,556,7594,0.00,2.17,0.00,0.000,4,0.000,0.063,2673,3925,2312,0,0,0,0,0,0
$GC,7645,0.57,146.0,491.5,24095.6,560,7653,0.00,2.08,0.00,0.000,6,0.000,0.042,2679,2599,2310,0,0,0,0,0,0
$GC,7971,0.57,146.0,447.5,24095.6,591,7975,0.00,2.22,0.00,0.000,4,0.000,0.063,2679,3934,2310,0,0,0,0,0,0
$GC,8039,0.57,146.0,436.6,24095.6,596,8045,0.00,2.08,0.00,0.000,6,0.000,0.041,2683,2610,2309,0,0,0,0,0,0
$GC,8364,0.57,146.0,391.3,24095.6,627,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2610,2309,0,0,0,0,0,0
$GC,8684,0.57,146.0,348.8,24095.6,657,8688,0.00,2.20,0.00,0.000,4,0.000,0.064,2682,3929,2309,0,0,0,0,0,0
$GC,8746,0.57,146.0,339.2,24095.6,662,8751,0.12,2.05,0.00,0.000,6,0.208,0.041,2660,2616,2308,0,0,0,0,0,0
$GC,9073,0.57,146.0,298.7,24095.6,692,9077,0.00,2.15,0.00,0.000,4,0.000,0.063,2660,3924,2308,0,0,0,0,0,0
$GC,9113,0.57,146.0,292.7,24095.6,695,9117,0.00,2.03,0.00,0.000,6,0.000,0.041,2663,2626,2307,0,0,0,0,0,0
$GC,9444,0.57,146.0,248.4,24095.6,726,9448,0.00,2.15,0.00,0.000,4,0.000,0.063,2663,3925,2307,0,0,0,0,0,0
$GC,9480,0.57,146.0,243.5,24095.6,729,9484,0.00,2.03,0.00,0.000,6,0.000,0.041,2665,2642,2307,0,0,0,0,0,0
$GC,9811,0.57,146.0,198.7,24095.6,760,9814,0.00,2.12,0.00,0.000,4,0.000,0.062,2665,3925,2307,0,0,0,0,0,0
$GC,9850,0.57,146.0,192.8,24095.6,763,9857,0.00,2.03,0.00,0.000,6,0.000,0.040,2666,2639,2307,0,0,0,0,0,0
$GC,10175,0.57,146.0,153.0,24095.6,794,10176,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2639,2307,0,0,0,0,0,0
$GC,10495,0.57,146.0,115.6,24095.6,824,10497,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2639,2308,0,0,0,0,0,0
$GC,10821,0.57,146.0,82.4,24095.6,869,10827,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2639,2309,0,0,0,0,0,0
$GC,11164,0.57,146.0,50.8,24095.6,930,11170,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2639,2310,0,0,0,0,0,0
$STATE,11505,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,11505,begin subsurface finish
$FINISH1,23.4,1.026156,66
$GC,11512,0.04,65.9,23.4,-24095.6,991,11525,0.55,0.00,-5.35,0.000,6,0.154,0.000,2495,2639,2657,0,0,0,0,0,0
$FINISH2,22.7
$STATE,11526,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11526,begin surface
$RAFOS_CLK,554
$RAFOS,1,1291234146,20.166666,20.151667,44,43,43,42,41,41,1322,831,1629,26,699,1292
$RAFOS,0,1291233666,20.033333,20.018333,45,43,42,41,40,39,676,768,1863,786,405,276
$RAFOS_FIX,1710.104004,1726.181641,071104,040443,16776,18,0.00
$IRIDIUM_FIX,6625.71,-5722.48,011210,000045
$TT8_MAMPS,0.028462
$HUMID,48.58
$INTERNAL_PRESSURE,8.76834
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,17.3,17.3
$ALTIM_BOTTOM_PING,18.8,18.2
$24V_AH,22.3,52.938
$10V_AH,10.1,39.109
$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,3.400,85.150,246.800,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2466.849,6956.790,279.112,1712.408,164.801,0.000,1178.697,0.000,1700.734,720.000,13.389,0.000
$DEVICE_MAMPS,208.080,65.025,980.730,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,688.149,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151652
$DATA_FILE_SIZE,36651,993
$CAP_FILE_SIZE,115818,0
$CFSIZE,260165632,219004928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.3
$GPS,011210,164656,6703.313,-5701.014,0,2068.0,0,-37.6