version: 66.08
glider: 183
mission: 3
dive: 438
start: 12 2 110 3 31 10
data:
$ID,183
$MISSION,3
$DIVE,438
$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,25
$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
$GPS1,021210,004322,6701.095,-5648.407,0,3077.0,0,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.31
$_SM_ANGLEo,-1.0
$GPS2,021210,004322,6701.095,-5648.407,0,3077.0,0,-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,42.4,3540,-17.5,-10.000
$D_GRID,543
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-6.93,0.000,2,0.000,0.000,2493,2647,2933,0,0,0,0,0,0
$GC,27,-0.57,-146.0,9.8,-0.0,1,47,0.52,2.17,-13.55,0.000,4,0.083,0.077,2288,3926,3521,0,0,0,0,0,0
$GC,157,-0.61,-146.0,21.7,-10.9,23,164,0.00,1.77,0.00,0.000,6,0.000,0.039,2288,2773,3522,0,0,0,0,0,0
$GC,503,-0.64,-146.0,54.3,-7.4,84,510,0.00,2.15,0.00,0.000,4,0.000,0.042,2288,1372,3522,0,0,0,0,0,0
$GC,535,-0.68,-146.0,57.0,-8.1,89,541,0.00,2.25,0.00,0.000,6,0.000,0.054,2288,2774,3522,0,0,0,0,0,0
$GC,881,-0.72,-146.0,85.3,-8.1,150,888,0.12,1.90,0.00,0.000,4,0.100,0.065,2227,3926,3521,0,0,0,0,0,0
$GC,912,-0.67,-146.0,88.7,-11.3,155,919,0.10,1.80,0.00,0.000,6,0.180,0.040,2252,2776,3522,0,0,0,0,0,0
$GC,1250,-0.65,-146.0,126.2,-10.3,195,1254,0.00,2.17,0.00,0.000,4,0.000,0.043,2253,1370,3521,0,0,0,0,0,0
$GC,1310,-0.65,-146.0,132.3,-9.4,200,1317,0.00,2.25,0.00,0.000,6,0.000,0.054,2252,2772,3521,0,0,0,0,0,0
$GC,1636,-0.65,-146.0,164.9,-10.0,231,1639,0.00,1.90,0.00,0.000,4,0.000,0.064,2247,3925,3520,0,0,0,0,0,0
$GC,1715,-0.65,-146.0,173.4,-10.7,238,1719,0.00,1.77,0.00,0.000,6,0.000,0.040,2247,2776,3520,0,0,0,0,0,0
$GC,2045,-0.65,-146.0,210.4,-11.2,269,2049,0.00,2.15,0.00,0.000,4,0.000,0.043,2247,1373,3521,0,0,0,0,0,0
$GC,2067,-0.65,-146.0,212.8,-10.9,270,2075,0.00,2.28,0.00,0.000,6,0.000,0.054,2247,2786,3520,0,0,0,0,0,0
$GC,2392,-0.65,-146.0,246.2,-10.0,301,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2786,3520,0,0,0,0,0,0
$GC,2712,-0.65,-146.0,276.6,-9.8,331,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2787,3520,0,0,0,0,0,0
$GC,3032,-0.65,-146.0,307.1,-8.7,361,3036,0.00,1.90,0.00,0.000,4,0.000,0.063,2247,3928,3520,0,0,0,0,0,0
$GC,3088,-0.65,-146.0,312.7,-9.7,366,3092,0.00,1.75,0.00,0.000,6,0.000,0.040,2247,2791,3520,0,0,0,0,0,0
$GC,3419,-0.65,-146.0,343.6,-8.8,397,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2791,3520,0,0,0,0,0,0
$GC,3738,-0.65,-146.0,369.2,-8.0,427,3741,0.00,1.88,0.00,0.000,4,0.000,0.064,2247,3933,3521,0,0,0,0,0,0
$GC,3806,-0.65,-146.0,374.5,-7.5,433,3810,0.00,1.77,0.00,0.000,6,0.000,0.040,2247,2812,3521,0,0,0,0,0,0
$GC,4138,-0.65,-146.0,399.8,-7.9,464,4143,0.00,2.22,0.00,0.000,4,0.000,0.041,2247,1364,3521,0,0,0,0,0,0
$GC,4165,-0.65,-146.0,402.3,-8.5,466,4172,0.00,2.33,0.00,0.000,6,0.000,0.054,2247,2815,3521,0,0,0,0,0,0
$GC,4491,-0.65,-146.0,428.2,-8.2,497,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2815,3521,0,0,0,0,0,0
$GC,4811,-0.65,-146.0,453.0,-8.1,527,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2815,3521,0,0,0,0,0,0
$GC,5130,-0.65,-146.0,478.1,-7.8,557,5131,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2815,3521,0,0,0,0,0,0
$GC,5456,-0.67,-146.0,505.4,-8.5,584,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2815,3522,0,0,0,0,0,0
$GC,5762,-0.69,-146.0,531.1,-8.2,594,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2815,3522,0,0,0,0,0,0
$STATE,5911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5912,begin apogee
$GC,5917,-0.14,0.0,543.4,8.0,599,6043,0.52,0.00,117.50,0.898,4,0.127,0.000,2423,2601,2923,0,0,0,0,0,0
$STATE,6044,end apogee,CONTROL_FINISHED_OK
$STATE,6044,begin climb
$GC,6047,0.57,146.0,546.3,0.0,603,6177,0.65,2.33,121.55,0.880,4,0.060,0.043,2665,1181,2327,0,0,0,0,0,0
$GC,6345,0.54,146.0,516.7,12.8,612,6349,0.00,2.38,0.00,0.000,6,0.000,0.048,2665,2610,2319,0,0,0,0,0,0
$GC,6669,0.46,146.0,473.3,13.3,633,6674,0.15,2.25,0.00,0.000,4,0.187,0.045,2625,1186,2316,0,0,0,0,0,0
$GC,6889,0.51,171.1,451.5,8.8,652,6915,0.00,2.25,20.12,0.806,6,0.000,0.049,2625,2603,2225,0,0,0,0,0,0
$GC,7241,0.51,171.1,413.7,10.4,685,7244,0.00,2.15,0.00,0.000,4,0.000,0.060,2625,3925,2221,0,0,0,0,0,0
$GC,7320,0.48,171.1,404.1,12.4,692,7324,0.00,2.10,0.00,0.000,6,0.000,0.038,2625,2590,2219,0,0,0,0,0,0
$GC,7651,0.48,171.1,368.6,10.7,723,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2589,2219,0,0,0,0,0,0
$GC,7970,0.48,171.1,336.0,10.3,753,7974,0.00,2.17,0.00,0.000,4,0.000,0.060,2626,3926,2219,0,0,0,0,0,0
$GC,8010,0.45,171.1,331.1,12.6,756,8017,0.00,2.05,0.00,0.000,6,0.000,0.037,2628,2599,2219,0,0,0,0,0,0
$GC,8335,0.45,171.1,297.9,10.1,787,8336,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2599,2219,0,0,0,0,0,0
$GC,8654,0.45,179.3,265.6,9.6,817,8667,0.00,2.25,7.60,0.652,4,0.000,0.060,2628,3928,2192,0,0,0,0,0,0
$GC,8725,0.43,179.3,257.7,12.1,823,8729,0.00,2.05,0.00,0.000,6,0.000,0.037,2628,2601,2191,0,0,0,0,0,0
$GC,9056,0.46,179.3,224.9,10.0,854,9060,0.00,2.17,0.00,0.000,4,0.000,0.044,2628,1198,2191,0,0,0,0,0,0
$GC,9079,0.52,179.3,222.7,10.2,856,9083,0.00,2.22,0.00,0.000,6,0.000,0.048,2628,2609,2191,0,0,0,0,0,0
$GC,9404,0.56,188.1,190.0,9.6,886,9419,0.00,2.17,8.85,0.633,4,0.000,0.059,2628,3922,2155,0,0,0,0,0,0
$GC,9465,0.56,188.1,183.1,11.6,891,9472,0.00,2.05,0.00,0.000,6,0.000,0.037,2628,2628,2154,0,0,0,0,0,0
$GC,9791,0.61,202.2,151.5,9.3,922,9807,0.12,0.00,13.02,0.640,6,0.099,0.000,2688,2628,2098,0,0,0,0,0,0
$GC,10127,0.55,202.2,109.0,12.7,953,10132,0.12,2.28,0.00,0.000,4,0.174,0.046,2654,1180,2096,0,0,0,0,0,0
$GC,10160,0.60,202.2,105.1,10.5,955,10167,0.00,2.30,0.00,0.000,6,0.000,0.047,2654,2626,2095,0,0,0,0,0,0
$GC,10501,0.60,212.9,69.7,9.5,1011,10514,0.00,0.00,10.10,0.588,6,0.000,0.000,2654,2627,2053,0,0,0,0,0,0
$GC,10854,0.65,224.3,35.2,9.5,1073,10867,0.00,0.00,10.40,0.574,6,0.000,0.000,2654,2627,2008,0,0,0,0,0,0
$FREEZE,8.36,0.427,-1.784,0,8,0
$FREEZE,7.79,0.406,-1.784,0,8,0
$FREEZE,7.28,0.391,-1.783,0,8,0
$FREEZE,6.89,0.394,-1.783,0,8,0
$FREEZE,6.63,0.392,-1.782,0,8,0
$FREEZE,6.10,0.392,-1.782,0,8,0
$FREEZE,5.47,0.412,-1.781,0,8,0
$FREEZE,4.65,0.408,-1.781,0,8,0
$FREEZE,4.23,0.415,-1.781,0,8,0
$GC,11204,0.72,224.3,4.2,11.2,1135,11212,0.15,2.28,0.00,0.000,4,0.091,0.047,2719,1193,2005,0,0,0,0,0,0
$FREEZE,2.79,0.403,-1.780,0,8,0
$STATE,11218,end climb,SURFACE_DEPTH_REACHED
$STATE,11218,begin surface coast
$FREEZE,2.31,0.405,-1.779,0,8,0
$FREEZE,1.99,0.404,-1.779,0,8,0
$FREEZE,1.62,0.404,-1.779,0,8,0
$FINISH,1.6,1.026039
$STATE,11234,end surface coast,CONTROL_FINISHED_OK
$STATE,11234,begin surface
$SM_CCo,11252,228.30,0.077,0,0,440,609.08
$SM_GC,1.77,0.00,0.00,228.30,0.000,0.000,0.077,288,2778,440,-6.81,-0.06,609.08
$RAFOS_CLK,504
$RAFOS,6,1291265349,4.833333,4.819167,83,45,44,42,39,37,846,1415,1300,1730,1830,1842
$RAFOS,5,1291264872,4.700000,4.686666,48,47,46,46,44,43,631,1735,407,660,493,1637
$RAFOS,4,1291264385,4.566667,4.551389,47,46,41,41,41,40,903,913,207,833,26,1785
$RAFOS,3,1291263906,4.433333,4.418334,52,46,44,44,42,40,538,555,90,672,1177,1760
$RAFOS,2,1291263421,4.300000,4.283611,52,46,46,42,41,40,986,718,1908,1543,1689,1559
$RAFOS,1,1291262943,4.166667,4.150833,53,48,48,40,39,39,1584,1437,1683,1381,139,1603
$RAFOS,0,1291262469,4.033333,4.019166,51,43,43,42,41,41,1488,26,1858,1618,1663,316
$RAFOS_FIX,6701.095215,-5648.407227,021210,000022,3,77,0.35
$IRIDIUM_FIX,6625.71,-5722.48,011210,000045
$TT8_MAMPS,0.028462
$HUMID,43.85
$INTERNAL_PRESSURE,8.56325
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,22.0
$24V_AH,22.8,53.185
$10V_AH,10.1,39.308
$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,8.900,76.800,309.150,228.300,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2799.085,6141.124,563.846,1867.194,172.078,0.000,1530.437,0.000,1855.671,2520.000,13.285,0.000
$DEVICE_MAMPS,187.425,77.265,898.110,77.265,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,788.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151684
$DATA_FILE_SIZE,40057,1140
$CAP_FILE_SIZE,120915,0
$CFSIZE,260165632,218804224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1476.4
$GPS,021210,064408,6656.004,-5642.248,49,1.0,49,-37.4