version: 66.08
glider: 183
mission: 3
dive: 440
start: 12 2 110 10 21 33
data:
$ID,183
$MISSION,3
$DIVE,440
$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,-8297.8848
$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,42
$R_STBD_OVSHOOT,30
$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
$GPS1,021210,100824,6659.067,-5642.876,50,0.9,50,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-56.6
$GPS2,021210,102102,6659.398,-5642.858,11,1.0,11,-37.4
$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,8.3,7635,-17.5,-10.000
$D_GRID,489
$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,-146.0,0.0,0.0,0,150,0.00,0.00,-131.18,0.000,2,0.000,0.000,259,2792,3257,0,0,0,0,0,0
$GC,154,-0.57,-146.0,5.5,-13.2,23,174,8.45,2.30,-5.35,0.000,4,0.249,0.057,2286,1376,3523,0,0,0,0,0,0
$GC,315,-0.57,-146.0,32.6,-10.5,51,322,0.00,2.28,0.00,0.000,6,0.000,0.057,2286,2782,3524,0,0,0,0,0,0
$GC,660,-0.57,-146.0,69.1,-10.2,112,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2782,3523,0,0,0,0,0,0
$GC,1004,-0.60,-146.0,102.4,-9.1,171,1008,0.00,2.22,0.00,0.000,4,0.000,0.045,2286,1369,3522,0,0,0,0,0,0
$GC,1084,-0.66,-146.0,109.4,-8.7,177,1091,0.00,2.28,0.00,0.000,6,0.000,0.057,2286,2776,3522,0,0,0,0,0,0
$GC,1410,-0.70,-146.0,136.1,-7.7,208,1411,0.10,0.00,0.00,0.000,6,0.112,0.000,2238,2777,3522,0,0,0,0,0,0
$GC,1730,-0.64,-146.0,172.9,-11.7,238,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2777,3523,0,0,0,0,0,0
$GC,2048,-0.59,-146.0,211.3,-12.0,268,2050,0.15,0.00,0.00,0.000,6,0.163,0.000,2280,2776,3523,0,0,0,0,0,0
$GC,2365,-0.63,-146.0,240.1,-8.8,298,2369,0.00,1.88,0.00,0.000,4,0.000,0.065,2275,3929,3524,0,0,0,0,0,0
$GC,2415,-0.68,-146.0,244.8,-9.5,302,2421,0.00,1.80,0.00,0.000,6,0.000,0.041,2275,2770,3524,0,0,0,0,0,0
$GC,2740,-0.72,-146.0,271.6,-8.1,333,2744,0.00,2.15,0.00,0.000,4,0.000,0.044,2274,1371,3525,0,0,0,0,0,0
$GC,2790,-0.78,-146.0,275.9,-8.1,337,2798,0.15,2.25,0.00,0.000,6,0.086,0.055,2202,2775,3525,0,0,0,0,0,0
$GC,3116,-0.68,-146.0,317.7,-13.1,368,3121,0.17,2.22,0.00,0.000,4,0.171,0.043,2251,1366,3525,0,0,0,0,0,0
$GC,3148,-0.68,-146.0,321.7,-10.3,370,3155,0.00,2.28,0.00,0.000,6,0.000,0.054,2250,2758,3526,0,0,0,0,0,0
$GC,3474,-0.68,-146.0,352.6,-9.2,401,3478,0.00,1.90,0.00,0.000,4,0.000,0.063,2244,3928,3526,0,0,0,0,0,0
$GC,3497,-0.68,-146.0,354.9,-9.4,403,3501,0.00,1.83,0.00,0.000,6,0.000,0.040,2244,2762,3527,0,0,0,0,0,0
$GC,3828,-0.68,-146.0,385.0,-8.3,434,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2762,3527,0,0,0,0,0,0
$GC,4149,-0.68,-146.0,411.9,-8.3,464,4152,0.00,1.92,0.00,0.000,4,0.000,0.065,2237,3931,3528,0,0,0,0,0,0
$GC,4183,-0.68,-146.0,415.0,-8.8,467,4187,0.00,1.83,0.00,0.000,6,0.000,0.041,2237,2770,3528,0,0,0,0,0,0
$GC,4515,-0.68,-146.0,445.4,-9.5,498,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2770,3528,0,0,0,0,0,0
$GC,4833,-0.68,-146.0,476.0,-9.7,528,4836,0.00,2.17,0.00,0.000,4,0.000,0.043,2237,1369,3529,0,0,0,0,0,0
$GC,4860,-0.68,-146.0,478.9,-9.8,530,4867,0.00,2.28,0.00,0.000,6,0.000,0.054,2235,2770,3529,0,0,0,0,0,0
$STATE,4972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4972,begin apogee
$GC,4978,-0.14,0.0,489.7,9.6,541,5102,0.57,0.00,118.47,0.866,4,0.133,0.000,2424,2602,2923,0,0,0,0,0,0
$STATE,5103,end apogee,CONTROL_FINISHED_OK
$STATE,5103,begin climb
$GC,5106,0.57,146.0,493.1,0.0,552,5238,0.65,2.30,119.97,0.851,4,0.067,0.043,2660,1189,2327,0,0,0,0,0,0
$GC,5445,0.57,146.0,460.8,11.7,582,5452,0.00,2.35,0.00,0.000,6,0.000,0.048,2660,2601,2320,0,0,0,0,0,0
$GC,5771,0.51,146.0,421.9,12.1,613,5775,0.00,2.20,0.00,0.000,4,0.000,0.045,2662,1192,2318,0,0,0,0,0,0
$GC,5939,0.49,146.0,402.0,12.3,627,5946,0.00,2.28,0.00,0.000,6,0.000,0.048,2662,2620,2318,0,0,0,0,0,0
$GC,6265,0.44,146.0,360.9,13.2,658,6270,0.17,2.10,0.00,0.000,4,0.181,0.059,2614,3923,2317,0,0,0,0,0,0
$GC,6299,0.44,146.0,356.5,12.5,661,6303,0.00,2.08,0.00,0.000,6,0.000,0.037,2614,2614,2316,0,0,0,0,0,0
$GC,6630,0.47,146.0,321.8,10.6,692,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2613,2316,0,0,0,0,0,0
$GC,6948,0.52,168.2,290.7,9.0,722,6968,0.00,0.00,17.80,0.720,6,0.000,0.000,2614,2613,2237,0,0,0,0,0,0
$GC,7287,0.60,201.8,262.7,8.5,754,7318,0.15,0.00,28.77,0.714,6,0.090,0.000,2684,2613,2100,0,0,0,0,0,0
$GC,7637,0.55,201.8,217.3,13.4,787,7642,0.12,2.25,0.00,0.000,4,0.170,0.046,2652,1188,2093,0,0,0,0,0,0
$GC,7677,0.61,201.8,212.4,10.8,790,7681,0.00,2.28,0.00,0.000,6,0.000,0.047,2653,2627,2094,0,0,0,0,0,0
$GC,8003,0.61,201.8,174.8,11.3,820,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2626,2093,0,0,0,0,0,0
$GC,8324,0.63,201.8,138.8,10.9,850,8328,0.00,2.22,0.00,0.000,4,0.000,0.046,2653,1196,2092,0,0,0,0,0,0
$GC,8359,0.69,201.9,135.0,10.0,852,8366,0.12,2.28,0.00,0.000,6,0.099,0.048,2710,2625,2092,0,0,0,0,0,0
$GC,8688,0.61,201.9,87.6,14.3,890,8695,0.15,2.12,0.00,0.000,4,0.181,0.058,2670,3924,2092,0,0,0,0,0,0
$GC,8716,0.55,201.9,84.2,13.4,894,8722,0.00,2.05,0.00,0.000,6,0.000,0.038,2670,2595,2090,0,0,0,0,0,0
$GC,9059,0.55,201.9,46.0,10.6,955,9066,0.00,2.15,0.00,0.000,4,0.000,0.045,2670,1197,2091,0,0,0,0,0,0
$GC,9135,0.61,204.5,38.2,9.9,968,9142,0.00,2.22,0.00,0.000,6,0.000,0.048,2670,2613,2091,0,0,0,0,0,0
$FREEZE,8.97,1.295,-1.799,0,1,0
$FREEZE,8.47,1.294,-1.798,0,1,0
$FREEZE,8.00,1.295,-1.798,0,1,0
$FREEZE,7.46,1.296,-1.798,0,1,0
$FREEZE,7.22,1.297,-1.797,0,1,0
$FREEZE,6.62,1.297,-1.797,0,1,0
$STATE,9472,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,9472,begin subsurface finish
$FINISH1,6.6,1.026193,64
$GC,9478,0.04,64.1,6.6,-8.9,1028,9503,0.52,2.15,-18.17,0.000,4,0.131,0.076,2495,3924,2663,0,0,0,0,0,0
$FINISH2,5.5
$STATE,9504,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9504,begin surface
$RAFOS_CLK,375
$RAFOS,6,1291294143,12.833333,12.817500,52,48,47,44,43,42,1111,843,379,860,727,144
$RAFOS,5,1291293667,12.700000,12.685278,48,44,43,41,41,41,1559,662,630,279,892,1778
$RAFOS,4,1291293187,12.566667,12.551945,50,48,47,43,43,42,144,1298,1513,625,799,1030
$RAFOS,3,1291292703,12.433333,12.417500,51,50,45,43,43,41,1576,1890,1464,984,1686,1121
$RAFOS,2,1291292228,12.300000,12.285556,45,42,41,40,40,39,1742,636,1103,1784,425,295
$RAFOS,1,1291291750,12.166667,12.152778,49,46,46,45,45,43,144,752,1375,1287,843,482
$RAFOS,0,1291291268,12.033333,12.018888,45,45,43,42,40,40,196,1667,1128,538,599,1713
$RAFOS_FIX,6701.095215,-5648.407227,021210,000022,3,77,0.35
$IRIDIUM_FIX,6625.71,-5627.73,021210,060642
$TT8_MAMPS,0.028462
$HUMID,46.96
$INTERNAL_PRESSURE,8.79764
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,17.6
$ALTIM_BOTTOM_PING,450.3,61.4
$24V_AH,22.9,53.440
$10V_AH,10.1,39.455
$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,11.500,66.850,285.025,0.000,0.000,27.373,28.035,429.616,1.750,0.000,13.875,2425.053,4937.040,424.047,2098.877,375.458,0.000,1287.718,0.000,1624.474,2520.000,12.537,0.000
$DEVICE_MAMPS,249.390,75.735,865.980,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,708.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151624
$DATA_FILE_SIZE,36754,1032
$CAP_FILE_SIZE,113434,0
$CFSIZE,260165632,218685440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1476.2
$GPS,021210,102102,6659.398,-5642.858,11,1.0,11,-37.4