version: 66.08
glider: 183
mission: 3
dive: 441
start: 12 2 110 13 1 51
data:
$ID,183
$MISSION,3
$DIVE,441
$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,29
$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
$GPS1,021210,102102,6659.398,-5642.858,11,1.0,11,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.87
$_SM_ANGLEo,6.1
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-6.30,0.000,2,0.000,0.000,2495,3924,2910,0,0,0,0,0,0
$GC,26,-0.57,-146.0,8.2,-0.0,1,51,0.57,4.10,-14.85,0.000,4,0.113,0.049,2295,1365,3521,0,0,0,0,0,0
$GC,87,-0.61,-146.0,13.9,-8.9,11,94,0.00,2.25,0.00,0.000,6,0.000,0.053,2293,2779,3522,0,0,0,0,0,0
$GC,433,-0.63,-146.0,45.2,-9.1,72,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2779,3523,0,0,0,0,0,0
$GC,778,-0.68,-146.0,73.0,-7.1,133,785,0.12,1.90,0.00,0.000,4,0.101,0.066,2235,3932,3522,0,0,0,0,0,0
$GC,810,-0.64,-146.0,76.0,-10.1,138,817,0.12,1.80,0.00,0.000,6,0.170,0.041,2268,2782,3522,0,0,0,0,0,0
$GC,1152,-0.64,-146.0,107.3,-9.7,192,1156,0.00,2.17,0.00,0.000,4,0.000,0.044,2269,1368,3521,0,0,0,0,0,0
$GC,1252,-0.68,-146.0,117.4,-9.4,200,1259,0.00,2.28,0.00,0.000,6,0.000,0.055,2265,2766,3521,0,0,0,0,0,0
$GC,1578,-0.68,-146.0,148.3,-9.6,231,1581,0.00,1.90,0.00,0.000,4,0.000,0.065,2256,3932,3520,0,0,0,0,0,0
$GC,1651,-0.68,-146.0,155.7,-10.2,237,1658,0.00,1.83,0.00,0.000,6,0.000,0.041,2256,2770,3520,0,0,0,0,0,0
$GC,1977,-0.68,-146.0,186.7,-9.6,268,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2770,3520,0,0,0,0,0,0
$GC,2296,-0.68,-146.0,216.2,-9.4,298,2300,0.00,2.15,0.00,0.000,4,0.000,0.043,2256,1368,3520,0,0,0,0,0,0
$GC,2317,-0.68,-146.0,218.7,-10.2,299,2324,0.00,2.25,0.00,0.000,6,0.000,0.054,2252,2779,3520,0,0,0,0,0,0
$GC,2642,-0.68,-146.0,253.0,-10.4,330,2646,0.00,2.17,0.00,0.000,4,0.000,0.042,2252,1368,3520,0,0,0,0,0,0
$GC,2664,-0.68,-146.0,255.3,-10.5,332,2669,0.00,2.25,0.00,0.000,6,0.000,0.054,2249,2774,3519,0,0,0,0,0,0
$GC,2990,-0.68,-146.0,288.1,-9.7,362,2993,0.00,1.88,0.00,0.000,4,0.000,0.064,2242,3928,3520,0,0,0,0,0,0
$GC,3061,-0.68,-146.0,296.2,-11.4,368,3069,0.00,1.83,0.00,0.000,6,0.000,0.041,2242,2776,3520,0,0,0,0,0,0
$GC,3387,-0.68,-146.0,327.4,-9.4,399,3391,0.00,1.92,0.00,0.000,4,0.000,0.065,2235,3933,3520,0,0,0,0,0,0
$GC,3433,-0.65,-146.0,331.9,-10.1,403,3437,0.00,1.77,0.00,0.000,6,0.000,0.041,2235,2785,3520,0,0,0,0,0,0
$GC,3764,-0.65,-146.0,362.7,-9.1,434,3768,0.00,2.17,0.00,0.000,4,0.000,0.043,2235,1371,3519,0,0,0,0,0,0
$GC,3804,-0.65,-146.0,366.5,-8.9,437,3809,0.00,2.28,0.00,0.000,6,0.000,0.055,2235,2787,3520,0,0,0,0,0,0
$GC,4130,-0.65,-146.0,395.5,-9.7,467,4133,0.00,1.88,0.00,0.000,4,0.000,0.065,2235,3939,3520,0,0,0,0,0,0
$GC,4208,-0.65,-146.0,403.7,-10.5,474,4212,0.00,1.77,0.00,0.000,6,0.000,0.041,2234,2801,3520,0,0,0,0,0,0
$GC,4539,-0.65,-146.0,436.2,-9.8,505,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2801,3520,0,0,0,0,0,0
$GC,4858,-0.65,-146.0,465.9,-9.2,535,4861,0.00,1.85,0.00,0.000,4,0.000,0.065,2234,3929,3520,0,0,0,0,0,0
$GC,4885,-0.65,-146.0,468.7,-9.2,537,4892,0.00,1.75,0.00,0.000,6,0.000,0.041,2235,2810,3520,0,0,0,0,0,0
$STATE,5039,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5039,begin apogee
$GC,5044,-0.14,0.0,481.8,8.5,552,5168,0.57,0.00,116.30,0.853,4,0.130,0.000,2424,2603,2924,0,0,0,0,0,0
$STATE,5168,end apogee,CONTROL_FINISHED_OK
$STATE,5169,begin climb
$GC,5171,0.57,146.0,485.1,0.0,563,5300,0.65,2.30,119.70,0.838,4,0.063,0.043,2664,1183,2328,0,0,0,0,0,0
$GC,5455,0.55,146.0,459.6,11.2,589,5459,0.00,2.35,0.00,0.000,6,0.000,0.048,2664,2604,2321,0,0,0,0,0,0
$GC,5781,0.49,146.0,419.6,11.8,619,5785,0.12,2.22,0.00,0.000,4,0.191,0.044,2637,1193,2319,0,0,0,0,0,0
$GC,5961,0.52,169.7,403.0,8.9,635,5987,0.00,2.28,19.48,0.773,6,0.000,0.049,2637,2613,2230,0,0,0,0,0,0
$GC,6312,0.52,169.7,367.5,10.5,668,6316,0.00,2.15,0.00,0.000,4,0.000,0.060,2637,3926,2227,0,0,0,0,0,0
$GC,6347,0.49,169.7,363.3,12.6,671,6350,0.00,2.05,0.00,0.000,6,0.000,0.037,2639,2602,2225,0,0,0,0,0,0
$GC,6677,0.49,169.7,325.9,11.6,702,6681,0.00,2.15,0.00,0.000,4,0.000,0.060,2639,3925,2226,0,0,0,0,0,0
$GC,6717,0.44,169.7,321.1,13.0,705,6721,0.00,2.03,0.00,0.000,6,0.000,0.037,2642,2613,2225,0,0,0,0,0,0
$GC,7047,0.44,169.7,284.1,10.8,736,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2613,2225,0,0,0,0,0,0
$GC,7367,0.44,172.6,250.8,9.9,766,7371,0.00,2.20,0.00,0.000,4,0.000,0.045,2642,1192,2225,0,0,0,0,0,0
$GC,7407,0.51,202.5,247.0,8.6,769,7439,0.00,2.30,27.48,0.702,6,0.000,0.048,2642,2636,2096,0,0,0,0,0,0
$GC,7760,0.55,206.4,213.2,9.8,802,7773,0.00,2.30,4.12,0.500,4,0.000,0.045,2642,1202,2080,0,0,0,0,0,0
$GC,7807,0.65,231.1,208.8,8.9,806,7835,0.12,2.28,21.67,0.676,6,0.099,0.047,2696,2628,1980,0,0,0,0,0,0
$GC,8155,0.60,231.1,160.3,14.4,838,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2628,1975,0,0,0,0,0,0
$GC,8474,0.56,231.1,113.3,13.9,868,8476,0.15,0.00,0.00,0.000,6,0.174,0.000,2656,2628,1975,0,0,0,0,0,0
$GC,8803,0.61,231.1,75.2,11.2,917,8810,0.00,2.25,0.00,0.000,4,0.000,0.046,2655,1192,1974,0,0,0,0,0,0
$GC,8896,0.72,260.5,66.5,8.6,933,8927,0.15,2.25,24.38,0.600,6,0.090,0.048,2720,2605,1859,0,0,0,0,0,0
$GC,9265,0.72,260.5,14.9,12.3,998,9272,0.00,2.15,0.00,0.000,4,0.000,0.058,2720,3925,1853,0,0,0,0,0,0
$FREEZE,8.79,1.658,-1.805,0,2,0
$FREEZE,7.99,1.657,-1.804,0,2,0
$FREEZE,7.20,1.658,-1.804,0,2,0
$FREEZE,6.53,1.659,-1.803,0,2,0
$GC,9323,0.68,260.5,6.5,15.0,1008,9331,0.12,2.00,0.00,0.000,6,0.194,0.038,2694,2638,1852,0,0,0,0,0,0
$FREEZE,4.58,1.662,-1.802,0,2,0
$FREEZE,4.04,1.662,-1.801,0,2,0
$FREEZE,3.57,1.662,-1.801,0,2,0
$FREEZE,3.17,1.659,-1.801,0,2,0
$FREEZE,2.80,1.660,-1.800,0,2,0
$STATE,9357,end climb,SURFACE_DEPTH_REACHED
$STATE,9357,begin surface coast
$FREEZE,2.60,1.661,-1.800,0,2,0
$FREEZE,1.88,1.656,-1.799,0,2,0
$FREEZE,1.48,1.658,-1.799,0,2,0
$FREEZE,1.15,1.663,-1.799,0,2,0
$FREEZE,1.14,1.806,-0.915,0,2,0
$FREEZE,1.07,1.784,-1.792,0,2,0
$FINISH,1.1,1.026151
$STATE,9391,end surface coast,CONTROL_FINISHED_OK
$STATE,9391,begin surface
$SM_CCo,9406,200.62,0.076,0,0,440,609.08
$SM_GC,1.65,0.00,0.00,200.62,0.000,0.000,0.076,285,2790,440,-6.83,0.28,609.08
$RAFOS_CLK,431
$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,43.93
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.9
$ALTIM_BOTTOM_PING,450.3,46.5
$24V_AH,23.0,53.519
$10V_AH,10.1,39.511
$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,9.075,81.950,333.125,200.625,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2434.758,4862.411,560.373,1654.102,157.180,0.000,1433.646,0.000,1645.972,0.000,12.496,0.000
$DEVICE_MAMPS,194.310,71.145,852.975,75.735,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,702.624,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36663,1020
$CAP_FILE_SIZE,109699,0
$CFSIZE,260165632,218628096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1476.5
$GPS,021210,154325,6704.005,-5647.474,41,1.3,41,-37.5