version: 66.08
glider: 183
mission: 3
dive: 444
start: 12 2 110 21 1 21
data:
$ID,183
$MISSION,3
$DIVE,444
$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,-8300.4912
$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,44
$R_STBD_OVSHOOT,28
$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
$GPS1,021210,182102,6704.073,-5647.788,13,1.1,13,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.51
$_SM_ANGLEo,0.8
$GPS2,021210,182102,6704.073,-5647.788,13,1.1,13,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,294.5,163907,-17.5,-10.000
$D_GRID,477
$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,-5.95,0.000,2,0.000,0.000,2493,1186,2881,0,0,0,0,0,0
$GC,26,-0.57,-146.0,5.9,-0.0,1,57,0.55,4.57,-18.40,0.000,4,0.099,0.064,2287,3914,3521,0,0,0,0,0,0
$GC,155,-0.57,-146.0,17.4,-10.6,23,162,0.00,1.75,0.00,0.000,6,0.000,0.041,2287,2781,3522,0,0,0,0,0,0
$GC,500,-0.59,-146.0,51.9,-10.4,84,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2782,3522,0,0,0,0,0,0
$GC,845,-0.63,-146.0,84.3,-9.1,145,852,0.00,1.90,0.00,0.000,4,0.000,0.067,2285,3922,3521,0,0,0,0,0,0
$GC,877,-0.69,-146.0,87.0,-9.2,150,883,0.00,1.77,0.00,0.000,6,0.000,0.041,2285,2777,3521,0,0,0,0,0,0
$GC,1217,-0.74,-146.0,117.0,-8.2,194,1219,0.12,0.00,0.00,0.000,6,0.099,0.000,2226,2777,3521,0,0,0,0,0,0
$GC,1535,-0.67,-146.0,155.3,-12.2,224,1539,0.12,1.92,0.00,0.000,4,0.165,0.065,2254,3922,3520,0,0,0,0,0,0
$GC,1603,-0.67,-146.0,163.0,-11.2,230,1606,0.00,1.77,0.00,0.000,6,0.000,0.041,2254,2788,3520,0,0,0,0,0,0
$GC,1933,-0.67,-146.0,198.7,-10.0,261,1937,0.00,2.20,0.00,0.000,4,0.000,0.043,2254,1367,3519,0,0,0,0,0,0
$GC,1967,-0.67,-146.0,202.4,-10.5,264,1972,0.00,2.30,0.00,0.000,6,0.000,0.054,2252,2785,3519,0,0,0,0,0,0
$GC,2293,-0.67,-146.0,233.5,-8.6,294,2297,0.00,2.17,0.00,0.000,4,0.000,0.042,2253,1374,3519,0,0,0,0,0,0
$GC,2361,-0.70,-146.0,239.2,-8.5,299,2367,0.00,2.25,0.00,0.000,6,0.000,0.055,2252,2760,3519,0,0,0,0,0,0
$GC,2686,-0.70,-146.0,264.0,-7.9,330,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2761,3519,0,0,0,0,0,0
$GC,3007,-0.70,-146.0,289.6,-8.2,360,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2761,3519,0,0,0,0,0,0
$GC,3326,-0.70,-146.0,315.3,-8.0,390,3329,0.00,2.17,0.00,0.000,4,0.000,0.041,2252,1364,3520,0,0,0,0,0,0
$GC,3355,-0.72,-146.0,318.0,-8.3,392,3359,0.00,2.25,0.00,0.000,6,0.000,0.053,2251,2766,3519,0,0,0,0,0,0
$GC,3685,-0.72,-146.0,345.7,-8.8,423,3689,0.00,1.92,0.00,0.000,4,0.000,0.064,2247,3935,3519,0,0,0,0,0,0
$GC,3747,-0.72,-146.0,351.7,-9.8,428,3754,0.00,1.83,0.00,0.000,6,0.000,0.040,2247,2778,3519,0,0,0,0,0,0
$GC,4072,-0.72,-146.0,381.5,-8.3,459,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2778,3519,0,0,0,0,0,0
$GC,4393,-0.72,-146.0,407.8,-8.9,489,4397,0.00,2.17,0.00,0.000,4,0.000,0.042,2247,1365,3520,0,0,0,0,0,0
$GC,4427,-0.74,-146.0,410.9,-8.8,492,4431,0.00,2.25,0.00,0.000,6,0.000,0.054,2247,2770,3520,0,0,0,0,0,0
$GC,4753,-0.74,-146.0,437.1,-7.8,522,4757,0.00,2.17,0.00,0.000,4,0.000,0.041,2247,1371,3520,0,0,0,0,0,0
$GC,4793,-0.77,-146.0,440.2,-7.6,525,4797,0.00,2.25,0.00,0.000,6,0.000,0.054,2247,2759,3520,0,0,0,0,0,0
$STATE,5106,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5106,begin apogee
$GC,5112,-0.14,0.0,465.1,7.6,554,5235,0.52,0.00,116.03,0.845,4,0.125,0.000,2424,2592,2922,0,0,0,0,0,0
$STATE,5235,end apogee,CONTROL_FINISHED_OK
$STATE,5236,begin climb
$GC,5238,0.57,146.0,467.4,0.0,565,5368,0.65,2.30,119.45,0.832,4,0.066,0.042,2661,1180,2326,0,0,0,0,0,0
$GC,5468,0.57,146.0,445.6,12.1,586,5475,0.00,2.38,0.00,0.000,6,0.000,0.047,2661,2601,2320,0,0,0,0,0,0
$GC,5794,0.51,146.0,404.6,12.5,617,5798,0.00,2.22,0.00,0.000,4,0.000,0.045,2662,1189,2316,0,0,0,0,0,0
$GC,5974,0.51,146.0,383.9,11.0,633,5978,0.00,2.28,0.00,0.000,6,0.000,0.048,2662,2620,2316,0,0,0,0,0,0
$GC,6305,0.46,146.0,343.8,12.4,664,6306,0.15,0.00,0.00,0.000,6,0.184,0.000,2623,2620,2315,0,0,0,0,0,0
$GC,6623,0.48,146.0,309.2,10.9,694,6627,0.00,2.10,0.00,0.000,4,0.000,0.060,2623,3924,2315,0,0,0,0,0,0
$GC,6674,0.46,146.0,303.0,12.9,698,6678,0.00,2.05,0.00,0.000,6,0.000,0.037,2622,2609,2314,0,0,0,0,0,0
$GC,7005,0.49,151.8,269.4,9.7,729,7017,0.00,2.22,3.95,0.508,4,0.000,0.045,2622,1204,2304,0,0,0,0,0,0
$GC,7075,0.57,180.0,262.9,8.7,735,7109,0.10,2.22,24.50,0.711,6,0.112,0.048,2673,2618,2190,0,0,0,0,0,0
$GC,7426,0.53,180.0,215.9,13.9,768,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2618,2186,0,0,0,0,0,0
$GC,7748,0.49,180.0,173.8,13.1,798,7753,0.15,2.22,0.00,0.000,4,0.177,0.046,2636,1200,2185,0,0,0,0,0,0
$GC,7800,0.58,185.8,168.1,9.7,802,7812,0.00,2.20,5.97,0.569,6,0.000,0.047,2635,2595,2164,0,0,0,0,0,0
$GC,8130,0.65,229.7,138.4,8.0,833,8172,0.12,0.00,36.53,0.644,6,0.097,0.000,2690,2595,1985,0,0,0,0,0,0
$GC,8493,0.63,229.7,92.6,12.4,872,8500,0.00,2.17,0.00,0.000,4,0.000,0.058,2690,3929,1978,0,0,0,0,0,0
$GC,8520,0.58,229.7,89.2,13.9,876,8526,0.00,2.10,0.00,0.000,6,0.000,0.037,2693,2593,1977,0,0,0,0,0,0
$GC,8865,0.58,229.7,43.7,12.8,937,8871,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2592,1977,0,0,0,0,0,0
$FREEZE,8.80,2.245,-1.812,0,2,0
$FREEZE,8.21,2.243,-1.811,0,2,0
$FREEZE,7.55,2.242,-1.811,0,2,0
$FREEZE,6.95,2.243,-1.810,0,2,0
$FREEZE,6.30,2.244,-1.810,0,2,0
$STATE,9176,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,9176,begin subsurface finish
$FINISH1,6.3,1.026311,58
$GC,9183,0.04,58.3,6.3,-12.8,993,9214,0.62,2.28,-24.35,0.000,4,0.147,0.075,2495,3925,2687,0,0,0,0,0,0
$FINISH2,4.4
$STATE,9215,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9216,begin surface
$RAFOS_CLK,406
$RAFOS_FIX,6701.095215,-5648.407227,021210,000022,3,77,0.35
$IRIDIUM_FIX,6636.54,-5647.69,021210,151558
$TT8_MAMPS,0.028462
$HUMID,47.44
$INTERNAL_PRESSURE,8.8074
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,17.5
$ALTIM_BOTTOM_PING,450.3,29.1
$24V_AH,23.1,53.735
$10V_AH,10.1,39.686
$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,3.125,68.650,306.425,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2340.211,4841.106,350.654,1590.718,150.016,0.000,1186.884,0.000,1583.489,0.000,12.449,0.000
$DEVICE_MAMPS,184.365,74.970,845.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,687.246,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151712
$DATA_FILE_SIZE,33369,998
$CAP_FILE_SIZE,99830,0
$CFSIZE,260165632,218468352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1476.2
$GPS,021210,182102,6704.073,-5647.788,13,1.1,13,-37.6