version: 66.08
glider: 183
mission: 3
dive: 445
start: 12 2 110 23 36 45
data:
$ID,183
$MISSION,3
$DIVE,445
$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,40
$R_STBD_OVSHOOT,27
$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,4.19
$_SM_ANGLEo,3.3
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,51,0.00,1.83,-28.15,0.000,6,0.000,0.057,2494,2778,3520,0,0,0,0,0,0
$GC,54,-0.57,-146.0,5.2,-4.1,6,62,0.55,2.17,0.00,0.000,4,0.093,0.039,2293,1363,3520,0,0,0,0,0,0
$GC,109,-0.65,-146.0,9.8,-8.7,15,116,0.00,2.28,0.00,0.000,6,0.000,0.052,2288,2783,3521,0,0,0,0,0,0
$GC,455,-0.68,-146.0,43.8,-9.6,76,462,0.00,1.90,0.00,0.000,4,0.000,0.065,2287,3937,3521,0,0,0,0,0,0
$GC,548,-0.72,-146.0,52.6,-9.7,92,555,0.12,1.80,0.00,0.000,6,0.099,0.041,2228,2783,3520,0,0,0,0,0,0
$GC,894,-0.64,-146.0,99.2,-12.5,153,901,0.12,0.00,0.00,0.000,6,0.169,0.000,2262,2783,3519,0,0,0,0,0,0
$GC,1219,-0.64,-146.0,132.9,-10.4,184,1223,0.00,1.90,0.00,0.000,4,0.000,0.066,2255,3925,3519,0,0,0,0,0,0
$GC,1246,-0.64,-146.0,135.9,-10.7,186,1253,0.00,1.77,0.00,0.000,6,0.000,0.041,2255,2787,3519,0,0,0,0,0,0
$GC,1571,-0.64,-146.0,168.5,-10.0,217,1575,0.00,2.17,0.00,0.000,4,0.000,0.043,2255,1371,3518,0,0,0,0,0,0
$GC,1616,-0.67,-146.0,173.4,-10.4,220,1623,0.00,2.28,0.00,0.000,6,0.000,0.054,2249,2786,3518,0,0,0,0,0,0
$GC,1945,-0.67,-146.0,203.4,-8.8,251,1949,0.00,2.17,0.00,0.000,4,0.000,0.042,2249,1377,3517,0,0,0,0,0,0
$GC,1978,-0.67,-146.0,206.8,-8.8,253,1985,0.00,2.28,0.00,0.000,6,0.000,0.055,2248,2790,3518,0,0,0,0,0,0
$GC,2303,-0.67,-146.0,236.1,-8.9,284,2308,0.00,1.90,0.00,0.000,4,0.000,0.064,2242,3931,3517,0,0,0,0,0,0
$GC,2360,-0.67,-146.0,241.5,-9.2,289,2364,0.00,1.77,0.00,0.000,6,0.000,0.041,2242,2782,3517,0,0,0,0,0,0
$GC,2691,-0.67,-146.0,271.9,-9.5,320,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2782,3517,0,0,0,0,0,0
$GC,3010,-0.67,-146.0,301.3,-9.2,350,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2782,3517,0,0,0,0,0,0
$GC,3329,-0.67,-146.0,328.1,-8.6,380,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2782,3518,0,0,0,0,0,0
$GC,3647,-0.67,-146.0,354.1,-7.4,410,3651,0.00,2.17,0.00,0.000,4,0.000,0.042,2242,1370,3518,0,0,0,0,0,0
$GC,3720,-0.69,-146.0,359.7,-7.1,416,3726,0.00,2.30,0.00,0.000,6,0.000,0.054,2235,2791,3518,0,0,0,0,0,0
$GC,4045,-0.69,-146.0,388.2,-8.9,447,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2791,3518,0,0,0,0,0,0
$GC,4363,-0.69,-146.0,416.9,-8.7,477,4367,0.00,2.20,0.00,0.000,4,0.000,0.041,2235,1367,3518,0,0,0,0,0,0
$GC,4392,-0.69,-146.0,419.6,-9.4,479,4396,0.00,2.30,0.00,0.000,6,0.000,0.054,2235,2801,3518,0,0,0,0,0,0
$GC,4719,-0.69,-146.0,449.9,-9.6,509,4726,0.00,1.88,0.00,0.000,4,0.000,0.063,2235,3925,3518,0,0,0,0,0,0
$GC,4789,-0.69,-146.0,456.8,-10.0,515,4793,0.00,1.80,0.00,0.000,6,0.000,0.040,2235,2792,3518,0,0,0,0,0,0
$STATE,5022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5022,begin apogee
$GC,5028,-0.14,0.0,477.0,8.0,537,5149,0.57,0.00,115.90,0.852,4,0.127,0.000,2426,2602,2923,0,0,0,0,0,0
$STATE,5150,end apogee,CONTROL_FINISHED_OK
$STATE,5150,begin climb
$GC,5152,0.57,146.0,480.1,0.0,548,5286,0.65,2.28,119.53,0.838,4,0.063,0.043,2666,1190,2326,0,0,0,0,0,0
$GC,5424,0.54,146.0,453.4,12.2,572,5428,0.00,2.33,0.00,0.000,6,0.000,0.048,2666,2602,2320,0,0,0,0,0,0
$GC,5754,0.47,146.0,409.8,12.9,603,5759,0.15,2.22,0.00,0.000,4,0.186,0.045,2626,1189,2317,0,0,0,0,0,0
$GC,5944,0.53,152.3,391.1,9.7,619,5954,0.00,2.22,4.53,0.577,6,0.000,0.048,2626,2601,2304,0,0,0,0,0,0
$GC,6281,0.53,152.3,357.9,10.4,651,6284,0.00,2.15,0.00,0.000,4,0.000,0.060,2626,3930,2303,0,0,0,0,0,0
$GC,6315,0.50,152.3,353.5,13.2,654,6319,0.00,2.10,0.00,0.000,6,0.000,0.037,2626,2590,2302,0,0,0,0,0,0
$GC,6646,0.50,152.3,318.9,10.7,685,6650,0.00,2.15,0.00,0.000,4,0.000,0.045,2626,1189,2302,0,0,0,0,0,0
$GC,6696,0.56,152.3,313.8,10.1,689,6703,0.00,2.22,0.00,0.000,6,0.000,0.048,2626,2598,2302,0,0,0,0,0,0
$GC,7022,0.59,152.3,281.1,10.4,720,7026,0.12,2.17,0.00,0.000,4,0.098,0.060,2684,3932,2301,0,0,0,0,0,0
$GC,7095,0.45,152.3,270.3,16.0,726,7100,0.25,2.10,0.00,0.000,6,0.179,0.037,2623,2587,2301,0,0,0,0,0,0
$GC,7423,0.49,179.0,240.7,8.8,756,7456,0.00,2.25,23.35,0.697,4,0.000,0.045,2623,1189,2192,0,0,0,0,0,0
$GC,7480,0.59,210.0,235.5,8.6,761,7515,0.12,2.22,26.52,0.689,6,0.093,0.047,2681,2589,2066,0,0,0,0,0,0
$GC,7832,0.56,210.0,187.3,14.0,794,7836,0.00,2.20,0.00,0.000,4,0.000,0.058,2680,3934,2060,0,0,0,0,0,0
$GC,7871,0.49,210.0,181.3,15.5,797,7878,0.20,2.10,0.00,0.000,6,0.174,0.037,2632,2590,2059,0,0,0,0,0,0
$GC,8196,0.55,210.0,147.1,10.5,828,8200,0.00,2.15,0.00,0.000,4,0.000,0.045,2632,1192,2059,0,0,0,0,0,0
$GC,8269,0.67,233.9,140.2,8.9,834,8299,0.17,2.17,19.92,0.637,6,0.082,0.047,2706,2578,1967,0,0,0,0,0,0
$GC,8619,0.63,233.9,91.4,13.4,872,8626,0.00,2.17,0.00,0.000,4,0.000,0.058,2706,3927,1962,0,0,0,0,0,0
$GC,8650,0.55,233.9,87.0,14.7,877,8658,0.20,2.12,0.00,0.000,6,0.175,0.037,2656,2572,1961,0,0,0,0,0,0
$GC,8997,0.62,242.4,50.4,9.6,938,9011,0.00,2.12,7.07,0.543,4,0.000,0.044,2655,1196,1937,0,0,0,0,0,0
$GC,9069,0.74,267.7,43.9,8.8,950,9100,0.17,2.20,22.52,0.585,6,0.083,0.047,2730,2578,1831,0,0,0,0,0,0
$FREEZE,8.98,2.137,-1.810,0,3,0
$FREEZE,8.41,2.137,-1.810,0,3,0
$FREEZE,7.70,2.138,-1.809,0,3,0
$FREEZE,6.89,2.137,-1.809,0,3,0
$FREEZE,6.07,2.135,-1.808,0,3,0
$FREEZE,5.42,2.135,-1.807,0,3,0
$FREEZE,4.76,2.132,-1.807,0,3,0
$FREEZE,3.95,2.134,-1.806,0,3,0
$FREEZE,3.11,2.133,-1.806,0,3,0
$FREEZE,2.27,2.133,-1.805,0,3,0
$STATE,9366,end climb,SURFACE_DEPTH_REACHED
$STATE,9366,begin surface coast
$FREEZE,1.61,2.129,-1.804,0,3,0
$FREEZE,1.10,2.158,-1.802,0,3,0
$FREEZE,1.20,2.070,-1.163,0,3,0
$FREEZE,1.17,2.249,-1.797,0,3,0
$FINISH,1.2,1.026186
$STATE,9388,end surface coast,CONTROL_FINISHED_OK
$STATE,9389,begin surface
$SM_CCo,9403,200.98,0.076,0,0,440,609.08
$SM_GC,1.78,0.00,0.00,200.98,0.000,0.000,0.076,291,2783,440,-6.80,0.08,609.08
$RAFOS_CLK,429
$RAFOS,6,1291337345,0.833333,0.818056,60,47,45,44,43,43,793,1150,1619,561,1162,1161
$RAFOS,5,1291336867,0.700000,0.685278,98,46,44,43,43,39,633,356,1838,773,974,1743
$RAFOS,4,1291336384,0.566667,0.551111,45,43,42,42,42,41,1370,1029,766,1588,1924,881
$RAFOS,3,1291335906,0.433333,0.418333,48,46,43,42,42,42,145,985,787,1062,1666,1854
$RAFOS,2,1291335428,0.300000,0.285556,44,43,41,41,40,39,1041,1540,1456,162,90,1938
$RAFOS,1,1291334944,0.166667,0.151111,53,44,41,41,40,40,1496,591,670,1070,81,1712
$RAFOS,0,1291334468,0.033333,0.018889,53,52,45,44,44,41,1132,758,1852,543,1225,286
$RAFOS_FIX,6709.470215,-5707.950684,031210,000056,2,79,0.76
$IRIDIUM_FIX,6636.54,-5647.69,021210,151558
$TT8_MAMPS,0.028462
$HUMID,44.32
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.9
$ALTIM_BOTTOM_PING,450.7,40.5
$24V_AH,23.0,53.815
$10V_AH,10.1,39.744
$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,9.725,83.150,339.350,200.975,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2436.847,4865.061,584.581,1634.520,156.552,0.000,1455.765,0.000,1624.022,2520.000,12.473,0.000
$DEVICE_MAMPS,185.895,69.615,852.210,76.500,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,692.883,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151692
$DATA_FILE_SIZE,36659,1007
$CAP_FILE_SIZE,111612,0
$CFSIZE,260165632,218402816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1476.4
$GPS,031210,021845,6706.917,-5659.492,36,99.0,55,-37.7