version: 66.08
glider: 183
mission: 3
dive: 446
start: 12 3 110 2 28 22
data:
$ID,183
$MISSION,3
$DIVE,446
$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,-8301.751
$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,41
$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
$GPS1,031210,021845,6706.917,-5659.492,36,99.0,55,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-60.5
$GPS2,031210,022749,6706.912,-5659.507,12,1.2,12,-37.7
$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,292.0,156909,-17.5,-10.000
$D_GRID,521
$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,15,-0.57,-146.0,0.0,0.0,0,155,0.00,0.00,-137.15,0.000,2,0.000,0.000,270,2785,3480,0,0,0,0,0,0
$GC,159,-0.57,-146.0,5.6,-10.7,24,173,8.27,1.92,-0.82,0.000,4,0.243,0.073,2275,3930,3521,0,0,0,0,0,0
$GC,288,-0.57,-146.0,34.3,-12.5,46,295,0.00,1.83,0.00,0.000,6,0.000,0.043,2275,2779,3523,0,0,0,0,0,0
$GC,633,-0.57,-146.0,73.1,-10.7,107,640,0.00,2.20,0.00,0.000,4,0.000,0.045,2274,1372,3522,0,0,0,0,0,0
$GC,676,-0.59,-146.0,77.6,-10.5,114,683,0.00,2.28,0.00,0.000,6,0.000,0.057,2275,2776,3521,0,0,0,0,0,0
$GC,1019,-0.59,-146.0,112.5,-10.1,164,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2776,3521,0,0,0,0,0,0
$GC,1340,-0.61,-146.0,143.9,-9.5,194,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2776,3521,0,0,0,0,0,0
$GC,1659,-0.64,-146.0,171.8,-8.6,224,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2776,3521,0,0,0,0,0,0
$GC,1986,-0.68,-146.0,201.1,-9.5,255,1990,0.00,2.17,0.00,0.000,4,0.000,0.044,2274,1372,3521,0,0,0,0,0,0
$GC,2036,-0.74,-146.0,206.5,-9.8,259,2044,0.12,2.28,0.00,0.000,6,0.095,0.054,2213,2775,3521,0,0,0,0,0,0
$GC,2363,-0.66,-146.0,249.0,-12.9,290,2367,0.15,1.92,0.00,0.000,4,0.168,0.064,2248,3929,3522,0,0,0,0,0,0
$GC,2408,-0.66,-146.0,254.2,-11.0,294,2411,0.00,1.80,0.00,0.000,6,0.000,0.041,2248,2765,3522,0,0,0,0,0,0
$GC,2739,-0.66,-146.0,287.8,-10.2,325,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2766,3522,0,0,0,0,0,0
$GC,3058,-0.66,-146.0,319.5,-9.4,355,3062,0.00,1.92,0.00,0.000,4,0.000,0.064,2241,3935,3523,0,0,0,0,0,0
$GC,3086,-0.66,-146.0,322.3,-9.7,357,3093,0.00,1.85,0.00,0.000,6,0.000,0.041,2241,2770,3523,0,0,0,0,0,0
$GC,3411,-0.66,-146.0,353.6,-10.5,388,3415,0.00,2.15,0.00,0.000,4,0.000,0.042,2241,1367,3524,0,0,0,0,0,0
$GC,3426,-0.66,-146.0,355.5,-10.5,389,3434,0.00,2.28,0.00,0.000,6,0.000,0.054,2235,2761,3524,0,0,0,0,0,0
$GC,3752,-0.64,-146.0,388.7,-11.0,420,3757,0.12,1.95,0.00,0.000,4,0.173,0.064,2264,3928,3524,0,0,0,0,0,0
$GC,3802,-0.70,-146.0,393.4,-8.6,424,3809,0.00,1.83,0.00,0.000,6,0.000,0.041,2263,2767,3524,0,0,0,0,0,0
$GC,4140,-0.74,-146.0,420.7,-8.2,441,4143,0.00,2.15,0.00,0.000,4,0.000,0.043,2263,1366,3525,0,0,0,0,0,0
$GC,4184,-0.80,-146.0,424.6,-8.4,442,4189,0.12,2.28,0.00,0.000,6,0.093,0.054,2197,2769,3525,0,0,0,0,0,0
$GC,4509,-0.71,-146.0,461.2,-11.6,453,4514,0.17,1.92,0.00,0.000,4,0.164,0.063,2240,3925,3525,0,0,0,0,0,0
$GC,4587,-0.71,-146.0,469.4,-9.7,455,4591,0.00,1.85,0.00,0.000,6,0.000,0.041,2240,2764,3525,0,0,0,0,0,0
$GC,4919,-0.71,-146.0,500.5,-9.4,466,4924,0.00,2.15,0.00,0.000,4,0.000,0.043,2239,1372,3525,0,0,0,0,0,0
$GC,4935,-0.71,-146.0,502.6,-9.3,466,4939,0.00,2.22,0.00,0.000,6,0.000,0.054,2235,2760,3525,0,0,0,0,0,0
$STATE,5166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5166,begin apogee
$GC,5171,-0.14,0.0,523.3,9.1,474,5299,0.57,0.00,118.40,0.881,4,0.125,0.000,2427,2595,2922,0,0,0,0,0,0
$STATE,5299,end apogee,CONTROL_FINISHED_OK
$STATE,5300,begin climb
$GC,5302,0.57,146.0,526.3,0.0,478,5432,0.65,2.30,120.62,0.869,4,0.061,0.044,2669,1180,2327,0,0,0,0,0,0
$GC,5639,0.54,146.0,494.4,11.2,488,5643,0.00,2.33,0.00,0.000,6,0.000,0.048,2669,2603,2319,0,0,0,0,0,0
$GC,5970,0.47,146.0,452.9,13.0,499,5974,0.15,2.22,0.00,0.000,4,0.187,0.046,2634,1189,2316,0,0,0,0,0,0
$GC,6148,0.49,146.0,434.0,10.2,504,6152,0.00,2.28,0.00,0.000,6,0.000,0.049,2634,2596,2316,0,0,0,0,0,0
$GC,6473,0.49,146.0,398.7,11.0,515,6477,0.00,2.17,0.00,0.000,4,0.000,0.060,2634,3936,2315,0,0,0,0,0,0
$GC,6534,0.44,146.0,391.1,13.1,520,6541,0.00,2.10,0.00,0.000,6,0.000,0.038,2639,2591,2314,0,0,0,0,0,0
$GC,6859,0.44,150.3,358.0,9.8,551,6863,0.00,2.17,0.00,0.000,4,0.000,0.045,2642,1193,2314,0,0,0,0,0,0
$GC,6900,0.47,150.3,354.1,10.0,554,6904,0.00,2.22,0.00,0.000,6,0.000,0.048,2641,2605,2314,0,0,0,0,0,0
$GC,7224,0.47,150.3,323.0,10.1,584,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2605,2314,0,0,0,0,0,0
$GC,7543,0.47,150.3,292.1,10.2,614,7547,0.00,2.15,0.00,0.000,4,0.000,0.059,2642,3938,2314,0,0,0,0,0,0
$GC,7577,0.41,150.3,288.1,12.0,616,7584,0.15,2.08,0.00,0.000,6,0.193,0.037,2609,2607,2313,0,0,0,0,0,0
$GC,7902,0.49,200.0,262.7,7.7,647,7950,0.00,2.25,42.78,0.718,4,0.000,0.044,2609,1194,2106,0,0,0,0,0,0
$GC,7976,0.65,250.2,257.0,7.7,653,8024,0.20,2.28,42.03,0.705,6,0.074,0.048,2693,2613,1903,0,0,0,0,0,0
$GC,8344,0.60,250.2,202.2,15.0,687,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2613,1893,0,0,0,0,0,0
$GC,8665,0.57,250.2,153.1,15.3,717,8670,0.12,2.25,0.00,0.000,4,0.177,0.046,2662,1187,1891,0,0,0,0,0,0
$GC,8728,0.65,250.2,144.9,11.8,722,8732,0.00,2.25,0.00,0.000,6,0.000,0.047,2662,2615,1891,0,0,0,0,0,0
$GC,9053,0.69,250.2,106.3,11.3,752,9055,0.10,0.00,0.00,0.000,6,0.113,0.000,2706,2615,1890,0,0,0,0,0,0
$GC,9387,0.69,250.2,59.6,13.4,807,9394,0.00,2.22,0.00,0.000,4,0.000,0.046,2707,1194,1890,0,0,0,0,0,0
$GC,9430,0.71,250.2,54.6,11.8,814,9437,0.00,2.20,0.00,0.000,6,0.000,0.048,2707,2596,1890,0,0,0,0,0,0
$GC,9776,0.71,250.2,11.5,11.5,875,9783,0.00,2.17,0.00,0.000,4,0.000,0.059,2707,3933,1889,0,0,0,0,0,0
$FREEZE,8.98,1.694,-1.804,0,1,0
$FREEZE,8.16,1.695,-1.803,0,1,0
$FREEZE,7.52,1.690,-1.803,0,1,0
$FREEZE,6.74,1.686,-1.802,0,1,0
$STATE,9809,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,9809,begin subsurface finish
$FINISH1,6.7,1.026237,62
$GC,9818,0.04,62.0,6.7,-14.0,881,9855,0.70,2.25,-27.02,0.000,4,0.151,0.076,2492,3921,2673,0,0,0,0,0,0
$FINISH2,4.3
$STATE,9856,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9856,begin surface
$RAFOS_CLK,374
$RAFOS,6,1291351749,4.833333,4.819167,68,48,47,43,43,43,759,371,1614,278,1021,26
$RAFOS,5,1291351262,4.700000,4.683889,52,44,44,39,39,39,641,311,1873,412,1489,1842
$RAFOS,4,1291350790,4.566667,4.552778,59,44,42,42,42,41,834,1026,804,1231,1929,1723
$RAFOS,3,1291350302,4.433333,4.417222,48,44,43,43,43,41,1172,1804,26,406,1781,469
$RAFOS,2,1291349824,4.300000,4.284444,53,44,43,42,42,40,1234,170,1452,313,1048,551
$RAFOS,1,1291349342,4.166667,4.150556,50,46,45,43,42,39,1249,1049,1012,1450,331,154
$RAFOS,0,1291348862,4.033333,4.017222,54,51,47,45,42,39,1198,682,1175,707,1657,987
$RAFOS_FIX,6709.470215,-5707.950684,031210,000056,2,79,0.76
$IRIDIUM_FIX,6636.54,-5652.31,021210,181802
$TT8_MAMPS,0.028462
$HUMID,46.81
$INTERNAL_PRESSURE,8.79764
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.0
$24V_AH,22.9,53.911
$10V_AH,10.1,39.806
$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,11.625,83.225,323.825,0.000,0.000,30.390,18.418,283.912,1.750,0.000,14.967,2174.868,5592.880,456.908,1873.564,306.603,0.000,1312.698,0.000,1538.218,2520.000,14.103,0.000
$DEVICE_MAMPS,242.505,76.500,881.280,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,609.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151636
$DATA_FILE_SIZE,30139,887
$CAP_FILE_SIZE,112907,0
$CFSIZE,260165632,218345472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1475.8
$GPS,031210,022749,6706.912,-5659.507,12,1.2,12,-37.7