version: 66.08
glider: 183
mission: 3
dive: 449
start: 12 3 110 12 5 33
data:
$ID,183
$MISSION,3
$DIVE,449
$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,-8304.2617
$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,2.4000001
$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
$GPS1,031210,115924,6706.393,-5711.267,24,1.5,41,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-59.6
$GPS2,031210,120502,6706.479,-5711.346,12,1.6,12,-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,291.4,148362,-17.5,-10.000
$D_GRID,686
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,589,-0.57,-146.0,65.5,-10.8,99,596,0.00,2.20,0.00,0.000,4,0.000,0.044,2276,1367,3523,0,0,0,0,0,0
$GC,608,-0.57,-146.0,68.0,-11.5,102,615,0.00,2.30,0.00,0.000,6,0.000,0.057,2275,2783,3523,0,0,0,0,0,0
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$GC,1099,-0.59,-146.0,118.4,-9.2,172,1105,0.00,1.80,0.00,0.000,6,0.000,0.042,2268,2792,3521,0,0,0,0,0,0
$GC,1424,-0.59,-146.0,150.5,-9.5,203,1428,0.00,2.20,0.00,0.000,4,0.000,0.044,2267,1371,3522,0,0,0,0,0,0
$GC,1446,-0.59,-146.0,152.8,-9.2,204,1453,0.00,2.33,0.00,0.000,6,0.000,0.057,2261,2802,3522,0,0,0,0,0,0
$GC,1771,-0.59,-146.0,185.5,-10.3,235,1775,0.00,1.85,0.00,0.000,4,0.000,0.067,2261,3929,3522,0,0,0,0,0,0
$GC,1806,-0.59,-146.0,189.0,-10.6,238,1810,0.00,1.80,0.00,0.000,6,0.000,0.042,2261,2789,3522,0,0,0,0,0,0
$GC,2140,-0.59,-146.0,220.4,-9.2,269,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2788,3523,0,0,0,0,0,0
$GC,2468,-0.62,-146.0,249.1,-8.5,300,2472,0.00,2.20,0.00,0.000,4,0.000,0.044,2261,1363,3524,0,0,0,0,0,0
$GC,2519,-0.66,-146.0,253.8,-8.5,304,2523,0.00,2.33,0.00,0.000,6,0.000,0.055,2260,2794,3523,0,0,0,0,0,0
$GC,2850,-0.68,-146.0,283.7,-9.3,335,2854,0.00,2.20,0.00,0.000,4,0.000,0.043,2261,1371,3525,0,0,0,0,0,0
$GC,2890,-0.72,-146.0,287.5,-10.0,338,2894,0.00,2.33,0.00,0.000,6,0.000,0.055,2261,2796,3525,0,0,0,0,0,0
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$GC,3864,-0.72,-146.0,383.3,-11.3,429,3868,0.12,2.25,0.00,0.000,4,0.174,0.043,2244,1363,3526,0,0,0,0,0,0
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$GC,4269,-0.74,-146.0,422.2,-10.0,452,4274,0.00,2.25,0.00,0.000,6,0.000,0.055,2235,2772,3526,0,0,0,0,0,0
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$GC,5016,-0.74,-146.0,498.2,-9.5,476,5020,0.00,2.17,0.00,0.000,4,0.000,0.044,2235,1371,3527,0,0,0,0,0,0
$GC,5061,-0.74,-146.0,502.7,-9.3,477,5065,0.00,2.28,0.00,0.000,6,0.000,0.056,2236,2776,3527,0,0,0,0,0,0
$GC,5385,-0.74,-146.0,532.0,-9.0,488,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2776,3527,0,0,0,0,0,0
$GC,5691,-0.74,-146.0,559.8,-8.9,498,5692,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2776,3527,0,0,0,0,0,0
$GC,5997,-0.74,-146.0,588.2,-9.2,508,6001,0.00,1.95,0.00,0.000,4,0.000,0.067,2232,3928,3527,0,0,0,0,0,0
$GC,6032,-0.74,-146.0,591.6,-9.9,509,6036,0.00,1.85,0.00,0.000,6,0.000,0.044,2231,2760,3527,0,0,0,0,0,0
$GC,6373,-0.74,-146.0,623.1,-9.2,520,6377,0.00,1.98,0.00,0.000,4,0.000,0.069,2224,3929,3528,0,0,0,0,0,0
$GC,6446,-0.71,-146.0,630.4,-9.8,522,6450,0.00,1.80,0.00,0.000,6,0.000,0.044,2223,2783,3527,0,0,0,0,0,0
$GC,6782,-0.68,-146.0,662.8,-9.5,533,6784,0.12,0.00,0.00,0.000,6,0.177,0.000,2257,2782,3527,0,0,0,0,0,0
$STATE,7085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7085,begin apogee
$GC,7091,-0.14,0.0,686.6,7.6,543,7221,0.50,0.00,122.57,1.008,4,0.126,0.000,2426,2599,2923,0,0,0,0,0,0
$STATE,7221,end apogee,CONTROL_FINISHED_OK
$STATE,7221,begin climb
$GC,7224,0.57,146.0,689.8,0.0,547,7360,0.65,2.38,127.43,0.985,4,0.064,0.047,2661,1187,2326,0,0,0,0,0,0
$GC,7529,0.57,146.0,662.3,27100.5,556,7533,0.00,2.40,0.00,0.000,6,0.000,0.052,2661,2599,2318,0,0,0,0,0,0
$GC,7848,0.57,146.0,624.5,27100.5,567,7852,0.00,2.25,0.00,0.000,4,0.000,0.050,2662,1191,2314,0,0,0,0,0,0
$GC,8071,0.57,146.0,599.9,27100.5,573,8078,0.00,2.25,0.00,0.000,6,0.000,0.054,2662,2592,2314,0,0,0,0,0,0
$GC,8385,0.57,146.0,563.1,27100.5,584,8389,0.00,2.20,0.00,0.000,4,0.000,0.064,2662,3929,2312,0,0,0,0,0,0
$GC,8429,0.57,146.0,556.7,27100.5,585,8433,0.00,2.12,0.00,0.000,6,0.000,0.042,2665,2593,2311,0,0,0,0,0,0
$GC,8753,0.57,146.0,517.4,27100.5,596,8757,0.00,2.20,0.00,0.000,4,0.000,0.050,2666,1193,2311,0,0,0,0,0,0
$GC,8788,0.57,146.0,513.3,27100.5,597,8792,0.00,2.25,0.00,0.000,6,0.000,0.053,2666,2596,2311,0,0,0,0,0,0
$GC,9123,0.57,146.0,471.6,27100.5,608,9127,0.00,2.22,0.00,0.000,4,0.000,0.051,2666,1188,2310,0,0,0,0,0,0
$GC,9167,0.57,146.0,466.3,27100.5,609,9171,0.00,2.28,0.00,0.000,6,0.000,0.054,2666,2590,2310,0,0,0,0,0,0
$GC,9485,0.57,146.0,427.6,27100.5,620,9489,0.00,2.22,0.00,0.000,4,0.000,0.065,2666,3933,2310,0,0,0,0,0,0
$GC,9558,0.57,146.0,417.5,27100.5,622,9561,0.00,2.12,0.00,0.000,6,0.000,0.043,2666,2592,2309,0,0,0,0,0,0
$GC,9881,0.57,146.0,378.7,27100.5,643,9885,0.00,2.20,0.00,0.000,4,0.000,0.051,2666,1186,2308,0,0,0,0,0,0
$GC,9967,0.57,146.0,368.8,27100.5,650,9971,0.00,2.25,0.00,0.000,6,0.000,0.054,2666,2590,2308,0,0,0,0,0,0
$GC,10292,0.57,146.0,329.9,27100.5,680,10293,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2590,2308,0,0,0,0,0,0
$GC,10612,0.57,146.0,292.1,27100.5,710,10614,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2590,2308,0,0,0,0,0,0
$GC,10930,0.57,146.0,254.6,27100.5,740,10934,0.00,2.22,0.00,0.000,4,0.000,0.063,2666,3930,2309,0,0,0,0,0,0
$GC,10952,0.57,146.0,251.6,27100.5,741,10959,0.00,2.15,0.00,0.000,6,0.000,0.041,2666,2574,2308,0,0,0,0,0,0
$GC,11277,0.57,146.0,217.0,27100.5,772,11281,0.00,2.15,0.00,0.000,4,0.000,0.049,2666,1193,2309,0,0,0,0,0,0
$GC,11345,0.57,146.0,210.8,27100.5,778,11349,0.00,2.22,0.00,0.000,6,0.000,0.051,2666,2589,2309,0,0,0,0,0,0
$GC,11670,0.57,146.0,180.5,27100.5,808,11671,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2589,2310,0,0,0,0,0,0
$GC,11992,0.57,146.0,146.3,27100.5,838,11996,0.00,2.20,0.00,0.000,4,0.000,0.063,2666,3933,2309,0,0,0,0,0,0
$GC,12059,0.57,146.0,137.3,27100.5,843,12066,0.00,2.15,0.00,0.000,6,0.000,0.041,2666,2571,2309,0,0,0,0,0,0
$GC,12385,0.57,146.0,97.8,27100.5,875,12392,0.00,2.17,0.00,0.000,4,0.000,0.048,2666,1189,2309,0,0,0,0,0,0
$GC,12455,0.57,146.0,89.3,27100.5,887,12462,0.00,2.17,0.00,0.000,6,0.000,0.050,2666,2561,2309,0,0,0,0,0,0
$GC,12802,0.57,146.0,55.4,27100.5,948,12809,0.00,2.22,0.00,0.000,4,0.000,0.062,2666,3925,2310,0,0,0,0,0,0
$GC,12912,0.57,146.0,44.0,27100.5,967,12919,0.00,2.12,0.00,0.000,6,0.000,0.040,2666,2578,2309,0,0,0,0,0,0
$STATE,13098,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,13098,begin subsurface finish
$FINISH1,28.2,1.026288,59
$GC,13104,0.04,59.4,28.2,-27100.5,1000,13117,0.55,2.20,-5.25,0.000,4,0.154,0.060,2495,1185,2686,0,0,0,0,0,0
$FINISH2,27.5
$STATE,13118,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13118,begin surface
$RAFOS_CLK,600
$RAFOS,6,1291380547,12.833333,12.818611,74,42,42,41,39,39,749,866,1321,199,242,1530
$RAFOS,5,1291380068,12.700000,12.685555,78,45,43,43,42,41,597,1440,1731,148,1224,1107
$RAFOS,4,1291379585,12.566667,12.551389,44,43,42,42,41,40,145,1418,629,1925,861,837
$RAFOS,3,1291379110,12.433333,12.419444,51,49,40,40,40,39,934,526,272,595,944,1935
$RAFOS,2,1291378626,12.300000,12.285000,53,52,48,42,40,37,1021,522,1220,792,1937,1924
$RAFOS,1,1291378146,12.166667,12.151667,43,41,41,40,38,38,1729,696,1295,782,428,1532
$RAFOS_FIX,6707.229004,-5718.345215,031210,121200,2,76,2.03
$IRIDIUM_FIX,6636.54,-5707.59,031210,080856
$TT8_MAMPS,0.029211
$HUMID,51.06
$INTERNAL_PRESSURE,8.78787
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.0,18.0
$ALTIM_BOTTOM_PING,29.0,17.7
$24V_AH,22.3,54.204
$10V_AH,10.0,40.001
$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,10.250,110.325,250.000,0.000,0.000,31.361,40.173,125.469,2.000,0.000,15.264,2522.202,8264.245,399.281,2031.855,247.999,0.000,1390.347,0.000,1811.270,2160.000,15.154,0.000
$DEVICE_MAMPS,240.210,68.850,1007.505,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,691.809,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151664
$DATA_FILE_SIZE,36668,1002
$CAP_FILE_SIZE,134584,0
$CFSIZE,260165632,218136576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.7
$GPS,031210,124800,6707.229,-5718.345,0,2076.0,0,-37.7