version: 66.08
glider: 183
mission: 3
dive: 485
start: 12 10 110 21 15 45
data:
$ID,183
$MISSION,3
$DIVE,485
$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,-2
$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,-8321.8584
$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,35
$R_STBD_OVSHOOT,23
$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
$GPS1,101210,202453,6645.235,-6001.337,0,6087.2,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,68.67
$_SM_ANGLEo,4.6
$GPS2,101210,202453,6645.235,-6001.337,0,6087.2,0,-38.0
$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,300.8,18187,-17.5,-10.000
$D_GRID,635
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-6.30,0.000,2,0.000,0.000,2490,3925,3424,0,0,0,0,0,0
$GC,27,-0.57,-146.0,70.4,-0.0,1,35,0.60,4.20,0.00,0.000,4,0.136,0.047,2296,1369,3426,0,0,0,0,0,0
$GC,99,-0.62,-146.0,76.9,-9.4,13,105,0.00,2.35,0.00,0.000,6,0.000,0.060,2293,2782,3427,0,0,0,0,0,0
$GC,442,-0.62,-146.0,111.7,-8.7,63,446,0.00,2.28,0.00,0.000,4,0.000,0.051,2292,1371,3426,0,0,0,0,0,0
$GC,458,-0.62,-146.0,113.5,-9.5,64,465,0.00,2.35,0.00,0.000,6,0.000,0.063,2293,2782,3427,0,0,0,0,0,0
$GC,785,-0.62,-146.0,144.0,-9.4,95,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2782,3426,0,0,0,0,0,0
$GC,1104,-0.64,-146.0,174.7,-9.7,125,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2782,3426,0,0,0,0,0,0
$GC,1431,-0.68,-146.0,206.6,-9.4,156,1436,0.10,2.30,0.00,0.000,4,0.123,0.052,2248,1365,3426,0,0,0,0,0,0
$GC,1498,-0.68,-146.0,214.1,-10.8,161,1504,0.00,2.35,0.00,0.000,6,0.000,0.063,2248,2764,3426,0,0,0,0,0,0
$GC,1823,-0.63,-146.0,249.7,-11.8,192,1827,0.00,2.00,0.00,0.000,4,0.000,0.074,2248,3929,3426,0,0,0,0,0,0
$GC,1907,-0.61,-146.0,259.9,-11.5,199,1915,0.10,1.88,0.00,0.000,6,0.186,0.049,2273,2777,3426,0,0,0,0,0,0
$GC,2233,-0.61,-146.0,288.8,-9.0,230,2237,0.00,2.28,0.00,0.000,4,0.000,0.052,2273,1364,3425,0,0,0,0,0,0
$GC,2346,-0.64,-146.0,298.9,-9.0,239,2353,0.00,2.33,0.00,0.000,6,0.000,0.063,2273,2759,3425,0,0,0,0,0,0
$GC,2672,-0.66,-146.0,327.4,-8.6,270,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2759,3425,0,0,0,0,0,0
$GC,2992,-0.69,-146.0,350.9,-7.1,300,2995,0.00,2.03,0.00,0.000,4,0.000,0.074,2272,3936,3425,0,0,0,0,0,0
$GC,3038,-0.73,-146.0,354.5,-7.4,304,3042,0.00,1.90,0.00,0.000,6,0.000,0.050,2271,2757,3425,0,0,0,0,0,0
$GC,3370,-0.76,-146.0,379.9,-7.9,335,3374,0.12,2.03,0.00,0.000,4,0.108,0.076,2217,3927,3425,0,0,0,0,0,0
$GC,3510,-0.69,-146.0,396.0,-12.1,347,3515,0.12,1.90,0.00,0.000,6,0.177,0.048,2248,2760,3425,0,0,0,0,0,0
$GC,3830,-0.69,-146.0,424.4,-8.2,360,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2760,3425,0,0,0,0,0,0
$GC,4137,-0.69,-146.0,449.1,-7.9,370,4140,0.00,2.03,0.00,0.000,4,0.000,0.075,2247,3929,3425,0,0,0,0,0,0
$GC,4158,-0.69,-146.0,451.0,-7.6,370,4162,0.00,1.90,0.00,0.000,6,0.000,0.047,2247,2776,3426,0,0,0,0,0,0
$GC,4477,-0.69,-146.0,475.0,-7.5,381,4481,0.00,2.00,0.00,0.000,4,0.000,0.074,2247,3933,3426,0,0,0,0,0,0
$GC,4516,-0.69,-146.0,478.1,-8.1,382,4520,0.00,1.85,0.00,0.000,6,0.000,0.048,2247,2782,3426,0,0,0,0,0,0
$GC,4852,-0.69,-146.0,505.2,-8.4,393,4856,0.00,2.25,0.00,0.000,4,0.000,0.050,2247,1365,3426,0,0,0,0,0,0
$GC,4884,-0.69,-146.0,508.1,-8.6,394,4888,0.00,2.35,0.00,0.000,6,0.000,0.062,2247,2780,3426,0,0,0,0,0,0
$GC,5220,-0.69,-146.0,536.3,-8.2,405,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2780,3427,0,0,0,0,0,0
$GC,5526,-0.69,-146.0,560.8,-8.2,415,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2781,3426,0,0,0,0,0,0
$GC,5832,-0.69,-146.0,582.8,-7.0,425,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2780,3427,0,0,0,0,0,0
$GC,6139,-0.69,-146.0,607.2,-8.8,435,6143,0.00,2.00,0.00,0.000,4,0.000,0.073,2247,3934,3427,0,0,0,0,0,0
$GC,6161,-0.69,-146.0,609.3,-8.6,435,6164,0.00,1.90,0.00,0.000,6,0.000,0.047,2247,2774,3427,0,0,0,0,0,0
$STATE,6478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6478,begin apogee
$GC,6484,-0.14,0.0,635.5,8.4,446,6594,0.55,0.00,104.10,1.003,4,0.138,0.000,2423,2597,2923,0,0,0,0,0,0
$STATE,6595,end apogee,CONTROL_FINISHED_OK
$STATE,6595,begin climb
$GC,6597,0.57,146.0,640.3,0.0,449,6736,0.68,2.40,130.00,0.981,4,0.070,0.050,2661,1185,2326,0,0,0,0,0,0
$GC,6931,0.55,146.0,609.6,12.2,459,6939,0.00,2.47,0.00,0.000,6,0.000,0.055,2662,2611,2317,0,0,0,0,0,0
$GC,7245,0.49,146.0,571.4,12.4,470,7249,0.00,2.33,0.00,0.000,4,0.000,0.052,2662,1181,2314,0,0,0,0,0,0
$GC,7482,0.49,146.0,543.9,11.3,477,7486,0.00,2.35,0.00,0.000,6,0.000,0.056,2662,2600,2314,0,0,0,0,0,0
$GC,7818,0.43,146.0,504.5,11.9,488,7822,0.17,2.25,0.00,0.000,4,0.192,0.067,2616,3930,2312,0,0,0,0,0,0
$GC,7866,0.43,146.0,498.8,10.5,489,7871,0.00,2.17,0.00,0.000,6,0.000,0.044,2616,2598,2312,0,0,0,0,0,0
$GC,8187,0.48,170.7,470.5,8.9,500,8212,0.00,2.25,19.98,0.884,4,0.000,0.053,2616,1197,2227,0,0,0,0,0,0
$GC,8251,0.60,213.0,464.9,8.0,501,8297,0.15,2.33,37.97,0.881,6,0.093,0.056,2678,2601,2054,0,0,0,0,0,0
$GC,8616,0.56,213.0,416.5,13.6,513,8620,0.00,2.25,0.00,0.000,4,0.000,0.067,2678,3930,2044,0,0,0,0,0,0
$GC,8665,0.48,213.0,408.2,16.7,514,8670,0.17,2.17,0.00,0.000,6,0.190,0.044,2635,2594,2042,0,0,0,0,0,0
$GC,8988,0.53,215.5,372.8,9.9,538,8992,0.00,2.25,0.00,0.000,4,0.000,0.053,2635,1189,2042,0,0,0,0,0,0
$GC,9016,0.59,215.5,369.6,11.4,540,9020,0.00,2.30,0.00,0.000,6,0.000,0.054,2635,2608,2042,0,0,0,0,0,0
$GC,9342,0.63,215.5,334.3,11.3,570,9346,0.12,2.22,0.00,0.000,4,0.101,0.068,2688,3929,2041,0,0,0,0,0,0
$GC,9450,0.54,215.5,316.7,16.6,579,9455,0.15,2.12,0.00,0.000,6,0.190,0.044,2653,2612,2040,0,0,0,0,0,0
$GC,9776,0.57,215.5,279.4,10.5,609,9780,0.00,2.25,0.00,0.000,4,0.000,0.053,2652,1189,2040,0,0,0,0,0,0
$GC,9861,0.66,225.7,271.2,9.5,616,9877,0.10,2.28,10.07,0.755,6,0.114,0.057,2695,2591,2003,0,0,0,0,0,0
$GC,10203,0.63,225.7,226.2,12.9,648,10207,0.00,2.25,0.00,0.000,4,0.000,0.053,2696,1184,2001,0,0,0,0,0,0
$GC,10237,0.63,225.7,221.9,12.2,651,10241,0.00,2.30,0.00,0.000,6,0.000,0.056,2696,2588,2000,0,0,0,0,0,0
$GC,10562,0.60,225.7,180.2,13.2,681,10566,0.00,2.25,0.00,0.000,4,0.000,0.054,2696,1190,1999,0,0,0,0,0,0
$GC,10591,0.60,225.7,176.4,14.1,683,10595,0.00,2.25,0.00,0.000,6,0.000,0.056,2696,2574,2000,0,0,0,0,0,0
$GC,10921,0.60,225.7,136.0,11.2,714,10925,0.00,2.28,0.00,0.000,4,0.000,0.068,2696,3926,1999,0,0,0,0,0,0
$GC,10999,0.54,225.7,125.4,13.8,720,11006,0.17,2.15,0.00,0.000,6,0.184,0.046,2651,2594,1997,0,0,0,0,0,0
$GC,11326,0.64,261.8,98.2,8.3,753,11364,0.00,2.30,31.85,0.699,4,0.000,0.054,2651,1186,1854,0,0,0,0,0,0
$GC,11430,0.82,308.7,90.1,7.8,770,11477,0.25,2.33,40.33,0.679,6,0.076,0.056,2751,2588,1664,0,0,0,0,0,0
$GC,11815,0.82,308.7,38.4,12.6,838,11821,0.00,2.28,0.00,0.000,4,0.000,0.070,2751,3925,1652,0,0,0,0,0,0
$GC,11985,0.77,308.7,12.9,16.9,868,11992,0.00,2.17,0.00,0.000,6,0.000,0.047,2751,2591,1651,0,0,0,0,0,0
$FREEZE,8.93,-1.707,-1.760,2,3,0
$STATE,12022,end climb,FINISH_DEPTH_REACHED
$STATE,12022,begin subsurface finish
$FINISH1,8.9,1.025767,85
$GC,12028,0.06,85.0,8.9,-11.6,874,12064,0.85,2.33,-28.80,0.000,4,0.171,0.067,2502,1189,2578,0,0,0,0,0,0
$FINISH2,7.2
$STATE,12065,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12065,begin surface
$RAFOS_CLK,703
$RAFOS,3,1292027105,0.433333,0.418056,63,45,43,43,43,42,737,1751,757,1731,1738,815
$RAFOS,2,1292026622,0.300000,0.283889,89,47,45,45,44,43,621,1128,1100,144,331,1756
$RAFOS,1,1292026146,0.166667,0.151667,82,47,42,42,42,41,546,1687,177,1625,1210,547
$RAFOS,0,1292025669,0.033333,0.019167,94,53,48,44,42,42,605,144,205,287,523,1328
$RAFOS_FIX,6642.000488,-6005.048828,111210,000028,4,82,0.48
$IRIDIUM_FIX,6614.97,-5939.52,101210,050521
$TT8_MAMPS,0.030709
$HUMID,49.37
$INTERNAL_PRESSURE,8.59255
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,25.1
$ALTIM_BOTTOM_PING,601.8,51.9
$24V_AH,21.8,58.864
$10V_AH,9.9,42.734
$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,4.425,109.975,374.300,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2230.892,7674.297,394.776,1650.611,183.138,0.000,1300.011,0.000,1634.211,1800.000,17.820,0.000
$DEVICE_MAMPS,192.015,75.735,1002.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,615.090,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30095,880
$CAP_FILE_SIZE,123720,0
$CFSIZE,260165632,215523328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.7
$GPS,111210,001528,6642.000,-6005.049,0,4082.0,0,-38.0