version: 66.08
glider: 183
mission: 3
dive: 390
start: 11 24 110 18 59 39
data:
$ID,183
$MISSION,3
$DIVE,390
$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,-8271.1582
$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,28
$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,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
$GPS1,241110,162725,6647.719,-5955.102,0,7088.9,0,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.39
$_SM_ANGLEo,-7.1
$GPS2,241110,162725,6647.719,-5955.102,0,7088.9,0,-38.1
$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,291.2,23630,-17.5,-10.000
$D_GRID,735
$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,-6.80,0.000,2,0.000,0.000,2508,3925,2667,0,0,0,0,0,0
$GC,27,-0.57,-146.0,10.6,-0.0,1,58,0.60,4.28,-19.67,0.000,4,0.084,0.059,2288,1364,3523,0,0,0,0,0,0
$GC,233,-0.57,-146.0,39.3,-11.4,37,240,0.00,2.38,0.00,0.000,6,0.000,0.063,2287,2779,3525,0,0,0,0,0,0
$GC,578,-0.57,-146.0,82.2,-11.8,98,585,0.00,2.28,0.00,0.000,4,0.000,0.052,2287,1360,3524,0,0,0,0,0,0
$GC,620,-0.57,-146.0,87.0,-11.6,105,627,0.00,2.35,0.00,0.000,6,0.000,0.063,2287,2778,3524,0,0,0,0,0,0
$GC,958,-0.57,-146.0,124.9,-10.7,146,962,0.00,1.98,0.00,0.000,4,0.000,0.075,2284,3923,3524,0,0,0,0,0,0
$GC,984,-0.57,-146.0,127.9,-11.0,148,991,0.00,1.90,0.00,0.000,6,0.000,0.048,2284,2768,3524,0,0,0,0,0,0
$GC,1310,-0.57,-146.0,160.4,-10.1,179,1313,0.00,1.98,0.00,0.000,4,0.000,0.076,2277,3932,3524,0,0,0,0,0,0
$GC,1337,-0.57,-146.0,163.4,-10.8,181,1345,0.00,1.88,0.00,0.000,6,0.000,0.049,2277,2775,3523,0,0,0,0,0,0
$GC,1662,-0.57,-146.0,195.0,-9.1,212,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2775,3523,0,0,0,0,0,0
$GC,1983,-0.59,-146.0,223.4,-9.1,242,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2776,3523,0,0,0,0,0,0
$GC,2302,-0.62,-146.0,252.0,-9.0,272,2306,0.00,1.95,0.00,0.000,4,0.000,0.076,2275,3928,3523,0,0,0,0,0,0
$GC,2326,-0.65,-146.0,254.3,-8.7,274,2330,0.00,1.88,0.00,0.000,6,0.000,0.050,2274,2784,3522,0,0,0,0,0,0
$GC,2657,-0.68,-146.0,284.1,-8.7,305,2661,0.00,2.28,0.00,0.000,4,0.000,0.051,2275,1362,3522,0,0,0,0,0,0
$GC,2687,-0.72,-146.0,286.9,-9.2,307,2691,0.00,2.35,0.00,0.000,6,0.000,0.063,2276,2785,3522,0,0,0,0,0,0
$GC,3012,-0.76,-146.0,314.2,-8.2,337,3014,0.12,0.00,0.00,0.000,6,0.108,0.000,2222,2785,3522,0,0,0,0,0,0
$GC,3331,-0.70,-146.0,350.3,-11.6,367,3335,0.00,1.95,0.00,0.000,4,0.000,0.073,2217,3935,3521,0,0,0,0,0,0
$GC,3381,-0.64,-146.0,356.6,-11.6,371,3389,0.12,1.88,0.00,0.000,6,0.148,0.048,2258,2789,3521,0,0,0,0,0,0
$GC,3707,-0.64,-146.0,385.6,-8.7,402,3711,0.00,2.25,0.00,0.000,4,0.000,0.051,2258,1363,3522,0,0,0,0,0,0
$GC,3728,-0.66,-146.0,387.8,-9.1,403,3735,0.00,2.35,0.00,0.000,6,0.000,0.063,2257,2778,3522,0,0,0,0,0,0
$GC,4055,-0.66,-146.0,415.8,-8.6,434,4059,0.00,1.98,0.00,0.000,4,0.000,0.073,2249,3928,3522,0,0,0,0,0,0
$GC,4081,-0.66,-146.0,418.4,-8.9,436,4089,0.00,1.88,0.00,0.000,6,0.000,0.048,2249,2779,3522,0,0,0,0,0,0
$GC,4407,-0.66,-146.0,447.6,-8.8,467,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2778,3522,0,0,0,0,0,0
$GC,4726,-0.66,-146.0,476.2,-8.7,497,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2779,3523,0,0,0,0,0,0
$GC,5063,-0.66,-146.0,505.2,-8.3,525,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2779,3522,0,0,0,0,0,0
$GC,5370,-0.66,-146.0,530.6,-8.2,535,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2778,3523,0,0,0,0,0,0
$GC,5676,-0.66,-146.0,555.4,-8.1,545,5680,0.00,2.22,0.00,0.000,4,0.000,0.050,2248,1366,3523,0,0,0,0,0,0
$GC,5704,-0.69,-146.0,557.9,-8.4,546,5709,0.00,2.35,0.00,0.000,6,0.000,0.062,2248,2782,3523,0,0,0,0,0,0
$GC,6040,-0.69,-146.0,585.3,-8.4,557,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2782,3523,0,0,0,0,0,0
$GC,6346,-0.69,-146.0,610.4,-8.0,567,6350,0.00,1.95,0.00,0.000,4,0.000,0.071,2247,3935,3524,0,0,0,0,0,0
$GC,6373,-0.69,-146.0,612.8,-8.1,567,6380,0.00,1.88,0.00,0.000,6,0.000,0.046,2247,2783,3524,0,0,0,0,0,0
$GC,6687,-0.69,-146.0,637.1,-8.0,578,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2783,3524,0,0,0,0,0,0
$GC,6992,-0.69,-146.0,661.4,-7.9,588,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2783,3524,0,0,0,0,0,0
$GC,7299,-0.69,-146.0,687.3,-8.3,598,7300,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2783,3524,0,0,0,0,0,0
$GC,7607,-0.71,-146.0,715.3,-9.7,608,7611,0.00,1.95,0.00,0.000,4,0.000,0.073,2247,3936,3524,0,0,0,0,0,0
$GC,7651,-0.75,-146.0,720.4,-10.9,609,7655,0.00,1.88,0.00,0.000,6,0.000,0.046,2247,2784,3524,0,0,0,0,0,0
$GC,7982,-0.95,-146.0,732.2,-0.0,620,7987,0.22,1.98,0.00,0.000,4,0.079,0.073,2151,3926,3525,0,0,0,0,0,0
$STATE,8009,end dive,NO_VERTICAL_VELOCITY
$STATE,8009,begin apogee
$GC,8016,-0.14,0.0,732.2,0.0,621,8145,0.82,0.00,122.80,1.064,4,0.117,0.000,2426,2599,2926,0,0,0,0,0,0
$STATE,8146,end apogee,CONTROL_FINISHED_OK
$STATE,8146,begin climb
$GC,8148,0.57,146.0,732.1,0.0,625,8287,0.68,2.42,130.52,1.039,4,0.073,0.068,2659,3928,2327,0,0,0,0,0,0
$GC,8384,0.57,146.0,723.9,30538.9,632,8388,0.00,2.30,0.00,0.000,6,0.000,0.042,2662,2602,2320,0,0,0,0,0,0
$GC,8702,0.57,146.0,682.5,30538.9,643,8706,0.00,2.33,0.00,0.000,4,0.000,0.067,2662,3936,2317,0,0,0,0,0,0
$GC,8791,0.57,146.0,669.7,30538.9,645,8798,0.00,2.17,0.00,0.000,6,0.000,0.044,2664,2613,2315,0,0,0,0,0,0
$GC,9104,0.57,146.0,628.1,30538.9,656,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2613,2315,0,0,0,0,0,0
$GC,9410,0.57,146.0,588.4,30538.9,666,9414,0.00,2.25,0.00,0.000,4,0.000,0.068,2664,3937,2315,0,0,0,0,0,0
$GC,9455,0.57,146.0,581.6,30538.9,667,9459,0.00,2.15,0.00,0.000,6,0.000,0.044,2665,2607,2314,0,0,0,0,0,0
$GC,9773,0.57,146.0,541.1,30538.9,678,9777,0.00,2.22,0.00,0.000,4,0.000,0.067,2665,3934,2314,0,0,0,0,0,0
$GC,9828,0.57,146.0,533.0,30538.9,679,9835,0.00,2.10,0.00,0.000,6,0.000,0.044,2666,2630,2313,0,0,0,0,0,0
$GC,10143,0.57,146.0,493.8,30538.9,692,10147,0.00,2.30,0.00,0.000,4,0.000,0.054,2666,1185,2314,0,0,0,0,0,0
$GC,10169,0.57,146.0,490.3,30538.9,694,10177,0.00,2.35,0.00,0.000,6,0.000,0.055,2666,2640,2314,0,0,0,0,0,0
$GC,10495,0.57,146.0,451.1,30538.9,725,10496,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2639,2314,0,0,0,0,0,0
$GC,10815,0.57,146.0,413.1,30538.9,755,10816,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2639,2314,0,0,0,0,0,0
$GC,11134,0.57,146.0,376.2,30538.9,785,11138,0.00,2.15,0.00,0.000,4,0.000,0.067,2666,3929,2314,0,0,0,0,0,0
$GC,11189,0.57,146.0,368.8,30538.9,789,11196,0.00,2.05,0.00,0.000,6,0.000,0.044,2666,2643,2313,0,0,0,0,0,0
$GC,11514,0.57,146.0,332.3,30538.9,820,11516,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2643,2314,0,0,0,0,0,0
$GC,11835,0.57,146.0,296.0,30538.9,850,11836,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2643,2313,0,0,0,0,0,0
$GC,12153,0.57,146.0,261.5,30538.9,880,12154,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2643,2313,0,0,0,0,0,0
$GC,12472,0.57,146.0,229.3,30538.9,910,12473,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2643,2313,0,0,0,0,0,0
$GC,12789,0.57,146.0,198.9,30538.9,940,12791,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2643,2313,0,0,0,0,0,0
$GC,13109,0.57,146.0,167.3,30538.9,970,13113,0.00,2.15,0.00,0.000,4,0.000,0.069,2666,3924,2313,0,0,0,0,0,0
$GC,13153,0.57,146.0,162.3,30538.9,973,13160,0.00,2.05,0.00,0.000,6,0.000,0.045,2666,2642,2313,0,0,0,0,0,0
$GC,13478,0.57,146.0,135.4,30538.9,1004,13479,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2642,2314,0,0,0,0,0,0
$GC,13798,0.57,146.0,112.9,30538.9,1034,13802,0.00,2.17,0.00,0.000,4,0.000,0.069,2666,3928,2314,0,0,0,0,0,0
$GC,13870,0.57,146.0,106.9,30538.9,1040,13877,0.00,2.05,0.00,0.000,6,0.000,0.045,2666,2645,2313,0,0,0,0,0,0
$STATE,13992,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,13993,begin subsurface finish
$FINISH1,97.5,1.026571,46
$GC,13999,0.03,45.6,97.5,-30538.9,1054,14013,0.57,2.30,-3.25,0.000,4,0.164,0.084,2493,3920,2744,0,0,0,0,0,0
$FINISH2,96.6
$STATE,14013,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14013,begin surface
$RAFOS_CLK,816
$RAFOS,6,1290631771,20.833334,20.825277,96,46,43,40,40,40,648,1785,1810,813,1042,1405
$RAFOS,5,1290631278,20.700001,20.688334,91,50,43,42,41,41,844,986,513,1334,1694,1930
$RAFOS,4,1290630792,20.566668,20.553333,73,43,42,42,42,40,644,1240,603,1069,1852,1847
$RAFOS,65,1698513293,-0.121219,-0.227789,110,40,65,139,126,142,24782,16572,4319,918,558,1556
$RAFOS,2,1290629828,20.299999,20.285555,57,45,43,43,41,38,614,1292,421,1461,973,1245
$RAFOS,1,1290629350,20.166666,20.152779,169,51,51,48,46,46,503,504,1314,779,1284,1431
$RAFOS,0,1290628862,20.033333,20.017221,72,48,47,47,44,42,678,1666,405,1401,1367,1884
$RAFOS_FIX,6648.147949,-5959.531250,241110,202013,5,100,0.23
$IRIDIUM_FIX,6620.33,-5936.77,241110,010130
$TT8_MAMPS,0.027713
$HUMID,50.35
$INTERNAL_PRESSURE,8.63162
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,21.6,21.3
$ALTIM_BOTTOM_PING,98.5,18.2
$24V_AH,21.9,47.471
$10V_AH,9.9,36.175
$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,3.150,93.650,253.325,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2648.562,9204.209,315.888,1753.068,173.669,0.000,1249.149,0.000,1740.447,2520.000,19.772,0.000
$DEVICE_MAMPS,164.475,218.025,1064.115,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,739.323,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151724
$DATA_FILE_SIZE,36704,1056
$CAP_FILE_SIZE,126668,0
$CFSIZE,260165632,221839360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.7
$GPS,241110,202913,6648.148,-5959.531,0,5100.2,0,-38.1