version: 66.08
glider: 183
mission: 3
dive: 407
start: 11 26 110 1 6 35
data:
$ID,183
$MISSION,3
$DIVE,407
$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,-8272.5078
$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,31
$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
$GPS1,261110,005541,6648.236,-6000.879,28,1.7,33,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-67.8
$GPS2,261110,010602,6648.051,-6000.669,11,1.2,11,-38.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,116.8,141863,-17.5,-10.000
$D_GRID,700
$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,15,-0.57,-146.0,0.0,0.0,0,145,0.00,0.00,-127.03,0.000,2,0.000,0.000,302,2781,3140,0,0,0,0,0,0
$GC,149,-0.57,-146.0,6.1,-15.9,22,174,8.62,2.35,-7.38,0.000,4,0.264,0.066,2285,1373,3523,0,0,0,0,0,0
$GC,262,-0.50,-146.0,36.8,-16.8,41,269,0.12,2.38,0.00,0.000,6,0.192,0.064,2310,2777,3525,0,0,0,0,0,0
$GC,608,-0.52,-146.0,75.6,-10.3,102,615,0.00,2.28,0.00,0.000,4,0.000,0.053,2310,1363,3524,0,0,0,0,0,0
$GC,707,-0.59,-146.0,85.6,-9.4,119,714,0.00,2.35,0.00,0.000,6,0.000,0.063,2307,2769,3524,0,0,0,0,0,0
$GC,1042,-0.63,-146.0,117.1,-9.1,163,1047,0.10,1.98,0.00,0.000,4,0.121,0.076,2257,3932,3524,0,0,0,0,0,0
$GC,1066,-0.63,-146.0,119.5,-9.6,165,1070,0.00,1.88,0.00,0.000,6,0.000,0.050,2257,2762,3524,0,0,0,0,0,0
$GC,1397,-0.59,-146.0,157.9,-11.3,196,1400,0.00,2.22,0.00,0.000,4,0.000,0.052,2257,1370,3524,0,0,0,0,0,0
$GC,1431,-0.57,-146.0,162.0,-11.4,199,1436,0.15,2.30,0.00,0.000,6,0.184,0.065,2291,2762,3523,0,0,0,0,0,0
$GC,1757,-0.61,-146.0,190.8,-8.8,229,1761,0.00,1.95,0.00,0.000,4,0.000,0.076,2287,3929,3524,0,0,0,0,0,0
$GC,1796,-0.66,-146.0,194.4,-9.1,232,1803,0.00,1.90,0.00,0.000,6,0.000,0.050,2287,2758,3524,0,0,0,0,0,0
$GC,2122,-0.70,-146.0,222.4,-9.3,263,2124,0.12,0.00,0.00,0.000,6,0.108,0.000,2235,2758,3523,0,0,0,0,0,0
$GC,2440,-0.65,-146.0,263.4,-12.6,293,2445,0.12,2.00,0.00,0.000,4,0.176,0.077,2263,3928,3523,0,0,0,0,0,0
$GC,2467,-0.65,-146.0,266.9,-11.7,295,2475,0.00,1.90,0.00,0.000,6,0.000,0.050,2263,2772,3523,0,0,0,0,0,0
$GC,2794,-0.65,-146.0,300.3,-10.0,326,2798,0.00,2.25,0.00,0.000,4,0.000,0.052,2262,1359,3523,0,0,0,0,0,0
$GC,2826,-0.67,-146.0,303.7,-10.1,328,2833,0.00,2.33,0.00,0.000,6,0.000,0.063,2262,2772,3522,0,0,0,0,0,0
$GC,3152,-0.67,-146.0,333.4,-9.2,359,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2772,3522,0,0,0,0,0,0
$GC,3473,-0.67,-146.0,360.4,-8.2,389,3477,0.00,1.92,0.00,0.000,4,0.000,0.075,2258,3929,3523,0,0,0,0,0,0
$GC,3519,-0.69,-146.0,364.6,-9.0,393,3523,0.00,1.90,0.00,0.000,6,0.000,0.050,2257,2753,3523,0,0,0,0,0,0
$GC,3850,-0.69,-146.0,393.5,-8.6,424,3851,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2752,3523,0,0,0,0,0,0
$GC,4170,-0.69,-146.0,421.5,-9.0,454,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2752,3524,0,0,0,0,0,0
$GC,4489,-0.69,-146.0,450.3,-8.9,484,4493,0.00,1.98,0.00,0.000,4,0.000,0.075,2252,3929,3524,0,0,0,0,0,0
$GC,4547,-0.72,-146.0,456.0,-10.0,489,4551,0.00,1.90,0.00,0.000,6,0.000,0.048,2252,2764,3524,0,0,0,0,0,0
$GC,4878,-0.72,-146.0,486.0,-9.1,520,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2763,3524,0,0,0,0,0,0
$GC,5202,-0.72,-146.0,513.6,-8.5,541,5206,0.00,2.20,0.00,0.000,4,0.000,0.051,2252,1363,3525,0,0,0,0,0,0
$GC,5235,-0.74,-146.0,516.7,-8.4,542,5239,0.00,2.33,0.00,0.000,6,0.000,0.063,2252,2780,3525,0,0,0,0,0,0
$GC,5565,-0.74,-146.0,546.8,-9.3,553,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2779,3525,0,0,0,0,0,0
$GC,5870,-0.74,-146.0,573.7,-8.5,563,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2780,3526,0,0,0,0,0,0
$GC,6176,-0.74,-146.0,599.5,-8.3,573,6181,0.00,1.95,0.00,0.000,4,0.000,0.073,2252,3936,3526,0,0,0,0,0,0
$GC,6204,-0.74,-146.0,602.0,-8.5,573,6211,0.00,1.85,0.00,0.000,6,0.000,0.047,2252,2771,3526,0,0,0,0,0,0
$GC,6517,-0.74,-146.0,626.7,-7.9,584,6521,0.00,2.20,0.00,0.000,4,0.000,0.049,2252,1366,3526,0,0,0,0,0,0
$GC,6550,-0.77,-146.0,629.4,-7.8,585,6554,0.00,2.33,0.00,0.000,6,0.000,0.062,2252,2775,3526,0,0,0,0,0,0
$GC,6880,-0.77,-146.0,655.2,-8.2,596,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2774,3526,0,0,0,0,0,0
$GC,7185,-0.77,-146.0,680.5,-8.4,606,7189,0.00,1.92,0.00,0.000,4,0.000,0.073,2251,3929,3526,0,0,0,0,0,0
$GC,7213,-0.80,-146.0,682.9,-7.7,606,7220,0.10,1.88,0.00,0.000,6,0.125,0.047,2208,2759,3527,0,0,0,0,0,0
$STATE,7371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7371,begin apogee
$GC,7377,-0.14,0.0,700.3,11.3,612,7507,0.68,0.00,123.45,1.054,4,0.149,0.000,2421,2595,2923,0,0,0,0,0,0
$STATE,7507,end apogee,CONTROL_FINISHED_OK
$STATE,7507,begin climb
$GC,7510,0.57,146.0,704.4,0.0,616,7651,0.70,2.42,130.68,1.029,4,0.079,0.050,2657,1189,2325,0,0,0,0,0,0
$GC,7798,0.57,146.0,680.9,28080.2,625,7802,0.00,2.45,0.00,0.000,6,0.000,0.055,2656,2599,2317,0,0,0,0,0,0
$GC,8133,0.57,146.0,641.5,28080.2,636,8137,0.00,2.30,0.00,0.000,4,0.000,0.052,2661,1188,2314,0,0,0,0,0,0
$GC,8390,0.57,146.0,614.6,28080.2,643,8397,0.00,2.35,0.00,0.000,6,0.000,0.056,2661,2610,2313,0,0,0,0,0,0
$GC,8703,0.57,146.0,577.4,28080.2,654,8707,0.00,2.20,0.00,0.000,4,0.000,0.067,2662,3926,2312,0,0,0,0,0,0
$GC,8731,0.57,146.0,573.5,28080.2,654,8738,0.00,2.15,0.00,0.000,6,0.000,0.044,2662,2592,2312,0,0,0,0,0,0
$GC,9044,0.57,146.0,536.0,28080.2,665,9045,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2592,2311,0,0,0,0,0,0
$GC,9350,0.57,146.0,499.6,28080.2,675,9351,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2592,2311,0,0,0,0,0,0
$GC,9671,0.57,146.0,459.7,28080.2,705,9675,0.00,2.22,0.00,0.000,4,0.000,0.068,2662,3930,2311,0,0,0,0,0,0
$GC,9725,0.57,146.0,451.5,28080.2,709,9732,0.00,2.12,0.00,0.000,6,0.000,0.044,2662,2599,2310,0,0,0,0,0,0
$GC,10051,0.57,146.0,410.9,28080.2,740,10052,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2598,2310,0,0,0,0,0,0
$GC,10372,0.57,146.0,372.7,28080.2,770,10376,0.00,2.22,0.00,0.000,4,0.000,0.068,2662,3935,2310,0,0,0,0,0,0
$GC,10419,0.57,146.0,366.6,28080.2,774,10423,0.00,2.10,0.00,0.000,6,0.000,0.044,2662,2615,2309,0,0,0,0,0,0
$GC,10750,0.57,146.0,331.5,28080.2,805,10752,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2614,2310,0,0,0,0,0,0
$GC,11068,0.57,146.0,299.8,28080.2,835,11072,0.00,2.22,0.00,0.000,4,0.000,0.054,2663,1194,2310,0,0,0,0,0,0
$GC,11108,0.57,146.0,296.2,28080.2,838,11112,0.00,2.33,0.00,0.000,6,0.000,0.056,2663,2626,2311,0,0,0,0,0,0
$GC,11436,0.57,146.0,266.9,28080.2,868,11440,0.00,2.15,0.00,0.000,4,0.000,0.068,2663,3933,2310,0,0,0,0,0,0
$GC,11499,0.57,146.0,260.3,28080.2,873,11503,0.00,2.08,0.00,0.000,6,0.000,0.044,2663,2624,2309,0,0,0,0,0,0
$GC,11824,0.57,146.0,229.3,28080.2,903,11826,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2624,2310,0,0,0,0,0,0
$GC,12145,0.57,146.0,199.3,28080.2,933,12149,0.00,2.28,0.00,0.000,4,0.000,0.052,2664,1186,2310,0,0,0,0,0,0
$GC,12177,0.57,146.0,196.0,28080.2,935,12184,0.00,2.35,0.00,0.000,6,0.000,0.056,2664,2635,2311,0,0,0,0,0,0
$GC,12502,0.57,146.0,166.0,28080.2,966,12506,0.00,2.15,0.00,0.000,4,0.000,0.067,2663,3936,2311,0,0,0,0,0,0
$GC,12535,0.57,146.0,162.2,28080.2,968,12542,0.00,2.08,0.00,0.000,6,0.000,0.044,2665,2632,2310,0,0,0,0,0,0
$GC,12861,0.57,146.0,135.0,28080.2,999,12864,0.00,2.17,0.00,0.000,4,0.000,0.068,2665,3929,2310,0,0,0,0,0,0
$GC,12895,0.57,146.0,132.2,28080.2,1002,12899,0.00,2.03,0.00,0.000,6,0.000,0.044,2665,2654,2310,0,0,0,0,0,0
$GC,13226,0.57,146.0,109.5,28080.2,1033,13230,0.00,2.12,0.00,0.000,4,0.000,0.069,2665,3932,2310,0,0,0,0,0,0
$GC,13292,0.57,146.0,104.6,28080.2,1038,13299,0.00,2.05,0.00,0.000,6,0.000,0.045,2665,2647,2310,0,0,0,0,0,0
$STATE,13589,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,13589,begin subsurface finish
$FINISH1,87.0,1.026474,50
$GC,13596,0.03,50.3,87.0,-28080.2,1085,13609,0.57,2.30,-3.33,0.000,4,0.168,0.067,2492,1194,2726,0,0,0,0,0,0
$FINISH2,86.4
$STATE,13610,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13610,begin surface
$RAFOS_CLK,739
$RAFOS,5,1290746466,4.700000,4.685000,72,49,47,46,42,40,884,1576,332,162,1119,1303
$RAFOS,4,1290745989,4.566667,4.552500,116,59,45,45,44,39,637,1785,1228,1553,375,970
$RAFOS,3,1290745502,4.433333,4.417222,65,53,51,43,40,38,775,785,1801,542,680,1340
$RAFOS,2,1290745026,4.300000,4.285000,72,51,47,45,42,41,653,1735,1548,880,572,1216
$RAFOS,1,1290744544,4.166667,4.151111,107,45,42,42,41,41,559,795,1057,26,605,1148
$RAFOS,0,1290744066,4.033333,4.018333,87,50,47,44,41,40,678,1588,808,1748,1868,1272
$RAFOS,6,1290732544,0.833333,0.817778,45,45,44,41,40,40,1742,1760,1624,26,271,505
$RAFOS_FIX,6647.994629,-5955.655273,261110,040428,6,86,0.31
$IRIDIUM_FIX,6614.97,-5944.22,241110,060644
$TT8_MAMPS,0.030709
$HUMID,49.09
$INTERNAL_PRESSURE,8.61208
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,17.6,17.5
$ALTIM_BOTTOM_PING,87.7,17.4
$24V_AH,21.8,48.977
$10V_AH,9.9,36.830
$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,11.300,105.550,254.125,0.000,0.000,24.405,18.146,342.104,2.250,0.000,14.641,2740.042,8507.691,405.164,2241.929,368.523,0.000,1411.486,0.000,1853.155,2520.000,17.956,0.000
$DEVICE_MAMPS,263.925,146.880,1054.170,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,759.099,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151716
$DATA_FILE_SIZE,40019,1087
$CAP_FILE_SIZE,141724,0
$CFSIZE,260165632,221130752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.0
$GPS,261110,042328,6647.995,-5955.655,0,6086.5,0,-38.1