version: 66.08
glider: 183
mission: 3
dive: 493
start: 12 11 110 19 39 37
data:
$ID,183
$MISSION,3
$DIVE,493
$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,31
$R_STBD_OVSHOOT,25
$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
$GPS1,111210,162649,6644.775,-6012.579,0,7090.7,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.58
$_SM_ANGLEo,-5.1
$GPS2,111210,162649,6644.775,-6012.579,0,7090.7,0,-38.0
$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,115.1,151542,-17.5,-10.000
$D_GRID,569
$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,-6.65,0.000,2,0.000,0.000,2497,1190,2834,0,0,0,0,0,0
$GC,27,-0.57,-146.0,10.9,-0.0,1,53,0.55,4.68,-15.90,0.000,4,0.083,0.070,2284,3922,3521,0,0,0,0,0,0
$GC,65,-0.57,-146.0,14.2,-9.2,7,72,0.00,1.85,0.00,0.000,6,0.000,0.047,2283,2778,3522,0,0,0,0,0,0
$GC,411,-0.54,-146.0,64.1,-12.5,68,418,0.00,2.25,0.00,0.000,4,0.000,0.050,2283,1374,3522,0,0,0,0,0,0
$GC,557,-0.57,-146.0,79.2,-9.8,93,564,0.00,2.35,0.00,0.000,6,0.000,0.061,2281,2796,3522,0,0,0,0,0,0
$GC,901,-0.57,-146.0,114.4,-9.8,142,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2796,3522,0,0,0,0,0,0
$GC,1220,-0.57,-146.0,145.4,-9.2,172,1224,0.00,2.28,0.00,0.000,4,0.000,0.051,2280,1372,3522,0,0,0,0,0,0
$GC,1306,-0.62,-146.0,154.3,-9.8,179,1310,0.00,2.35,0.00,0.000,6,0.000,0.063,2280,2792,3522,0,0,0,0,0,0
$GC,1632,-0.64,-146.0,186.0,-9.4,209,1636,0.00,2.28,0.00,0.000,4,0.000,0.050,2280,1368,3522,0,0,0,0,0,0
$GC,1656,-0.68,-146.0,188.2,-9.4,210,1663,0.00,2.33,0.00,0.000,6,0.000,0.060,2280,2769,3522,0,0,0,0,0,0
$GC,1982,-0.71,-146.0,217.7,-8.8,241,1986,0.10,2.25,0.00,0.000,4,0.122,0.050,2237,1374,3522,0,0,0,0,0,0
$GC,2028,-0.69,-146.0,222.9,-11.6,245,2032,0.00,2.33,0.00,0.000,6,0.000,0.063,2235,2765,3521,0,0,0,0,0,0
$GC,2353,-0.64,-146.0,262.0,-11.7,275,2355,0.12,0.00,0.00,0.000,6,0.193,0.000,2267,2765,3522,0,0,0,0,0,0
$GC,2672,-0.66,-146.0,292.0,-9.5,305,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2766,3522,0,0,0,0,0,0
$GC,2993,-0.69,-146.0,320.7,-8.8,335,2997,0.00,2.22,0.00,0.000,4,0.000,0.053,2268,1374,3521,0,0,0,0,0,0
$GC,3022,-0.72,-146.0,323.4,-8.5,337,3026,0.00,2.33,0.00,0.000,6,0.000,0.063,2267,2776,3521,0,0,0,0,0,0
$GC,3348,-0.75,-146.0,354.7,-9.9,367,3351,0.00,1.95,0.00,0.000,4,0.000,0.073,2265,3932,3522,0,0,0,0,0,0
$GC,3409,-0.79,-146.0,361.1,-10.1,372,3416,0.12,1.90,0.00,0.000,6,0.107,0.048,2210,2777,3521,0,0,0,0,0,0
$GC,3744,-0.71,-146.0,404.7,-12.5,402,3748,0.12,2.00,0.00,0.000,4,0.188,0.074,2239,3929,3521,0,0,0,0,0,0
$GC,3838,-0.71,-146.0,414.9,-10.0,404,3845,0.00,1.88,0.00,0.000,6,0.000,0.047,2239,2786,3521,0,0,0,0,0,0
$GC,4152,-0.71,-146.0,445.3,-9.8,415,4156,0.00,2.28,0.00,0.000,4,0.000,0.053,2239,1364,3521,0,0,0,0,0,0
$GC,4263,-0.71,-146.0,456.4,-9.7,418,4267,0.00,2.33,0.00,0.000,6,0.000,0.062,2238,2762,3522,0,0,0,0,0,0
$GC,4594,-0.71,-146.0,488.0,-9.5,429,4597,0.00,1.98,0.00,0.000,4,0.000,0.073,2239,3936,3522,0,0,0,0,0,0
$GC,4683,-0.71,-146.0,496.6,-9.2,431,4687,0.00,1.92,0.00,0.000,6,0.000,0.047,2239,2764,3521,0,0,0,0,0,0
$GC,5002,-0.71,-146.0,525.8,-9.3,442,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2763,3522,0,0,0,0,0,0
$GC,5308,-0.71,-146.0,554.8,-9.4,452,5312,0.00,2.25,0.00,0.000,4,0.000,0.051,2238,1362,3522,0,0,0,0,0,0
$GC,5351,-0.71,-146.0,559.2,-10.2,453,5355,0.00,2.33,0.00,0.000,6,0.000,0.061,2238,2771,3522,0,0,0,0,0,0
$STATE,5459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5459,begin apogee
$GC,5465,-0.14,0.0,569.0,9.1,457,5594,0.57,0.00,121.65,0.969,4,0.143,0.000,2422,2601,2924,0,0,0,0,0,0
$STATE,5595,end apogee,CONTROL_FINISHED_OK
$STATE,5595,begin climb
$GC,5597,0.57,146.0,573.0,0.0,461,5738,0.70,2.45,129.57,0.939,4,0.079,0.051,2659,1182,2325,0,0,0,0,0,0
$GC,5885,-1.69,146.0,550.0,20984.2,470,5895,2.60,2.47,0.00,0.000,6,0.157,0.054,1935,2606,2317,0,0,0,0,0,0
$GC,6227,-1.69,146.0,496.8,20984.2,481,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2606,2310,0,0,0,0,0,0
$GC,6532,-1.69,146.0,444.0,20984.2,491,6536,0.00,2.30,0.00,0.000,4,0.000,0.055,1932,1190,2306,0,0,0,0,0,0
$GC,6669,-1.69,146.0,418.1,20984.2,495,6673,0.00,2.30,0.00,0.000,6,0.000,0.058,1926,2593,2308,0,0,0,0,0,0
$GC,6998,-1.69,146.0,361.0,20984.2,519,7002,0.00,2.25,0.00,0.000,4,0.000,0.050,1926,1178,2308,0,0,0,0,0,0
$GC,7255,-1.69,146.0,317.9,20984.2,541,7262,0.00,2.25,0.00,0.000,6,0.000,0.050,1916,2580,2305,0,0,0,0,0,0
$GC,7581,-1.69,146.0,264.5,20984.2,572,7585,0.00,2.28,0.00,0.000,4,0.000,0.070,1908,3927,2307,0,0,0,0,0,0
$GC,7840,-1.69,146.0,218.8,20984.2,595,7844,0.00,2.15,0.00,0.000,6,0.000,0.044,1907,2582,2305,0,0,0,0,0,0
$GC,8166,-1.69,146.0,164.1,20984.2,625,8170,0.00,2.25,0.00,0.000,4,0.000,0.063,1896,3931,2305,0,0,0,0,0,0
$GC,8198,-1.69,146.0,158.2,20984.2,627,8206,0.15,2.10,0.00,0.000,6,0.206,0.046,1931,2613,2306,0,0,0,0,0,0
$GC,8524,-1.69,146.0,106.9,20984.2,658,8528,0.00,2.17,0.00,0.000,4,0.000,0.060,1923,3930,2304,0,0,0,0,0,0
$GC,8684,-0.32,146.0,81.8,14.4,681,8693,1.60,2.12,0.00,0.000,6,0.185,0.044,2364,2604,2306,0,0,0,0,0,0
$GC,9033,0.44,287.2,68.9,3.5,742,9161,0.77,2.38,114.50,0.668,4,0.148,0.069,2608,3916,1749,0,0,0,0,0,0
$GC,9417,0.88,323.5,41.0,8.3,809,9453,0.43,2.00,29.33,0.650,6,0.099,0.047,2755,2681,1604,0,0,0,0,0,0
$FREEZE,8.45,-1.566,-1.761,2,11,0
$FREEZE,7.64,-1.576,-1.761,2,11,0
$FREEZE,7.06,-1.576,-1.760,2,11,0
$FREEZE,6.54,-1.577,-1.760,2,11,0
$FREEZE,5.77,-1.578,-1.759,2,11,0
$FREEZE,5.16,-1.575,-1.759,2,11,0
$FREEZE,4.38,-1.575,-1.758,2,11,0
$FREEZE,3.85,-1.573,-1.757,2,11,0
$FREEZE,3.11,-1.588,-1.757,2,11,0
$FREEZE,2.44,-1.581,-1.757,2,11,0
$STATE,9748,end climb,SURFACE_DEPTH_REACHED
$STATE,9748,begin surface coast
$FREEZE,1.95,-1.580,-1.756,2,11,0
$FREEZE,1.23,-1.590,-1.755,2,11,0
$FREEZE,1.11,-1.592,-1.754,2,11,0
$FREEZE,1.28,-1.519,-1.750,2,11,0
$FINISH,1.3,1.025714
$STATE,9770,end surface coast,CONTROL_FINISHED_OK
$STATE,9770,begin surface
$SM_CCo,9786,217.88,0.597,1,0,440,609.08
$SM_GC,2.16,0.00,0.00,217.88,0.000,0.000,0.597,303,2785,440,-6.79,0.14,609.08
$RAFOS_CLK,584
$RAFOS,6,1292100543,20.833334,20.817499,83,50,44,42,40,39,810,1803,1831,646,1148,1939
$RAFOS,5,1292100067,20.700001,20.685278,60,51,43,42,42,42,917,927,1356,285,1346,1807
$RAFOS,4,1292099584,20.566668,20.551111,85,46,43,39,39,38,700,709,1629,383,1332,1812
$RAFOS,3,1292099110,20.433332,20.419445,90,43,42,42,41,40,738,354,1502,1595,1621,1616
$RAFOS,2,1292098621,20.299999,20.283611,96,46,42,42,39,39,653,1551,1445,1260,1857,1353
$RAFOS,1,1292098143,20.166666,20.150833,135,47,42,41,39,38,533,936,879,1762,1213,1616
$RAFOS,0,1292097662,20.033333,20.017221,86,48,46,45,44,42,657,1306,1214,890,145,794
$RAFOS_FIX,6645.656250,-6007.005371,111210,202030,6,83,0.30
$IRIDIUM_FIX,6614.97,-5939.52,101210,050521
$TT8_MAMPS,0.029211
$HUMID,45.98
$INTERNAL_PRESSURE,8.41676
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.2
$24V_AH,21.8,59.529
$10V_AH,9.9,43.151
$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,14.550,82.200,395.050,217.875,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2176.771,5536.759,621.420,1599.699,156.273,0.000,1480.628,0.000,1585.638,2520.000,13.233,0.000
$DEVICE_MAMPS,205.785,90.270,969.255,597.465,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,608.723,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151660
$DATA_FILE_SIZE,33420,872
$CAP_FILE_SIZE,109085,0
$CFSIZE,260165632,215105536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.9
$GPS,111210,202930,6645.656,-6007.005,0,6083.3,0,-38.0