version: 66.08
glider: 183
mission: 3
dive: 541
start: 12 19 110 18 39 45
data:
$ID,183
$MISSION,3
$DIVE,541
$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,-9825.7764
$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,43
$R_STBD_OVSHOOT,27
$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
$GPS1,191210,183407,6706.015,-5649.832,33,1.2,34,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-68.0
$GPS2,191210,183914,6706.053,-5649.724,13,1.3,13,-37.6
$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,205.2,5789,-17.5,-10.000
$D_GRID,439
$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
$GC,17,-0.57,-146.0,0.0,0.0,0,150,0.00,0.00,-130.10,0.000,2,0.000,0.000,298,2777,3382,0,0,0,0,0,0
$GC,154,-0.57,-146.0,5.7,-10.1,23,174,8.15,1.95,-2.85,0.000,4,0.236,0.078,2279,3920,3523,0,0,0,0,0,0
$GC,298,-0.57,-146.0,34.5,-11.2,48,305,0.00,1.83,0.00,0.000,6,0.000,0.044,2278,2775,3524,0,0,0,0,0,0
$GC,644,-0.57,-146.0,70.8,-9.5,109,650,0.00,2.20,0.00,0.000,4,0.000,0.046,2277,1372,3522,0,0,0,0,0,0
$GC,699,-0.62,-146.0,75.9,-9.5,118,706,0.00,2.30,0.00,0.000,6,0.000,0.058,2274,2773,3522,0,0,0,0,0,0
$GC,1041,-0.65,-146.0,106.2,-9.2,173,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2774,3521,0,0,0,0,0,0
$GC,1362,-0.70,-146.0,135.7,-9.4,203,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2773,3521,0,0,0,0,0,0
$GC,1691,-0.75,-146.0,166.5,-9.0,234,1696,0.12,2.22,0.00,0.000,4,0.099,0.045,2214,1363,3521,0,0,0,0,0,0
$GC,1747,-0.71,-146.0,173.7,-12.8,238,1754,0.15,2.28,0.00,0.000,6,0.167,0.056,2246,2764,3521,0,0,0,0,0,0
$GC,2072,-0.71,-146.0,206.4,-9.8,269,2076,0.00,2.17,0.00,0.000,4,0.000,0.044,2246,1366,3522,0,0,0,0,0,0
$GC,2101,-0.71,-146.0,209.1,-9.1,271,2105,0.00,2.28,0.00,0.000,6,0.000,0.057,2247,2759,3522,0,0,0,0,0,0
$GC,2427,-0.71,-146.0,238.6,-8.9,301,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2759,3523,0,0,0,0,0,0
$GC,2747,-0.71,-146.0,264.9,-8.2,331,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2759,3523,0,0,0,0,0,0
$GC,3067,-0.71,-146.0,290.7,-7.8,361,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2759,3524,0,0,0,0,0,0
$GC,3394,-0.71,-146.0,316.0,-7.9,392,3398,0.00,2.17,0.00,0.000,4,0.000,0.043,2246,1365,3525,0,0,0,0,0,0
$GC,3422,-0.74,-146.0,318.6,-8.2,394,3429,0.00,2.25,0.00,0.000,6,0.000,0.054,2246,2749,3524,0,0,0,0,0,0
$GC,3748,-0.76,-146.0,344.7,-7.8,425,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2749,3525,0,0,0,0,0,0
$GC,4069,-0.79,-146.0,369.4,-8.0,455,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2749,3526,0,0,0,0,0,0
$GC,4397,-0.81,-146.0,395.1,-7.5,486,4401,0.00,2.15,0.00,0.000,4,0.000,0.043,2246,1371,3527,0,0,0,0,0,0
$GC,4436,-0.85,-146.0,398.3,-7.5,489,4444,0.15,2.25,0.00,0.000,6,0.083,0.054,2176,2753,3527,0,0,0,0,0,0
$GC,4772,-0.75,-146.0,437.2,-12.2,502,4777,0.20,2.17,0.00,0.000,4,0.161,0.041,2233,1362,3528,0,0,0,0,0,0
$STATE,4780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4781,begin apogee
$GC,4789,-0.14,0.0,439.1,12.0,502,4914,0.60,0.00,119.00,0.833,4,0.125,0.000,2427,2606,2923,0,0,0,0,0,0
$STATE,4914,end apogee,CONTROL_FINISHED_OK
$STATE,4914,begin climb
$GC,4917,0.57,146.0,441.6,0.0,506,5047,0.65,2.30,119.65,0.818,4,0.075,0.062,2659,3932,2328,0,0,0,0,0,0
$GC,5274,0.47,146.0,396.7,14.8,518,5279,0.15,2.12,0.00,0.000,6,0.190,0.038,2625,2593,2321,0,0,0,0,0,0
$GC,5600,0.48,155.9,363.2,9.5,548,5614,0.00,2.28,8.52,0.698,4,0.000,0.062,2625,3930,2287,0,0,0,0,0,0
$GC,5815,0.48,155.9,338.5,11.6,567,5819,0.00,2.10,0.00,0.000,6,0.000,0.039,2625,2597,2285,0,0,0,0,0,0
$GC,6147,0.51,169.1,306.1,9.4,598,6166,0.00,0.00,12.40,0.714,6,0.000,0.000,2625,2596,2233,0,0,0,0,0,0
$GC,6486,0.56,172.5,272.4,9.8,630,6494,0.00,0.00,4.57,0.556,6,0.000,0.000,2625,2596,2219,0,0,0,0,0,0
$GC,6813,0.60,172.5,240.0,10.1,661,6818,0.12,2.22,0.00,0.000,4,0.096,0.062,2685,3926,2219,0,0,0,0,0,0
$GC,6831,0.60,172.5,237.9,11.4,662,6835,0.00,2.08,0.00,0.000,6,0.000,0.039,2693,2604,2218,0,0,0,0,0,0
$GC,7156,0.52,172.5,189.8,14.8,692,7158,0.17,0.00,0.00,0.000,6,0.174,0.000,2644,2603,2218,0,0,0,0,0,0
$GC,7475,0.55,172.5,155.1,10.2,722,7479,0.00,2.17,0.00,0.000,4,0.000,0.046,2644,1192,2218,0,0,0,0,0,0
$GC,7519,0.62,182.2,150.5,9.6,725,7537,0.00,2.28,9.65,0.620,6,0.000,0.050,2643,2615,2179,0,0,0,0,0,0
$GC,7856,0.66,184.3,116.4,9.9,757,7857,0.12,0.00,0.00,0.000,6,0.099,0.000,2701,2615,2177,0,0,0,0,0,0
$GC,8185,0.60,184.3,74.0,12.8,805,8193,0.12,2.17,0.00,0.000,4,0.177,0.060,2667,3929,2177,0,0,0,0,0,0
$GC,8240,0.57,184.3,67.0,13.0,814,8247,0.00,2.08,0.00,0.000,6,0.000,0.038,2667,2601,2176,0,0,0,0,0,0
$GC,8586,0.59,188.9,30.9,9.8,875,8599,0.00,2.22,6.72,0.536,4,0.000,0.044,2667,1185,2153,0,0,0,0,0,0
$GC,8613,0.63,192.1,28.3,9.9,879,8626,0.00,2.28,4.28,0.455,6,0.000,0.050,2667,2610,2141,0,0,0,0,0,0
$FREEZE,8.97,0.207,-1.798,0,1,0
$FREEZE,8.52,0.199,-1.797,0,1,0
$FREEZE,8.07,0.179,-1.796,0,1,0
$FREEZE,7.62,0.176,-1.795,0,1,0
$FREEZE,7.28,0.030,-1.789,0,1,0
$FREEZE,7.01,-0.315,-1.789,0,1,0
$FREEZE,6.47,-0.572,-1.788,0,1,0
$FREEZE,6.08,-0.727,-1.784,0,1,0
$FREEZE,5.69,-0.867,-1.783,0,1,0
$FREEZE,5.41,-0.932,-1.780,0,1,0
$FREEZE,4.92,-0.942,-1.778,0,1,0
$FREEZE,4.45,-1.039,-1.778,0,1,0
$FREEZE,4.09,-1.041,-1.776,0,1,0
$FREEZE,3.68,-1.045,-1.775,0,1,0
$FREEZE,3.20,-1.048,-1.774,0,1,0
$FREEZE,3.01,-1.048,-1.773,0,1,0
$FREEZE,2.72,-1.049,-1.772,0,1,0
$STATE,8916,end climb,SURFACE_DEPTH_REACHED
$STATE,8916,begin surface coast
$FREEZE,2.24,-1.050,-1.771,0,1,0
$FREEZE,1.98,-1.052,-1.771,0,1,0
$FREEZE,1.67,-1.053,-1.770,0,1,0
$FREEZE,1.25,-1.054,-1.770,0,1,0
$FREEZE,1.31,-0.819,-0.844,0,1,0
$FREEZE,1.19,-0.954,-0.915,0,1,0
$FREEZE,1.26,-0.868,-0.830,0,1,0
$FREEZE,1.22,-0.645,-1.745,0,1,0
$FREEZE,1.28,-0.797,-0.863,0,1,0
$FINISH,1.3,1.012723
$STATE,8963,end surface coast,CONTROL_FINISHED_OK
$STATE,8964,begin surface
$SM_CCo,8979,268.90,0.080,0,0,440,609.08
$SM_GC,1.98,0.00,0.00,268.90,0.000,0.000,0.080,301,2784,440,-6.79,0.11,609.08
$RAFOS_CLK,365
$RAFOS,6,1292791742,20.833334,20.817223,72,44,43,42,40,39,855,1937,575,831,636,1255
$RAFOS,5,1292791266,20.700001,20.684999,110,50,44,44,42,41,666,1887,1621,1895,1327,1292
$RAFOS,4,1292790785,20.566668,20.551390,61,48,48,44,40,40,899,145,681,1513,665,968
$RAFOS,3,1292790308,20.433332,20.418888,56,45,43,43,43,40,1002,703,579,1933,1763,1000
$RAFOS,2,1292789831,20.299999,20.286388,57,46,46,44,43,40,1050,1236,233,1657,1046,459
$RAFOS,1,1292789349,20.166666,20.152500,62,45,41,41,41,40,1055,1809,430,879,1429,1572
$RAFOS,0,1292788865,20.033333,20.018055,48,45,45,43,43,41,479,540,692,207,250,1577
$RAFOS_FIX,6709.200195,-5650.177246,191210,202044,4,76,0.84
$IRIDIUM_FIX,6636.54,-5627.78,191210,161627
$TT8_MAMPS,0.028462
$HUMID,43.73
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.8
$ALTIM_BOTTOM_PING,400.8,53.1
$24V_AH,22.9,65.105
$10V_AH,9.9,46.537
$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,17.000,56.850,284.800,268.900,0.000,29.152,16.321,120.522,1.250,0.000,16.211,2276.445,4681.952,674.548,1703.379,239.648,0.000,1496.577,0.000,1524.324,2520.000,10.742,0.000
$DEVICE_MAMPS,236.385,78.030,833.085,79.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,649.441,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33395,943
$CAP_FILE_SIZE,107085,0
$CFSIZE,260165632,211959808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.1
$GPS,191210,211530,6705.810,-5647.309,35,1.6,36,-37.6