version: 66.08
glider: 183
mission: 3
dive: 544
start: 12 20 110 2 34 53
data:
$ID,183
$MISSION,3
$DIVE,544
$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,-9829.5439
$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,40
$R_STBD_OVSHOOT,26
$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
$GPS1,201210,022827,6705.777,-5648.001,24,2.1,44,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-65.9
$GPS2,201210,023422,6705.748,-5647.973,8,2.3,27,-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,217.8,5088,-17.5,-10.000
$D_GRID,438
$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,-146.0,0.0,0.0,0,151,0.00,0.00,-131.32,0.000,2,0.000,0.000,301,2780,3412,0,0,0,0,0,0
$GC,155,-0.57,-146.0,5.9,-13.4,23,175,8.23,1.92,-2.20,0.000,4,0.241,0.077,2277,3921,3522,0,0,0,0,0,0
$GC,430,-0.57,-146.0,51.4,-10.8,71,436,0.00,1.83,0.00,0.000,6,0.000,0.044,2277,2777,3522,0,0,0,0,0,0
$GC,775,-0.60,-146.0,87.7,-10.2,132,782,0.00,1.92,0.00,0.000,4,0.000,0.070,2275,3927,3521,0,0,0,0,0,0
$GC,824,-0.64,-146.0,92.7,-10.2,140,831,0.00,1.83,0.00,0.000,6,0.000,0.044,2275,2782,3520,0,0,0,0,0,0
$GC,1161,-0.68,-146.0,122.7,-8.7,178,1165,0.00,2.22,0.00,0.000,4,0.000,0.046,2275,1369,3520,0,0,0,0,0,0
$GC,1245,-0.75,-146.0,130.2,-8.4,185,1253,0.12,2.30,0.00,0.000,6,0.094,0.058,2214,2772,3521,0,0,0,0,0,0
$GC,1572,-0.69,-146.0,169.6,-12.2,216,1573,0.12,0.00,0.00,0.000,6,0.174,0.000,2248,2772,3521,0,0,0,0,0,0
$GC,1888,-0.69,-146.0,201.7,-10.0,246,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2772,3521,0,0,0,0,0,0
$GC,2209,-0.69,-146.0,231.8,-9.1,276,2213,0.00,2.20,0.00,0.000,4,0.000,0.044,2248,1361,3522,0,0,0,0,0,0
$GC,2250,-0.72,-146.0,235.7,-9.3,279,2254,0.00,2.30,0.00,0.000,6,0.000,0.056,2247,2772,3522,0,0,0,0,0,0
$GC,2576,-0.72,-146.0,263.9,-8.4,309,2580,0.00,1.92,0.00,0.000,4,0.000,0.067,2247,3930,3523,0,0,0,0,0,0
$GC,2615,-0.72,-146.0,267.3,-8.8,312,2621,0.00,1.83,0.00,0.000,6,0.000,0.042,2247,2770,3523,0,0,0,0,0,0
$GC,2940,-0.72,-146.0,293.5,-8.5,343,2944,0.00,2.20,0.00,0.000,4,0.000,0.044,2247,1361,3524,0,0,0,0,0,0
$GC,2987,-0.75,-146.0,297.5,-8.2,347,2991,0.00,2.30,0.00,0.000,6,0.000,0.055,2247,2770,3524,0,0,0,0,0,0
$GC,3313,-0.75,-146.0,326.5,-9.0,377,3317,0.00,1.92,0.00,0.000,4,0.000,0.066,2247,3929,3524,0,0,0,0,0,0
$GC,3352,-0.77,-146.0,330.4,-9.2,380,3359,0.00,1.85,0.00,0.000,6,0.000,0.041,2248,2756,3525,0,0,0,0,0,0
$GC,3679,-0.80,-146.0,359.2,-8.5,411,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2756,3525,0,0,0,0,0,0
$GC,3999,-0.82,-146.0,386.7,-8.9,441,4006,0.10,0.00,0.00,0.000,6,0.115,0.000,2193,2757,3526,0,0,0,0,0,0
$GC,4327,-0.74,-146.0,425.5,-12.0,459,4332,0.15,2.00,0.00,0.000,4,0.162,0.066,2227,3933,3526,0,0,0,0,0,0
$GC,4376,-0.74,-146.0,431.2,-10.4,460,4380,0.00,1.85,0.00,0.000,6,0.000,0.041,2227,2773,3526,0,0,0,0,0,0
$STATE,4454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4454,begin apogee
$GC,4460,-0.14,0.0,438.6,9.6,463,4587,0.60,0.00,118.95,0.835,4,0.125,0.000,2426,2600,2923,0,0,0,0,0,0
$STATE,4588,end apogee,CONTROL_FINISHED_OK
$STATE,4588,begin climb
$GC,4590,0.57,146.0,441.9,0.0,467,4721,0.65,2.30,121.00,0.822,4,0.062,0.044,2667,1185,2326,0,0,0,0,0,0
$GC,4889,0.57,146.0,414.8,11.8,476,4894,0.00,2.33,0.00,0.000,6,0.000,0.050,2667,2604,2319,0,0,0,0,0,0
$GC,5214,0.51,146.0,376.3,11.9,497,5218,0.00,2.22,0.00,0.000,4,0.000,0.047,2671,1187,2316,0,0,0,0,0,0
$GC,5472,0.51,146.0,346.5,11.2,519,5479,0.00,2.30,0.00,0.000,6,0.000,0.051,2671,2615,2316,0,0,0,0,0,0
$GC,5799,0.46,146.0,308.1,12.1,550,5803,0.17,2.15,0.00,0.000,4,0.177,0.061,2623,3925,2315,0,0,0,0,0,0
$GC,5843,0.46,146.0,302.6,11.7,553,5850,0.00,2.08,0.00,0.000,6,0.000,0.040,2622,2609,2313,0,0,0,0,0,0
$GC,6168,0.49,150.9,271.6,9.8,584,6172,0.00,2.20,0.00,0.000,4,0.000,0.047,2623,1188,2313,0,0,0,0,0,0
$GC,6192,0.55,161.8,269.3,9.5,585,6210,0.00,2.30,12.35,0.702,6,0.000,0.050,2623,2623,2263,0,0,0,0,0,0
$GC,6528,0.60,164.3,235.9,9.9,617,6533,0.12,2.17,0.00,0.000,4,0.097,0.062,2682,3929,2260,0,0,0,0,0,0
$GC,6569,0.48,164.3,230.2,15.6,620,6574,0.20,2.08,0.00,0.000,6,0.177,0.039,2634,2607,2260,0,0,0,0,0,0
$GC,6895,0.51,164.3,194.4,10.5,650,6898,0.00,2.17,0.00,0.000,4,0.000,0.062,2634,3925,2260,0,0,0,0,0,0
$GC,6933,0.51,164.3,189.6,13.1,653,6940,0.00,2.05,0.00,0.000,6,0.000,0.040,2636,2620,2259,0,0,0,0,0,0
$GC,7259,0.53,164.3,154.9,10.9,684,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2620,2259,0,0,0,0,0,0
$GC,7581,0.57,164.3,121.4,10.2,714,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2620,2259,0,0,0,0,0,0
$GC,7914,0.62,179.1,90.9,9.3,754,7939,0.10,2.28,15.70,0.614,4,0.112,0.046,2690,1201,2192,0,0,0,0,0,0
$GC,7962,0.62,179.1,85.4,11.3,762,7969,0.00,2.30,0.00,0.000,6,0.000,0.049,2690,2632,2191,0,0,0,0,0,0
$GC,8306,0.59,179.1,46.6,10.9,823,8313,0.00,2.28,0.00,0.000,4,0.000,0.046,2693,1190,2190,0,0,0,0,0,0
$GC,8336,0.59,179.1,43.6,10.0,828,8343,0.00,2.33,0.00,0.000,6,0.000,0.050,2693,2640,2189,0,0,0,0,0,0
$GC,8686,0.59,179.1,12.4,10.4,889,8692,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2640,2189,0,0,0,0,0,0
$FREEZE,8.65,-0.085,-1.797,0,1,0
$FREEZE,8.19,-0.119,-1.796,0,1,0
$FREEZE,7.74,-0.190,-1.796,0,1,0
$FREEZE,7.46,-0.224,-1.793,0,1,0
$FREEZE,7.01,-0.253,-1.792,0,1,0
$FREEZE,6.47,-0.207,-1.790,0,1,0
$FREEZE,6.15,-0.200,-1.790,0,1,0
$FREEZE,5.66,-0.162,-1.788,0,1,0
$FREEZE,5.17,-0.172,-1.787,0,1,0
$FREEZE,4.77,-0.211,-1.785,0,1,0
$FREEZE,4.19,-0.457,-1.782,0,1,0
$FREEZE,3.90,-0.594,-1.778,0,1,0
$FREEZE,3.54,-0.748,-1.779,0,1,0
$FREEZE,3.09,-0.818,-1.775,0,1,0
$FREEZE,2.62,-0.862,-1.776,0,1,0
$STATE,8799,end climb,SURFACE_DEPTH_REACHED
$STATE,8800,begin surface coast
$FREEZE,2.04,-0.884,-1.772,0,1,0
$FREEZE,1.70,-0.964,-1.772,0,1,0
$FREEZE,1.36,-0.975,-1.772,0,1,0
$FREEZE,1.15,-0.599,-0.857,0,1,0
$FREEZE,1.18,-0.712,-0.176,0,1,0
$FREEZE,1.14,-0.930,-1.130,0,1,0
$FREEZE,1.14,-0.848,-0.117,0,1,0
$FINISH,1.1,1.001499
$STATE,8837,end surface coast,CONTROL_FINISHED_OK
$STATE,8838,begin surface
$SM_CCo,8854,277.05,0.080,0,0,440,609.08
$SM_GC,1.98,0.00,0.00,277.05,0.000,0.000,0.080,297,2785,440,-6.80,0.14,609.08
$RAFOS_CLK,367
$RAFOS,6,1292820545,4.833333,4.818056,73,44,42,42,41,39,828,846,876,1429,1113,156
$RAFOS,5,1292820068,4.700000,4.685555,135,48,45,43,42,42,647,1717,648,1072,840,26
$RAFOS,4,1292819590,4.566667,4.552778,61,58,47,47,46,43,865,1121,724,26,407,1337
$RAFOS,3,1292819109,4.433333,4.419167,76,61,50,45,42,40,978,987,408,350,1159,614
$RAFOS,2,1292818627,4.300000,4.285278,54,44,44,41,38,37,1063,1180,1928,253,1855,1767
$RAFOS,1,1292818150,4.166667,4.152778,63,45,43,43,43,41,1038,1110,1177,1209,1847,145
$RAFOS,0,1292817670,4.033333,4.019444,50,49,42,41,41,41,1155,1922,26,701,1327,1644
$RAFOS_FIX,6705.145020,-5651.098633,201210,040455,5,82,0.35
$IRIDIUM_FIX,6636.54,-5647.69,191210,232316
$TT8_MAMPS,0.027713
$HUMID,43.97
$INTERNAL_PRESSURE,8.54372
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.3
$ALTIM_BOTTOM_PING,350.1,107.0
$24V_AH,22.8,65.353
$10V_AH,9.9,46.715
$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,17.050,68.400,268.000,277.050,0.000,30.847,40.189,124.729,1.000,0.000,31.315,2266.090,4576.143,679.917,1749.990,241.163,0.000,1503.881,0.000,1524.744,2520.000,9.119,0.000
$DEVICE_MAMPS,240.975,77.265,835.380,80.325,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,631.456,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151640
$DATA_FILE_SIZE,33349,917
$CAP_FILE_SIZE,108415,0
$CFSIZE,260165632,211787776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.7
$GPS,201210,050837,6704.829,-5649.448,23,1.8,24,-37.6