version: 66.08
glider: 183
mission: 3
dive: 546
start: 12 20 110 7 52 28
data:
$ID,183
$MISSION,3
$DIVE,546
$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,-9832.0518
$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,41
$R_STBD_OVSHOOT,35
$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
$GPS1,201210,074653,6703.684,-5649.450,33,1.5,50,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-64.5
$GPS2,201210,075156,6703.673,-5649.476,13,1.2,13,-37.6
$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,294.6,162537,-17.5,-10.000
$D_GRID,512
$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,-131.68,0.000,2,0.000,0.000,292,2799,3401,0,0,0,0,0,0
$GC,156,-0.57,-146.0,5.6,-10.1,23,176,8.23,1.90,-2.40,0.000,4,0.241,0.078,2279,3924,3522,0,0,0,0,0,0
$GC,429,-0.57,-146.0,49.5,-11.0,71,436,0.00,1.83,0.00,0.000,6,0.000,0.046,2279,2785,3523,0,0,0,0,0,0
$GC,774,-0.57,-146.0,86.0,-10.5,132,781,0.00,2.22,0.00,0.000,4,0.000,0.047,2279,1363,3522,0,0,0,0,0,0
$GC,807,-0.60,-146.0,89.4,-10.9,137,813,0.00,2.33,0.00,0.000,6,0.000,0.059,2275,2775,3522,0,0,0,0,0,0
$GC,1138,-0.63,-146.0,124.6,-10.0,176,1142,0.00,2.22,0.00,0.000,4,0.000,0.048,2275,1372,3521,0,0,0,0,0,0
$GC,1163,-0.67,-146.0,127.1,-10.2,178,1167,0.00,2.30,0.00,0.000,6,0.000,0.059,2274,2781,3521,0,0,0,0,0,0
$GC,1489,-0.72,-146.0,156.5,-9.2,208,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2781,3521,0,0,0,0,0,0
$GC,1810,-0.78,-146.0,184.4,-9.3,238,1815,0.15,2.25,0.00,0.000,4,0.090,0.046,2203,1372,3521,0,0,0,0,0,0
$GC,1842,-0.71,-146.0,189.0,-13.3,240,1851,0.15,2.30,0.00,0.000,6,0.169,0.058,2242,2773,3521,0,0,0,0,0,0
$GC,2169,-0.71,-146.0,226.2,-11.0,271,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2772,3521,0,0,0,0,0,0
$GC,2487,-0.71,-146.0,259.7,-9.9,301,2491,0.00,2.20,0.00,0.000,4,0.000,0.045,2242,1365,3522,0,0,0,0,0,0
$GC,2516,-0.71,-146.0,262.5,-9.5,303,2520,0.00,2.28,0.00,0.000,6,0.000,0.057,2236,2770,3522,0,0,0,0,0,0
$GC,2841,-0.71,-146.0,294.3,-9.5,333,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2770,3523,0,0,0,0,0,0
$GC,3160,-0.71,-146.0,325.6,-9.7,363,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2770,3524,0,0,0,0,0,0
$GC,3479,-0.71,-146.0,356.6,-9.7,393,3482,0.00,1.92,0.00,0.000,4,0.000,0.066,2228,3929,3524,0,0,0,0,0,0
$GC,3547,-0.71,-146.0,363.9,-10.8,399,3551,0.00,1.88,0.00,0.000,6,0.000,0.042,2228,2758,3524,0,0,0,0,0,0
$GC,3877,-0.71,-146.0,396.0,-9.4,430,3882,0.00,2.15,0.00,0.000,4,0.000,0.044,2228,1368,3525,0,0,0,0,0,0
$GC,3927,-0.71,-146.0,401.0,-9.4,434,3931,0.00,2.25,0.00,0.000,6,0.000,0.055,2222,2762,3525,0,0,0,0,0,0
$GC,4247,-0.69,-146.0,431.7,-9.8,445,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2762,3526,0,0,0,0,0,0
$GC,4552,-0.69,-146.0,461.5,-9.8,455,4553,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2762,3526,0,0,0,0,0,0
$GC,4859,-0.69,-146.0,491.6,-9.5,465,4863,0.00,2.17,0.00,0.000,4,0.000,0.043,2222,1367,3527,0,0,0,0,0,0
$GC,4889,-0.69,-146.0,494.4,-9.4,466,4893,0.00,2.28,0.00,0.000,6,0.000,0.056,2222,2759,3527,0,0,0,0,0,0
$STATE,5099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5099,begin apogee
$GC,5105,-0.14,0.0,514.0,9.1,473,5232,0.60,0.00,120.12,0.882,4,0.127,0.000,2422,2596,2923,0,0,0,0,0,0
$STATE,5233,end apogee,CONTROL_FINISHED_OK
$STATE,5233,begin climb
$GC,5236,0.57,146.0,516.4,0.0,477,5367,0.68,2.33,122.35,0.864,4,0.064,0.044,2668,1179,2327,0,0,0,0,0,0
$GC,5562,0.57,146.0,484.2,12.0,487,5566,0.00,2.35,0.00,0.000,6,0.000,0.050,2668,2605,2320,0,0,0,0,0,0
$GC,5898,0.51,146.0,442.1,12.5,498,5902,0.00,2.22,0.00,0.000,4,0.000,0.047,2672,1193,2317,0,0,0,0,0,0
$GC,6123,0.49,146.0,415.1,11.9,504,6130,0.15,2.28,0.00,0.000,6,0.173,0.051,2633,2605,2316,0,0,0,0,0,0
$GC,6446,0.49,157.8,383.0,9.5,525,6462,0.00,0.00,9.57,0.731,6,0.000,0.000,2632,2605,2279,0,0,0,0,0,0
$GC,6781,0.50,162.6,349.8,9.8,557,6791,0.00,0.00,5.25,0.624,6,0.000,0.000,2632,2605,2260,0,0,0,0,0,0
$GC,7110,0.52,163.8,317.2,9.9,588,7113,0.00,2.17,0.00,0.000,4,0.000,0.061,2632,3929,2260,0,0,0,0,0,0
$GC,7148,0.49,163.8,312.6,11.1,591,7155,0.00,2.10,0.00,0.000,6,0.000,0.039,2636,2593,2259,0,0,0,0,0,0
$GC,7474,0.49,163.8,279.4,10.1,622,7478,0.00,2.22,0.00,0.000,4,0.000,0.063,2636,3931,2259,0,0,0,0,0,0
$GC,7497,0.49,163.8,276.7,11.9,623,7503,0.00,2.10,0.00,0.000,6,0.000,0.040,2638,2597,2259,0,0,0,0,0,0
$GC,7822,0.49,163.8,241.7,10.6,654,7826,0.00,2.17,0.00,0.000,4,0.000,0.047,2639,1197,2259,0,0,0,0,0,0
$GC,7860,0.55,166.7,237.7,9.9,657,7870,0.00,2.28,4.70,0.560,6,0.000,0.050,2639,2616,2245,0,0,0,0,0,0
$GC,8196,0.55,166.7,199.7,11.6,689,8200,0.00,2.15,0.00,0.000,4,0.000,0.061,2639,3925,2245,0,0,0,0,0,0
$GC,8223,0.55,166.7,196.0,14.0,691,8230,0.00,2.08,0.00,0.000,6,0.000,0.039,2640,2617,2244,0,0,0,0,0,0
$GC,8550,0.59,199.4,162.5,8.5,722,8584,0.00,2.33,28.62,0.665,4,0.000,0.047,2640,1185,2110,0,0,0,0,0,0
$GC,8644,0.71,245.7,154.8,7.9,730,8689,0.17,2.28,39.03,0.655,6,0.083,0.049,2716,2609,1921,0,0,0,0,0,0
$GC,9006,0.66,245.7,99.7,14.0,764,9013,0.00,2.17,0.00,0.000,4,0.000,0.060,2716,3926,1912,0,0,0,0,0,0
$GC,9048,0.58,245.7,93.3,15.4,771,9056,0.20,2.10,0.00,0.000,6,0.176,0.039,2667,2595,1911,0,0,0,0,0,0
$GC,9397,0.67,256.7,60.9,9.5,832,9410,0.00,0.00,9.32,0.577,6,0.000,0.000,2667,2596,1876,0,0,0,0,0,0
$GC,9749,0.76,265.8,25.4,9.6,894,9763,0.15,2.28,8.98,0.565,4,0.093,0.047,2733,1189,1839,0,0,0,0,0,0
$GC,9816,0.76,265.8,17.3,12.8,905,9823,0.00,2.33,0.00,0.000,6,0.000,0.050,2733,2634,1836,0,0,0,0,0,0
$FREEZE,8.81,1.253,-1.814,0,1,0
$FREEZE,8.18,1.102,-1.811,0,1,0
$FREEZE,7.55,0.856,-1.805,0,1,0
$FREEZE,6.67,0.377,-1.802,0,1,0
$FREEZE,6.06,-0.378,-1.793,0,1,0
$FREEZE,5.36,-0.692,-1.792,0,1,0
$FREEZE,4.69,-0.868,-1.787,0,1,0
$FREEZE,4.08,-0.914,-1.784,0,1,0
$FREEZE,3.58,-0.915,-1.781,0,1,0
$FREEZE,2.90,-0.918,-1.779,0,1,0
$STATE,9927,end climb,SURFACE_DEPTH_REACHED
$STATE,9927,begin surface coast
$FREEZE,2.09,-0.920,-1.777,0,1,0
$FREEZE,1.69,-0.915,-1.775,0,1,0
$FREEZE,1.27,-0.915,-1.774,0,1,0
$FREEZE,1.17,-0.631,-1.462,0,1,0
$FINISH,1.2,1.021547
$STATE,9949,end surface coast,CONTROL_FINISHED_OK
$STATE,9949,begin surface
$SM_CCo,9965,222.30,0.078,0,0,440,609.08
$SM_GC,1.91,0.00,0.00,222.30,0.000,0.000,0.078,293,2776,440,-6.82,-0.11,609.08
$RAFOS_CLK,416
$RAFOS,6,1292834950,8.833333,8.819445,65,51,44,41,40,39,797,487,1704,1633,325,154
$RAFOS,5,1292834461,8.700000,8.683611,74,45,42,42,41,40,676,935,660,357,1103,1489
$RAFOS,4,1292833990,8.566667,8.552778,53,48,46,44,43,43,858,1408,145,1836,1811,1762
$RAFOS,3,1292833501,8.433333,8.416945,70,43,43,41,41,40,1014,679,1265,26,1023,1224
$RAFOS,2,1292833023,8.300000,8.284166,49,42,42,42,40,40,1557,276,1864,1077,780,1589
$RAFOS,1,1292832545,8.166667,8.151389,45,44,43,42,41,40,1660,1052,863,1243,1910,835
$RAFOS,0,1292832067,8.033334,8.018611,46,44,43,42,40,40,1545,1715,1452,1648,723,820
$RAFOS_FIX,6705.652832,-5655.335449,201210,080832,3,70,1.92
$IRIDIUM_FIX,6636.54,-5627.78,201210,050540
$TT8_MAMPS,0.028462
$HUMID,44.72
$INTERNAL_PRESSURE,8.53396
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.7
$ALTIM_BOTTOM_PING,500.1,27.2
$24V_AH,22.6,65.537
$10V_AH,9.9,46.834
$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,16.875,74.875,347.950,222.300,0.000,22.604,19.822,124.975,2.000,0.000,15.545,2275.496,5557.962,679.034,1752.896,249.266,0.000,1539.126,0.000,1567.881,2520.000,16.836,0.000
$DEVICE_MAMPS,240.975,84.150,882.045,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,639.533,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151676
$DATA_FILE_SIZE,33384,929
$CAP_FILE_SIZE,113320,0
$CFSIZE,260165632,211673088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.0
$GPS,201210,104355,6704.424,-5653.782,37,1.5,37,-37.6