version: 66.08
glider: 183
mission: 3
dive: 547
start: 12 20 110 10 49 51
data:
$ID,183
$MISSION,3
$DIVE,547
$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,-9833.3086
$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,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,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
$GPS1,201210,104355,6704.424,-5653.782,37,1.5,37,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-60.3
$GPS2,201210,104920,6704.455,-5653.852,14,1.6,14,-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,293.9,159756,-17.5,-10.000
$D_GRID,527
$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,15,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,151,0.00,0.00,-130.62,0.000,2,0.000,0.000,289,2777,3355,0,0,0,0,0,0
$GC,155,-0.57,-146.0,5.7,-10.2,23,175,8.25,1.92,-3.40,0.000,4,0.241,0.077,2276,3932,3522,0,0,0,0,0,0
$GC,378,-0.57,-146.0,44.7,-11.7,62,384,0.00,1.85,0.00,0.000,6,0.000,0.045,2276,2776,3523,0,0,0,0,0,0
$GC,724,-0.57,-146.0,83.8,-9.8,123,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2776,3522,0,0,0,0,0,0
$GC,1064,-0.59,-146.0,120.0,-9.1,167,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2776,3522,0,0,0,0,0,0
$GC,1385,-0.63,-146.0,148.6,-8.3,197,1389,0.00,2.20,0.00,0.000,4,0.000,0.047,2276,1369,3521,0,0,0,0,0,0
$GC,1418,-0.68,-146.0,151.7,-9.0,199,1425,0.00,2.35,0.00,0.000,6,0.000,0.059,2275,2792,3521,0,0,0,0,0,0
$GC,1744,-0.74,-146.0,178.0,-8.2,230,1749,0.10,2.25,0.00,0.000,4,0.114,0.047,2227,1373,3521,0,0,0,0,0,0
$GC,1784,-0.72,-146.0,182.1,-10.6,233,1788,0.00,2.33,0.00,0.000,6,0.000,0.058,2222,2785,3521,0,0,0,0,0,0
$GC,2111,-0.67,-146.0,216.4,-9.9,263,2113,0.12,0.00,0.00,0.000,6,0.177,0.000,2256,2785,3521,0,0,0,0,0,0
$GC,2428,-0.70,-146.0,241.1,-7.7,293,2432,0.00,2.22,0.00,0.000,4,0.000,0.045,2256,1364,3522,0,0,0,0,0,0
$GC,2515,-0.75,-146.0,248.6,-8.8,300,2519,0.00,2.30,0.00,0.000,6,0.000,0.056,2251,2782,3522,0,0,0,0,0,0
$GC,2841,-0.77,-146.0,278.9,-8.7,330,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2782,3523,0,0,0,0,0,0
$GC,3162,-0.79,-146.0,305.1,-8.0,360,3166,0.00,2.20,0.00,0.000,4,0.000,0.044,2251,1370,3524,0,0,0,0,0,0
$GC,3184,-0.82,-146.0,307.4,-8.6,361,3191,0.10,2.33,0.00,0.000,6,0.106,0.056,2194,2789,3524,0,0,0,0,0,0
$GC,3509,-0.74,-146.0,348.0,-13.3,392,3511,0.15,0.00,0.00,0.000,6,0.170,0.000,2235,2789,3525,0,0,0,0,0,0
$GC,3828,-0.74,-146.0,377.0,-8.1,422,3832,0.00,2.22,0.00,0.000,4,0.000,0.044,2235,1360,3526,0,0,0,0,0,0
$GC,3891,-0.76,-146.0,382.0,-7.7,427,3895,0.00,2.33,0.00,0.000,6,0.000,0.055,2235,2784,3526,0,0,0,0,0,0
$GC,4224,-0.76,-146.0,411.5,-9.2,450,4228,0.00,1.88,0.00,0.000,4,0.000,0.066,2231,3929,3527,0,0,0,0,0,0
$GC,4246,-0.76,-146.0,414.0,-9.6,450,4250,0.00,1.83,0.00,0.000,6,0.000,0.041,2231,2771,3527,0,0,0,0,0,0
$GC,4565,-0.76,-146.0,442.5,-8.9,461,4569,0.00,2.20,0.00,0.000,4,0.000,0.044,2230,1360,3528,0,0,0,0,0,0
$GC,4598,-0.76,-146.0,445.5,-8.4,462,4602,0.00,2.30,0.00,0.000,6,0.000,0.054,2230,2769,3528,0,0,0,0,0,0
$GC,4930,-0.76,-146.0,474.9,-8.9,473,4931,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2770,3528,0,0,0,0,0,0
$GC,5243,-0.76,-146.0,502.2,-8.9,483,5244,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2769,3529,0,0,0,0,0,0
$STATE,5538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5538,begin apogee
$GC,5544,-0.14,0.0,529.5,9.5,493,5672,0.57,0.00,120.57,0.894,4,0.125,0.000,2423,2592,2922,0,0,0,0,0,0
$STATE,5673,end apogee,CONTROL_FINISHED_OK
$STATE,5673,begin climb
$GC,5675,0.57,146.0,533.3,0.0,497,5807,0.68,2.35,122.38,0.878,4,0.070,0.063,2665,3934,2326,0,0,0,0,0,0
$GC,5915,0.45,146.0,507.2,16.2,504,5920,0.17,2.22,0.00,0.000,6,0.185,0.038,2623,2588,2320,0,0,0,0,0,0
$GC,6234,0.46,148.2,474.3,9.9,515,6238,0.00,2.22,0.00,0.000,4,0.000,0.062,2623,3929,2317,0,0,0,0,0,0
$GC,6492,0.43,148.2,443.0,12.8,522,6498,0.00,2.12,0.00,0.000,6,0.000,0.039,2623,2584,2317,0,0,0,0,0,0
$GC,6806,0.46,148.3,410.6,10.0,533,6810,0.00,2.15,0.00,0.000,4,0.000,0.047,2624,1196,2317,0,0,0,0,0,0
$GC,6845,0.53,161.4,406.8,9.4,534,6867,0.00,2.25,13.00,0.770,6,0.000,0.050,2623,2607,2263,0,0,0,0,0,0
$GC,7184,0.59,181.3,375.2,9.1,561,7208,0.12,2.25,17.70,0.773,4,0.096,0.062,2683,3929,2182,0,0,0,0,0,0
$GC,7236,0.47,181.3,368.1,14.9,565,7243,0.22,2.12,0.00,0.000,6,0.173,0.039,2629,2594,2181,0,0,0,0,0,0
$GC,7561,0.51,181.3,333.3,10.6,596,7565,0.00,2.20,0.00,0.000,4,0.000,0.047,2628,1196,2179,0,0,0,0,0,0
$GC,7613,0.60,194.2,328.4,9.4,600,7631,0.12,2.25,11.70,0.729,6,0.096,0.050,2685,2592,2131,0,0,0,0,0,0
$GC,7949,0.54,194.2,281.1,14.0,631,7951,0.12,0.00,0.00,0.000,6,0.187,0.000,2653,2593,2128,0,0,0,0,0,0
$GC,8268,0.54,194.2,241.3,12.7,661,8269,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2593,2126,0,0,0,0,0,0
$GC,8588,0.54,194.2,201.4,12.0,691,8592,0.00,2.20,0.00,0.000,4,0.000,0.047,2653,1186,2126,0,0,0,0,0,0
$GC,8618,0.58,194.2,197.7,12.0,693,8622,0.00,2.22,0.00,0.000,6,0.000,0.050,2653,2588,2127,0,0,0,0,0,0
$GC,8943,0.58,194.2,159.1,11.2,723,8947,0.00,2.17,0.00,0.000,4,0.000,0.062,2653,3926,2126,0,0,0,0,0,0
$GC,8987,0.56,194.2,153.4,13.3,726,8994,0.00,2.12,0.00,0.000,6,0.000,0.040,2655,2578,2125,0,0,0,0,0,0
$GC,9313,0.58,194.2,118.1,10.5,757,9317,0.00,2.15,0.00,0.000,4,0.000,0.047,2655,1189,2125,0,0,0,0,0,0
$GC,9379,0.66,203.1,111.6,9.6,762,9397,0.00,2.22,8.65,0.600,6,0.000,0.050,2655,2578,2094,0,0,0,0,0,0
$GC,9728,0.70,203.1,77.8,10.2,814,9735,0.12,2.22,0.00,0.000,4,0.099,0.063,2712,3928,2092,0,0,0,0,0,0
$GC,9777,0.58,203.1,71.4,15.4,822,9784,0.20,2.12,0.00,0.000,6,0.176,0.040,2665,2577,2092,0,0,0,0,0,0
$GC,10125,0.64,220.3,37.1,9.2,883,10149,0.00,2.22,15.62,0.594,4,0.000,0.047,2665,1193,2024,0,0,0,0,0,0
$GC,10185,0.75,253.6,31.4,8.5,893,10222,0.15,2.20,28.42,0.589,6,0.090,0.050,2729,2564,1888,0,0,0,0,0,0
$FREEZE,8.98,-0.199,-1.796,0,1,0
$FREEZE,8.42,-0.250,-1.793,0,1,0
$FREEZE,7.52,-0.315,-1.791,0,1,0
$FREEZE,7.00,-0.313,-1.789,0,1,0
$FREEZE,6.34,-0.347,-1.787,0,1,0
$FREEZE,5.71,-0.383,-1.786,0,1,0
$FREEZE,5.16,-0.443,-1.784,0,1,0
$FREEZE,4.64,-0.453,-1.783,0,1,0
$FREEZE,4.14,-0.448,-1.782,0,1,0
$FREEZE,3.57,-0.423,-1.781,0,1,0
$FREEZE,3.11,-0.419,-1.781,0,1,0
$FREEZE,2.40,-0.428,-1.780,0,1,0
$STATE,10416,end climb,SURFACE_DEPTH_REACHED
$STATE,10416,begin surface coast
$FREEZE,1.80,-0.415,-1.779,0,1,0
$FREEZE,1.30,-0.373,-1.780,0,1,0
$FREEZE,1.19,0.032,-1.758,0,1,0
$FREEZE,1.22,-0.266,-1.730,0,1,0
$FREEZE,1.22,-0.295,-1.329,0,1,0
$FINISH,1.2,1.019609
$STATE,10443,end surface coast,CONTROL_FINISHED_OK
$STATE,10443,begin surface
$SM_CCo,10459,233.48,0.081,0,0,440,609.08
$SM_GC,1.91,0.00,0.00,233.48,0.000,0.000,0.081,293,2780,440,-6.81,0.00,609.08
$RAFOS_CLK,429
$RAFOS,6,1292849350,12.833333,12.819445,91,46,45,45,45,40,766,1842,198,1286,410,873
$RAFOS,5,1292848871,12.700000,12.686389,114,45,45,43,41,41,610,26,1077,1270,691,1475
$RAFOS,4,1292848392,12.566667,12.553333,65,43,42,41,39,39,836,1901,77,1387,201,1173
$RAFOS,3,1292847901,12.433333,12.416945,52,49,47,43,42,41,1034,1021,492,432,859,1760
$RAFOS,2,1292847427,12.300000,12.285277,45,44,41,41,41,40,789,1439,626,1378,1487,1038
$RAFOS,1,1292846964,12.166667,12.156667,44,43,42,41,39,38,415,1372,316,1383,1661,649
$RAFOS,0,1292846478,12.033333,12.021667,44,40,40,40,39,39,783,127,145,746,340,1649
$RAFOS_FIX,6709.197266,-5700.949219,201210,121244,3,90,1.48
$IRIDIUM_FIX,6636.54,-5655.33,201210,070746
$TT8_MAMPS,0.028462
$HUMID,44.13
$INTERNAL_PRESSURE,8.54372
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,17.1
$ALTIM_BOTTOM_PING,502.2,41.3
$24V_AH,22.5,65.632
$10V_AH,9.9,46.897
$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,17.725,79.350,338.050,233.475,0.000,30.723,23.807,125.013,2.250,0.000,17.019,2316.438,5982.016,684.418,1791.714,263.938,0.000,1563.951,0.000,1595.470,2520.000,19.276,0.000
$DEVICE_MAMPS,240.975,77.265,893.520,81.090,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,646.276,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151724
$DATA_FILE_SIZE,33395,939
$CAP_FILE_SIZE,120758,0
$CFSIZE,260165632,211603456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.7
$GPS,201210,134937,6706.096,-5700.115,31,1.2,31,-37.7