version: 66.08
glider: 183
mission: 3
dive: 609
start: 12 28 110 14 44 47
data:
$ID,183
$MISSION,3
$DIVE,609
$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,-9861.1309
$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,20
$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
$GPS1,281210,122913,6643.751,-6007.282,0,5123.2,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.79
$_SM_ANGLEo,-7.6
$GPS2,281210,122913,6643.751,-6007.282,0,5123.2,0,-38.0
$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,309.9,13701,-17.5,-10.000
$D_GRID,585
$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,-6.43,0.000,2,0.000,0.000,2508,3929,2645,0,0,0,0,0,0
$GC,28,-0.57,-146.0,12.1,-0.0,1,58,0.57,4.30,-18.67,0.000,4,0.083,0.060,2293,1369,3523,0,0,0,0,0,0
$GC,229,-0.57,-146.0,42.1,-13.6,36,235,0.00,2.38,0.00,0.000,6,0.000,0.066,2293,2780,3525,0,0,0,0,0,0
$GC,574,-0.57,-146.0,85.6,-10.9,97,581,0.00,2.30,0.00,0.000,4,0.000,0.054,2292,1366,3524,0,0,0,0,0,0
$GC,612,-0.59,-146.0,89.8,-11.3,103,618,0.00,2.38,0.00,0.000,6,0.000,0.066,2292,2778,3524,0,0,0,0,0,0
$GC,944,-0.62,-146.0,124.7,-10.1,142,948,0.00,1.98,0.00,0.000,4,0.000,0.076,2286,3931,3525,0,0,0,0,0,0
$GC,972,-0.66,-146.0,127.9,-10.5,144,979,0.00,1.88,0.00,0.000,6,0.000,0.051,2286,2777,3524,0,0,0,0,0,0
$GC,1299,-0.69,-146.0,161.1,-9.8,175,1301,0.10,0.00,0.00,0.000,6,0.122,0.000,2243,2777,3523,0,0,0,0,0,0
$GC,1616,-0.66,-146.0,200.1,-12.1,205,1620,0.00,2.25,0.00,0.000,4,0.000,0.053,2243,1371,3523,0,0,0,0,0,0
$GC,1639,-0.62,-146.0,202.8,-11.4,207,1644,0.12,2.35,0.00,0.000,6,0.184,0.065,2267,2770,3523,0,0,0,0,0,0
$GC,1965,-0.65,-146.0,234.9,-9.1,237,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2770,3523,0,0,0,0,0,0
$GC,2288,-0.68,-146.0,262.5,-8.2,267,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2771,3523,0,0,0,0,0,0
$GC,2615,-0.72,-146.0,290.1,-8.6,298,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2770,3523,0,0,0,0,0,0
$GC,2934,-0.76,-146.0,316.1,-8.0,328,2941,0.12,0.00,0.00,0.000,6,0.109,0.000,2217,2770,3523,0,0,0,0,0,0
$GC,3260,-0.71,-146.0,353.0,-11.9,359,3264,0.00,2.25,0.00,0.000,4,0.000,0.053,2217,1370,3523,0,0,0,0,0,0
$GC,3293,-0.67,-146.0,356.9,-10.6,361,3300,0.15,2.35,0.00,0.000,6,0.176,0.066,2256,2766,3523,0,0,0,0,0,0
$GC,3619,-0.70,-146.0,383.8,-8.4,392,3623,0.00,2.00,0.00,0.000,4,0.000,0.076,2250,3931,3523,0,0,0,0,0,0
$GC,3655,-0.72,-146.0,386.9,-8.5,395,3658,0.00,1.88,0.00,0.000,6,0.000,0.050,2250,2766,3523,0,0,0,0,0,0
$GC,3991,-0.75,-146.0,416.3,-8.6,415,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2765,3523,0,0,0,0,0,0
$GC,4296,-0.77,-146.0,442.0,-8.4,425,4300,0.00,2.22,0.00,0.000,4,0.000,0.051,2250,1368,3524,0,0,0,0,0,0
$GC,4330,-0.81,-146.0,445.1,-8.4,426,4335,0.10,2.35,0.00,0.000,6,0.114,0.064,2202,2767,3524,0,0,0,0,0,0
$GC,4660,-0.74,-146.0,482.1,-11.4,437,4662,0.12,0.00,0.00,0.000,6,0.187,0.000,2233,2767,3523,0,0,0,0,0,0
$GC,4967,-0.74,-146.0,510.7,-9.2,447,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2767,3524,0,0,0,0,0,0
$GC,5272,-0.74,-146.0,539.2,-9.3,457,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2768,3525,0,0,0,0,0,0
$GC,5579,-0.74,-146.0,567.4,-9.3,467,5583,0.00,2.25,0.00,0.000,4,0.000,0.051,2233,1360,3524,0,0,0,0,0,0
$GC,5612,-0.74,-146.0,570.8,-9.8,468,5616,0.00,2.35,0.00,0.000,6,0.000,0.063,2233,2762,3525,0,0,0,0,0,0
$STATE,5785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5785,begin apogee
$GC,5791,-0.14,0.0,586.7,9.2,474,5920,0.57,0.00,124.05,0.977,4,0.136,0.000,2420,2595,2923,0,0,0,0,0,0
$STATE,5921,end apogee,CONTROL_FINISHED_OK
$STATE,5921,begin climb
$GC,5923,0.57,146.0,589.8,0.0,478,6063,0.70,2.42,130.65,0.949,4,0.073,0.050,2661,1186,2327,0,0,0,0,0,0
$GC,6288,0.57,146.0,561.4,10.2,489,6292,0.00,2.42,0.00,0.000,6,0.000,0.057,2661,2600,2318,0,0,0,0,0,0
$GC,6618,0.53,146.0,525.1,10.9,500,6622,0.00,2.33,0.00,0.000,4,0.000,0.054,2662,1180,2315,0,0,0,0,0,0
$GC,6797,0.53,146.0,506.5,10.1,505,6802,0.00,2.38,0.00,0.000,6,0.000,0.058,2662,2613,2315,0,0,0,0,0,0
$GC,7116,0.48,146.0,471.4,11.2,516,7121,0.12,2.22,0.00,0.000,4,0.205,0.070,2631,3928,2314,0,0,0,0,0,0
$GC,7171,0.45,146.0,464.9,11.4,517,7178,0.00,2.15,0.00,0.000,6,0.000,0.046,2631,2599,2313,0,0,0,0,0,0
$GC,7488,0.46,162.2,435.5,9.3,528,7508,0.00,2.33,13.02,0.849,4,0.000,0.053,2631,1193,2261,0,0,0,0,0,0
$GC,7543,0.55,187.4,430.0,8.8,529,7572,0.00,2.35,23.38,0.856,6,0.000,0.057,2631,2613,2158,0,0,0,0,0,0
$GC,7886,0.60,195.5,397.4,9.6,542,7899,0.10,2.30,7.70,0.773,4,0.119,0.070,2677,3932,2125,0,0,0,0,0,0
$GC,7951,0.52,195.5,388.3,15.4,547,7959,0.15,2.12,0.00,0.000,6,0.197,0.046,2643,2612,2123,0,0,0,0,0,0
$GC,8277,0.55,195.9,354.4,10.0,578,8281,0.00,2.28,0.00,0.000,4,0.000,0.054,2643,1194,2123,0,0,0,0,0,0
$GC,8324,0.63,195.9,349.8,10.2,582,8329,0.10,2.35,0.00,0.000,6,0.118,0.057,2683,2622,2123,0,0,0,0,0,0
$GC,8651,0.60,195.9,310.9,11.3,612,8655,0.00,2.20,0.00,0.000,4,0.000,0.069,2683,3928,2122,0,0,0,0,0,0
$GC,8707,0.52,195.9,303.0,13.5,616,8714,0.17,2.12,0.00,0.000,6,0.191,0.046,2643,2612,2121,0,0,0,0,0,0
$GC,9033,0.58,238.2,275.3,8.0,647,9078,0.00,2.33,37.40,0.783,4,0.000,0.053,2643,1188,1952,0,0,0,0,0,0
$GC,9116,0.74,303.8,269.5,7.0,654,9183,0.20,2.35,57.22,0.767,6,0.086,0.056,2723,2617,1683,0,0,0,0,0,0
$GC,9501,0.74,303.8,216.6,14.3,690,9505,0.00,2.22,0.00,0.000,4,0.000,0.068,2723,3931,1672,0,0,0,0,0,0
$GC,9541,0.71,303.8,210.1,16.5,693,9545,0.00,2.15,0.00,0.000,6,0.000,0.046,2724,2612,1671,0,0,0,0,0,0
$GC,9866,0.71,303.8,163.7,13.5,723,9870,0.00,2.30,0.00,0.000,4,0.000,0.056,2725,1187,1669,0,0,0,0,0,0
$GC,9900,0.75,303.8,159.3,12.4,725,9907,0.00,2.33,0.00,0.000,6,0.000,0.057,2725,2602,1669,0,0,0,0,0,0
$GC,10225,0.75,303.8,117.5,12.7,756,10226,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2602,1668,0,0,0,0,0,0
$GC,10558,0.77,303.8,79.0,10.9,802,10564,0.00,2.25,0.00,0.000,4,0.000,0.071,2725,3926,1667,0,0,0,0,0,0
$GC,10588,0.77,303.8,74.8,12.9,807,10595,0.00,2.15,0.00,0.000,6,0.000,0.047,2725,2600,1667,0,0,0,0,0,0
$GC,10936,0.85,311.2,40.7,9.7,868,10949,0.00,2.33,4.85,0.589,4,0.000,0.056,2724,1188,1654,0,0,0,0,0,0
$GC,10997,0.97,347.9,35.5,8.3,878,11039,0.17,2.28,32.65,0.663,6,0.091,0.057,2792,2582,1505,0,0,0,0,0,0
$FREEZE,8.74,-1.690,-1.679,2,20,2
$FREEZE,8.15,-1.689,-1.678,2,20,2
$FREEZE,7.60,-1.690,-1.678,2,20,2
$FREEZE,7.16,-1.689,-1.677,2,20,2
$FREEZE,6.64,-1.689,-1.677,2,20,2
$FREEZE,6.01,-1.689,-1.676,2,20,2
$FREEZE,5.62,-1.689,-1.676,2,20,2
$FREEZE,4.91,-1.689,-1.675,2,20,2
$FREEZE,4.35,-1.690,-1.675,2,20,2
$FREEZE,3.70,-1.689,-1.674,2,20,2
$FREEZE,3.31,-1.689,-1.674,2,20,2
$FREEZE,2.69,-1.687,-1.673,2,20,2
$STATE,11293,end climb,SURFACE_DEPTH_REACHED
$STATE,11293,begin surface coast
$FREEZE,2.61,-1.687,-1.673,2,20,2
$FREEZE,2.40,-1.682,-1.673,2,20,2
$FREEZE,2.42,-1.686,-1.673,2,20,2
$FREEZE,2.42,-1.686,-1.673,2,20,2
$FREEZE,2.53,-1.687,-1.673,2,20,2
$FINISH,2.5,1.024597
$STATE,11321,end surface coast,CONTROL_FINISHED_OK
$STATE,11321,begin surface
$SM_CCo,11339,217.60,0.600,1,0,440,609.08
$SM_GC,2.62,0.00,0.00,217.60,0.000,0.000,0.600,314,2791,440,-6.76,0.31,609.08
$RAFOS_CLK,678
$RAFOS,6,1293554969,16.833334,16.824722,127,48,42,41,38,38,688,121,26,1195,245,1695
$RAFOS,5,1293554478,16.700001,16.688334,58,48,44,41,41,39,883,1897,879,1322,26,1114
$RAFOS,4,1293554010,16.566668,16.558332,58,45,43,43,41,39,576,1236,338,1614,1074,731
$RAFOS,3,1293553503,16.433332,16.417500,131,45,44,44,43,42,779,1735,912,1525,269,919
$RAFOS,2,1293553032,16.299999,16.286667,104,46,43,42,41,41,595,988,1512,784,860,1877
$RAFOS,1,1293552542,16.166666,16.150555,93,58,50,48,44,41,568,814,1793,1228,546,1150
$RAFOS,0,1293552083,16.033333,16.023056,119,45,43,43,40,40,514,1180,1046,1628,173,1265
$RAFOS_FIX,6643.491211,-6009.707031,281210,161636,5,115,0.13
$IRIDIUM_FIX,6631.12,-5905.01,251210,111108
$TT8_MAMPS,0.029211
$HUMID,46.96
$INTERNAL_PRESSURE,8.407
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.9
$24V_AH,21.5,72.039
$10V_AH,9.7,50.522
$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,12.150,92.700,430.925,217.600,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2348.476,6784.270,669.606,1641.337,199.610,0.000,1571.151,0.000,1625.041,2520.000,13.239,0.000
$DEVICE_MAMPS,205.020,76.500,976.905,599.760,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,653.903,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151756
$DATA_FILE_SIZE,33385,936
$CAP_FILE_SIZE,120544,0
$CFSIZE,260165632,208068608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.1
$GPS,281210,162236,6643.491,-6009.707,0,5114.8,0,-38.0