version: 66.08
glider: 183
mission: 3
dive: 835
start: 1 26 111 15 22 48
data:
$ID,183
$MISSION,3
$DIVE,835
$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,-13324.667
$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,33
$R_STBD_OVSHOOT,31
$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,5
$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
$GPS1,260111,003741,6642.806,-5834.523,0,3070.7,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.30
$_SM_ANGLEo,-7.0
$GPS2,260111,003741,6642.806,-5834.523,0,3070.7,0,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,5000.000
$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,101.7,85535,-17.5,-10.000
$D_GRID,747
$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,17,-0.57,-146.0,0.0,0.0,0,25,0.00,0.00,-5.50,0.000,2,0.000,0.000,2476,1178,2890,0,0,0,0,0,0
$GC,28,-0.57,-146.0,5.6,-0.0,1,59,0.47,4.78,-19.75,0.000,4,0.070,0.069,2282,3923,3520,0,0,0,0,0,0
$GC,169,-0.57,-146.0,20.4,-12.4,25,175,0.00,1.85,0.00,0.000,6,0.000,0.046,2282,2780,3523,0,0,0,0,0,0
$GC,514,-0.57,-146.0,61.1,-10.1,86,521,0.00,2.30,0.00,0.000,4,0.000,0.050,2282,1366,3523,0,0,0,0,0,0
$GC,548,-0.57,-146.0,64.2,-9.5,91,555,0.00,2.38,0.00,0.000,6,0.000,0.060,2279,2782,3522,0,0,0,0,0,0
$GC,895,-0.57,-146.0,98.0,-12.3,152,902,0.00,2.30,0.00,0.000,4,0.000,0.050,2279,1366,3522,0,0,0,0,0,0
$GC,954,-0.62,-146.0,105.5,-12.4,159,959,0.00,2.40,0.00,0.000,6,0.000,0.062,2279,2790,3521,0,0,0,0,0,0
$GC,1282,-0.64,-146.0,142.2,-9.6,189,1286,0.00,2.30,0.00,0.000,4,0.000,0.050,2279,1373,3521,0,0,0,0,0,0
$GC,1323,-0.69,-146.0,146.1,-9.4,192,1327,0.00,2.38,0.00,0.000,6,0.000,0.063,2279,2780,3521,0,0,0,0,0,0
$GC,1650,-0.73,-146.0,169.9,-6.8,222,1657,0.12,0.00,0.00,0.000,6,0.099,0.000,2222,2780,3521,0,0,0,0,0,0
$GC,1977,-0.66,-146.0,208.6,-12.3,253,1981,0.12,2.35,0.00,0.000,4,0.178,0.050,2257,1367,3520,0,0,0,0,0,0
$GC,2005,-0.66,-146.0,211.9,-11.2,255,2012,0.00,2.38,0.00,0.000,6,0.000,0.063,2257,2759,3520,0,0,0,0,0,0
$GC,2331,-0.66,-146.0,244.4,-8.9,286,2334,0.00,2.03,0.00,0.000,4,0.000,0.073,2250,3936,3520,0,0,0,0,0,0
$GC,2395,-0.66,-146.0,250.8,-9.5,291,2402,0.00,1.95,0.00,0.000,6,0.000,0.047,2250,2756,3519,0,0,0,0,0,0
$GC,2721,-0.66,-146.0,283.4,-10.4,322,2725,0.00,2.25,0.00,0.000,4,0.000,0.050,2250,1369,3520,0,0,0,0,0,0
$GC,2790,-0.69,-146.0,290.5,-10.6,328,2794,0.00,2.35,0.00,0.000,6,0.000,0.063,2247,2747,3520,0,0,0,0,0,0
$GC,3116,-0.69,-146.0,322.7,-9.3,358,3120,0.00,2.03,0.00,0.000,4,0.000,0.073,2248,3929,3520,0,0,0,0,0,0
$GC,3164,-0.69,-146.0,327.1,-9.4,362,3168,0.00,1.92,0.00,0.000,6,0.000,0.047,2247,2749,3520,0,0,0,0,0,0
$GC,3496,-0.69,-146.0,357.9,-9.9,393,3500,0.00,2.22,0.00,0.000,4,0.000,0.049,2247,1365,3520,0,0,0,0,0,0
$GC,3529,-0.69,-146.0,361.6,-10.1,395,3536,0.00,2.38,0.00,0.000,6,0.000,0.062,2247,2759,3520,0,0,0,0,0,0
$GC,3854,-0.69,-146.0,395.3,-10.5,426,3858,0.00,2.00,0.00,0.000,4,0.000,0.072,2247,3927,3521,0,0,0,0,0,0
$GC,3905,-0.69,-146.0,401.2,-11.3,430,3909,0.00,1.92,0.00,0.000,6,0.000,0.047,2247,2746,3520,0,0,0,0,0,0
$GC,4234,-0.69,-146.0,435.1,-10.6,441,4237,0.00,2.05,0.00,0.000,4,0.000,0.073,2247,3927,3520,0,0,0,0,0,0
$GC,4279,-0.71,-146.0,440.6,-10.9,442,4282,0.00,1.92,0.00,0.000,6,0.000,0.047,2247,2762,3520,0,0,0,0,0,0
$GC,4611,-0.71,-146.0,473.4,-9.8,453,4615,0.00,2.25,0.00,0.000,4,0.000,0.049,2247,1370,3520,0,0,0,0,0,0
$GC,4633,-0.71,-146.0,476.1,-10.0,453,4637,0.00,2.38,0.00,0.000,6,0.000,0.061,2247,2766,3520,0,0,0,0,0,0
$GC,4947,-0.71,-146.0,505.0,-9.2,463,4951,0.00,2.00,0.00,0.000,4,0.000,0.072,2247,3930,3521,0,0,0,0,0,0
$GC,5027,-0.74,-146.0,512.7,-9.8,465,5031,0.00,1.92,0.00,0.000,6,0.000,0.047,2247,2765,3521,0,0,0,0,0,0
$GC,5357,-0.74,-146.0,541.4,-8.3,476,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2765,3521,0,0,0,0,0,0
$GC,5665,-0.74,-146.0,566.0,-8.2,486,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2765,3521,0,0,0,0,0,0
$GC,5970,-0.74,-146.0,590.6,-8.1,496,5974,0.00,2.28,0.00,0.000,4,0.000,0.049,2247,1367,3521,0,0,0,0,0,0
$GC,5993,-0.76,-146.0,592.5,-8.0,496,6000,0.00,2.38,0.00,0.000,6,0.000,0.061,2247,2777,3521,0,0,0,0,0,0
$STATE,6092,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6093,begin apogee
$GC,6101,-0.14,0.0,600.4,8.0,500,6231,0.55,0.00,123.28,0.973,4,0.132,0.000,2423,2595,2925,0,0,0,0,0,0
$STATE,6231,end apogee,CONTROL_FINISHED_OK
$STATE,6231,begin climb
$GC,6234,0.57,146.0,603.5,0.0,504,6376,0.70,2.42,132.93,0.948,4,0.070,0.049,2667,1180,2326,0,0,0,0,0,0
$GC,6580,-1.82,146.0,572.4,23350.6,514,6592,2.62,2.42,0.00,0.000,6,0.145,0.055,1898,2606,2315,0,0,0,0,0,0
$GC,6899,-1.82,146.0,521.3,23350.6,525,6903,0.00,2.20,0.00,0.000,4,0.000,0.055,1886,3944,2307,0,0,0,0,0,0
$GC,7098,-1.82,146.0,482.6,23350.6,531,7102,0.00,2.12,0.00,0.000,6,0.000,0.046,1884,2638,2308,0,0,0,0,0,0
$GC,7434,-1.82,146.0,423.0,23350.6,542,7438,0.00,2.17,0.00,0.000,4,0.000,0.058,1871,3944,2305,0,0,0,0,0,0
$GC,7693,-1.82,146.0,371.7,23350.6,557,7700,0.00,2.15,0.00,0.000,6,0.000,0.047,1870,2638,2307,0,0,0,0,0,0
$GC,8020,-1.82,146.0,310.0,23350.6,588,8024,0.00,2.35,0.00,0.000,4,0.000,0.050,1869,1183,2307,0,0,0,0,0,0
$GC,8032,-1.82,146.0,307.8,23350.6,588,8039,0.12,2.33,0.00,0.000,6,0.211,0.058,1885,2581,2307,0,0,0,0,0,0
$GC,8359,-1.82,146.0,247.0,23350.6,619,8363,0.00,2.25,0.00,0.000,4,0.000,0.047,1885,1177,2307,0,0,0,0,0,0
$GC,8619,-1.82,146.0,197.4,23350.6,642,8623,0.00,2.40,0.00,0.000,6,0.000,0.054,1873,2631,2305,0,0,0,0,0,0
$GC,8945,-1.82,146.0,138.6,23350.6,672,8949,0.00,2.30,0.00,0.000,4,0.000,0.041,1873,1176,2305,0,0,0,0,0,0
$GC,9206,-1.82,146.0,91.6,23350.6,698,9213,0.12,2.38,0.00,0.000,6,0.285,0.054,1882,2616,2305,0,0,0,0,0,0
$GC,9556,-1.82,146.0,39.3,23350.6,759,9563,0.00,2.30,0.00,0.000,4,0.000,0.046,1882,1183,2306,0,0,0,0,0,0
$GC,9666,-1.82,146.0,21.4,23350.6,778,9673,0.00,2.45,0.00,0.000,6,0.000,0.057,1873,2647,2306,0,0,0,0,0,0
$FREEZE,8.27,-1.436,-1.804,3,13,0
$FREEZE,7.17,-1.514,-1.808,3,13,0
$FREEZE,6.63,-1.464,-1.803,3,13,0
$FREEZE,6.00,-1.475,-1.804,3,13,0
$FREEZE,5.13,-1.527,-1.805,3,13,0
$FREEZE,4.24,-1.595,-1.808,3,13,0
$FREEZE,3.32,-1.519,-1.803,3,13,0
$FREEZE,2.55,-1.508,-1.802,3,13,0
$STATE,9783,end climb,SURFACE_DEPTH_REACHED
$STATE,9783,begin surface coast
$FREEZE,1.39,-1.591,-1.806,3,13,0
$FINISH,1.4,1.026511
$STATE,9789,end surface coast,CONTROL_FINISHED_OK
$STATE,9790,begin surface
$SM_CCo,9805,275.38,0.086,0,0,440,609.08
$SM_GC,1.66,0.00,0.00,275.38,0.000,0.000,0.086,295,2783,440,-6.80,0.08,609.08
$RAFOS_CLK,586
$RAFOS,6,1296060569,16.833334,16.824722,46,44,43,43,41,41,619,448,603,1874,689,706
$RAFOS,5,1296060067,16.700001,16.685278,66,47,41,41,40,40,653,667,1688,165,285,1561
$RAFOS,4,1296059595,16.566668,16.554167,58,48,45,45,44,43,615,453,1165,1476,1000,1124
$RAFOS,3,1296059103,16.433332,16.417500,52,46,42,41,41,38,749,1459,193,26,1543,1880
$RAFOS,2,1296058627,16.299999,16.285278,44,43,42,42,41,40,1541,1434,853,1684,348,659
$RAFOS,1,1296058143,16.166666,16.150833,47,45,44,44,42,40,1745,469,742,1433,1791,361
$RAFOS,0,1296057664,16.033333,16.017778,47,46,44,39,39,38,1146,707,504,502,524,1778
$RAFOS_FIX,6642.805664,-5834.522949,260111,000041,3,71,0.27
$IRIDIUM_FIX,6614.97,-5826.75,250111,171751
$TT8_MAMPS,0.029211
$HUMID,46.33
$INTERNAL_PRESSURE,8.42653
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,999.0
$ALTIM_BOTTOM_PING,600.4,11.9
$24V_AH,21.2,94.162
$10V_AH,9.7,64.026
$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,9.000,96.400,256.200,275.375,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2061.266,5745.281,581.881,1530.372,226.237,0.000,1400.910,0.000,1517.587,2520.000,17.893,0.000
$DEVICE_MAMPS,284.580,89.505,973.080,85.680,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,559.743,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30062,800
$CAP_FILE_SIZE,106874,0
$CFSIZE,260165632,195026944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.3
$GPS,260111,181208,6642.163,-5814.870,27,1.2,27,-37.5