version: 66.08
glider: 183
mission: 3
dive: 848
start: 1 28 111 13 59 39
data:
$ID,183
$MISSION,3
$DIVE,848
$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,-13520.367
$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,34
$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,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
$GPS1,280111,134237,6647.396,-5738.764,26,1.1,26,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-61.3
$GPS2,280111,135908,6647.324,-5739.188,15,1.4,15,-37.4
$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,89.3,47003,-17.5,-10.000
$D_GRID,649
$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,-146.0,0.0,0.0,0,175,0.00,0.00,-152.43,0.000,2,0.000,0.000,265,2781,3504,0,0,0,0,0,0
$GC,178,-0.57,-146.0,5.7,-14.0,27,193,8.55,2.03,-0.30,0.000,4,0.245,0.081,2277,3933,3521,0,0,0,0,0,0
$GC,364,-0.57,-146.0,43.4,-11.7,59,371,0.00,1.90,0.00,0.000,6,0.000,0.051,2277,2776,3523,0,0,0,0,0,0
$GC,712,-0.57,-146.0,80.1,-8.6,120,718,0.00,2.03,0.00,0.000,4,0.000,0.075,2275,3925,3523,0,0,0,0,0,0
$GC,738,-0.57,-146.0,82.6,-8.9,124,745,0.00,1.85,0.00,0.000,6,0.000,0.051,2275,2800,3523,0,0,0,0,0,0
$GC,1082,-0.57,-146.0,115.2,-9.5,171,1086,0.00,2.33,0.00,0.000,4,0.000,0.052,2274,1367,3522,0,0,0,0,0,0
$GC,1127,-0.61,-146.0,119.7,-9.4,174,1133,0.00,2.45,0.00,0.000,6,0.000,0.063,2274,2801,3522,0,0,0,0,0,0
$GC,1453,-0.63,-146.0,150.6,-10.5,205,1457,0.00,2.33,0.00,0.000,4,0.000,0.050,2274,1370,3522,0,0,0,0,0,0
$GC,1475,-0.66,-146.0,153.0,-10.3,206,1481,0.00,2.40,0.00,0.000,6,0.000,0.063,2274,2777,3522,0,0,0,0,0,0
$GC,1801,-0.70,-146.0,187.0,-10.0,237,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2777,3521,0,0,0,0,0,0
$GC,2122,-0.73,-146.0,214.3,-8.0,267,2127,0.10,2.33,0.00,0.000,4,0.113,0.050,2227,1364,3521,0,0,0,0,0,0
$GC,2175,-0.71,-146.0,219.7,-10.7,271,2179,0.00,2.38,0.00,0.000,6,0.000,0.062,2222,2771,3521,0,0,0,0,0,0
$GC,2506,-0.64,-146.0,258.8,-12.3,302,2511,0.15,2.03,0.00,0.000,4,0.172,0.073,2256,3928,3521,0,0,0,0,0,0
$GC,2576,-0.67,-146.0,265.9,-9.9,308,2580,0.00,1.90,0.00,0.000,6,0.000,0.049,2257,2766,3521,0,0,0,0,0,0
$GC,2908,-0.67,-146.0,297.4,-9.0,339,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2766,3521,0,0,0,0,0,0
$GC,3229,-0.67,-146.0,326.1,-8.9,369,3233,0.00,2.28,0.00,0.000,4,0.000,0.050,2256,1368,3522,0,0,0,0,0,0
$GC,3275,-0.71,-146.0,330.4,-7.9,372,3281,0.00,2.38,0.00,0.000,6,0.000,0.061,2249,2776,3522,0,0,0,0,0,0
$GC,3601,-0.71,-146.0,358.9,-8.5,403,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2776,3522,0,0,0,0,0,0
$GC,3923,-0.71,-146.0,387.7,-9.1,433,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2776,3522,0,0,0,0,0,0
$GC,4243,-0.71,-146.0,416.8,-9.1,452,4247,0.00,1.98,0.00,0.000,4,0.000,0.073,2247,3927,3523,0,0,0,0,0,0
$GC,4271,-0.71,-146.0,419.7,-9.4,452,4278,0.00,1.90,0.00,0.000,6,0.000,0.048,2247,2779,3523,0,0,0,0,0,0
$GC,4586,-0.71,-146.0,447.3,-8.7,463,4590,0.00,2.28,0.00,0.000,4,0.000,0.050,2247,1370,3523,0,0,0,0,0,0
$GC,4630,-0.73,-146.0,451.5,-8.7,464,4634,0.00,2.40,0.00,0.000,6,0.000,0.061,2247,2778,3523,0,0,0,0,0,0
$GC,4955,-0.73,-146.0,478.8,-8.5,475,4959,0.00,2.30,0.00,0.000,4,0.000,0.049,2247,1362,3524,0,0,0,0,0,0
$GC,4979,-0.73,-146.0,481.2,-9.6,475,4986,0.00,2.40,0.00,0.000,6,0.000,0.060,2247,2771,3523,0,0,0,0,0,0
$GC,5292,-0.73,-146.0,509.0,-9.2,486,5296,0.00,2.03,0.00,0.000,4,0.000,0.072,2247,3920,3523,0,0,0,0,0,0
$GC,5320,-0.73,-146.0,511.8,-9.4,486,5327,0.00,1.90,0.00,0.000,6,0.000,0.047,2247,2757,3523,0,0,0,0,0,0
$GC,5635,-0.73,-146.0,539.9,-9.0,497,5639,0.00,2.25,0.00,0.000,4,0.000,0.050,2247,1367,3523,0,0,0,0,0,0
$GC,5657,-0.73,-146.0,542.3,-9.6,497,5661,0.00,2.38,0.00,0.000,6,0.000,0.060,2247,2765,3523,0,0,0,0,0,0
$GC,5971,-0.73,-146.0,570.7,-9.3,507,5974,0.00,2.00,0.00,0.000,4,0.000,0.073,2247,3927,3523,0,0,0,0,0,0
$GC,6011,-0.73,-146.0,574.5,-9.8,508,6015,0.00,1.90,0.00,0.000,6,0.000,0.048,2247,2766,3524,0,0,0,0,0,0
$STATE,6318,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6318,begin apogee
$GC,6325,-0.14,0.0,601.2,8.7,518,6457,0.55,0.00,124.38,0.968,4,0.135,0.000,2423,2601,2923,0,0,0,0,0,0
$STATE,6457,end apogee,CONTROL_FINISHED_OK
$STATE,6458,begin climb
$GC,6460,0.57,146.0,605.7,0.0,522,6601,0.68,2.42,131.45,0.940,4,0.072,0.050,2658,1180,2326,0,0,0,0,0,0
$GC,6770,0.57,146.0,581.6,10.0,531,6777,0.00,2.42,0.00,0.000,6,0.000,0.055,2658,2601,2318,0,0,0,0,0,0
$GC,7084,0.53,146.0,545.1,11.7,542,7088,0.00,2.28,0.00,0.000,4,0.000,0.052,2660,1188,2315,0,0,0,0,0,0
$GC,7320,0.53,146.0,518.5,11.0,549,7324,0.00,2.35,0.00,0.000,6,0.000,0.056,2660,2606,2315,0,0,0,0,0,0
$GC,7651,0.49,146.0,480.0,11.6,560,7655,0.00,2.20,0.00,0.000,4,0.000,0.067,2660,3923,2314,0,0,0,0,0,0
$GC,7673,0.42,146.0,477.1,11.8,560,7678,0.20,2.15,0.00,0.000,6,0.189,0.044,2611,2589,2312,0,0,0,0,0,0
$GC,7987,0.50,191.9,451.3,7.9,570,8032,0.00,2.38,38.22,0.867,4,0.000,0.051,2611,1182,2140,0,0,0,0,0,0
$GC,8064,0.66,250.6,445.4,7.3,572,8122,0.22,2.35,51.83,0.856,6,0.073,0.055,2701,2594,1902,0,0,0,0,0,0
$GC,8435,0.61,250.6,388.5,16.1,587,8439,0.00,2.30,0.00,0.000,4,0.000,0.053,2704,1182,1889,0,0,0,0,0,0
$GC,8464,0.58,250.6,383.9,14.9,589,8469,0.15,2.30,0.00,0.000,6,0.174,0.055,2665,2579,1888,0,0,0,0,0,0
$GC,8791,0.60,250.6,344.0,12.0,619,8793,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2579,1887,0,0,0,0,0,0
$GC,9110,0.63,250.6,305.2,12.6,649,9116,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2579,1886,0,0,0,0,0,0
$GC,9441,0.66,250.6,265.4,11.7,680,9447,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2579,1886,0,0,0,0,0,0
$GC,9767,0.69,250.6,227.0,11.5,711,9772,0.10,2.25,0.00,0.000,4,0.112,0.052,2709,1194,1886,0,0,0,0,0,0
$GC,9823,0.69,250.6,219.7,13.4,715,9830,0.00,2.30,0.00,0.000,6,0.000,0.054,2709,2583,1886,0,0,0,0,0,0
$GC,10150,0.65,250.6,171.3,14.6,746,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2583,1885,0,0,0,0,0,0
$GC,10473,0.61,250.6,126.6,13.6,776,10478,0.12,2.28,0.00,0.000,4,0.190,0.053,2679,1184,1884,0,0,0,0,0,0
$GC,10517,0.67,250.6,120.9,10.1,779,10524,0.00,2.28,0.00,0.000,6,0.000,0.055,2679,2575,1885,0,0,0,0,0,0
$GC,10852,0.71,250.6,84.4,11.4,822,10859,0.00,2.33,0.00,0.000,4,0.000,0.067,2679,3928,1885,0,0,0,0,0,0
$GC,10935,0.71,250.6,73.9,13.3,836,10942,0.00,2.17,0.00,0.000,6,0.000,0.044,2679,2590,1884,0,0,0,0,0,0
$GC,11282,0.75,250.6,37.3,11.2,897,11290,0.10,2.30,0.00,0.000,4,0.120,0.068,2724,3928,1884,0,0,0,0,0,0
$GC,11371,0.68,250.6,24.0,16.7,912,11377,0.00,2.15,0.00,0.000,6,0.000,0.044,2724,2597,1883,0,0,0,0,0,0
$FREEZE,8.96,-0.250,-1.836,3,1,0
$FREEZE,8.28,-0.228,-1.836,3,1,0
$FREEZE,7.53,-0.340,-1.835,3,1,0
$FREEZE,6.82,-0.366,-1.835,3,1,0
$FREEZE,5.82,-0.391,-1.834,3,1,0
$FREEZE,5.16,-0.367,-1.834,3,1,0
$FREEZE,4.52,-0.376,-1.832,3,1,0
$FREEZE,3.82,-0.379,-1.832,3,1,0
$FREEZE,3.08,-0.394,-1.831,3,1,0
$FREEZE,2.51,-0.401,-1.831,3,1,0
$STATE,11520,end climb,SURFACE_DEPTH_REACHED
$STATE,11521,begin surface coast
$FREEZE,1.77,-0.390,-1.831,3,1,0
$FREEZE,1.16,-0.379,-1.830,3,1,0
$FREEZE,0.76,-0.352,-1.618,3,1,0
$FREEZE,0.87,-0.918,-1.725,3,1,0
$FINISH,0.9,1.025343
$STATE,11543,end surface coast,CONTROL_FINISHED_OK
$STATE,11543,begin surface
$SM_CCo,11561,212.15,0.083,0,0,440,609.08
$SM_GC,1.55,0.00,0.00,212.15,0.000,0.000,0.083,299,2793,440,-6.80,0.37,609.08
$RAFOS_CLK,619
$RAFOS,6,1296233347,16.833334,16.818611,60,47,45,43,42,41,772,926,1752,753,1071,1339
$RAFOS,5,1296232869,16.700001,16.685833,80,46,41,39,37,36,581,1399,1449,145,1913,277
$RAFOS,4,1296232389,16.566668,16.552500,48,43,42,41,41,40,741,497,162,1411,1584,718
$RAFOS,3,1296231903,16.433332,16.417500,55,50,47,40,39,39,847,154,1548,694,605,1213
$RAFOS,2,1296231445,16.299999,16.290277,49,47,45,42,40,39,1138,1180,1792,1389,156,1828
$RAFOS,1,1296230948,16.166666,16.152222,48,45,43,42,42,42,1242,1015,1742,284,494,1367
$RAFOS,0,1296230464,16.033333,16.017778,52,44,44,43,42,39,1759,1293,508,805,592,183
$RAFOS_FIX,6647.971680,-5742.632324,280111,161656,2,70,0.28
$IRIDIUM_FIX,6609.62,-5524.46,280111,101023
$TT8_MAMPS,0.028462
$HUMID,47.48
$INTERNAL_PRESSURE,8.45583
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.1
$ALTIM_BOTTOM_PING,601.2,12.0
$24V_AH,21.4,95.747
$10V_AH,9.6,64.962
$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,17.450,98.050,345.875,212.150,0.000,29.022,17.301,543.739,2.250,0.000,17.590,2346.101,6881.798,699.818,2202.782,644.027,0.000,1633.304,0.000,1656.170,2520.000,17.705,0.000
$DEVICE_MAMPS,244.800,81.090,968.490,83.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,655.612,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151672
$DATA_FILE_SIZE,33365,943
$CAP_FILE_SIZE,131648,0
$CFSIZE,260165632,194265088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.8
$GPS,280111,171731,6647.924,-5735.403,38,1.6,38,-37.4