version: 66.08
glider: 183
mission: 3
dive: 849
start: 1 28 111 17 35 51
data:
$ID,183
$MISSION,3
$DIVE,849
$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,-13521.624
$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,28
$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
$GPS1,280111,171731,6647.924,-5735.403,38,1.6,38,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-61.4
$GPS2,280111,173520,6648.166,-5735.367,13,1.8,13,-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,88.6,43872,-17.5,-10.000
$D_GRID,676
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.57,-146.0,0.0,0.0,0,177,0.00,0.00,-152.45,0.000,2,0.000,0.000,288,2794,3513,0,0,0,0,0,0
$GC,180,-0.57,-146.0,5.9,-12.8,27,194,8.45,2.38,0.00,0.000,4,0.245,0.047,2284,1370,3516,0,0,0,0,0,0
$GC,317,-0.60,-146.0,35.2,-11.1,50,324,0.00,2.35,0.00,0.000,6,0.000,0.062,2282,2772,3517,0,0,0,0,0,0
$GC,665,-0.60,-146.0,71.9,-9.8,111,671,0.00,2.00,0.00,0.000,4,0.000,0.073,2275,3928,3516,0,0,0,0,0,0
$GC,877,-0.63,-146.0,92.8,-10.2,148,884,0.00,1.83,0.00,0.000,6,0.000,0.050,2275,2813,3516,0,0,0,0,0,0
$GC,1209,-0.65,-146.0,125.6,-9.4,185,1213,0.00,2.33,0.00,0.000,4,0.000,0.050,2275,1370,3516,0,0,0,0,0,0
$GC,1284,-0.69,-146.0,132.7,-8.9,191,1288,0.00,2.40,0.00,0.000,6,0.000,0.063,2275,2793,3517,0,0,0,0,0,0
$GC,1610,-0.72,-146.0,161.5,-9.1,221,1614,0.00,2.33,0.00,0.000,4,0.000,0.050,2274,1370,3517,0,0,0,0,0,0
$GC,1658,-0.77,-146.0,165.7,-9.2,225,1663,0.12,2.40,0.00,0.000,6,0.093,0.062,2217,2785,3517,0,0,0,0,0,0
$GC,1984,-0.68,-146.0,206.1,-12.5,255,1989,0.12,2.00,0.00,0.000,4,0.181,0.072,2244,3932,3517,0,0,0,0,0,0
$GC,2012,-0.64,-146.0,209.6,-11.6,257,2019,0.00,1.88,0.00,0.000,6,0.000,0.048,2243,2779,3517,0,0,0,0,0,0
$GC,2339,-0.62,-146.0,245.1,-10.9,288,2343,0.12,2.30,0.00,0.000,4,0.176,0.050,2277,1369,3517,0,0,0,0,0,0
$GC,2403,-0.69,-146.0,251.2,-9.1,293,2407,0.00,2.42,0.00,0.000,6,0.000,0.060,2276,2800,3517,0,0,0,0,0,0
$GC,2735,-0.74,-146.0,280.2,-8.3,324,2740,0.12,2.35,0.00,0.000,4,0.097,0.049,2218,1368,3517,0,0,0,0,0,0
$GC,2763,-0.71,-146.0,283.1,-10.5,326,2770,0.00,2.40,0.00,0.000,6,0.000,0.060,2217,2784,3517,0,0,0,0,0,0
$GC,3089,-0.64,-146.0,322.1,-12.2,357,3091,0.17,0.00,0.00,0.000,6,0.170,0.000,2265,2785,3518,0,0,0,0,0,0
$GC,3408,-0.68,-146.0,348.5,-8.2,387,3412,0.00,2.33,0.00,0.000,4,0.000,0.050,2266,1362,3518,0,0,0,0,0,0
$GC,3460,-0.74,-146.0,352.9,-8.3,391,3464,0.00,2.40,0.00,0.000,6,0.000,0.060,2263,2777,3518,0,0,0,0,0,0
$GC,3786,-0.78,-146.0,380.2,-8.8,421,3790,0.10,2.00,0.00,0.000,4,0.113,0.071,2208,3933,3519,0,0,0,0,0,0
$GC,3825,-0.70,-146.0,384.7,-12.6,424,3832,0.15,1.90,0.00,0.000,6,0.164,0.047,2247,2776,3518,0,0,0,0,0,0
$GC,4148,-0.70,-146.0,415.1,-9.2,445,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2776,3519,0,0,0,0,0,0
$GC,4451,-0.70,-146.0,443.4,-9.2,455,4455,0.00,2.28,0.00,0.000,4,0.000,0.049,2247,1364,3519,0,0,0,0,0,0
$GC,4480,-0.70,-146.0,446.3,-9.6,456,4485,0.00,2.38,0.00,0.000,6,0.000,0.060,2247,2779,3519,0,0,0,0,0,0
$GC,4817,-0.70,-146.0,478.1,-9.6,467,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2780,3519,0,0,0,0,0,0
$GC,5123,-0.70,-146.0,506.2,-9.1,477,5127,0.00,2.30,0.00,0.000,4,0.000,0.050,2247,1372,3519,0,0,0,0,0,0
$GC,5189,-0.73,-146.0,512.1,-9.3,479,5193,0.00,2.35,0.00,0.000,6,0.000,0.061,2247,2771,3519,0,0,0,0,0,0
$GC,5525,-0.73,-146.0,541.5,-8.6,490,5526,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2771,3519,0,0,0,0,0,0
$GC,5831,-0.73,-146.0,567.2,-8.5,500,5835,0.00,2.28,0.00,0.000,4,0.000,0.050,2247,1370,3519,0,0,0,0,0,0
$GC,5876,-0.77,-146.0,571.1,-8.2,501,5881,0.00,2.35,0.00,0.000,6,0.000,0.061,2247,2764,3519,0,0,0,0,0,0
$GC,6196,-0.77,-146.0,596.6,-8.0,512,6199,0.00,2.00,0.00,0.000,4,0.000,0.071,2243,3929,3519,0,0,0,0,0,0
$STATE,6236,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6237,begin apogee
$GC,6247,-0.14,0.0,600.0,8.2,513,6376,0.57,0.00,122.82,0.971,4,0.129,0.000,2427,2594,2923,0,0,0,0,0,0
$STATE,6377,end apogee,CONTROL_FINISHED_OK
$STATE,6377,begin climb
$GC,6380,0.57,146.0,604.4,0.0,517,6522,0.68,2.40,131.15,0.942,4,0.065,0.050,2665,1185,2326,0,0,0,0,0,0
$GC,6679,0.57,146.0,579.6,11.0,526,6684,0.00,2.45,0.00,0.000,6,0.000,0.055,2665,2608,2319,0,0,0,0,0,0
$GC,6999,0.52,146.0,543.0,11.5,537,7003,0.00,2.30,0.00,0.000,4,0.000,0.051,2666,1180,2315,0,0,0,0,0,0
$GC,7201,0.52,146.0,520.7,11.0,543,7206,0.00,2.38,0.00,0.000,6,0.000,0.056,2666,2616,2315,0,0,0,0,0,0
$GC,7532,0.47,146.0,482.7,11.8,554,7534,0.15,0.00,0.00,0.000,6,0.192,0.000,2627,2616,2314,0,0,0,0,0,0
$GC,7838,0.49,154.5,452.3,9.6,564,7847,0.00,0.00,6.28,0.761,6,0.000,0.000,2627,2616,2293,0,0,0,0,0,0
$GC,8146,0.53,176.8,424.1,9.0,574,8171,0.00,2.22,20.62,0.849,4,0.000,0.066,2627,3925,2203,0,0,0,0,0,0
$GC,8183,0.56,192.6,420.4,9.3,574,8206,0.00,2.15,15.43,0.812,6,0.000,0.044,2627,2611,2137,0,0,0,0,0,0
$GC,8519,0.63,215.7,390.1,8.9,591,8546,0.15,0.00,20.08,0.825,6,0.092,0.000,2692,2611,2045,0,0,0,0,0,0
$GC,8865,0.58,215.7,343.4,14.0,624,8869,0.00,2.30,0.00,0.000,4,0.000,0.053,2693,1186,2041,0,0,0,0,0,0
$GC,8899,0.58,215.7,338.6,13.4,626,8905,0.00,2.35,0.00,0.000,6,0.000,0.055,2693,2622,2041,0,0,0,0,0,0
$GC,9225,0.53,215.7,290.9,14.9,657,9230,0.17,2.35,0.00,0.000,4,0.183,0.052,2646,1186,2039,0,0,0,0,0,0
$GC,9255,0.58,215.7,287.2,12.7,659,9260,0.00,2.38,0.00,0.000,6,0.000,0.055,2646,2622,2039,0,0,0,0,0,0
$GC,9582,0.61,215.7,249.1,11.7,689,9586,0.00,2.22,0.00,0.000,4,0.000,0.067,2646,3926,2038,0,0,0,0,0,0
$GC,9616,0.61,215.7,244.5,14.4,691,9622,0.00,2.12,0.00,0.000,6,0.000,0.044,2648,2616,2038,0,0,0,0,0,0
$GC,9942,0.65,215.7,208.5,10.4,722,9947,0.10,2.30,0.00,0.000,4,0.118,0.051,2694,1195,2038,0,0,0,0,0,0
$GC,10006,0.65,215.7,201.3,11.9,727,10010,0.00,2.33,0.00,0.000,6,0.000,0.054,2694,2599,2038,0,0,0,0,0,0
$GC,10332,0.61,215.7,158.9,12.6,757,10336,0.00,2.25,0.00,0.000,4,0.000,0.066,2694,3933,2037,0,0,0,0,0,0
$GC,10396,0.52,215.7,150.0,13.6,762,10401,0.17,2.15,0.00,0.000,6,0.181,0.044,2649,2609,2036,0,0,0,0,0,0
$GC,10729,0.59,238.3,120.0,9.0,793,10754,0.00,2.35,20.12,0.675,4,0.000,0.051,2649,1195,1950,0,0,0,0,0,0
$GC,10785,0.71,271.5,114.9,8.5,798,10820,0.15,2.33,29.38,0.659,6,0.089,0.054,2713,2608,1816,0,0,0,0,0,0
$GC,11152,0.71,271.5,63.2,14.7,853,11159,0.00,2.30,0.00,0.000,4,0.000,0.050,2715,1192,1808,0,0,0,0,0,0
$GC,11212,0.74,271.5,55.5,12.8,863,11219,0.00,2.28,0.00,0.000,6,0.000,0.054,2714,2589,1808,0,0,0,0,0,0
$GC,11565,0.74,271.5,10.6,12.9,924,11571,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2589,1806,0,0,0,0,0,0
$FREEZE,8.32,-0.340,-1.835,2,1,0
$FREEZE,7.64,-0.333,-1.834,2,1,0
$FREEZE,6.88,-0.331,-1.834,2,1,0
$FREEZE,6.33,-0.314,-1.833,2,1,0
$FREEZE,5.50,-0.306,-1.833,2,1,0
$FREEZE,4.81,-0.323,-1.833,2,1,0
$FREEZE,4.14,-0.324,-1.832,2,1,0
$FREEZE,3.40,-0.358,-1.831,2,1,0
$FREEZE,2.78,-0.364,-1.831,2,1,0
$STATE,11619,end climb,SURFACE_DEPTH_REACHED
$STATE,11619,begin surface coast
$FREEZE,2.15,-0.322,-1.830,2,1,0
$FREEZE,1.50,-0.322,-1.830,2,1,0
$FREEZE,0.82,-0.378,-1.830,2,1,0
$FREEZE,0.84,-0.760,-1.702,2,1,0
$FINISH,0.8,1.025006
$STATE,11643,end surface coast,CONTROL_FINISHED_OK
$STATE,11643,begin surface
$SM_CCo,11661,201.82,0.083,0,0,440,609.08
$SM_GC,1.59,0.00,0.00,201.82,0.000,0.000,0.083,296,2791,440,-6.80,0.31,609.08
$RAFOS_CLK,620
$RAFOS,5,1296247267,20.700001,20.685278,76,46,45,44,43,41,580,1455,863,74,326,216
$RAFOS,4,1296246790,20.566668,20.552778,46,42,42,42,42,42,342,766,982,1618,26,262
$RAFOS,3,1296246310,20.433332,20.419445,78,46,45,42,40,39,824,281,1641,1188,730,180
$RAFOS,2,1296245824,20.299999,20.284445,70,49,42,41,41,41,932,649,304,466,1197,1479
$RAFOS,1,1296245351,20.166666,20.153055,44,42,42,42,42,40,903,435,1200,26,154,1847
$RAFOS,0,1296244864,20.033333,20.017778,46,43,43,41,41,40,1535,857,1248,851,1072,1314
$RAFOS_FIX,6648.625977,-5735.714355,280111,202013,3,75,0.08
$IRIDIUM_FIX,6620.33,-5753.90,280111,131356
$TT8_MAMPS,0.031458
$HUMID,47.20
$INTERNAL_PRESSURE,8.46559
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.6
$ALTIM_BOTTOM_PING,600.0,12.0
$24V_AH,21.4,95.881
$10V_AH,9.7,65.036
$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,18.125,104.375,365.875,201.825,0.000,29.192,41.875,536.048,2.250,0.000,15.675,2344.476,6978.441,696.282,2209.042,716.874,0.000,1627.039,0.000,1649.810,2520.000,17.701,0.000
$DEVICE_MAMPS,244.800,72.675,970.785,83.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,651.382,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151592
$DATA_FILE_SIZE,33406,938
$CAP_FILE_SIZE,136244,0
$CFSIZE,260165632,194195456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.0
$GPS,280111,205527,6649.130,-5732.507,31,99.0,50,-37.4