version: 66.08
glider: 183
mission: 3
dive: 447
start: 12 3 110 5 14 33
data:
$ID,183
$MISSION,3
$DIVE,447
$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,-8301.751
$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,39
$R_STBD_OVSHOOT,27
$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,1.8
$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
$GPS1,031210,022749,6706.912,-5659.507,12,1.2,12,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.77
$_SM_ANGLEo,1.7
$GPS2,031210,022749,6706.912,-5659.507,12,1.2,12,-37.7
$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,292.0,156909,-17.5,-10.000
$D_GRID,521
$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,14,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,48,0.00,0.57,-27.95,0.000,3,0.000,0.106,2492,3570,3519,0,0,0,0,0,0
$GC,51,-0.57,-146.0,5.2,-3.9,5,59,0.55,3.42,0.00,0.000,4,0.108,0.037,2296,1367,3519,0,0,0,0,0,0
$GC,83,-0.79,-146.0,8.3,-8.8,10,90,0.20,2.28,0.00,0.000,6,0.076,0.052,2207,2788,3521,0,0,0,0,0,0
$GC,429,-0.64,-146.0,64.7,-15.3,71,436,0.20,1.88,0.00,0.000,4,0.169,0.062,2256,3925,3520,0,0,0,0,0,0
$GC,558,-0.62,-146.0,79.5,-11.1,93,565,0.00,1.77,0.00,0.000,6,0.000,0.041,2256,2778,3520,0,0,0,0,0,0
$GC,895,-0.62,-146.0,114.2,-10.2,141,899,0.00,1.90,0.00,0.000,4,0.000,0.066,2249,3932,3520,0,0,0,0,0,0
$GC,922,-0.59,-146.0,117.3,-10.1,143,930,0.08,1.80,0.00,0.000,6,0.142,0.041,2275,2799,3519,0,0,0,0,0,0
$GC,1249,-0.63,-146.0,146.3,-8.8,174,1253,0.00,2.20,0.00,0.000,4,0.000,0.044,2275,1369,3519,0,0,0,0,0,0
$GC,1282,-0.69,-146.0,149.4,-8.6,176,1289,0.00,2.30,0.00,0.000,6,0.000,0.055,2275,2786,3519,0,0,0,0,0,0
$GC,1607,-0.73,-146.0,175.6,-7.7,207,1612,0.10,2.22,0.00,0.000,4,0.113,0.044,2226,1364,3518,0,0,0,0,0,0
$GC,1628,-0.73,-146.0,177.7,-9.5,208,1636,0.00,2.30,0.00,0.000,6,0.000,0.054,2222,2794,3518,0,0,0,0,0,0
$GC,1954,-0.67,-146.0,214.7,-11.2,239,1959,0.12,2.25,0.00,0.000,4,0.181,0.042,2256,1369,3517,0,0,0,0,0,0
$GC,1987,-0.67,-146.0,218.2,-9.5,241,1994,0.00,2.30,0.00,0.000,6,0.000,0.055,2251,2790,3517,0,0,0,0,0,0
$GC,2313,-0.67,-146.0,248.7,-9.7,272,2317,0.00,1.88,0.00,0.000,4,0.000,0.065,2247,3928,3517,0,0,0,0,0,0
$GC,2375,-0.67,-146.0,255.0,-10.7,277,2382,0.00,1.80,0.00,0.000,6,0.000,0.041,2247,2781,3517,0,0,0,0,0,0
$GC,2701,-0.67,-146.0,286.0,-9.4,308,2705,0.00,2.17,0.00,0.000,4,0.000,0.043,2247,1371,3517,0,0,0,0,0,0
$GC,2739,-0.69,-146.0,290.1,-10.1,311,2746,0.00,2.28,0.00,0.000,6,0.000,0.054,2247,2789,3517,0,0,0,0,0,0
$GC,3064,-0.69,-146.0,320.9,-9.1,342,3068,0.00,2.20,0.00,0.000,4,0.000,0.041,2247,1364,3517,0,0,0,0,0,0
$GC,3106,-0.71,-146.0,324.8,-9.8,345,3110,0.00,2.28,0.00,0.000,6,0.000,0.054,2247,2781,3518,0,0,0,0,0,0
$GC,3432,-0.71,-146.0,352.4,-7.6,375,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2781,3518,0,0,0,0,0,0
$GC,3751,-0.71,-146.0,376.7,-8.3,405,3755,0.00,2.17,0.00,0.000,4,0.000,0.041,2247,1372,3518,0,0,0,0,0,0
$GC,3808,-0.75,-146.0,381.7,-9.0,410,3812,0.00,2.25,0.00,0.000,6,0.000,0.054,2247,2773,3518,0,0,0,0,0,0
$GC,4151,-0.75,-146.0,411.4,-8.8,434,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2773,3518,0,0,0,0,0,0
$GC,4456,-0.75,-146.0,439.7,-9.4,444,4459,0.00,1.88,0.00,0.000,4,0.000,0.064,2246,3929,3518,0,0,0,0,0,0
$GC,4483,-0.75,-146.0,442.5,-9.4,444,4490,0.00,1.83,0.00,0.000,6,0.000,0.040,2246,2747,3518,0,0,0,0,0,0
$GC,4797,-0.77,-146.0,470.0,-8.1,455,4800,0.00,2.10,0.00,0.000,4,0.000,0.042,2247,1374,3518,0,0,0,0,0,0
$GC,4847,-0.81,-146.0,474.1,-7.4,456,4851,0.00,2.22,0.00,0.000,6,0.000,0.054,2247,2759,3518,0,0,0,0,0,0
$GC,5166,-0.83,-146.0,499.3,-8.1,467,5171,0.12,2.15,0.00,0.000,4,0.100,0.042,2183,1374,3518,0,0,0,0,0,0
$GC,5195,-0.77,-146.0,502.7,-12.1,468,5200,0.17,2.20,0.00,0.000,6,0.178,0.054,2224,2744,3518,0,0,0,0,0,0
$STATE,5405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5405,begin apogee
$GC,5412,-0.14,0.0,523.8,10.1,475,5538,0.60,0.00,116.62,0.882,4,0.131,0.000,2425,2594,2924,0,0,0,0,0,0
$STATE,5539,end apogee,CONTROL_FINISHED_OK
$STATE,5539,begin climb
$GC,5541,0.57,146.0,528.1,0.0,479,5671,0.65,2.30,121.12,0.868,4,0.062,0.043,2665,1179,2327,0,0,0,0,0,0
$GC,5851,0.54,146.0,501.6,11.5,488,5855,0.00,2.35,0.00,0.000,6,0.000,0.047,2665,2607,2320,0,0,0,0,0,0
$GC,6175,0.48,146.0,459.4,13.2,499,6179,0.12,2.25,0.00,0.000,4,0.194,0.045,2639,1182,2316,0,0,0,0,0,0
$GC,6344,0.50,146.0,441.3,10.3,504,6348,0.00,2.28,0.00,0.000,6,0.000,0.048,2639,2616,2317,0,0,0,0,0,0
$GC,6678,0.50,146.0,402.6,11.3,515,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2616,2315,0,0,0,0,0,0
$GC,6998,0.48,146.0,367.5,10.2,543,7002,0.00,2.25,0.00,0.000,4,0.000,0.046,2642,1186,2315,0,0,0,0,0,0
$GC,7041,0.48,146.0,362.1,11.3,546,7048,0.00,2.25,0.00,0.000,6,0.000,0.047,2642,2587,2315,0,0,0,0,0,0
$GC,7367,0.48,146.0,325.4,11.4,577,7371,0.00,2.20,0.00,0.000,4,0.000,0.059,2642,3933,2315,0,0,0,0,0,0
$GC,7439,0.41,146.0,316.1,12.5,583,7447,0.15,2.08,0.00,0.000,6,0.197,0.037,2611,2599,2313,0,0,0,0,0,0
$GC,7766,0.48,174.7,287.2,8.7,614,7799,0.00,2.22,23.12,0.725,4,0.000,0.044,2611,1188,2209,0,0,0,0,0,0
$GC,7827,0.62,219.5,281.8,7.9,619,7870,0.17,2.30,37.40,0.721,6,0.080,0.048,2687,2618,2027,0,0,0,0,0,0
$GC,8196,0.57,219.5,227.3,15.0,654,8200,0.00,2.25,0.00,0.000,4,0.000,0.046,2691,1202,2019,0,0,0,0,0,0
$GC,8228,0.57,219.5,222.4,14.6,656,8236,0.08,2.25,0.00,0.000,6,0.152,0.047,2651,2599,2019,0,0,0,0,0,0
$GC,8554,0.60,219.5,182.7,12.0,687,8555,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2600,2017,0,0,0,0,0,0
$GC,8875,0.64,219.5,146.8,11.8,717,8881,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2600,2017,0,0,0,0,0,0
$GC,9202,0.69,219.5,109.7,11.4,748,9207,0.12,2.22,0.00,0.000,4,0.096,0.045,2704,1192,2017,0,0,0,0,0,0
$GC,9246,0.69,219.5,104.0,12.8,751,9253,0.00,2.28,0.00,0.000,6,0.000,0.048,2704,2605,2017,0,0,0,0,0,0
$GC,9588,0.65,219.5,59.2,12.9,809,9595,0.00,2.15,0.00,0.000,4,0.000,0.059,2704,3929,2016,0,0,0,0,0,0
$GC,9630,0.58,219.5,53.1,14.8,816,9638,0.17,2.08,0.00,0.000,6,0.181,0.037,2660,2597,2014,0,0,0,0,0,0
$GC,9978,0.68,258.4,22.4,8.2,877,10016,0.00,2.20,30.85,0.581,4,0.000,0.044,2660,1189,1869,0,0,0,0,0,0
$GC,10059,0.85,309.6,15.9,7.6,890,10107,0.25,2.30,42.20,0.571,6,0.071,0.048,2764,2620,1659,0,0,0,0,0,0
$FREEZE,8.24,1.430,-1.801,0,2,0
$FREEZE,7.48,1.422,-1.800,0,2,0
$FREEZE,6.79,1.316,-1.795,0,2,0
$FREEZE,5.90,1.012,-1.794,0,2,0
$FREEZE,4.89,0.898,-1.791,0,2,0
$FREEZE,3.95,0.855,-1.789,0,2,0
$FREEZE,3.15,0.736,-1.788,0,2,0
$FREEZE,2.35,0.716,-1.785,0,2,0
$STATE,10150,end climb,SURFACE_DEPTH_REACHED
$STATE,10150,begin surface coast
$FREEZE,1.47,0.660,-1.784,0,2,0
$FREEZE,0.96,0.662,-0.890,0,2,0
$FREEZE,1.04,0.673,-0.977,0,2,0
$FINISH,1.0,1.014437
$STATE,10168,end surface coast,CONTROL_FINISHED_OK
$STATE,10168,begin surface
$SM_CCo,10183,193.05,0.539,1,0,440,609.08
$SM_GC,1.85,0.00,0.00,193.05,0.000,0.000,0.539,289,2785,440,-6.82,0.14,609.08
$RAFOS_CLK,441
$RAFOS_FIX,6709.470215,-5707.950684,031210,000056,2,79,0.76
$IRIDIUM_FIX,6636.54,-5652.31,021210,181802
$TT8_MAMPS,0.029211
$HUMID,43.97
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.8
$ALTIM_BOTTOM_PING,500.6,104.4
$24V_AH,22.9,54.023
$10V_AH,10.1,39.862
$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,10.350,97.275,371.325,193.050,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2258.439,5825.948,614.331,1584.614,161.718,0.000,1481.477,0.000,1569.121,360.000,14.421,0.000
$DEVICE_MAMPS,196.605,106.335,882.045,539.325,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,626.026,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33428,909
$CAP_FILE_SIZE,115320,0
$CFSIZE,260165632,218279936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1475.2
$GPS,031210,080920,6705.763,-5706.033,38,3.2,57,-37.7