version: 66.08
glider: 183
mission: 3
dive: 846
start: 1 28 111 6 37 50
data:
$ID,183
$MISSION,3
$DIVE,846
$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,-13517.851
$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,22
$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
$GPS1,280111,032337,6643.600,-5746.183,108,1.9,108,-37.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.46
$_SM_ANGLEo,4.2
$GPS2,280111,032337,6643.600,-5746.183,108,1.9,108,-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,86.9,55283,-17.5,-10.000
$D_GRID,616
$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,-5.57,0.000,2,0.000,0.000,2486,3932,3023,0,0,0,0,0,0
$GC,28,-0.57,-146.0,11.3,-0.0,1,48,0.55,4.22,-10.70,0.000,4,0.119,0.054,2300,1369,3524,0,0,0,0,0,0
$GC,95,-0.67,-146.0,19.8,-13.6,12,103,0.12,2.38,0.00,0.000,6,0.096,0.060,2245,2785,3525,0,0,0,0,0,0
$GC,444,-0.60,-146.0,72.8,-15.4,73,451,0.12,1.98,0.00,0.000,4,0.181,0.071,2272,3930,3525,0,0,0,0,0,0
$GC,529,-0.64,-146.0,81.9,-9.3,87,535,0.00,1.85,0.00,0.000,6,0.000,0.047,2272,2803,3525,0,0,0,0,0,0
$GC,874,-0.66,-146.0,112.3,-9.1,136,878,0.00,2.30,0.00,0.000,4,0.000,0.050,2272,1374,3524,0,0,0,0,0,0
$GC,926,-0.71,-146.0,117.3,-8.9,140,931,0.00,2.42,0.00,0.000,6,0.000,0.062,2272,2802,3524,0,0,0,0,0,0
$GC,1253,-0.74,-146.0,145.4,-8.5,170,1255,0.10,0.00,0.00,0.000,6,0.116,0.000,2226,2802,3523,0,0,0,0,0,0
$GC,1571,-0.69,-146.0,182.2,-12.4,200,1575,0.00,2.33,0.00,0.000,4,0.000,0.050,2225,1373,3523,0,0,0,0,0,0
$GC,1641,-0.66,-146.0,190.4,-11.8,206,1646,0.15,2.42,0.00,0.000,6,0.170,0.061,2261,2800,3523,0,0,0,0,0,0
$GC,1968,-0.69,-146.0,220.7,-8.5,236,1972,0.00,2.33,0.00,0.000,4,0.000,0.050,2260,1367,3522,0,0,0,0,0,0
$GC,2048,-0.74,-146.0,227.6,-8.6,242,2054,0.00,2.40,0.00,0.000,6,0.000,0.061,2261,2783,3523,0,0,0,0,0,0
$GC,2374,-0.77,-146.0,256.6,-8.9,273,2378,0.00,1.98,0.00,0.000,4,0.000,0.072,2259,3935,3522,0,0,0,0,0,0
$GC,2400,-0.79,-146.0,258.8,-8.8,275,2404,0.12,1.88,0.00,0.000,6,0.102,0.047,2200,2781,3523,0,0,0,0,0,0
$GC,2732,-0.70,-146.0,300.8,-12.4,306,2737,0.17,2.30,0.00,0.000,4,0.169,0.049,2249,1374,3523,0,0,0,0,0,0
$GC,2763,-0.70,-146.0,304.1,-9.9,308,2767,0.00,2.40,0.00,0.000,6,0.000,0.061,2247,2785,3523,0,0,0,0,0,0
$GC,3089,-0.70,-146.0,332.3,-8.6,338,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2785,3523,0,0,0,0,0,0
$GC,3412,-0.70,-146.0,359.8,-8.7,368,3416,0.00,2.33,0.00,0.000,4,0.000,0.049,2247,1366,3523,0,0,0,0,0,0
$GC,3442,-0.70,-146.0,363.1,-9.2,370,3446,0.00,2.40,0.00,0.000,6,0.000,0.061,2247,2783,3523,0,0,0,0,0,0
$GC,3774,-0.70,-146.0,392.9,-8.6,401,3778,0.00,2.30,0.00,0.000,4,0.000,0.048,2247,1373,3523,0,0,0,0,0,0
$GC,3802,-0.70,-146.0,395.6,-9.0,403,3808,0.00,2.38,0.00,0.000,6,0.000,0.061,2247,2773,3523,0,0,0,0,0,0
$GC,4139,-0.70,-146.0,425.5,-9.0,418,4143,0.00,2.00,0.00,0.000,4,0.000,0.071,2247,3928,3523,0,0,0,0,0,0
$GC,4167,-0.70,-146.0,428.6,-9.9,418,4174,0.00,1.88,0.00,0.000,6,0.000,0.047,2247,2775,3523,0,0,0,0,0,0
$GC,4481,-0.70,-146.0,456.6,-8.9,429,4485,0.00,2.28,0.00,0.000,4,0.000,0.049,2247,1370,3524,0,0,0,0,0,0
$GC,4521,-0.73,-146.0,460.2,-9.1,430,4525,0.00,2.38,0.00,0.000,6,0.000,0.060,2247,2779,3523,0,0,0,0,0,0
$GC,4857,-0.73,-146.0,487.1,-7.7,441,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2779,3523,0,0,0,0,0,0
$GC,5163,-0.73,-146.0,511.3,-8.4,451,5167,0.00,2.30,0.00,0.000,4,0.000,0.049,2247,1373,3523,0,0,0,0,0,0
$GC,5194,-0.76,-146.0,514.1,-8.6,452,5198,0.00,2.38,0.00,0.000,6,0.000,0.060,2247,2775,3523,0,0,0,0,0,0
$GC,5535,-0.76,-146.0,542.6,-8.4,463,5539,0.00,2.00,0.00,0.000,4,0.000,0.071,2247,3928,3523,0,0,0,0,0,0
$GC,5564,-0.78,-146.0,545.1,-8.8,463,5571,0.00,1.92,0.00,0.000,6,0.000,0.047,2247,2760,3523,0,0,0,0,0,0
$GC,5880,-0.81,-146.0,573.2,-9.2,474,5884,0.00,2.25,0.00,0.000,4,0.000,0.049,2248,1365,3523,0,0,0,0,0,0
$GC,5919,-0.85,-146.0,577.3,-9.9,475,5924,0.12,2.38,0.00,0.000,6,0.093,0.061,2188,2765,3523,0,0,0,0,0,0
$STATE,6122,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6122,begin apogee
$GC,6131,-0.14,0.0,603.2,13.5,482,6261,0.77,0.00,123.78,0.972,4,0.143,0.000,2424,2597,2923,0,0,0,0,0,0
$STATE,6262,end apogee,CONTROL_FINISHED_OK
$STATE,6262,begin climb
$GC,6266,0.57,146.0,608.9,0.0,486,6405,0.68,2.42,131.07,0.946,4,0.066,0.049,2664,1181,2327,0,0,0,0,0,0
$GC,6612,0.57,146.0,581.6,10.6,496,6617,0.00,2.42,0.00,0.000,6,0.000,0.055,2665,2602,2319,0,0,0,0,0,0
$GC,6946,0.52,146.0,544.7,11.2,507,6950,0.00,2.30,0.00,0.000,4,0.000,0.053,2666,1182,2316,0,0,0,0,0,0
$GC,7165,0.52,146.0,520.5,11.1,513,7169,0.00,2.33,0.00,0.000,6,0.000,0.056,2666,2604,2315,0,0,0,0,0,0
$GC,7480,0.46,146.0,484.6,11.8,523,7485,0.15,2.25,0.00,0.000,4,0.192,0.067,2627,3929,2314,0,0,0,0,0,0
$GC,7524,0.46,146.0,479.0,11.7,524,7528,0.00,2.15,0.00,0.000,6,0.000,0.044,2626,2597,2313,0,0,0,0,0,0
$GC,7843,0.49,159.3,448.4,9.4,535,7858,0.00,2.28,10.32,0.825,4,0.000,0.050,2627,1188,2273,0,0,0,0,0,0
$GC,7888,0.58,194.5,444.5,8.4,536,7928,0.10,2.33,32.10,0.858,6,0.112,0.055,2673,2609,2129,0,0,0,0,0,0
$GC,8242,0.55,194.5,400.8,12.9,548,8246,0.00,2.20,0.00,0.000,4,0.000,0.067,2674,3928,2122,0,0,0,0,0,0
$GC,8264,0.50,194.5,397.5,13.3,548,8269,0.15,2.17,0.00,0.000,6,0.190,0.044,2639,2591,2121,0,0,0,0,0,0
$GC,8596,0.54,200.5,363.9,9.7,579,8608,0.00,2.25,5.28,0.685,4,0.000,0.050,2639,1194,2105,0,0,0,0,0,0
$GC,8638,0.63,223.3,359.9,9.0,582,8668,0.12,2.33,21.70,0.808,6,0.097,0.054,2693,2604,2012,0,0,0,0,0,0
$GC,8987,0.58,223.3,311.9,13.5,615,8988,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2603,2007,0,0,0,0,0,0
$GC,9306,0.54,223.3,267.4,13.5,645,9313,0.15,0.00,0.00,0.000,6,0.182,0.000,2653,2603,2005,0,0,0,0,0,0
$GC,9633,0.58,223.3,229.9,11.1,676,9637,0.00,2.30,0.00,0.000,4,0.000,0.053,2654,1184,2004,0,0,0,0,0,0
$GC,9662,0.64,223.3,227.0,10.2,678,9667,0.00,2.33,0.00,0.000,6,0.000,0.055,2654,2590,2004,0,0,0,0,0,0
$GC,9994,0.69,225.7,193.4,9.9,709,9996,0.12,0.00,0.00,0.000,6,0.100,0.000,2707,2590,2004,0,0,0,0,0,0
$GC,10312,0.64,225.7,148.7,14.7,739,10313,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2590,2004,0,0,0,0,0,0
$GC,10634,0.59,225.7,104.3,13.7,769,10639,0.15,2.30,0.00,0.000,4,0.176,0.067,2667,3925,2004,0,0,0,0,0,0
$GC,10661,0.59,225.7,100.0,13.1,771,10668,0.00,2.17,0.00,0.000,6,0.000,0.044,2667,2593,2002,0,0,0,0,0,0
$GC,11009,0.63,225.7,60.5,11.8,832,11016,0.00,2.28,0.00,0.000,4,0.000,0.052,2667,1191,2002,0,0,0,0,0,0
$GC,11120,0.72,238.7,49.8,9.4,851,11140,0.12,2.30,13.40,0.647,6,0.100,0.054,2719,2580,1949,0,0,0,0,0,0
$FREEZE,8.35,-0.535,-1.835,3,5,0
$FREEZE,7.63,-0.538,-1.834,3,5,0
$FREEZE,7.32,-0.541,-1.834,3,5,0
$FREEZE,6.69,-0.548,-1.834,3,5,0
$FREEZE,6.28,-0.546,-1.833,3,5,0
$FREEZE,6.03,-0.549,-1.833,3,5,0
$FREEZE,5.56,-0.543,-1.833,3,5,0
$FREEZE,4.94,-0.544,-1.832,3,5,0
$FREEZE,3.68,-0.545,-1.831,3,5,0
$FREEZE,2.62,-0.526,-1.830,3,5,0
$GC,11480,0.69,268.5,4.9,8.6,914,11497,0.00,0.00,14.95,0.623,2,0.000,0.000,2719,2580,1878,0,0,0,0,0,0
$STATE,11498,end climb,SURFACE_DEPTH_REACHED
$STATE,11498,begin surface coast
$FREEZE,1.17,-0.533,-1.829,3,5,0
$FREEZE,0.65,-0.555,-1.829,3,5,0
$FREEZE,0.82,-0.637,-1.373,3,5,0
$FREEZE,0.70,-0.976,-0.973,3,5,0
$FINISH,0.7,1.014373
$STATE,11520,end surface coast,FINISH_DEPTH_REACHED
$STATE,11520,begin surface
$SM_CCo,11538,210.38,0.086,0,0,440,609.08
$SM_GC,1.48,0.00,0.00,210.38,0.000,0.000,0.086,293,2780,440,-6.82,0.00,609.08
$RAFOS_CLK,676
$RAFOS,6,1296204543,8.833333,8.817500,84,49,48,47,42,39,766,1759,249,432,430,144
$RAFOS,5,1296204084,8.700000,8.690000,74,47,43,41,40,39,492,472,1138,1520,1026,1059
$RAFOS,4,1296203610,8.566667,8.558333,60,45,44,44,44,41,612,650,1362,165,224,1603
$RAFOS,3,1296203101,8.433333,8.416945,49,48,46,43,42,41,757,499,372,154,1877,1224
$RAFOS,2,1296202635,8.300000,8.287500,44,43,42,42,41,41,1344,300,881,890,1039,183
$RAFOS,1,1296202171,8.166667,8.158611,46,43,42,41,41,40,1245,1654,312,1746,1798,692
$RAFOS,0,1296201677,8.033334,8.021389,51,49,44,43,41,38,1563,1309,555,187,310,329
$RAFOS_FIX,6648.478027,-5744.931641,280111,080822,3,73,0.47
$IRIDIUM_FIX,6609.62,-5757.95,280111,030347
$TT8_MAMPS,0.028462
$HUMID,47.04
$INTERNAL_PRESSURE,8.44606
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.0
$ALTIM_BOTTOM_PING,603.2,12.0
$24V_AH,21.4,95.476
$10V_AH,9.7,64.812
$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,10.450,106.025,352.600,210.375,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2373.676,6950.237,579.984,1645.108,270.791,0.000,1481.558,0.000,1635.123,2520.000,17.704,0.000
$DEVICE_MAMPS,192.015,76.500,972.315,85.680,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,642.909,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151736
$DATA_FILE_SIZE,33382,920
$CAP_FILE_SIZE,125124,0
$CFSIZE,260165632,194363392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.5
$GPS,280111,095507,6646.329,-5741.987,28,1.2,28,-37.4