version: 66.08
glider: 183
mission: 3
dive: 525
start: 12 17 110 22 36 15
data:
$ID,183
$MISSION,3
$DIVE,525
$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,-9811.7793
$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,35
$R_STBD_OVSHOOT,26
$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,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
$GPS1,171210,222737,6702.320,-5704.959,28,1.4,28,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-59.2
$GPS2,171210,223544,6702.310,-5705.086,13,1.4,13,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,121.7,12405,-17.5,-10.000
$D_GRID,698
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,154,0.00,0.00,-133.57,0.000,2,0.000,0.000,286,2783,3468,0,0,0,0,0,0
$GC,158,-0.57,-146.0,5.9,-12.8,24,177,8.35,2.35,-1.02,0.000,4,0.243,0.063,2284,1370,3522,0,0,0,0,0,0
$GC,252,-0.57,-146.0,28.6,-10.9,40,259,0.00,2.35,0.00,0.000,6,0.000,0.060,2279,2782,3523,0,0,0,0,0,0
$GC,597,-0.57,-146.0,64.8,-10.4,101,604,0.00,2.25,0.00,0.000,4,0.000,0.048,2279,1363,3522,0,0,0,0,0,0
$GC,628,-0.57,-146.0,68.3,-10.4,106,635,0.00,2.30,0.00,0.000,6,0.000,0.060,2275,2765,3522,0,0,0,0,0,0
$GC,973,-0.57,-146.0,101.7,-8.4,165,977,0.00,2.22,0.00,0.000,4,0.000,0.048,2275,1368,3522,0,0,0,0,0,0
$GC,1002,-0.60,-146.0,104.5,-9.0,167,1006,0.00,2.30,0.00,0.000,6,0.000,0.060,2274,2761,3522,0,0,0,0,0,0
$GC,1328,-0.62,-146.0,132.0,-8.4,197,1332,0.00,1.95,0.00,0.000,4,0.000,0.070,2272,3933,3523,0,0,0,0,0,0
$GC,1374,-0.67,-146.0,136.0,-8.8,201,1378,0.00,1.88,0.00,0.000,6,0.000,0.045,2272,2749,3523,0,0,0,0,0,0
$GC,1706,-0.69,-146.0,165.0,-8.4,232,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2748,3524,0,0,0,0,0,0
$GC,2026,-0.73,-146.0,192.6,-9.1,262,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2748,3524,0,0,0,0,0,0
$GC,2345,-0.76,-146.0,219.6,-8.1,292,2349,0.12,2.00,0.00,0.000,4,0.099,0.070,2205,3927,3523,0,0,0,0,0,0
$GC,2413,-0.67,-146.0,227.9,-12.7,298,2417,0.17,1.85,0.00,0.000,6,0.164,0.044,2253,2756,3523,0,0,0,0,0,0
$GC,2745,-0.67,-146.0,257.9,-9.3,329,2748,0.00,1.98,0.00,0.000,4,0.000,0.070,2247,3929,3523,0,0,0,0,0,0
$GC,2781,-0.67,-146.0,261.5,-10.1,332,2784,0.00,1.88,0.00,0.000,6,0.000,0.045,2247,2758,3523,0,0,0,0,0,0
$GC,3112,-0.67,-146.0,292.2,-8.4,363,3115,0.00,1.98,0.00,0.000,4,0.000,0.072,2247,3928,3523,0,0,0,0,0,0
$GC,3146,-0.67,-146.0,295.2,-8.5,366,3150,0.00,1.83,0.00,0.000,6,0.000,0.046,2247,2773,3523,0,0,0,0,0,0
$GC,3478,-0.67,-146.0,323.3,-9.0,397,3482,0.00,2.22,0.00,0.000,4,0.000,0.048,2247,1369,3523,0,0,0,0,0,0
$GC,3499,-0.67,-146.0,325.6,-9.8,398,3506,0.00,2.33,0.00,0.000,6,0.000,0.060,2247,2785,3523,0,0,0,0,0,0
$GC,3825,-0.67,-146.0,356.3,-9.5,429,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2785,3523,0,0,0,0,0,0
$GC,4145,-0.67,-146.0,386.1,-9.1,459,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2785,3523,0,0,0,0,0,0
$GC,4456,-0.67,-146.0,414.1,-8.9,479,4460,0.00,2.25,0.00,0.000,4,0.000,0.049,2247,1368,3523,0,0,0,0,0,0
$GC,4485,-0.67,-146.0,416.7,-9.0,480,4489,0.00,2.33,0.00,0.000,6,0.000,0.060,2247,2782,3523,0,0,0,0,0,0
$GC,4820,-0.67,-146.0,446.9,-9.3,491,4824,0.00,1.92,0.00,0.000,4,0.000,0.070,2243,3939,3523,0,0,0,0,0,0
$GC,4858,-0.67,-146.0,450.3,-9.9,492,4861,0.00,1.85,0.00,0.000,6,0.000,0.046,2243,2775,3523,0,0,0,0,0,0
$GC,5199,-0.67,-146.0,482.8,-9.3,503,5203,0.00,2.22,0.00,0.000,4,0.000,0.049,2243,1361,3523,0,0,0,0,0,0
$GC,5232,-0.67,-146.0,486.2,-9.3,504,5236,0.00,2.33,0.00,0.000,6,0.000,0.060,2243,2777,3523,0,0,0,0,0,0
$GC,5562,-0.67,-146.0,515.5,-9.0,515,5567,0.00,1.92,0.00,0.000,4,0.000,0.070,2241,3932,3523,0,0,0,0,0,0
$GC,5589,-0.67,-146.0,518.2,-9.6,515,5596,0.00,1.85,0.00,0.000,6,0.000,0.046,2241,2767,3522,0,0,0,0,0,0
$GC,5903,-0.67,-146.0,545.9,-8.9,526,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2767,3523,0,0,0,0,0,0
$GC,6209,-0.67,-146.0,573.5,-9.2,536,6213,0.00,2.22,0.00,0.000,4,0.000,0.050,2240,1364,3522,0,0,0,0,0,0
$GC,6230,-0.67,-146.0,575.6,-9.0,536,6235,0.00,2.33,0.00,0.000,6,0.000,0.060,2235,2778,3522,0,0,0,0,0,0
$GC,6548,-0.67,-146.0,604.5,-9.3,546,6549,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2777,3522,0,0,0,0,0,0
$GC,6850,-0.67,-146.0,633.7,-9.5,556,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2778,3522,0,0,0,0,0,0
$GC,7156,-0.67,-146.0,661.7,-9.0,566,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2778,3522,0,0,0,0,0,0
$STATE,7431,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7431,begin apogee
$GC,7437,-0.14,0.0,686.2,8.9,575,7567,0.57,0.00,123.38,1.021,4,0.132,0.000,2423,2606,2923,0,0,0,0,0,0
$STATE,7568,end apogee,CONTROL_FINISHED_OK
$STATE,7568,begin climb
$GC,7571,0.57,146.0,689.8,0.0,579,7710,0.68,2.42,130.45,0.999,4,0.070,0.050,2659,1185,2326,0,0,0,0,0,0
$GC,7812,0.57,146.0,671.2,10.6,586,7818,0.00,2.50,0.00,0.000,6,0.000,0.055,2659,2603,2318,0,0,0,0,0,0
$GC,8125,0.51,146.0,634.8,11.6,597,8129,0.00,2.30,0.00,0.000,4,0.000,0.054,2662,1186,2314,0,0,0,0,0,0
$GC,8361,0.51,146.0,608.8,11.2,604,8366,0.00,2.35,0.00,0.000,6,0.000,0.057,2662,2612,2314,0,0,0,0,0,0
$GC,8697,0.46,146.0,569.8,11.7,615,8702,0.15,2.17,0.00,0.000,4,0.192,0.068,2622,3924,2312,0,0,0,0,0,0
$GC,8719,0.42,146.0,567.1,11.8,615,8726,0.00,2.12,0.00,0.000,6,0.000,0.045,2623,2593,2311,0,0,0,0,0,0
$GC,9032,0.43,169.1,539.1,8.9,626,9057,0.00,2.30,18.40,0.910,4,0.000,0.054,2623,1193,2233,0,0,0,0,0,0
$GC,9069,0.49,195.6,535.8,8.8,627,9099,0.00,2.33,23.88,0.902,6,0.000,0.056,2623,2617,2127,0,0,0,0,0,0
$GC,9438,0.55,209.0,502.0,9.4,639,9457,0.00,2.35,12.62,0.870,4,0.000,0.054,2622,1199,2071,0,0,0,0,0,0
$GC,9475,0.63,219.6,498.1,9.5,640,9491,0.15,2.30,10.90,0.839,6,0.090,0.056,2686,2605,2027,0,0,0,0,0,0
$GC,9807,0.58,219.6,450.0,15.2,651,9811,0.00,2.28,0.00,0.000,4,0.000,0.054,2690,1187,2021,0,0,0,0,0,0
$GC,9828,0.54,219.6,446.2,15.1,651,9836,0.15,2.30,0.00,0.000,6,0.172,0.055,2651,2591,2021,0,0,0,0,0,0
$GC,10142,0.54,219.6,407.2,12.0,662,10143,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2591,2020,0,0,0,0,0,0
$GC,10456,0.54,219.6,370.7,11.9,686,10457,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2592,2019,0,0,0,0,0,0
$GC,10777,0.57,219.6,332.8,11.8,716,10782,0.00,2.25,0.00,0.000,4,0.000,0.054,2651,1189,2019,0,0,0,0,0,0
$GC,10801,0.61,219.6,329.7,11.3,718,10805,0.00,2.28,0.00,0.000,6,0.000,0.057,2650,2582,2019,0,0,0,0,0,0
$GC,11127,0.64,219.6,293.9,10.9,748,11132,0.00,2.25,0.00,0.000,4,0.000,0.069,2651,3935,2018,0,0,0,0,0,0
$GC,11149,0.64,219.6,291.1,12.0,749,11156,0.00,2.15,0.00,0.000,6,0.000,0.045,2653,2582,2017,0,0,0,0,0,0
$GC,11476,0.66,219.6,254.8,11.5,780,11478,0.10,0.00,0.00,0.000,6,0.120,0.000,2695,2582,2017,0,0,0,0,0,0
$GC,11793,0.60,219.6,211.3,14.7,810,11794,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2582,2017,0,0,0,0,0,0
$GC,12114,0.55,219.6,165.7,14.5,840,12119,0.15,2.30,0.00,0.000,4,0.177,0.067,2655,3937,2017,0,0,0,0,0,0
$GC,12132,0.51,219.6,163.0,14.2,841,12136,0.00,2.15,0.00,0.000,6,0.000,0.045,2654,2584,2016,0,0,0,0,0,0
$GC,12463,0.54,219.6,126.0,10.4,872,12468,0.00,2.20,0.00,0.000,4,0.000,0.054,2655,1194,2016,0,0,0,0,0,0
$GC,12536,0.63,229.7,118.2,9.5,878,12555,0.00,2.25,8.68,0.649,6,0.000,0.055,2654,2577,1985,0,0,0,0,0,0
$GC,12883,0.68,229.7,81.3,10.0,925,12890,0.12,2.25,0.00,0.000,4,0.103,0.067,2709,3926,1983,0,0,0,0,0,0
$GC,12972,0.59,229.7,68.0,15.9,940,12979,0.17,2.12,0.00,0.000,6,0.182,0.044,2667,2600,1981,0,0,0,0,0,0
$GC,13322,0.64,234.2,32.6,9.8,1001,13336,0.00,2.28,5.20,0.540,4,0.000,0.052,2666,1184,1968,0,0,0,0,0,0
$GC,13405,0.76,273.3,24.9,8.2,1015,13449,0.15,2.28,34.20,0.608,6,0.093,0.053,2730,2588,1806,0,0,0,0,0,0
$FREEZE,8.91,3.484,-1.838,0,1,0
$FREEZE,7.94,3.485,-1.837,0,1,0
$FREEZE,7.12,3.495,-1.837,0,1,0
$STATE,13527,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,13527,begin subsurface finish
$FINISH1,7.1,1.026569,46
$GC,13534,0.03,45.7,7.1,-16.6,1036,13577,0.77,2.25,-34.25,0.000,4,0.158,0.060,2495,1185,2737,0,0,0,0,0,0
$FINISH2,4.1
$STATE,13577,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13577,begin surface
$RAFOS_CLK,695
$RAFOS,6,1292633344,0.833333,0.817778,73,50,44,39,37,37,796,811,1480,1728,505,528
$RAFOS,5,1292632862,0.700000,0.683889,54,45,45,43,42,41,760,693,884,648,591,179
$RAFOS,4,1292632409,0.566667,0.558056,51,42,42,41,41,40,733,90,1398,67,1485,1854
$RAFOS,3,1292631916,0.433333,0.421111,56,45,44,41,40,39,915,1476,1801,444,1720,433
$RAFOS,2,1292631428,0.300000,0.285556,44,44,43,42,40,38,1175,1646,401,585,664,1211
$RAFOS,1,1292630941,0.166667,0.150278,53,47,44,43,42,40,1846,428,449,1021,1818,1053
$RAFOS,0,1292630479,0.033333,0.021944,52,44,42,40,39,39,796,690,536,1196,205,533
$RAFOS_FIX,6704.397949,-5712.284668,171210,202052,4,98,0.69
$IRIDIUM_FIX,6631.12,-5638.47,171210,181833
$TT8_MAMPS,0.029211
$HUMID,49.17
$INTERNAL_PRESSURE,8.74881
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,16.9
$ALTIM_BOTTOM_PING,650.7,48.5
$24V_AH,21.8,63.767
$10V_AH,9.8,45.619
$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,11.825,111.875,367.700,0.000,0.000,31.055,15.965,248.493,2.500,0.000,16.519,2567.075,8544.271,510.224,2094.577,347.954,0.000,1522.119,0.000,1789.429,2520.000,19.563,0.000
$DEVICE_MAMPS,242.505,71.910,1020.510,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,720.904,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151588
$DATA_FILE_SIZE,36742,1043
$CAP_FILE_SIZE,142927,0
$CFSIZE,260165632,212824064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.6
$GPS,171210,223544,6702.310,-5705.086,13,1.4,13,-37.6