version: 66.08
glider: 183
mission: 3
dive: 526
start: 12 18 110 2 24 33
data:
$ID,183
$MISSION,3
$DIVE,526
$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,33
$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,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
$GPS1,171210,223544,6702.310,-5705.086,13,1.4,13,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.72
$_SM_ANGLEo,3.4
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,53,0.00,2.65,-27.23,0.000,6,0.000,0.067,2495,2776,3520,0,0,0,0,0,0
$GC,56,-0.57,-146.0,5.2,-3.1,6,63,0.55,1.95,0.00,0.000,4,0.096,0.067,2295,3942,3521,0,0,0,0,0,0
$GC,117,-0.66,-146.0,9.6,-8.0,16,124,0.00,1.88,0.00,0.000,6,0.000,0.044,2295,2770,3521,0,0,0,0,0,0
$GC,463,-0.71,-146.0,42.0,-9.4,77,470,0.15,2.20,0.00,0.000,4,0.093,0.047,2228,1373,3522,0,0,0,0,0,0
$GC,506,-0.65,-146.0,47.3,-13.1,84,514,0.15,2.33,0.00,0.000,6,0.174,0.058,2262,2791,3522,0,0,0,0,0,0
$GC,853,-0.65,-146.0,84.6,-10.4,145,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2791,3522,0,0,0,0,0,0
$GC,1194,-0.65,-146.0,117.1,-8.6,190,1197,0.00,1.90,0.00,0.000,4,0.000,0.069,2256,3928,3522,0,0,0,0,0,0
$GC,1243,-0.65,-146.0,121.9,-9.6,194,1250,0.00,1.83,0.00,0.000,6,0.000,0.044,2256,2782,3522,0,0,0,0,0,0
$GC,1569,-0.65,-146.0,151.9,-9.2,225,1573,0.00,2.22,0.00,0.000,4,0.000,0.046,2255,1370,3522,0,0,0,0,0,0
$GC,1644,-0.68,-146.0,159.0,-9.3,231,1648,0.00,2.33,0.00,0.000,6,0.000,0.057,2249,2786,3522,0,0,0,0,0,0
$GC,1970,-0.68,-146.0,190.4,-9.5,261,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2786,3522,0,0,0,0,0,0
$GC,2289,-0.68,-146.0,221.0,-9.2,291,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2786,3522,0,0,0,0,0,0
$GC,2608,-0.68,-146.0,251.4,-9.3,321,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2786,3522,0,0,0,0,0,0
$GC,2937,-0.68,-146.0,282.7,-9.6,352,2940,0.00,1.90,0.00,0.000,4,0.000,0.068,2247,3926,3523,0,0,0,0,0,0
$GC,2973,-0.68,-146.0,286.5,-10.0,355,2976,0.00,1.83,0.00,0.000,6,0.000,0.043,2247,2764,3523,0,0,0,0,0,0
$GC,3304,-0.68,-146.0,318.6,-9.4,386,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2763,3524,0,0,0,0,0,0
$GC,3624,-0.68,-146.0,348.8,-9.7,416,3628,0.00,1.95,0.00,0.000,4,0.000,0.070,2247,3926,3524,0,0,0,0,0,0
$GC,3647,-0.68,-146.0,351.3,-9.8,418,3651,0.00,1.80,0.00,0.000,6,0.000,0.044,2247,2778,3524,0,0,0,0,0,0
$GC,3979,-0.68,-146.0,382.4,-9.0,449,3983,0.00,2.20,0.00,0.000,4,0.000,0.047,2247,1369,3524,0,0,0,0,0,0
$GC,4002,-0.68,-146.0,384.6,-9.2,450,4008,0.00,2.30,0.00,0.000,6,0.000,0.059,2247,2779,3524,0,0,0,0,0,0
$GC,4333,-0.68,-146.0,414.1,-8.8,472,4337,0.00,1.92,0.00,0.000,4,0.000,0.069,2247,3929,3524,0,0,0,0,0,0
$GC,4379,-0.70,-146.0,418.5,-9.3,473,4383,0.00,1.83,0.00,0.000,6,0.000,0.044,2247,2774,3523,0,0,0,0,0,0
$GC,4709,-0.70,-146.0,447.8,-9.0,484,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2774,3523,0,0,0,0,0,0
$GC,5015,-0.70,-146.0,475.4,-9.0,494,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2774,3523,0,0,0,0,0,0
$GC,5325,-0.70,-146.0,502.5,-8.8,504,5328,0.00,1.95,0.00,0.000,4,0.000,0.072,2247,3931,3523,0,0,0,0,0,0
$GC,5352,-0.70,-146.0,505.5,-8.6,504,5359,0.00,1.83,0.00,0.000,6,0.000,0.045,2247,2777,3522,0,0,0,0,0,0
$GC,5666,-0.73,-146.0,531.7,-8.3,515,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2776,3522,0,0,0,0,0,0
$GC,5972,-0.75,-146.0,556.8,-8.1,525,5976,0.00,2.22,0.00,0.000,4,0.000,0.049,2247,1360,3521,0,0,0,0,0,0
$GC,6001,-0.77,-146.0,559.2,-8.0,526,6005,0.00,2.35,0.00,0.000,6,0.000,0.060,2247,2781,3521,0,0,0,0,0,0
$GC,6345,-0.79,-146.0,585.9,-7.7,537,6348,0.00,1.95,0.00,0.000,4,0.000,0.070,2246,3936,3521,0,0,0,0,0,0
$GC,6389,-0.83,-146.0,590.0,-8.7,538,6394,0.12,1.85,0.00,0.000,6,0.102,0.046,2186,2774,3521,0,0,0,0,0,0
$STATE,6625,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6625,begin apogee
$GC,6632,-0.14,0.0,617.7,12.1,546,6759,0.75,0.00,121.43,0.976,4,0.145,0.000,2420,2594,2923,0,0,0,0,0,0
$STATE,6760,end apogee,CONTROL_FINISHED_OK
$STATE,6760,begin climb
$GC,6762,0.57,146.0,621.6,0.0,550,6902,0.70,2.38,127.97,0.954,4,0.077,0.048,2660,1186,2326,0,0,0,0,0,0
$GC,7041,0.57,146.0,598.2,11.4,558,7045,0.00,2.45,0.00,0.000,6,0.000,0.055,2660,2604,2318,0,0,0,0,0,0
$GC,7361,0.51,146.0,561.4,11.8,569,7365,0.00,2.25,0.00,0.000,4,0.000,0.067,2660,3932,2314,0,0,0,0,0,0
$GC,7586,0.41,146.0,531.2,13.3,575,7593,0.20,2.17,0.00,0.000,6,0.195,0.045,2611,2589,2312,0,0,0,0,0,0
$GC,7900,0.47,186.5,505.1,8.1,586,7940,0.00,2.33,33.20,0.894,4,0.000,0.053,2611,1188,2161,0,0,0,0,0,0
$GC,7959,0.58,231.6,500.0,7.9,587,8006,0.15,2.33,39.83,0.887,6,0.090,0.055,2675,2592,1977,0,0,0,0,0,0
$GC,8336,0.56,231.6,449.5,13.9,600,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2592,1967,0,0,0,0,0,0
$GC,8643,0.54,231.6,407.0,14.0,610,8647,0.00,2.28,0.00,0.000,4,0.000,0.054,2676,1182,1965,0,0,0,0,0,0
$GC,8675,0.54,231.6,402.5,12.9,611,8679,0.00,2.28,0.00,0.000,6,0.000,0.056,2676,2594,1965,0,0,0,0,0,0
$GC,9002,0.51,231.6,358.8,13.6,640,9007,0.12,2.22,0.00,0.000,4,0.195,0.067,2645,3934,1965,0,0,0,0,0,0
$GC,9032,0.51,231.6,354.9,13.9,642,9036,0.00,2.15,0.00,0.000,6,0.000,0.045,2645,2585,1963,0,0,0,0,0,0
$GC,9358,0.55,231.6,319.8,11.5,672,9362,0.00,2.22,0.00,0.000,4,0.000,0.054,2645,1181,1963,0,0,0,0,0,0
$GC,9404,0.63,231.6,314.9,10.7,676,9409,0.10,2.28,0.00,0.000,6,0.113,0.055,2690,2591,1963,0,0,0,0,0,0
$GC,9730,0.59,231.6,269.7,14.0,706,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2591,1963,0,0,0,0,0,0
$GC,10050,0.54,231.6,224.8,15.9,736,10052,0.15,0.00,0.00,0.000,6,0.190,0.000,2650,2592,1962,0,0,0,0,0,0
$GC,10367,0.57,231.6,184.3,13.3,766,10371,0.00,2.25,0.00,0.000,4,0.000,0.054,2650,1182,1962,0,0,0,0,0,0
$GC,10384,0.61,231.6,182.2,12.4,767,10389,0.00,2.30,0.00,0.000,6,0.000,0.054,2650,2604,1962,0,0,0,0,0,0
$GC,10716,0.66,231.6,144.7,10.6,798,10720,0.10,2.28,0.00,0.000,4,0.112,0.053,2693,1181,1961,0,0,0,0,0,0
$GC,10738,0.66,231.6,142.3,11.1,800,10743,0.00,2.30,0.00,0.000,6,0.000,0.054,2693,2599,1962,0,0,0,0,0,0
$GC,11064,0.63,231.6,100.2,12.9,830,11068,0.00,2.20,0.00,0.000,4,0.000,0.065,2693,3928,1962,0,0,0,0,0,0
$GC,11104,0.56,231.6,94.5,14.8,836,11111,0.12,2.12,0.00,0.000,6,0.194,0.044,2662,2597,1960,0,0,0,0,0,0
$GC,11452,0.60,231.6,58.2,11.5,897,11458,0.00,2.20,0.00,0.000,4,0.000,0.050,2662,1189,1961,0,0,0,0,0,0
$GC,11471,0.67,231.6,55.8,11.6,900,11478,0.00,2.28,0.00,0.000,6,0.000,0.053,2662,2596,1961,0,0,0,0,0,0
$GC,11820,0.75,262.8,19.9,8.6,961,11851,0.15,2.28,24.90,0.601,4,0.092,0.064,2727,3926,1849,0,0,0,0,0,0
$GC,11888,0.66,262.8,10.2,17.3,972,11895,0.15,2.15,0.00,0.000,6,0.182,0.044,2693,2596,1846,0,0,0,0,0,0
$FREEZE,8.15,3.261,-1.831,0,2,0
$FREEZE,7.81,3.257,-1.830,0,2,0
$FREEZE,7.33,3.256,-1.830,0,2,0
$FREEZE,6.81,3.256,-1.829,0,2,0
$FREEZE,6.32,3.260,-1.829,0,2,0
$FREEZE,5.73,3.262,-1.829,0,2,0
$FREEZE,4.92,3.264,-1.828,0,2,0
$FREEZE,4.35,3.263,-1.828,0,2,0
$FREEZE,3.66,3.264,-1.827,0,2,0
$FREEZE,3.05,3.263,-1.827,0,2,0
$FREEZE,2.42,3.263,-1.826,0,2,0
$STATE,11954,end climb,SURFACE_DEPTH_REACHED
$STATE,11955,begin surface coast
$FREEZE,1.25,3.260,-1.825,0,2,0
$FREEZE,1.21,3.252,-1.106,0,2,0
$FREEZE,1.23,3.134,-0.887,0,2,0
$FREEZE,1.24,3.263,-1.820,0,2,0
$FINISH,1.2,1.026425
$STATE,11977,end surface coast,CONTROL_FINISHED_OK
$STATE,11978,begin surface
$SM_CCo,11994,211.95,0.081,0,0,440,609.08
$SM_GC,1.94,0.00,0.00,211.95,0.000,0.000,0.081,286,2783,440,-6.83,0.06,609.08
$RAFOS_CLK,665
$RAFOS,6,1292647742,4.833333,4.817222,78,47,43,42,40,40,834,1744,949,1160,736,1642
$RAFOS,5,1292647284,4.700000,4.690000,97,55,50,45,44,43,546,987,1503,451,398,1318
$RAFOS,4,1292646785,4.566667,4.551389,76,43,43,43,41,40,873,652,1522,1717,1487,271
$RAFOS,3,1292646309,4.433333,4.419167,58,48,41,41,41,41,957,1383,536,1494,1773,1302
$RAFOS,2,1292645821,4.300000,4.283611,47,45,43,43,41,38,1071,1776,586,1050,161,26
$RAFOS,1,1292645352,4.166667,4.153333,46,42,42,40,38,38,26,670,165,308,414,1321
$RAFOS,0,1292644889,4.033333,4.024722,52,46,44,43,43,41,699,1756,388,915,1305,1916
$RAFOS_FIX,6707.859863,-5702.892090,181210,040401,3,84,0.47
$IRIDIUM_FIX,6631.12,-5638.47,171210,181833
$TT8_MAMPS,0.028462
$HUMID,45.94
$INTERNAL_PRESSURE,8.53396
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.0
$ALTIM_BOTTOM_PING,602.8,28.0
$24V_AH,21.9,63.863
$10V_AH,9.9,45.682
$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,9.975,97.425,347.325,211.950,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2515.657,7246.170,592.664,1717.692,205.975,0.000,1524.075,0.000,1699.477,2520.000,20.732,0.000
$DEVICE_MAMPS,195.075,80.325,976.140,81.090,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,684.761,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151684
$DATA_FILE_SIZE,36776,988
$CAP_FILE_SIZE,126341,0
$CFSIZE,260165632,212774912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.4
$GPS,181210,055007,6702.820,-5655.879,69,1.2,69,-37.6