version: 66.08
glider: 183
mission: 3
dive: 575
start: 12 24 110 17 50 47
data:
$ID,183
$MISSION,3
$DIVE,575
$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,-2
$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,-9853.5
$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,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,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
$GPS1,241210,162453,6704.307,-5854.138,0,6104.2,0,-38.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.85
$_SM_ANGLEo,-0.1
$GPS2,241210,162453,6704.307,-5854.138,0,6104.2,0,-38.2
$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,279.0,77011,-17.5,-10.000
$D_GRID,1211
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-6.35,0.000,2,0.000,0.000,2496,2598,2870,0,0,0,0,0,0
$GC,28,-0.57,-146.0,9.9,-0.0,1,52,0.57,2.05,-15.50,0.000,4,0.097,0.067,2291,1364,3521,0,0,0,0,0,0
$GC,66,-0.60,-146.0,12.6,-8.2,7,72,0.00,2.35,0.00,0.000,6,0.000,0.061,2287,2779,3523,0,0,0,0,0,0
$GC,411,-0.60,-146.0,54.6,-9.7,68,418,0.00,2.25,0.00,0.000,4,0.000,0.050,2287,1375,3522,0,0,0,0,0,0
$GC,449,-0.65,-146.0,58.6,-10.8,74,456,0.00,2.35,0.00,0.000,6,0.000,0.063,2287,2778,3522,0,0,0,0,0,0
$GC,796,-0.69,-146.0,90.1,-9.2,135,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2778,3522,0,0,0,0,0,0
$GC,1128,-0.73,-146.0,117.3,-8.3,176,1133,0.15,2.30,0.00,0.000,4,0.099,0.052,2224,1365,3521,0,0,0,0,0,0
$GC,1164,-0.69,-146.0,120.9,-11.7,179,1169,0.12,2.35,0.00,0.000,6,0.185,0.063,2253,2777,3521,0,0,0,0,0,0
$GC,1489,-0.69,-146.0,153.7,-10.2,209,1493,0.00,2.28,0.00,0.000,4,0.000,0.052,2253,1366,3521,0,0,0,0,0,0
$GC,1539,-0.71,-146.0,158.8,-9.2,213,1546,0.00,2.33,0.00,0.000,6,0.000,0.063,2249,2767,3521,0,0,0,0,0,0
$GC,1865,-0.71,-146.0,189.6,-8.8,244,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2766,3521,0,0,0,0,0,0
$GC,2186,-0.71,-146.0,218.3,-9.6,274,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2767,3521,0,0,0,0,0,0
$GC,2512,-0.71,-146.0,250.8,-10.4,305,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2766,3521,0,0,0,0,0,0
$GC,2834,-0.71,-146.0,282.4,-9.6,335,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2766,3520,0,0,0,0,0,0
$GC,3162,-0.71,-146.0,314.7,-9.6,366,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2766,3521,0,0,0,0,0,0
$GC,3490,-0.71,-146.0,346.8,-9.9,397,3494,0.00,2.22,0.00,0.000,4,0.000,0.050,2249,1374,3520,0,0,0,0,0,0
$GC,3524,-0.74,-146.0,350.5,-10.0,399,3531,0.00,2.35,0.00,0.000,6,0.000,0.063,2247,2772,3520,0,0,0,0,0,0
$GC,3850,-0.74,-146.0,381.0,-9.6,430,3853,0.00,1.95,0.00,0.000,4,0.000,0.073,2247,3926,3521,0,0,0,0,0,0
$GC,3877,-0.74,-146.0,383.7,-9.7,432,3884,0.00,1.88,0.00,0.000,6,0.000,0.047,2247,2770,3521,0,0,0,0,0,0
$GC,4211,-0.74,-146.0,413.9,-9.0,454,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2770,3520,0,0,0,0,0,0
$GC,4514,-0.74,-146.0,441.7,-9.1,464,4518,0.00,2.25,0.00,0.000,4,0.000,0.050,2247,1367,3521,0,0,0,0,0,0
$GC,4543,-0.77,-146.0,444.5,-9.9,465,4547,0.00,2.33,0.00,0.000,6,0.000,0.061,2247,2768,3521,0,0,0,0,0,0
$GC,4885,-0.77,-146.0,475.7,-9.1,476,4889,0.00,2.00,0.00,0.000,4,0.000,0.073,2247,3941,3521,0,0,0,0,0,0
$GC,4912,-0.79,-146.0,478.4,-9.3,476,4919,0.00,1.92,0.00,0.000,6,0.000,0.047,2247,2756,3521,0,0,0,0,0,0
$GC,5227,-0.82,-146.0,505.8,-8.6,487,5231,0.10,2.22,0.00,0.000,4,0.121,0.050,2197,1368,3521,0,0,0,0,0,0
$GC,5265,-0.76,-146.0,510.1,-11.1,488,5270,0.15,2.33,0.00,0.000,6,0.174,0.061,2228,2761,3521,0,0,0,0,0,0
$GC,5589,-0.76,-146.0,541.3,-9.5,499,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2761,3521,0,0,0,0,0,0
$GC,5896,-0.76,-146.0,569.7,-9.0,509,5900,0.00,2.25,0.00,0.000,4,0.000,0.050,2227,1364,3521,0,0,0,0,0,0
$GC,5930,-0.76,-146.0,573.0,-9.5,510,5935,0.00,2.30,0.00,0.000,6,0.000,0.061,2228,2757,3521,0,0,0,0,0,0
$STATE,6266,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6266,begin apogee
$GC,6273,-0.14,0.0,602.6,9.0,521,6402,0.60,0.00,122.55,0.977,4,0.135,0.000,2423,2600,2924,0,0,0,0,0,0
$STATE,6403,end apogee,CONTROL_FINISHED_OK
$STATE,6403,begin climb
$GC,6405,0.57,146.0,606.4,0.0,525,6544,0.68,2.40,130.02,0.955,4,0.068,0.050,2660,1190,2327,0,0,0,0,0,0
$GC,6685,-1.83,146.0,584.0,24113.3,533,6693,2.72,2.47,0.00,0.000,6,0.150,0.055,1890,2600,2318,0,0,0,0,0,0
$GC,6999,-1.83,146.0,535.8,24113.3,544,7003,0.00,2.28,0.00,0.000,4,0.000,0.049,1887,1187,2308,0,0,0,0,0,0
$GC,7116,-1.83,146.0,514.5,24113.3,547,7121,0.00,2.40,0.00,0.000,6,0.000,0.060,1876,2637,2310,0,0,0,0,0,0
$GC,7435,-1.83,146.0,459.3,24113.3,558,7439,0.00,2.12,0.00,0.000,4,0.000,0.057,1863,3936,2306,0,0,0,0,0,0
$GC,7564,-1.83,146.0,433.9,24113.3,561,7571,0.00,2.03,0.00,0.000,6,0.000,0.048,1862,2678,2308,0,0,0,0,0,0
$GC,7883,-1.83,146.0,376.3,24113.3,580,7887,0.00,2.40,0.00,0.000,4,0.000,0.055,1861,1182,2307,0,0,0,0,0,0
$GC,7989,-1.83,146.0,355.6,24113.3,589,7996,0.15,2.60,0.00,0.000,6,0.203,0.060,1883,2749,2309,0,0,0,0,0,0
$GC,8314,-1.83,146.0,296.9,24113.3,620,8319,0.00,2.50,0.00,0.000,4,0.000,0.045,1883,1175,2307,0,0,0,0,0,0
$GC,8573,-1.83,146.0,246.8,24113.3,642,8580,0.00,2.58,0.00,0.000,6,0.000,0.058,1871,2730,2308,0,0,0,0,0,0
$GC,8899,-1.83,146.0,186.5,24113.3,673,8902,0.00,2.03,0.00,0.000,4,0.000,0.070,1862,3930,2307,0,0,0,0,0,0
$GC,9159,-1.83,146.0,135.6,24113.3,696,9163,0.00,1.98,0.00,0.000,6,0.000,0.046,1860,2708,2307,0,0,0,0,0,0
$GC,9493,-1.83,146.0,74.7,24113.3,739,9500,0.00,2.03,0.00,0.000,4,0.000,0.058,1850,3940,2306,0,0,0,0,0,0
$GC,9603,-1.83,146.0,54.5,24113.3,758,9611,0.15,2.00,0.00,0.000,6,0.213,0.047,1884,2705,2308,0,0,0,0,0,0
$FREEZE,8.52,-1.423,-1.756,2,3,0
$GC,9952,-1.83,146.0,8.5,24113.3,819,9959,0.00,2.05,0.00,0.000,4,0.000,0.064,1876,3930,2306,0,0,0,0,0,0
$FREEZE,6.44,-0.944,-1.725,2,3,0
$FREEZE,5.69,-1.504,-1.758,2,3,0
$FREEZE,4.87,-1.528,-1.759,2,3,0
$FREEZE,4.15,-1.477,-1.755,2,3,0
$FREEZE,3.48,-1.601,-1.762,2,3,0
$FREEZE,2.71,-1.331,-1.745,2,3,0
$STATE,9990,end climb,SURFACE_DEPTH_REACHED
$STATE,9990,begin surface coast
$FREEZE,2.01,-1.513,-1.755,2,3,0
$FINISH,2.0,1.025772
$STATE,9997,end surface coast,CONTROL_FINISHED_OK
$STATE,9997,begin surface
$SM_CCo,10012,290.08,0.086,0,0,440,609.08
$SM_GC,1.51,0.00,0.00,290.08,0.000,0.000,0.086,302,2780,440,-6.79,-0.03,609.08
$RAFOS_CLK,598
$RAFOS,3,1293222301,20.433332,20.416945,59,45,41,41,40,40,843,1435,238,852,632,876
$RAFOS,2,1293221826,20.299999,20.285000,55,47,45,41,41,40,788,799,1663,888,1596,1856
$RAFOS,1,1293221348,20.166666,20.152222,75,47,42,42,41,40,716,692,951,1532,1720,1815
$RAFOS,0,1293220863,20.033333,20.017500,68,49,47,41,39,38,862,998,145,404,1774,1804
$RAFOS_FIX,6704.307129,-5854.137695,241210,161653,6,104,0.10
$IRIDIUM_FIX,6636.54,-5844.18,241210,101051
$TT8_MAMPS,0.029211
$HUMID,45.27
$INTERNAL_PRESSURE,8.4363
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,602.6,11.3
$24V_AH,21.7,68.624
$10V_AH,9.8,48.733
$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,9.550,80.250,252.575,290.075,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2114.300,6015.000,593.161,1503.755,166.996,0.000,1389.384,0.000,1483.782,1800.000,17.889,0.000
$DEVICE_MAMPS,213.435,72.675,976.905,86.445,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,577.756,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151704
$DATA_FILE_SIZE,30061,827
$CAP_FILE_SIZE,103596,0
$CFSIZE,260165632,209862656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.0
$GPS,241210,204424,6703.919,-5901.203,37,1.4,37,-38.2