version: 66.08
glider: 183
mission: 3
dive: 576
start: 12 24 110 20 56 57
data:
$ID,183
$MISSION,3
$DIVE,576
$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,-9854.7578
$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,32
$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
$GPS1,241210,204424,6703.919,-5901.203,37,1.4,37,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-56.0
$GPS2,241210,205626,6703.914,-5900.861,12,1.1,12,-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,277.6,72384,-17.5,-10.000
$D_GRID,1213
$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,-146.0,0.0,0.0,0,163,0.00,0.00,-140.85,0.000,2,0.000,0.000,300,2780,3357,0,0,0,0,0,0
$GC,166,-0.57,-146.0,6.1,-15.8,25,185,8.48,2.30,-3.28,0.000,4,0.248,0.063,2283,1369,3522,0,0,0,0,0,0
$GC,289,-0.57,-146.0,35.8,-13.1,46,296,0.00,2.38,0.00,0.000,6,0.000,0.064,2277,2777,3524,0,0,0,0,0,0
$GC,635,-0.57,-146.0,78.5,-11.3,107,642,0.00,1.98,0.00,0.000,4,0.000,0.073,2273,3928,3523,0,0,0,0,0,0
$GC,734,-0.57,-146.0,89.5,-11.0,124,741,0.00,1.88,0.00,0.000,6,0.000,0.050,2272,2782,3523,0,0,0,0,0,0
$GC,1066,-0.57,-146.0,124.8,-10.0,163,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2782,3523,0,0,0,0,0,0
$GC,1387,-0.57,-146.0,155.7,-10.2,193,1391,0.00,2.28,0.00,0.000,4,0.000,0.053,2272,1371,3523,0,0,0,0,0,0
$GC,1450,-0.61,-146.0,161.9,-9.1,198,1454,0.00,2.35,0.00,0.000,6,0.000,0.064,2272,2778,3523,0,0,0,0,0,0
$GC,1776,-0.63,-146.0,191.7,-8.7,228,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2778,3523,0,0,0,0,0,0
$GC,2097,-0.67,-146.0,219.9,-8.7,258,2101,0.00,2.30,0.00,0.000,4,0.000,0.053,2272,1364,3523,0,0,0,0,0,0
$GC,2159,-0.72,-146.0,225.6,-8.6,263,2163,0.00,2.35,0.00,0.000,6,0.000,0.063,2272,2764,3523,0,0,0,0,0,0
$GC,2491,-0.76,-146.0,255.3,-9.5,294,2493,0.12,0.00,0.00,0.000,6,0.106,0.000,2217,2765,3523,0,0,0,0,0,0
$GC,2808,-0.69,-146.0,296.4,-12.5,324,2812,0.12,2.03,0.00,0.000,4,0.179,0.073,2244,3930,3523,0,0,0,0,0,0
$GC,2835,-0.66,-146.0,299.9,-12.1,326,2843,0.00,1.92,0.00,0.000,6,0.000,0.048,2243,2751,3523,0,0,0,0,0,0
$GC,3160,-0.66,-146.0,333.9,-9.9,357,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2750,3524,0,0,0,0,0,0
$GC,3483,-0.66,-146.0,364.6,-9.4,387,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2751,3524,0,0,0,0,0,0
$GC,3810,-0.66,-146.0,395.4,-9.2,418,3814,0.00,2.03,0.00,0.000,4,0.000,0.074,2235,3933,3524,0,0,0,0,0,0
$GC,3838,-0.66,-146.0,398.5,-10.1,420,3844,0.00,1.92,0.00,0.000,6,0.000,0.048,2235,2754,3525,0,0,0,0,0,0
$GC,4162,-0.66,-146.0,429.6,-9.5,432,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2754,3524,0,0,0,0,0,0
$GC,4468,-0.66,-146.0,458.8,-9.4,442,4472,0.00,2.20,0.00,0.000,4,0.000,0.051,2235,1372,3525,0,0,0,0,0,0
$GC,4507,-0.66,-146.0,462.6,-9.5,443,4511,0.00,2.33,0.00,0.000,6,0.000,0.063,2235,2768,3525,0,0,0,0,0,0
$GC,4831,-0.66,-146.0,492.8,-9.4,454,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2768,3525,0,0,0,0,0,0
$GC,5137,-0.66,-146.0,521.8,-9.4,464,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2768,3526,0,0,0,0,0,0
$GC,5445,-0.66,-146.0,551.8,-9.9,474,5449,0.00,2.25,0.00,0.000,4,0.000,0.050,2235,1363,3526,0,0,0,0,0,0
$GC,5467,-0.66,-146.0,554.3,-9.9,474,5474,0.00,2.33,0.00,0.000,6,0.000,0.062,2235,2761,3526,0,0,0,0,0,0
$GC,5781,-0.66,-146.0,584.2,-9.5,485,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2762,3527,0,0,0,0,0,0
$STATE,5966,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5966,begin apogee
$GC,5973,-0.14,0.0,601.8,9.6,491,6104,0.57,0.00,124.70,0.980,4,0.134,0.000,2421,2593,2923,0,0,0,0,0,0
$STATE,6105,end apogee,CONTROL_FINISHED_OK
$STATE,6105,begin climb
$GC,6107,0.57,146.0,606.6,0.0,495,6245,0.70,2.42,130.50,0.955,4,0.072,0.050,2663,1176,2328,0,0,0,0,0,0
$GC,6422,0.57,146.0,581.3,11.2,505,6426,0.00,2.45,0.00,0.000,6,0.000,0.056,2663,2600,2320,0,0,0,0,0,0
$GC,6757,0.52,146.0,543.5,11.3,516,6761,0.00,2.33,0.00,0.000,4,0.000,0.055,2665,1180,2316,0,0,0,0,0,0
$GC,6969,0.52,146.0,520.9,10.3,522,6973,0.00,2.35,0.00,0.000,6,0.000,0.057,2665,2604,2316,0,0,0,0,0,0
$GC,7293,0.46,146.0,484.4,11.3,533,7298,0.15,2.25,0.00,0.000,4,0.194,0.068,2626,3928,2315,0,0,0,0,0,0
$GC,7343,0.44,146.0,478.7,10.9,534,7347,0.00,2.15,0.00,0.000,6,0.000,0.045,2626,2589,2314,0,0,0,0,0,0
$GC,7656,0.45,170.2,450.6,8.9,544,7678,0.00,0.00,20.27,0.867,6,0.000,0.000,2626,2589,2228,0,0,0,0,0,0
$GC,7963,0.50,198.9,423.7,8.7,554,7992,0.00,0.00,25.65,0.855,6,0.000,0.000,2626,2588,2112,0,0,0,0,0,0
$GC,8302,0.57,220.1,393.2,9.0,569,8324,0.10,0.00,19.40,0.830,6,0.116,0.000,2673,2588,2024,0,0,0,0,0,0
$GC,8639,0.57,220.1,350.8,13.1,601,8643,0.00,2.28,0.00,0.000,4,0.000,0.069,2672,3935,2019,0,0,0,0,0,0
$GC,8672,0.52,220.1,345.9,15.0,603,8680,0.12,2.15,0.00,0.000,6,0.192,0.045,2645,2597,2018,0,0,0,0,0,0
$GC,8998,0.57,220.1,310.0,11.1,634,9002,0.00,2.28,0.00,0.000,4,0.000,0.054,2645,1180,2018,0,0,0,0,0,0
$GC,9043,0.66,230.2,305.3,9.5,637,9061,0.12,2.33,9.57,0.753,6,0.100,0.056,2697,2612,1984,0,0,0,0,0,0
$GC,9379,0.61,230.2,258.5,14.3,669,9383,0.00,2.22,0.00,0.000,4,0.000,0.067,2697,3933,1981,0,0,0,0,0,0
$GC,9421,0.53,230.2,252.2,15.7,672,9425,0.20,2.12,0.00,0.000,6,0.182,0.045,2647,2606,1979,0,0,0,0,0,0
$GC,9746,0.58,230.2,216.8,10.0,702,9750,0.00,2.28,0.00,0.000,4,0.000,0.054,2648,1187,1979,0,0,0,0,0,0
$GC,9791,0.68,230.2,212.2,10.1,705,9798,0.12,2.33,0.00,0.000,6,0.102,0.055,2699,2621,1979,0,0,0,0,0,0
$GC,10117,0.64,230.2,167.8,13.7,736,10121,0.00,2.20,0.00,0.000,4,0.000,0.068,2699,3929,1979,0,0,0,0,0,0
$GC,10146,0.58,230.2,163.3,15.8,738,10151,0.15,2.12,0.00,0.000,6,0.189,0.045,2663,2608,1978,0,0,0,0,0,0
$GC,10472,0.61,230.2,127.5,11.3,768,10477,0.00,2.28,0.00,0.000,4,0.000,0.054,2663,1189,1978,0,0,0,0,0,0
$GC,10506,0.69,230.2,123.7,10.2,770,10514,0.10,2.30,0.00,0.000,6,0.118,0.056,2705,2597,1978,0,0,0,0,0,0
$GC,10840,0.67,230.2,80.1,12.3,814,10847,0.00,2.25,0.00,0.000,4,0.000,0.067,2705,3934,1978,0,0,0,0,0,0
$GC,10894,0.60,230.2,72.5,14.2,823,10901,0.15,2.17,0.00,0.000,6,0.190,0.045,2667,2588,1978,0,0,0,0,0,0
$GC,11242,0.69,277.9,40.9,7.8,884,11288,0.00,0.00,40.58,0.643,6,0.000,0.000,2667,2587,1790,0,0,0,0,0,0
$GC,11625,0.82,291.4,11.8,9.4,952,11645,0.20,2.28,11.95,0.626,4,0.087,0.068,2749,3926,1734,0,0,0,0,0,0
$FREEZE,8.68,-1.424,-1.782,2,1,0
$FREEZE,7.78,-1.479,-1.780,2,1,0
$FREEZE,7.05,-1.484,-1.780,2,1,0
$FREEZE,6.34,-1.488,-1.779,2,1,0
$FREEZE,5.64,-1.491,-1.778,2,1,0
$FREEZE,5.05,-1.488,-1.778,2,1,0
$FREEZE,4.29,-1.485,-1.777,2,1,0
$FREEZE,3.10,-1.497,-1.776,2,1,0
$FREEZE,2.57,-1.519,-1.775,2,1,0
$STATE,11694,end climb,SURFACE_DEPTH_REACHED
$STATE,11694,begin surface coast
$FREEZE,1.83,-1.501,-1.775,2,1,0
$FREEZE,0.98,-1.501,-1.774,2,1,0
$FINISH,1.0,1.026054
$STATE,11706,end surface coast,CONTROL_FINISHED_OK
$STATE,11706,begin surface
$SM_CCo,11723,208.15,0.085,0,0,440,609.08
$SM_GC,1.75,0.00,0.00,208.15,0.000,0.000,0.085,293,2778,440,-6.82,-0.06,609.08
$RAFOS_CLK,626
$RAFOS,0,1293235264,0.033333,0.017778,51,50,46,45,44,43,1011,244,278,1920,848,1228
$RAFOS,4,1293222785,20.566668,20.551390,55,46,44,41,39,37,597,1192,300,1771,851,235
$RAFOS_FIX,6704.307129,-5854.137695,241210,161653,6,104,0.10
$IRIDIUM_FIX,6636.54,-5839.46,241210,101009
$TT8_MAMPS,0.029211
$HUMID,45.90
$INTERNAL_PRESSURE,8.44606
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.1
$ALTIM_BOTTOM_PING,601.8,11.3
$24V_AH,21.6,68.752
$10V_AH,9.8,48.802
$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,18.125,84.500,382.625,208.150,0.000,31.940,16.670,380.438,2.250,0.000,15.272,2336.409,7109.512,716.945,2038.955,465.111,0.000,1622.502,0.000,1633.815,720.000,17.691,0.000
$DEVICE_MAMPS,247.860,74.205,979.965,84.915,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,671.539,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151680
$DATA_FILE_SIZE,36739,966
$CAP_FILE_SIZE,127957,0
$CFSIZE,260165632,209776640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.5
$GPS,251210,001707,6701.542,-5901.147,27,1.5,27,-38.1