version: 66.08
glider: 183
mission: 3
dive: 577
start: 12 25 110 0 23 15
data:
$ID,183
$MISSION,3
$DIVE,577
$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,-9856.0127
$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,21
$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
$GPS1,251210,001707,6701.542,-5901.147,27,1.5,27,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-57.6
$GPS2,251210,002244,6701.479,-5901.075,13,1.5,13,-38.1
$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,280.6,70055,-17.5,-10.000
$D_GRID,1181
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,149,0.00,0.00,-126.97,0.000,2,0.000,0.000,291,2779,3139,0,0,0,0,0,0
$GC,151,-0.57,-146.0,5.1,-10.2,22,177,8.40,2.30,-8.35,0.000,4,0.246,0.067,2286,1374,3522,0,0,0,0,0,0
$GC,297,-0.57,-146.0,30.9,-12.7,47,303,0.00,2.38,0.00,0.000,6,0.000,0.063,2284,2784,3523,0,0,0,0,0,0
$GC,643,-0.57,-146.0,72.7,-10.6,108,650,0.00,1.95,0.00,0.000,4,0.000,0.074,2275,3936,3523,0,0,0,0,0,0
$GC,795,-0.59,-146.0,89.0,-10.6,134,802,0.00,1.88,0.00,0.000,6,0.000,0.049,2275,2785,3522,0,0,0,0,0,0
$GC,1133,-0.59,-146.0,125.6,-10.5,174,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2785,3523,0,0,0,0,0,0
$GC,1452,-0.62,-146.0,157.7,-9.5,204,1456,0.00,2.25,0.00,0.000,4,0.000,0.052,2275,1372,3523,0,0,0,0,0,0
$GC,1473,-0.65,-146.0,160.0,-10.0,205,1480,0.00,2.38,0.00,0.000,6,0.000,0.063,2275,2798,3523,0,0,0,0,0,0
$GC,1799,-0.68,-146.0,188.6,-8.1,236,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2798,3522,0,0,0,0,0,0
$GC,2118,-0.72,-146.0,214.6,-7.7,266,2120,0.10,0.00,0.00,0.000,6,0.117,0.000,2229,2798,3522,0,0,0,0,0,0
$GC,2436,-0.68,-146.0,249.3,-11.3,296,2440,0.00,2.28,0.00,0.000,4,0.000,0.050,2228,1371,3522,0,0,0,0,0,0
$GC,2477,-0.66,-146.0,253.9,-11.5,299,2482,0.12,2.40,0.00,0.000,6,0.173,0.063,2258,2803,3522,0,0,0,0,0,0
$GC,2803,-0.68,-146.0,283.7,-8.5,329,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2803,3522,0,0,0,0,0,0
$GC,3124,-0.71,-146.0,310.5,-8.5,359,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2803,3523,0,0,0,0,0,0
$GC,3454,-0.74,-146.0,337.7,-8.1,390,3458,0.00,2.30,0.00,0.000,4,0.000,0.050,2259,1368,3523,0,0,0,0,0,0
$GC,3489,-0.78,-146.0,341.1,-8.0,392,3497,0.10,2.40,0.00,0.000,6,0.110,0.061,2209,2800,3523,0,0,0,0,0,0
$GC,3816,-0.71,-146.0,377.9,-11.4,423,3820,0.12,1.92,0.00,0.000,4,0.182,0.071,2235,3932,3524,0,0,0,0,0,0
$GC,3854,-0.71,-146.0,382.2,-10.3,426,3861,0.00,1.85,0.00,0.000,6,0.000,0.047,2235,2803,3524,0,0,0,0,0,0
$GC,4176,-0.71,-146.0,411.9,-9.4,449,4180,0.00,2.28,0.00,0.000,4,0.000,0.050,2235,1371,3524,0,0,0,0,0,0
$GC,4227,-0.71,-146.0,416.9,-8.8,450,4231,0.00,2.38,0.00,0.000,6,0.000,0.061,2235,2791,3524,0,0,0,0,0,0
$GC,4540,-0.71,-146.0,445.7,-9.4,460,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2791,3524,0,0,0,0,0,0
$GC,4848,-0.71,-146.0,474.0,-9.2,470,4852,0.00,2.28,0.00,0.000,4,0.000,0.050,2235,1368,3525,0,0,0,0,0,0
$GC,4886,-0.71,-146.0,478.1,-9.7,471,4890,0.00,2.38,0.00,0.000,6,0.000,0.061,2235,2789,3525,0,0,0,0,0,0
$GC,5211,-0.71,-146.0,507.9,-9.2,482,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2789,3526,0,0,0,0,0,0
$GC,5518,-0.71,-146.0,535.9,-9.0,492,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2789,3525,0,0,0,0,0,0
$GC,5823,-0.71,-146.0,564.6,-9.4,502,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2789,3525,0,0,0,0,0,0
$GC,6129,-0.71,-146.0,594.7,-9.9,512,6133,0.00,2.28,0.00,0.000,4,0.000,0.050,2235,1367,3526,0,0,0,0,0,0
$GC,6164,-0.71,-146.0,598.4,-10.3,513,6169,0.00,2.38,0.00,0.000,6,0.000,0.062,2235,2786,3526,0,0,0,0,0,0
$STATE,6183,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6183,begin apogee
$GC,6189,-0.14,0.0,600.2,10.0,513,6322,0.57,0.00,123.60,0.974,4,0.132,0.000,2422,2599,2922,0,0,0,0,0,0
$STATE,6323,end apogee,CONTROL_FINISHED_OK
$STATE,6323,begin climb
$GC,6325,0.57,146.0,605.1,0.0,518,6464,0.70,2.40,130.02,0.952,4,0.070,0.050,2666,1185,2326,0,0,0,0,0,0
$GC,6644,0.57,146.0,579.8,11.0,527,6651,0.00,2.42,0.00,0.000,6,0.000,0.055,2666,2602,2317,0,0,0,0,0,0
$GC,6957,0.51,146.0,544.1,11.5,538,6961,0.00,2.30,0.00,0.000,4,0.000,0.054,2665,1182,2314,0,0,0,0,0,0
$GC,7193,0.51,146.0,517.2,11.5,545,7197,0.00,2.35,0.00,0.000,6,0.000,0.057,2666,2605,2314,0,0,0,0,0,0
$GC,7528,0.46,146.0,476.2,12.2,556,7533,0.15,2.25,0.00,0.000,4,0.194,0.068,2627,3933,2313,0,0,0,0,0,0
$GC,7579,0.44,146.0,470.1,11.8,557,7583,0.00,2.12,0.00,0.000,6,0.000,0.045,2627,2601,2311,0,0,0,0,0,0
$GC,7903,0.44,152.6,438.1,9.7,568,7909,0.00,0.00,4.47,0.665,6,0.000,0.000,2627,2600,2300,0,0,0,0,0,0
$GC,8210,0.47,158.8,408.1,9.7,578,8219,0.00,0.00,7.20,0.770,6,0.000,0.000,2626,2600,2274,0,0,0,0,0,0
$GC,8526,0.50,163.9,377.9,9.8,602,8534,0.00,0.00,6.12,0.728,6,0.000,0.000,2627,2600,2254,0,0,0,0,0,0
$GC,8853,0.54,179.9,346.5,9.3,633,8876,0.00,2.25,15.50,0.805,4,0.000,0.069,2627,3926,2187,0,0,0,0,0,0
$GC,8900,0.54,179.9,341.6,11.5,637,8904,0.00,2.15,0.00,0.000,6,0.000,0.044,2627,2602,2186,0,0,0,0,0,0
$GC,9231,0.59,195.7,310.5,9.3,668,9255,0.10,2.30,14.45,0.780,4,0.118,0.053,2678,1200,2124,0,0,0,0,0,0
$GC,9294,0.59,195.7,303.2,11.7,673,9301,0.00,2.33,0.00,0.000,6,0.000,0.055,2678,2609,2123,0,0,0,0,0,0
$GC,9620,0.56,195.7,261.9,13.1,704,9624,0.00,2.20,0.00,0.000,4,0.000,0.067,2678,3929,2121,0,0,0,0,0,0
$GC,9664,0.48,195.7,255.1,15.0,707,9671,0.17,2.15,0.00,0.000,6,0.187,0.044,2635,2599,2119,0,0,0,0,0,0
$GC,9989,0.54,204.3,222.2,9.6,738,10005,0.00,2.33,8.55,0.705,4,0.000,0.053,2635,1189,2090,0,0,0,0,0,0
$GC,10035,0.64,216.4,217.8,9.4,742,10058,0.12,2.33,12.10,0.715,6,0.100,0.055,2689,2610,2039,0,0,0,0,0,0
$GC,10376,0.61,216.4,173.2,13.3,774,10379,0.00,2.22,0.00,0.000,4,0.000,0.067,2690,3933,2036,0,0,0,0,0,0
$GC,10444,0.55,216.4,162.8,15.6,780,10449,0.15,2.12,0.00,0.000,6,0.187,0.044,2652,2603,2034,0,0,0,0,0,0
$GC,10770,0.60,216.4,129.8,10.2,810,10771,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2601,2034,0,0,0,0,0,0
$GC,11091,0.67,249.0,100.5,8.5,840,11123,0.12,0.00,28.30,0.672,6,0.104,0.000,2702,2602,1907,0,0,0,0,0,0
$GC,11461,0.67,249.0,54.7,10.8,905,11468,0.00,2.25,0.00,0.000,4,0.000,0.053,2704,1186,1901,0,0,0,0,0,0
$GC,11480,0.67,249.0,52.5,11.5,908,11487,0.00,2.35,0.00,0.000,6,0.000,0.055,2704,2621,1901,0,0,0,0,0,0
$GC,11829,0.72,269.3,17.6,9.1,969,11854,0.00,2.33,17.50,0.632,4,0.000,0.052,2704,1181,1824,0,0,0,0,0,0
$FREEZE,8.96,-1.461,-1.780,2,1,0
$GC,11896,0.82,299.2,11.6,8.6,980,11929,0.10,2.35,26.45,0.621,6,0.116,0.056,2747,2622,1702,0,0,0,0,0,0
$FREEZE,7.14,-1.473,-1.779,2,1,0
$FREEZE,6.47,-1.477,-1.778,2,1,0
$FREEZE,5.90,-1.477,-1.778,2,1,0
$FREEZE,5.17,-1.478,-1.777,2,1,0
$FREEZE,4.57,-1.461,-1.777,2,1,0
$FREEZE,3.81,-1.470,-1.776,2,1,0
$FREEZE,2.91,-1.473,-1.776,2,1,0
$STATE,11967,end climb,SURFACE_DEPTH_REACHED
$STATE,11967,begin surface coast
$FREEZE,2.22,-1.477,-1.775,2,1,0
$FREEZE,1.63,-1.490,-1.774,2,1,0
$FREEZE,1.20,-1.504,-1.774,2,1,0
$FREEZE,1.08,-1.413,-1.750,2,1,0
$FINISH,1.1,1.025708
$STATE,11988,end surface coast,CONTROL_FINISHED_OK
$STATE,11989,begin surface
$SM_CCo,12006,215.10,0.585,1,0,439,609.08
$SM_GC,1.74,0.00,0.00,215.10,0.000,0.000,0.585,298,2791,439,-6.80,0.31,609.08
$RAFOS_CLK,641
$RAFOS,6,1293238147,0.833333,0.818611,87,48,46,45,43,42,599,1354,144,1862,1301,1224
$RAFOS,5,1293237661,0.700000,0.683611,77,47,46,42,41,39,755,1674,1854,1776,26,668
$RAFOS,4,1293237186,0.566667,0.551667,56,48,45,41,41,39,576,1141,1811,1178,1405,1537
$RAFOS,3,1293236705,0.433333,0.418056,51,45,42,41,41,40,787,776,266,592,26,515
$RAFOS,1,1293235744,0.166667,0.151111,46,45,41,40,40,40,1175,933,949,1046,563,1033
$RAFOS_FIX,6703.572266,-5857.770508,251210,000056,2,82,3.14
$IRIDIUM_FIX,6631.12,-5857.45,241210,202004
$TT8_MAMPS,0.029211
$HUMID,45.19
$INTERNAL_PRESSURE,8.45583
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.1
$ALTIM_BOTTOM_PING,600.2,11.0
$24V_AH,21.7,68.895
$10V_AH,9.8,48.869
$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,17.900,86.300,394.275,215.100,0.000,27.975,21.281,133.273,2.250,0.000,16.264,2461.984,7190.326,732.059,1895.119,297.642,0.000,1673.037,0.000,1693.581,1440.000,17.697,0.000
$DEVICE_MAMPS,246.330,78.030,973.845,585.225,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,690.756,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151700
$DATA_FILE_SIZE,36632,996
$CAP_FILE_SIZE,129203,0
$CFSIZE,260165632,209715200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1456.5
$GPS,251210,034837,6700.893,-5903.927,38,1.2,38,-38.1