version: 66.08
glider: 183
mission: 3
dive: 585
start: 12 26 110 6 5 9
data:
$ID,183
$MISSION,3
$DIVE,585
$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,-9859.7803
$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,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
$GPS1,261210,043200,6654.962,-5924.071,0,4111.2,0,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.43
$_SM_ANGLEo,-2.7
$GPS2,261210,043200,6654.962,-5924.071,0,4111.2,0,-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,284.0,49646,-17.5,-10.000
$D_GRID,1008
$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,17,-0.57,-146.0,0.0,0.0,0,25,0.00,0.00,-6.22,0.000,2,0.000,0.000,2500,3925,2830,0,0,0,0,0,0
$GC,28,-0.57,-146.0,11.9,-0.0,1,53,0.57,4.22,-15.15,0.000,4,0.098,0.057,2295,1367,3523,0,0,0,0,0,0
$GC,66,-0.55,-146.0,15.2,-10.1,7,73,0.00,2.35,0.00,0.000,6,0.000,0.063,2291,2783,3524,0,0,0,0,0,0
$GC,412,-0.55,-146.0,59.1,-11.3,68,419,0.00,2.28,0.00,0.000,4,0.000,0.052,2291,1369,3524,0,0,0,0,0,0
$GC,602,-0.58,-146.0,79.8,-10.7,101,609,0.00,2.38,0.00,0.000,6,0.000,0.064,2287,2793,3524,0,0,0,0,0,0
$GC,945,-0.60,-146.0,115.1,-10.1,149,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2793,3524,0,0,0,0,0,0
$GC,1264,-0.64,-146.0,145.3,-8.9,179,1268,0.00,2.33,0.00,0.000,4,0.000,0.052,2288,1363,3523,0,0,0,0,0,0
$GC,1354,-0.69,-146.0,153.5,-8.5,186,1361,0.10,2.38,0.00,0.000,6,0.117,0.064,2246,2786,3523,0,0,0,0,0,0
$GC,1679,-0.67,-146.0,190.2,-11.7,217,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2786,3523,0,0,0,0,0,0
$GC,2001,-0.67,-146.0,226.1,-10.5,247,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2786,3523,0,0,0,0,0,0
$GC,2328,-0.67,-146.0,258.9,-9.3,278,2332,0.00,1.98,0.00,0.000,4,0.000,0.075,2238,3942,3522,0,0,0,0,0,0
$GC,2367,-0.67,-146.0,263.2,-10.4,281,2374,0.00,1.88,0.00,0.000,6,0.000,0.050,2238,2780,3522,0,0,0,0,0,0
$GC,2693,-0.67,-146.0,294.5,-9.4,312,2697,0.00,2.30,0.00,0.000,4,0.000,0.053,2238,1372,3522,0,0,0,0,0,0
$GC,2726,-0.67,-146.0,297.9,-9.5,314,2733,0.00,2.40,0.00,0.000,6,0.000,0.065,2236,2792,3522,0,0,0,0,0,0
$GC,3052,-0.67,-146.0,328.8,-9.7,345,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2792,3522,0,0,0,0,0,0
$GC,3373,-0.67,-146.0,358.5,-9.1,375,3377,0.00,2.30,0.00,0.000,4,0.000,0.052,2235,1364,3522,0,0,0,0,0,0
$GC,3401,-0.67,-146.0,361.5,-9.1,377,3406,0.00,2.38,0.00,0.000,6,0.000,0.063,2235,2776,3522,0,0,0,0,0,0
$GC,3727,-0.67,-146.0,390.9,-9.3,407,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2776,3522,0,0,0,0,0,0
$GC,4047,-0.67,-146.0,420.4,-9.1,424,4052,0.00,2.25,0.00,0.000,4,0.000,0.052,2235,1372,3523,0,0,0,0,0,0
$GC,4092,-0.67,-146.0,424.6,-8.8,425,4097,0.00,2.35,0.00,0.000,6,0.000,0.063,2235,2781,3523,0,0,0,0,0,0
$GC,4411,-0.67,-146.0,453.3,-9.2,436,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2781,3523,0,0,0,0,0,0
$GC,4717,-0.67,-146.0,481.3,-9.1,446,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2781,3523,0,0,0,0,0,0
$GC,5024,-0.67,-146.0,509.0,-8.9,456,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2781,3523,0,0,0,0,0,0
$GC,5330,-0.67,-146.0,535.3,-8.4,466,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2781,3524,0,0,0,0,0,0
$GC,5636,-0.67,-146.0,561.5,-8.7,476,5640,0.00,2.30,0.00,0.000,4,0.000,0.050,2235,1368,3524,0,0,0,0,0,0
$GC,5671,-0.67,-146.0,564.6,-8.9,477,5675,0.00,2.35,0.00,0.000,6,0.000,0.062,2235,2770,3524,0,0,0,0,0,0
$GC,6006,-0.67,-146.0,592.9,-8.4,488,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2771,3524,0,0,0,0,0,0
$GC,6312,-0.67,-146.0,618.8,-8.6,498,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2771,3524,0,0,0,0,0,0
$GC,6619,-0.67,-146.0,646.0,-9.0,508,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2771,3524,0,0,0,0,0,0
$GC,6925,-0.67,-146.0,673.3,-8.9,518,6926,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2771,3525,0,0,0,0,0,0
$STATE,7231,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7231,begin apogee
$GC,7238,-0.14,0.0,700.9,9.0,528,7368,0.57,0.00,125.05,1.043,4,0.135,0.000,2421,2600,2923,0,0,0,0,0,0
$STATE,7368,end apogee,CONTROL_FINISHED_OK
$STATE,7368,begin climb
$GC,7371,0.57,146.0,705.6,0.0,532,7509,0.65,0.00,132.48,1.016,6,0.072,0.000,2658,2600,2328,0,0,0,0,0,0
$GC,7830,0.57,146.0,663.4,26173.0,547,7834,0.00,2.30,0.00,0.000,4,0.000,0.068,2658,3927,2318,0,0,0,0,0,0
$GC,7860,0.57,146.0,659.8,26173.0,548,7865,0.00,2.20,0.00,0.000,6,0.000,0.045,2662,2595,2317,0,0,0,0,0,0
$GC,8202,0.57,146.0,621.4,26173.0,559,8203,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2594,2316,0,0,0,0,0,0
$GC,8508,0.57,146.0,587.2,26173.0,569,8509,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2594,2316,0,0,0,0,0,0
$GC,8815,0.57,146.0,552.7,26173.0,579,8816,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2594,2315,0,0,0,0,0,0
$GC,9120,0.57,146.0,516.8,26173.0,589,9124,0.00,2.25,0.00,0.000,4,0.000,0.069,2662,3929,2315,0,0,0,0,0,0
$GC,9164,0.57,146.0,510.5,26173.0,590,9169,0.00,2.15,0.00,0.000,6,0.000,0.046,2662,2599,2314,0,0,0,0,0,0
$GC,9484,0.57,146.0,472.3,26173.0,601,9486,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2598,2314,0,0,0,0,0,0
$GC,9790,0.57,146.0,436.1,26173.0,611,9791,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2598,2314,0,0,0,0,0,0
$GC,10097,0.57,146.0,400.5,26173.0,621,10098,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2598,2314,0,0,0,0,0,0
$GC,10415,0.57,146.0,365.2,26173.0,649,10416,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2598,2314,0,0,0,0,0,0
$GC,10733,0.57,146.0,331.5,26173.0,679,10737,0.00,2.28,0.00,0.000,4,0.000,0.069,2662,3928,2314,0,0,0,0,0,0
$GC,10778,0.57,146.0,325.7,26173.0,682,10785,0.00,2.15,0.00,0.000,6,0.000,0.046,2662,2598,2314,0,0,0,0,0,0
$GC,11104,0.57,146.0,292.0,26173.0,713,11105,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2598,2314,0,0,0,0,0,0
$GC,11425,0.57,146.0,259.9,26173.0,743,11429,0.00,2.28,0.00,0.000,4,0.000,0.054,2663,1187,2313,0,0,0,0,0,0
$GC,11447,0.57,146.0,257.5,26173.0,744,11454,0.00,2.33,0.00,0.000,6,0.000,0.056,2663,2604,2314,0,0,0,0,0,0
$GC,11773,0.57,146.0,227.3,26173.0,775,11777,0.00,2.25,0.00,0.000,4,0.000,0.069,2662,3928,2314,0,0,0,0,0,0
$GC,11870,0.57,146.0,216.8,26173.0,783,11874,0.00,2.12,0.00,0.000,6,0.000,0.045,2663,2613,2313,0,0,0,0,0,0
$GC,12201,0.57,146.0,187.8,26173.0,814,12202,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2612,2313,0,0,0,0,0,0
$GC,12522,0.57,146.0,157.8,26173.0,844,12528,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2612,2313,0,0,0,0,0,0
$GC,12851,0.57,146.0,130.1,26173.0,875,12855,0.00,2.28,0.00,0.000,4,0.000,0.054,2664,1185,2313,0,0,0,0,0,0
$GC,12902,0.57,146.0,125.9,26173.0,879,12907,0.00,2.35,0.00,0.000,6,0.000,0.057,2664,2624,2313,0,0,0,0,0,0
$GC,13229,0.57,146.0,103.5,26173.0,909,13233,0.00,2.35,0.00,0.000,4,0.000,0.054,2664,1181,2313,0,0,0,0,0,0
$GC,13299,0.57,146.0,99.3,26173.0,915,13306,0.00,2.35,0.00,0.000,6,0.000,0.058,2664,2601,2313,0,0,0,0,0,0
$GC,13647,0.57,146.0,78.3,26173.0,976,13653,0.00,2.28,0.00,0.000,4,0.000,0.071,2664,3934,2313,0,0,0,0,0,0
$GC,13846,0.57,146.0,64.6,26173.0,1011,13853,0.00,2.20,0.00,0.000,6,0.000,0.047,2664,2583,2312,0,0,0,0,0,0
$STATE,14088,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,14088,begin subsurface finish
$FINISH1,51.3,1.026175,65
$GC,14096,0.04,65.0,51.3,-26173.0,1054,14109,0.55,2.33,-3.65,0.000,4,0.154,0.067,2495,1190,2663,0,0,0,0,0,0
$FINISH2,50.7
$STATE,14110,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14110,begin surface
$RAFOS_CLK,820
$RAFOS,6,1293353357,8.833333,8.821389,99,44,43,41,41,40,626,919,145,1174,1352,1417
$RAFOS,5,1293352867,8.700000,8.685278,95,47,45,44,43,41,811,335,510,1091,604,929
$RAFOS,4,1293352382,8.566667,8.550555,66,51,50,44,43,43,617,441,1868,627,1014,1785
$RAFOS,3,1293351922,8.433333,8.422778,74,46,46,45,44,44,665,180,154,928,701,759
$RAFOS,2,1293351432,8.300000,8.286667,106,45,45,45,45,43,652,494,644,1285,145,1219
$RAFOS,1,1293350946,8.166667,8.151667,93,48,42,42,41,41,619,1718,1761,863,244,1837
$RAFOS,0,1293350492,8.033334,8.025556,79,52,46,46,39,39,602,1697,844,1593,664,1774
$RAFOS_FIX,6653.162598,-5927.729492,261210,080807,7,87,0.30
$IRIDIUM_FIX,6631.12,-5917.28,251210,080854
$TT8_MAMPS,0.028462
$HUMID,50.23
$INTERNAL_PRESSURE,8.62185
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,15.7,15.9
$ALTIM_BOTTOM_PING,52.0,15.8
$24V_AH,21.4,69.703
$10V_AH,9.8,49.384
$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,2.450,77.100,257.525,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,2645.714,9328.500,295.907,1714.965,200.155,0.000,1198.316,0.000,1694.963,2520.000,25.257,0.000
$DEVICE_MAMPS,153.765,74.970,1042.695,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,740.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151720
$DATA_FILE_SIZE,36753,1056
$CAP_FILE_SIZE,119032,0
$CFSIZE,260165632,209215488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.6
$GPS,261210,082707,6653.163,-5927.729,0,7087.4,0,-38.1