version: 66.08
glider: 183
mission: 3
dive: 686
start: 1 4 111 16 29 27
data:
$ID,183
$MISSION,3
$DIVE,686
$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,-11352.118
$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,29
$R_STBD_OVSHOOT,24
$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
$GPS1,040111,161525,6656.679,-5738.396,36,1.9,36,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-64.2
$GPS2,040111,162856,6656.711,-5738.272,13,1.2,13,-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,109.8,38127,-17.5,-10.000
$D_GRID,819
$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,18,-0.57,-146.0,0.0,0.0,0,164,0.00,0.00,-140.40,0.000,2,0.000,0.000,296,2789,3320,0,0,0,0,0,0
$GC,167,-0.57,-146.0,5.5,-13.2,25,186,8.50,1.95,-4.05,0.000,4,0.247,0.080,2279,3934,3521,0,0,0,0,0,0
$GC,351,-0.59,-146.0,41.8,-11.3,57,357,0.00,1.88,0.00,0.000,6,0.000,0.050,2279,2777,3523,0,0,0,0,0,0
$GC,697,-0.59,-146.0,78.1,-9.7,118,705,0.00,2.28,0.00,0.000,4,0.000,0.052,2279,1370,3522,0,0,0,0,0,0
$GC,759,-0.62,-146.0,83.9,-9.3,128,766,0.00,2.35,0.00,0.000,6,0.000,0.064,2276,2763,3522,0,0,0,0,0,0
$GC,1101,-0.64,-146.0,115.1,-10.0,175,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2764,3522,0,0,0,0,0,0
$GC,1421,-0.67,-146.0,147.7,-10.5,205,1425,0.00,2.28,0.00,0.000,4,0.000,0.052,2276,1364,3522,0,0,0,0,0,0
$GC,1462,-0.71,-146.0,152.1,-10.2,208,1466,0.00,2.33,0.00,0.000,6,0.000,0.063,2275,2760,3522,0,0,0,0,0,0
$GC,1788,-0.74,-146.0,182.6,-8.9,238,1793,0.10,2.28,0.00,0.000,4,0.116,0.052,2229,1363,3522,0,0,0,0,0,0
$GC,1845,-0.70,-146.0,189.0,-11.5,242,1851,0.00,2.33,0.00,0.000,6,0.000,0.063,2225,2760,3522,0,0,0,0,0,0
$GC,2170,-0.65,-146.0,227.8,-11.5,273,2172,0.15,0.00,0.00,0.000,6,0.174,0.000,2266,2760,3522,0,0,0,0,0,0
$GC,2489,-0.68,-146.0,252.3,-7.3,303,2494,0.00,2.25,0.00,0.000,4,0.000,0.051,2266,1361,3522,0,0,0,0,0,0
$GC,2542,-0.73,-146.0,256.3,-7.6,307,2546,0.00,2.30,0.00,0.000,6,0.000,0.062,2265,2745,3522,0,0,0,0,0,0
$GC,2868,-0.76,-146.0,281.5,-8.2,337,2873,0.10,2.22,0.00,0.000,4,0.117,0.051,2218,1370,3523,0,0,0,0,0,0
$GC,2901,-0.72,-146.0,285.2,-11.0,339,2908,0.00,2.30,0.00,0.000,6,0.000,0.062,2217,2738,3523,0,0,0,0,0,0
$GC,3227,-0.66,-146.0,325.3,-12.1,370,3231,0.15,2.05,0.00,0.000,4,0.177,0.072,2252,3936,3523,0,0,0,0,0,0
$GC,3255,-0.66,-146.0,328.6,-10.9,372,3259,0.00,1.98,0.00,0.000,6,0.000,0.047,2252,2724,3523,0,0,0,0,0,0
$GC,3587,-0.66,-146.0,360.6,-9.5,403,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2724,3524,0,0,0,0,0,0
$GC,3908,-0.66,-146.0,389.0,-8.6,433,3912,0.00,2.05,0.00,0.000,4,0.000,0.072,2247,3928,3524,0,0,0,0,0,0
$GC,3944,-0.66,-146.0,392.5,-9.1,436,3948,0.00,1.92,0.00,0.000,6,0.000,0.048,2247,2734,3524,0,0,0,0,0,0
$GC,4276,-0.66,-146.0,422.0,-9.1,452,4280,0.00,2.17,0.00,0.000,4,0.000,0.050,2247,1368,3524,0,0,0,0,0,0
$GC,4298,-0.66,-146.0,424.3,-9.3,452,4305,0.00,2.28,0.00,0.000,6,0.000,0.061,2247,2738,3524,0,0,0,0,0,0
$GC,4613,-0.66,-146.0,453.8,-9.6,463,4617,0.00,2.03,0.00,0.000,4,0.000,0.072,2247,3935,3525,0,0,0,0,0,0
$GC,4669,-0.69,-146.0,459.4,-9.6,464,4673,0.00,1.95,0.00,0.000,6,0.000,0.047,2247,2754,3525,0,0,0,0,0,0
$GC,4988,-0.69,-146.0,487.3,-8.7,475,4992,0.00,2.20,0.00,0.000,4,0.000,0.050,2247,1368,3525,0,0,0,0,0,0
$GC,5028,-0.72,-146.0,491.0,-8.8,476,5032,0.00,2.28,0.00,0.000,6,0.000,0.061,2247,2740,3525,0,0,0,0,0,0
$GC,5352,-0.72,-146.0,516.2,-7.7,487,5355,0.00,2.00,0.00,0.000,4,0.000,0.071,2247,3927,3525,0,0,0,0,0,0
$GC,5390,-0.74,-146.0,519.1,-8.6,488,5393,0.00,1.95,0.00,0.000,6,0.000,0.047,2247,2726,3525,0,0,0,0,0,0
$GC,5731,-0.74,-146.0,545.5,-7.6,499,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2726,3525,0,0,0,0,0,0
$STATE,5793,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5793,begin apogee
$GC,5800,-0.14,0.0,550.1,7.7,501,5930,0.57,0.00,124.15,0.945,4,0.135,0.000,2432,2597,2923,0,0,0,0,0,0
$STATE,5931,end apogee,CONTROL_FINISHED_OK
$STATE,5931,begin climb
$GC,5934,0.57,146.0,553.5,0.0,505,6075,0.65,2.42,129.82,0.921,4,0.066,0.050,2663,1185,2326,0,0,0,0,0,0
$GC,6209,0.57,146.0,530.5,12.0,513,6216,0.00,2.45,0.00,0.000,6,0.000,0.055,2663,2599,2318,0,0,0,0,0,0
$GC,6524,0.53,146.0,492.4,12.2,524,6528,0.00,2.33,0.00,0.000,4,0.000,0.052,2665,1177,2315,0,0,0,0,0,0
$GC,6769,0.53,146.0,465.3,10.2,531,6773,0.00,2.35,0.00,0.000,6,0.000,0.057,2665,2601,2314,0,0,0,0,0,0
$GC,7101,0.49,146.0,428.0,11.3,542,7106,0.12,2.25,0.00,0.000,4,0.201,0.067,2635,3934,2313,0,0,0,0,0,0
$GC,7156,0.45,146.0,421.4,11.2,543,7163,0.00,2.15,0.00,0.000,6,0.000,0.044,2635,2602,2312,0,0,0,0,0,0
$GC,7473,0.46,166.2,391.8,9.1,558,7492,0.00,0.00,16.05,0.828,6,0.000,0.000,2635,2603,2244,0,0,0,0,0,0
$GC,7811,0.50,198.9,362.5,8.5,590,7845,0.00,2.35,29.05,0.825,4,0.000,0.067,2635,3929,2112,0,0,0,0,0,0
$GC,7860,0.56,247.1,358.5,7.8,594,7908,0.00,2.15,42.97,0.812,6,0.000,0.044,2635,2612,1915,0,0,0,0,0,0
$GC,8230,0.65,261.1,327.5,9.4,628,8247,0.15,2.30,12.00,0.773,4,0.094,0.052,2698,1193,1857,0,0,0,0,0,0
$GC,8318,0.68,261.1,316.4,13.4,635,8323,0.00,2.35,0.00,0.000,6,0.000,0.055,2698,2614,1855,0,0,0,0,0,0
$GC,8644,0.68,261.1,268.2,15.0,665,8648,0.00,2.20,0.00,0.000,4,0.000,0.066,2698,3925,1852,0,0,0,0,0,0
$GC,8666,0.64,261.1,264.4,16.3,666,8673,0.00,2.15,0.00,0.000,6,0.000,0.044,2700,2596,1851,0,0,0,0,0,0
$GC,8991,0.64,261.1,215.6,14.4,697,8995,0.00,2.25,0.00,0.000,4,0.000,0.053,2700,1194,1850,0,0,0,0,0,0
$GC,9039,0.67,261.1,209.3,12.8,701,9044,0.00,2.28,0.00,0.000,6,0.000,0.055,2700,2596,1851,0,0,0,0,0,0
$GC,9366,0.67,261.1,163.5,14.0,731,9370,0.00,2.22,0.00,0.000,4,0.000,0.067,2700,3929,1850,0,0,0,0,0,0
$GC,9382,0.64,261.1,160.7,14.6,732,9389,0.00,2.17,0.00,0.000,6,0.000,0.044,2700,2586,1849,0,0,0,0,0,0
$GC,9707,0.64,261.1,113.2,14.4,763,9711,0.00,2.22,0.00,0.000,4,0.000,0.053,2701,1191,1849,0,0,0,0,0,0
$GC,9764,0.67,261.1,105.5,13.4,767,9771,0.00,2.28,0.00,0.000,6,0.000,0.055,2701,2581,1849,0,0,0,0,0,0
$GC,10106,0.67,261.1,61.7,12.9,824,10113,0.00,2.25,0.00,0.000,4,0.000,0.066,2701,3933,1849,0,0,0,0,0,0
$GC,10143,0.64,261.1,56.3,14.6,830,10149,0.00,2.17,0.00,0.000,6,0.000,0.044,2701,2581,1847,0,0,0,0,0,0
$GC,10490,0.66,261.1,13.2,10.5,891,10497,0.00,2.25,0.00,0.000,4,0.000,0.052,2701,1181,1847,0,0,0,0,0,0
$FREEZE,8.66,-1.687,-1.792,0,1,0
$FREEZE,8.12,-1.687,-1.792,0,1,0
$FREEZE,7.65,-1.687,-1.791,0,1,0
$FREEZE,7.15,-1.687,-1.791,0,1,0
$FREEZE,6.55,-1.687,-1.790,0,1,0
$FREEZE,6.10,-1.687,-1.790,0,1,0
$FREEZE,5.53,-1.687,-1.789,0,1,0
$FREEZE,5.06,-1.687,-1.789,0,1,0
$FREEZE,4.56,-1.688,-1.788,0,1,0
$FREEZE,4.00,-1.688,-1.788,0,1,0
$GC,10584,0.74,263.8,4.0,9.9,907,10591,0.00,2.25,0.00,0.000,6,0.000,0.055,2701,2557,1847,0,0,0,0,0,0
$FREEZE,2.40,-1.686,-1.786,0,1,0
$STATE,10596,end climb,SURFACE_DEPTH_REACHED
$STATE,10597,begin surface coast
$FREEZE,1.77,-1.687,-1.786,0,1,0
$FREEZE,1.11,-1.688,-1.785,0,1,0
$FREEZE,1.08,-1.660,-1.784,0,1,0
$FREEZE,1.02,-1.616,-1.120,0,1,0
$FREEZE,0.87,-1.620,-1.760,0,1,0
$FREEZE,0.93,-1.525,-1.082,0,1,0
$FINISH,0.9,1.015974
$STATE,10629,end surface coast,CONTROL_FINISHED_OK
$STATE,10630,begin surface
$SM_CCo,10647,218.43,0.083,0,0,440,609.08
$SM_GC,1.58,0.00,0.00,218.43,0.000,0.000,0.083,297,2788,440,-6.80,0.23,609.08
$RAFOS_CLK,565
$RAFOS,6,1294159750,16.833334,16.819445,121,47,43,42,41,41,705,264,26,399,960,1131
$RAFOS,5,1294159269,16.700001,16.685833,113,47,44,44,43,42,519,1353,1617,942,145,820
$RAFOS,4,1294158786,16.566668,16.551666,121,45,45,43,41,41,757,144,218,1098,1172,1347
$RAFOS,1,1294157344,16.166666,16.151112,52,51,46,43,40,40,1174,497,1285,948,343,978
$RAFOS_FIX,6656.581543,-5741.310547,040111,161622,3,118,2.57
$IRIDIUM_FIX,6631.12,-5736.37,040111,131320
$TT8_MAMPS,0.028462
$HUMID,45.51
$INTERNAL_PRESSURE,8.46559
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.4
$ALTIM_BOTTOM_PING,550.1,10.8
$24V_AH,21.5,78.818
$10V_AH,9.7,54.235
$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,17.025,101.950,354.050,218.425,0.000,28.951,42.683,396.466,2.250,0.000,16.370,2266.628,6148.235,698.469,2058.240,525.563,0.000,1607.583,0.000,1606.745,1080.000,18.757,0.000
$DEVICE_MAMPS,247.095,80.325,944.775,82.620,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,634.844,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151636
$DATA_FILE_SIZE,33378,915
$CAP_FILE_SIZE,127765,0
$CFSIZE,260165632,204419072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.7
$GPS,040111,193207,6657.204,-5734.269,31,1.1,31,-37.6