version: 66.08
glider: 183
mission: 3
dive: 771
start: 1 15 111 10 54 37
data:
$ID,183
$MISSION,3
$DIVE,771
$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,-11464.319
$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,43
$R_STBD_OVSHOOT,26
$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,5
$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
$GPS1,150111,104301,6714.355,-5735.095,40,1.4,40,-38.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-54.6
$GPS2,150111,105406,6714.471,-5735.278,15,1.4,31,-38.0
$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,283.7,137051,-17.5,-10.000
$D_GRID,681
$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,-146.0,0.0,0.0,0,169,0.00,0.00,-145.98,0.000,6,0.000,0.000,275,2784,3520,0,0,0,0,0,0
$GC,172,-0.57,-146.0,5.7,-15.1,26,185,8.40,0.00,0.00,0.000,6,0.238,0.000,2284,2784,3522,0,0,0,0,0,0
$GC,526,-0.60,-146.0,57.6,-9.7,88,532,0.00,2.25,0.00,0.000,4,0.000,0.047,2284,1369,3523,0,0,0,0,0,0
$GC,625,-0.66,-146.0,67.2,-9.7,105,632,0.00,2.35,0.00,0.000,6,0.000,0.059,2283,2783,3523,0,0,0,0,0,0
$GC,973,-0.71,-146.0,98.9,-9.4,166,980,0.10,0.00,0.00,0.000,6,0.110,0.000,2234,2783,3523,0,0,0,0,0,0
$GC,1307,-0.68,-146.0,137.3,-10.9,198,1311,0.00,2.25,0.00,0.000,4,0.000,0.046,2233,1373,3522,0,0,0,0,0,0
$GC,1329,-0.66,-146.0,140.3,-12.2,199,1336,0.10,2.35,0.00,0.000,6,0.179,0.059,2259,2793,3521,0,0,0,0,0,0
$GC,1656,-0.69,-146.0,170.3,-9.3,230,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2793,3522,0,0,0,0,0,0
$GC,1975,-0.73,-146.0,198.4,-8.4,260,1979,0.00,2.25,0.00,0.000,4,0.000,0.044,2258,1369,3522,0,0,0,0,0,0
$GC,2011,-0.77,-146.0,201.6,-9.0,263,2015,0.00,2.35,0.00,0.000,6,0.000,0.058,2259,2790,3522,0,0,0,0,0,0
$GC,2343,-0.81,-146.0,227.0,-7.7,294,2344,0.12,0.00,0.00,0.000,6,0.099,0.000,2198,2790,3522,0,0,0,0,0,0
$GC,2660,-0.73,-146.0,264.2,-12.6,324,2665,0.15,2.28,0.00,0.000,4,0.166,0.044,2239,1376,3523,0,0,0,0,0,0
$GC,2701,-0.75,-146.0,268.5,-9.9,327,2705,0.00,2.30,0.00,0.000,6,0.000,0.057,2235,2779,3523,0,0,0,0,0,0
$GC,3028,-0.75,-146.0,300.3,-10.2,357,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2779,3524,0,0,0,0,0,0
$GC,3349,-0.75,-146.0,331.1,-9.3,387,3353,0.00,2.20,0.00,0.000,4,0.000,0.044,2235,1377,3524,0,0,0,0,0,0
$GC,3385,-0.75,-146.0,334.9,-9.6,389,3391,0.00,2.30,0.00,0.000,6,0.000,0.057,2235,2777,3524,0,0,0,0,0,0
$GC,3711,-0.75,-146.0,365.3,-9.2,420,3715,0.00,2.20,0.00,0.000,4,0.000,0.044,2235,1377,3524,0,0,0,0,0,0
$GC,3780,-0.75,-146.0,371.7,-9.8,425,3787,0.00,2.30,0.00,0.000,6,0.000,0.057,2235,2764,3524,0,0,0,0,0,0
$GC,4107,-0.75,-146.0,400.4,-8.9,456,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2765,3525,0,0,0,0,0,0
$GC,4413,-0.75,-146.0,427.5,-8.9,466,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2764,3525,0,0,0,0,0,0
$GC,4719,-0.75,-146.0,455.1,-9.0,476,4723,0.00,2.17,0.00,0.000,4,0.000,0.044,2235,1377,3525,0,0,0,0,0,0
$GC,4752,-0.75,-146.0,458.5,-9.6,477,4756,0.00,2.25,0.00,0.000,6,0.000,0.057,2235,2752,3525,0,0,0,0,0,0
$GC,5084,-0.75,-146.0,489.1,-9.5,488,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2752,3525,0,0,0,0,0,0
$GC,5389,-0.75,-146.0,517.9,-9.4,498,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2752,3525,0,0,0,0,0,0
$GC,5696,-0.75,-146.0,545.6,-8.9,508,5700,0.00,2.17,0.00,0.000,4,0.000,0.045,2235,1373,3525,0,0,0,0,0,0
$GC,5725,-0.75,-146.0,548.7,-9.5,509,5729,0.00,2.28,0.00,0.000,6,0.000,0.057,2235,2746,3525,0,0,0,0,0,0
$GC,6063,-0.75,-146.0,580.2,-9.4,520,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2746,3525,0,0,0,0,0,0
$GC,6369,-0.75,-146.0,607.9,-9.1,530,6372,0.00,2.00,0.00,0.000,4,0.000,0.069,2235,3933,3525,0,0,0,0,0,0
$GC,6408,-0.75,-146.0,611.8,-9.5,531,6411,0.00,1.88,0.00,0.000,6,0.000,0.044,2234,2755,3524,0,0,0,0,0,0
$GC,6744,-0.75,-146.0,642.0,-8.9,542,6745,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2755,3524,0,0,0,0,0,0
$GC,7051,-0.75,-146.0,668.0,-8.5,552,7055,0.00,2.17,0.00,0.000,4,0.000,0.047,2234,1373,3524,0,0,0,0,0,0
$GC,7084,-0.75,-146.0,671.1,-8.5,553,7088,0.00,2.30,0.00,0.000,6,0.000,0.059,2234,2760,3524,0,0,0,0,0,0
$STATE,7228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7228,begin apogee
$GC,7236,-0.14,0.0,683.7,8.5,558,7366,0.57,0.00,125.10,1.004,4,0.127,0.000,2423,2600,2922,0,0,0,0,0,0
$STATE,7367,end apogee,CONTROL_FINISHED_OK
$STATE,7367,begin climb
$GC,7369,0.57,146.0,687.6,0.0,562,7509,0.68,2.40,130.45,0.981,4,0.064,0.047,2665,1180,2327,0,0,0,0,0,0
$GC,7672,0.57,146.0,661.5,27686.0,571,7676,0.00,2.40,0.00,0.000,6,0.000,0.054,2665,2608,2319,0,0,0,0,0,0
$GC,7998,0.57,146.0,621.9,27686.0,582,8002,0.00,2.28,0.00,0.000,4,0.000,0.050,2667,1180,2315,0,0,0,0,0,0
$GC,8207,0.57,146.0,597.8,27686.0,588,8211,0.00,2.35,0.00,0.000,6,0.000,0.054,2667,2614,2315,0,0,0,0,0,0
$GC,8531,0.57,146.0,558.6,27686.0,599,8535,0.00,2.22,0.00,0.000,4,0.000,0.066,2668,3934,2314,0,0,0,0,0,0
$GC,8595,0.57,146.0,549.6,27686.0,601,8599,0.00,2.12,0.00,0.000,6,0.000,0.044,2674,2612,2312,0,0,0,0,0,0
$GC,8936,0.57,146.0,506.5,27686.0,612,8938,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2611,2312,0,0,0,0,0,0
$GC,9243,0.57,146.0,467.9,27686.0,622,9244,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2611,2312,0,0,0,0,0,0
$GC,9549,0.57,146.0,429.8,27686.0,632,9550,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2611,2312,0,0,0,0,0,0
$GC,9858,0.57,146.0,390.1,27686.0,646,9862,0.00,2.25,0.00,0.000,4,0.000,0.067,2674,3932,2311,0,0,0,0,0,0
$GC,9888,0.57,146.0,385.8,27686.0,648,9892,0.00,2.12,0.00,0.000,6,0.000,0.044,2680,2612,2310,0,0,0,0,0,0
$GC,10220,0.57,146.0,342.2,27686.0,679,10221,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2612,2309,0,0,0,0,0,0
$GC,10542,0.57,146.0,301.2,27686.0,709,10546,0.00,2.25,0.00,0.000,4,0.000,0.050,2682,1194,2310,0,0,0,0,0,0
$GC,10572,0.57,146.0,297.2,27686.0,711,10576,0.00,2.33,0.00,0.000,6,0.000,0.054,2682,2626,2310,0,0,0,0,0,0
$GC,10903,0.57,146.0,255.3,27686.0,742,10907,0.00,2.20,0.00,0.000,4,0.000,0.065,2682,3926,2310,0,0,0,0,0,0
$GC,10949,0.57,146.0,248.7,27686.0,745,10957,0.12,2.08,0.00,0.000,6,0.199,0.042,2660,2626,2309,0,0,0,0,0,0
$GC,11275,0.57,146.0,210.8,27686.0,776,11276,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2626,2309,0,0,0,0,0,0
$GC,11596,0.57,146.0,175.6,27686.0,806,11602,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2626,2309,0,0,0,0,0,0
$GC,11925,0.57,146.0,142.3,27686.0,837,11929,0.00,2.30,0.00,0.000,4,0.000,0.048,2662,1184,2310,0,0,0,0,0,0
$GC,11966,0.57,146.0,138.3,27686.0,840,11970,0.00,2.38,0.00,0.000,6,0.000,0.051,2662,2638,2310,0,0,0,0,0,0
$GC,12292,0.57,146.0,110.0,27686.0,870,12296,0.00,2.17,0.00,0.000,4,0.000,0.064,2662,3928,2310,0,0,0,0,0,0
$GC,12340,0.57,146.0,105.2,27686.0,874,12343,0.00,2.08,0.00,0.000,6,0.000,0.041,2662,2631,2309,0,0,0,0,0,0
$GC,12683,0.57,146.0,74.5,27686.0,930,12690,0.00,2.30,0.00,0.000,4,0.000,0.048,2664,1187,2310,0,0,0,0,0,0
$GC,12725,0.57,146.0,70.7,27686.0,937,12732,0.00,2.35,0.00,0.000,6,0.000,0.052,2664,2625,2311,0,0,0,0,0,0
$GC,13073,0.57,146.0,39.6,27686.0,998,13080,0.00,2.30,0.00,0.000,4,0.000,0.048,2665,1194,2311,0,0,0,0,0,0
$GC,13127,0.57,146.0,35.5,27686.0,1007,13133,0.00,2.28,0.00,0.000,6,0.000,0.051,2665,2589,2311,0,0,0,0,0,0
$STATE,13302,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,13302,begin subsurface finish
$FINISH1,21.7,1.026493,49
$GC,13310,0.03,49.4,21.7,-27686.0,1038,13324,0.55,2.28,-6.70,0.000,4,0.143,0.076,2493,3928,2723,0,0,0,0,0,0
$FINISH2,20.5
$STATE,13325,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13325,begin surface
$RAFOS_CLK,632
$RAFOS,6,1295095743,12.833333,12.817500,92,42,42,42,41,41,695,448,1347,1780,295,1634
$RAFOS,5,1295095266,12.700000,12.685000,104,48,44,43,41,41,621,1323,932,312,1831,1589
$RAFOS,4,1295094782,12.566667,12.550555,56,44,42,42,41,41,809,1732,1746,48,1604,1861
$RAFOS,3,1295094324,12.433333,12.423333,57,43,42,41,41,40,860,751,395,1211,770,560
$RAFOS,2,1295093834,12.300000,12.287222,46,43,42,41,41,40,707,1281,945,180,1809,574
$RAFOS,1,1295093348,12.166667,12.152223,50,49,43,43,39,39,940,1249,407,763,389,1081
$RAFOS,0,1295092864,12.033333,12.017777,50,48,48,47,42,39,1707,1779,1699,914,1719,977
$RAFOS_FIX,6713.834961,-5744.570312,150111,121256,2,98,1.00
$IRIDIUM_FIX,6647.44,-5740.25,150111,101029
$TT8_MAMPS,0.028462
$HUMID,50.11
$INTERNAL_PRESSURE,8.75857
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,17.8,18.4
$ALTIM_BOTTOM_PING,17.4,18.4
$24V_AH,21.7,86.915
$10V_AH,9.8,59.621
$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,10.800,92.275,255.550,0.000,0.000,58.287,63.253,257.475,2.000,0.000,33.707,2581.519,8454.614,395.171,2198.960,365.182,0.000,1359.617,0.000,1767.763,2520.000,15.151,0.000
$DEVICE_MAMPS,237.915,75.735,1004.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,718.861,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151696
$DATA_FILE_SIZE,36636,1040
$CAP_FILE_SIZE,133744,0
$CFSIZE,260165632,199348224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.0
$GPS,150111,124656,6713.835,-5744.570,0,2098.0,0,-38.0