version: 66.08
glider: 183
mission: 3
dive: 802
start: 1 21 111 19 48 6
data:
$ID,183
$MISSION,3
$DIVE,802
$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,-12213.804
$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,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
$GPS1,210111,162707,6647.103,-6001.942,0,7103.0,0,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.01
$_SM_ANGLEo,-2.9
$GPS2,210111,162707,6647.103,-6001.942,0,7103.0,0,-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,290.1,18515,-17.5,-10.000
$D_GRID,646
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.53,0.000,2,0.000,0.000,2499,3925,2790,0,0,0,0,0,0
$GC,27,-0.57,-146.0,10.2,-0.0,1,53,0.57,4.25,-17.15,0.000,4,0.096,0.056,2294,1367,3521,0,0,0,0,0,0
$GC,213,-0.57,-146.0,31.3,-11.8,33,220,0.00,2.38,0.00,0.000,6,0.000,0.063,2290,2783,3523,0,0,0,0,0,0
$GC,559,-0.57,-146.0,77.0,-12.6,94,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2783,3522,0,0,0,0,0,0
$GC,898,-0.59,-146.0,114.8,-10.3,142,902,0.00,2.33,0.00,0.000,4,0.000,0.053,2290,1367,3521,0,0,0,0,0,0
$GC,973,-0.65,-146.0,122.5,-9.9,148,977,0.00,2.38,0.00,0.000,6,0.000,0.064,2290,2776,3522,0,0,0,0,0,0
$GC,1300,-0.69,-146.0,154.5,-9.7,178,1304,0.10,2.30,0.00,0.000,4,0.116,0.053,2246,1374,3521,0,0,0,0,0,0
$GC,1322,-0.69,-146.0,157.3,-11.6,179,1329,0.00,2.38,0.00,0.000,6,0.000,0.063,2241,2771,3521,0,0,0,0,0,0
$GC,1648,-0.64,-146.0,198.7,-12.3,210,1652,0.00,2.28,0.00,0.000,4,0.000,0.053,2241,1373,3521,0,0,0,0,0,0
$GC,1678,-0.61,-146.0,202.2,-11.9,212,1683,0.15,2.35,0.00,0.000,6,0.168,0.064,2274,2765,3520,0,0,0,0,0,0
$GC,2004,-0.65,-146.0,231.3,-8.2,242,2008,0.00,2.00,0.00,0.000,4,0.000,0.076,2273,3928,3521,0,0,0,0,0,0
$GC,2064,-0.70,-146.0,236.6,-9.1,247,2067,0.00,1.90,0.00,0.000,6,0.000,0.050,2273,2764,3520,0,0,0,0,0,0
$GC,2397,-0.74,-146.0,265.5,-8.9,278,2402,0.10,2.28,0.00,0.000,4,0.119,0.053,2227,1371,3521,0,0,0,0,0,0
$GC,2463,-0.74,-146.0,273.5,-12.1,283,2470,0.00,2.35,0.00,0.000,6,0.000,0.064,2223,2756,3521,0,0,0,0,0,0
$GC,2790,-0.69,-146.0,311.9,-11.4,314,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2756,3521,0,0,0,0,0,0
$GC,3107,-0.65,-146.0,348.1,-11.5,344,3109,0.15,0.00,0.00,0.000,6,0.176,0.000,2263,2756,3520,0,0,0,0,0,0
$GC,3426,-0.69,-146.0,374.4,-8.3,374,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2756,3520,0,0,0,0,0,0
$GC,3745,-0.74,-146.0,398.8,-7.6,404,3749,0.00,2.28,0.00,0.000,4,0.000,0.052,2263,1372,3520,0,0,0,0,0,0
$GC,3784,-0.80,-146.0,402.2,-7.9,406,3789,0.12,2.35,0.00,0.000,6,0.095,0.063,2205,2753,3520,0,0,0,0,0,0
$GC,4109,-0.74,-146.0,439.0,-11.9,417,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2753,3520,0,0,0,0,0,0
$GC,4416,-0.68,-146.0,473.7,-11.3,427,4418,0.17,0.00,0.00,0.000,6,0.170,0.000,2254,2753,3520,0,0,0,0,0,0
$GC,4722,-0.72,-146.0,498.7,-8.1,437,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2753,3521,0,0,0,0,0,0
$GC,5029,-0.76,-146.0,523.1,-7.6,447,5030,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2753,3521,0,0,0,0,0,0
$GC,5334,-0.81,-146.0,546.1,-7.6,457,5336,0.12,0.00,0.00,0.000,6,0.103,0.000,2197,2754,3522,0,0,0,0,0,0
$GC,5640,-0.74,-146.0,582.3,-12.4,467,5644,0.15,2.05,0.00,0.000,4,0.169,0.072,2230,3929,3522,0,0,0,0,0,0
$GC,5679,-0.74,-146.0,586.7,-10.1,468,5683,0.00,1.92,0.00,0.000,6,0.000,0.047,2230,2747,3522,0,0,0,0,0,0
$GC,6009,-0.74,-146.0,620.3,-9.0,479,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2747,3522,0,0,0,0,0,0
$STATE,6313,end dive,NO_VERTICAL_VELOCITY
$STATE,6313,begin apogee
$GC,6320,-0.14,0.0,627.4,0.0,489,6451,0.55,0.00,124.43,0.998,4,0.091,0.000,2431,2600,2923,0,0,0,0,0,0
$STATE,6452,end apogee,CONTROL_FINISHED_OK
$STATE,6452,begin climb
$GC,6455,0.57,146.0,627.2,0.0,493,6596,0.65,2.42,132.40,0.968,4,0.063,0.050,2662,1187,2327,0,0,0,0,0,0
$GC,6619,0.54,146.0,614.8,10.7,498,6624,0.00,2.62,0.00,0.000,6,0.000,0.055,2661,2601,2324,0,0,0,0,0,0
$GC,6938,0.48,146.0,579.1,12.3,509,6942,0.12,2.30,0.00,0.000,4,0.194,0.069,2631,3936,2316,0,0,0,0,0,0
$GC,7017,0.43,146.0,568.6,11.4,511,7021,0.00,2.17,0.00,0.000,6,0.000,0.045,2634,2611,2315,0,0,0,0,0,0
$GC,7341,0.43,146.0,534.2,10.8,522,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2610,2315,0,0,0,0,0,0
$GC,7648,0.43,146.0,502.6,10.3,532,7652,0.00,2.28,0.00,0.000,4,0.000,0.069,2634,3933,2314,0,0,0,0,0,0
$GC,7704,0.38,146.0,496.0,12.2,533,7711,0.12,2.12,0.00,0.000,6,0.190,0.045,2604,2625,2313,0,0,0,0,0,0
$GC,8017,0.48,197.0,470.7,7.6,544,8062,0.00,0.00,42.95,0.890,6,0.000,0.000,2604,2625,2119,0,0,0,0,0,0
$GC,8357,0.61,236.6,443.1,8.2,555,8398,0.17,2.38,35.08,0.868,4,0.083,0.054,2684,1195,1957,0,0,0,0,0,0
$GC,8421,0.61,236.6,435.3,12.5,557,8425,0.00,2.40,0.00,0.000,6,0.000,0.055,2684,2634,1955,0,0,0,0,0,0
$GC,8743,0.61,236.6,391.4,13.4,571,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2634,1950,0,0,0,0,0,0
$GC,9063,0.61,236.6,349.2,13.2,601,9068,0.00,2.38,0.00,0.000,4,0.000,0.054,2684,1185,1948,0,0,0,0,0,0
$GC,9105,0.64,236.6,343.6,12.4,604,9110,0.00,2.35,0.00,0.000,6,0.000,0.057,2684,2620,1948,0,0,0,0,0,0
$GC,9431,0.64,236.6,302.9,12.3,634,9435,0.00,2.22,0.00,0.000,4,0.000,0.067,2684,3931,1947,0,0,0,0,0,0
$GC,9488,0.60,236.6,294.8,14.5,638,9495,0.00,2.12,0.00,0.000,6,0.000,0.045,2690,2618,1946,0,0,0,0,0,0
$GC,9813,0.60,236.6,255.0,11.9,669,9817,0.00,2.33,0.00,0.000,4,0.000,0.054,2690,1186,1946,0,0,0,0,0,0
$GC,9866,0.64,236.6,249.3,12.1,673,9870,0.00,2.40,0.00,0.000,6,0.000,0.057,2690,2633,1946,0,0,0,0,0,0
$GC,10196,0.64,236.6,210.7,11.8,704,10198,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2634,1946,0,0,0,0,0,0
$GC,10518,0.64,236.6,173.5,11.6,734,10522,0.00,2.22,0.00,0.000,4,0.000,0.069,2690,3932,1946,0,0,0,0,0,0
$GC,10547,0.64,236.6,169.4,14.0,736,10551,0.00,2.12,0.00,0.000,6,0.000,0.046,2690,2631,1945,0,0,0,0,0,0
$GC,10873,0.67,245.2,134.1,9.6,766,10886,0.00,2.35,6.35,0.656,4,0.000,0.054,2690,1185,1925,0,0,0,0,0,0
$GC,10944,0.76,268.9,127.7,8.9,772,10977,0.00,2.40,22.77,0.703,6,0.000,0.057,2690,2632,1824,0,0,0,0,0,0
$GC,11299,0.83,271.0,93.8,9.9,810,11306,0.15,0.00,0.00,0.000,6,0.093,0.000,2754,2632,1820,0,0,0,0,0,0
$GC,11649,0.81,294.1,53.9,8.9,871,11679,0.00,2.25,22.33,0.673,4,0.000,0.071,2754,3933,1721,0,0,0,0,0,0
$GC,11774,0.76,294.1,38.4,12.9,892,11782,0.15,2.10,0.00,0.000,6,0.189,0.047,2724,2654,1717,0,0,0,0,0,0
$FREEZE,8.54,-1.739,-1.747,2,20,2
$FREEZE,8.04,-1.739,-1.747,2,20,2
$FREEZE,7.60,-1.738,-1.747,2,20,2
$FREEZE,7.04,-1.739,-1.746,2,20,2
$FREEZE,6.09,-1.739,-1.745,2,20,2
$FREEZE,5.48,-1.739,-1.745,2,20,2
$GC,12123,0.82,294.1,5.5,11.5,953,12130,0.00,2.38,0.00,0.000,4,0.000,0.055,2724,1185,1715,0,0,0,0,0,0
$FREEZE,4.08,-1.739,-1.744,2,20,2
$FREEZE,3.57,-1.739,-1.743,2,20,2
$FREEZE,3.09,-1.739,-1.743,2,20,2
$FREEZE,2.60,-1.739,-1.743,2,20,2
$STATE,12152,end climb,SURFACE_DEPTH_REACHED
$STATE,12152,begin surface coast
$FREEZE,2.24,-1.722,-1.741,2,20,2
$FREEZE,1.93,-1.736,-1.742,2,20,2
$FREEZE,1.86,-1.736,-1.742,2,20,2
$FREEZE,1.74,-1.736,-1.742,2,20,2
$FREEZE,1.61,-1.739,-1.742,2,20,2
$FREEZE,1.59,-1.738,-1.742,2,20,2
$FINISH,1.6,1.025590
$STATE,12188,end surface coast,CONTROL_FINISHED_OK
$STATE,12188,begin surface
$SM_CCo,12209,244.60,0.603,1,0,439,609.08
$SM_GC,2.62,0.00,0.00,244.60,0.000,0.000,0.603,296,2781,439,-6.81,0.03,609.08
$RAFOS_CLK,728
$RAFOS,6,1295642942,20.833334,20.817223,107,44,43,43,39,39,828,1114,229,271,532,1808
$RAFOS,5,1295642464,20.700001,20.684444,121,44,42,42,41,40,943,559,1292,1379,1157,1880
$RAFOS,4,1295641988,20.566668,20.552221,149,49,45,44,42,39,692,145,1102,231,1672,163
$RAFOS,3,1295641509,20.433332,20.419167,165,40,39,39,39,38,729,1572,783,845,1449,384
$RAFOS,2,1295641021,20.299999,20.283611,110,45,43,43,42,42,641,1114,1562,1793,1873,900
$RAFOS,1,1295640550,20.166666,20.152779,143,69,48,45,44,39,507,508,842,228,198,1189
$RAFOS,0,1295640064,20.033333,20.017778,133,42,41,40,40,39,637,1249,1285,102,355,1563
$RAFOS_FIX,6644.896484,-6005.100586,210111,202058,7,133,0.33
$IRIDIUM_FIX,6641.98,-5833.70,170111,181821
$TT8_MAMPS,0.028462
$HUMID,47.51
$INTERNAL_PRESSURE,8.41676
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.7
$24V_AH,21.2,90.742
$10V_AH,9.7,61.988
$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,10.775,89.000,386.300,244.600,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2423.882,7609.069,646.596,1627.214,239.441,0.000,1533.252,0.000,1611.062,2520.000,15.009,0.000
$DEVICE_MAMPS,193.545,75.735,997.560,602.820,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,675.199,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151708
$DATA_FILE_SIZE,33349,964
$CAP_FILE_SIZE,120963,0
$CFSIZE,260165632,197148672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.3
$GPS,210111,202658,6644.896,-6005.101,0,7132.6,0,-38.2