version: 66.08
glider: 183
mission: 3
dive: 812
start: 1 23 111 3 15 55
data:
$ID,183
$MISSION,3
$DIVE,812
$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,-12952.191
$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,29
$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
$GPS1,230111,002725,6641.532,-5956.772,0,7110.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.81
$_SM_ANGLEo,-4.1
$GPS2,230111,002725,6641.532,-5956.772,0,7110.0,0,-38.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,5000.000
$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,111.9,142000,-17.5,-10.000
$D_GRID,688
$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,-5.60,0.000,2,0.000,0.000,2497,1195,2814,0,0,0,0,0,0
$GC,28,-0.57,-146.0,10.0,-0.0,1,54,0.55,4.70,-16.80,0.000,4,0.082,0.072,2281,3920,3521,0,0,0,0,0,0
$GC,287,-0.54,-146.0,44.6,-14.2,46,294,0.00,1.85,0.00,0.000,6,0.000,0.048,2281,2781,3522,0,0,0,0,0,0
$GC,635,-0.52,-146.0,94.0,-12.8,107,641,0.00,2.28,0.00,0.000,4,0.000,0.052,2281,1371,3521,0,0,0,0,0,0
$GC,688,-0.52,-146.0,100.9,-11.7,115,695,0.00,2.33,0.00,0.000,6,0.000,0.063,2277,2761,3521,0,0,0,0,0,0
$GC,1013,-0.52,-146.0,138.2,-11.9,146,1017,0.00,2.28,0.00,0.000,4,0.000,0.053,2277,1371,3521,0,0,0,0,0,0
$GC,1052,-0.54,-146.0,143.0,-11.9,149,1059,0.00,2.33,0.00,0.000,6,0.000,0.063,2275,2752,3520,0,0,0,0,0,0
$GC,1379,-0.54,-146.0,178.0,-10.3,180,1383,0.00,2.03,0.00,0.000,4,0.000,0.075,2273,3926,3521,0,0,0,0,0,0
$GC,1396,-0.54,-146.0,179.9,-9.9,181,1404,0.00,1.98,0.00,0.000,6,0.000,0.049,2272,2732,3520,0,0,0,0,0,0
$GC,1722,-0.57,-146.0,213.5,-10.3,212,1726,0.00,2.22,0.00,0.000,4,0.000,0.052,2272,1369,3521,0,0,0,0,0,0
$GC,1747,-0.60,-146.0,216.0,-10.2,214,1751,0.00,2.33,0.00,0.000,6,0.000,0.064,2273,2747,3520,0,0,0,0,0,0
$GC,2073,-0.64,-146.0,247.7,-9.6,244,2077,0.00,2.05,0.00,0.000,4,0.000,0.075,2272,3927,3520,0,0,0,0,0,0
$GC,2133,-0.69,-146.0,253.3,-9.3,249,2136,0.00,1.95,0.00,0.000,6,0.000,0.050,2272,2735,3519,0,0,0,0,0,0
$GC,2465,-0.73,-146.0,282.7,-8.2,280,2469,0.00,2.20,0.00,0.000,4,0.000,0.052,2272,1372,3520,0,0,0,0,0,0
$GC,2496,-0.78,-146.0,285.5,-9.2,282,2501,0.15,2.33,0.00,0.000,6,0.092,0.063,2209,2749,3520,0,0,0,0,0,0
$GC,2822,-0.70,-146.0,328.9,-13.0,312,2827,0.15,2.05,0.00,0.000,4,0.175,0.073,2242,3928,3520,0,0,0,0,0,0
$GC,2867,-0.70,-146.0,334.2,-10.5,315,2873,0.00,1.92,0.00,0.000,6,0.000,0.049,2242,2750,3520,0,0,0,0,0,0
$GC,3195,-0.70,-146.0,367.4,-10.3,346,3200,0.00,2.22,0.00,0.000,4,0.000,0.052,2242,1372,3520,0,0,0,0,0,0
$GC,3260,-0.70,-146.0,374.0,-10.0,351,3264,0.00,2.30,0.00,0.000,6,0.000,0.063,2235,2735,3520,0,0,0,0,0,0
$GC,3603,-0.70,-146.0,410.6,-10.9,377,3607,0.00,2.05,0.00,0.000,4,0.000,0.073,2229,3929,3520,0,0,0,0,0,0
$GC,3648,-0.70,-146.0,416.0,-12.3,378,3652,0.00,1.95,0.00,0.000,6,0.000,0.048,2229,2734,3520,0,0,0,0,0,0
$GC,3981,-0.68,-146.0,452.5,-10.9,389,3985,0.00,2.08,0.00,0.000,4,0.000,0.074,2222,3928,3519,0,0,0,0,0,0
$GC,4033,-0.65,-146.0,458.8,-12.1,390,4037,0.15,1.92,0.00,0.000,6,0.157,0.047,2263,2750,3520,0,0,0,0,0,0
$GC,4349,-0.70,-146.0,485.2,-7.9,400,4353,0.00,2.22,0.00,0.000,4,0.000,0.051,2263,1370,3520,0,0,0,0,0,0
$GC,4383,-0.76,-146.0,488.2,-8.2,401,4387,0.00,2.33,0.00,0.000,6,0.000,0.062,2261,2752,3520,0,0,0,0,0,0
$GC,4716,-0.80,-146.0,514.1,-7.9,412,4721,0.12,2.05,0.00,0.000,4,0.103,0.073,2202,3930,3520,0,0,0,0,0,0
$GC,4745,-0.75,-146.0,517.1,-10.0,413,4749,0.00,1.92,0.00,0.000,6,0.000,0.047,2202,2747,3520,0,0,0,0,0,0
$GC,5088,-0.69,-146.0,555.6,-11.1,424,5090,0.17,0.00,0.00,0.000,6,0.171,0.000,2251,2747,3520,0,0,0,0,0,0
$GC,5394,-0.72,-146.0,579.9,-7.7,434,5398,0.00,2.22,0.00,0.000,4,0.000,0.050,2251,1366,3521,0,0,0,0,0,0
$GC,5424,-0.76,-146.0,582.5,-8.1,435,5428,0.00,2.33,0.00,0.000,6,0.000,0.062,2248,2748,3521,0,0,0,0,0,0
$GC,5763,-0.79,-146.0,609.2,-7.8,446,5766,0.00,2.03,0.00,0.000,4,0.000,0.073,2242,3926,3521,0,0,0,0,0,0
$GC,5832,-0.82,-146.0,615.3,-8.9,448,5836,0.00,1.95,0.00,0.000,6,0.000,0.047,2242,2758,3521,0,0,0,0,0,0
$GC,6174,-0.82,-146.0,644.4,-8.4,459,6175,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2759,3521,0,0,0,0,0,0
$STATE,6265,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6265,begin apogee
$GC,6272,-0.14,0.0,652.2,8.4,462,6404,0.57,0.00,124.53,1.014,4,0.131,0.000,2426,2597,2922,0,0,0,0,0,0
$STATE,6404,end apogee,CONTROL_FINISHED_OK
$STATE,6404,begin climb
$GC,6407,0.57,146.0,657.0,0.0,466,6549,0.68,2.45,132.68,0.988,4,0.063,0.050,2666,1180,2327,0,0,0,0,0,0
$GC,6725,0.57,146.0,631.0,11.4,476,6730,0.00,2.47,0.00,0.000,6,0.000,0.056,2666,2610,2320,0,0,0,0,0,0
$GC,7062,0.52,146.0,591.5,11.7,487,7066,0.00,2.30,0.00,0.000,4,0.000,0.053,2666,1189,2316,0,0,0,0,0,0
$GC,7320,0.52,147.6,564.0,9.9,494,7325,0.00,2.33,0.00,0.000,6,0.000,0.057,2666,2601,2316,0,0,0,0,0,0
$GC,7641,0.48,147.6,528.6,11.3,505,7646,0.12,2.28,0.00,0.000,4,0.197,0.069,2634,3933,2315,0,0,0,0,0,0
$GC,7680,0.44,147.6,523.9,11.3,506,7684,0.00,2.17,0.00,0.000,6,0.000,0.045,2635,2598,2314,0,0,0,0,0,0
$GC,8011,0.47,180.3,494.8,8.5,517,8042,0.00,0.00,28.95,0.905,6,0.000,0.000,2634,2598,2187,0,0,0,0,0,0
$GC,8347,0.51,208.3,465.3,8.7,528,8380,0.00,2.30,25.40,0.883,4,0.000,0.052,2634,1195,2072,0,0,0,0,0,0
$GC,8398,0.61,244.2,460.7,8.3,529,8438,0.10,2.33,32.42,0.871,6,0.109,0.056,2680,2590,1926,0,0,0,0,0,0
$GC,8752,0.61,244.2,418.3,12.6,541,8756,0.00,2.28,0.00,0.000,4,0.000,0.068,2680,3932,1918,0,0,0,0,0,0
$GC,8774,0.58,244.2,415.0,14.4,541,8780,0.00,2.17,0.00,0.000,6,0.000,0.045,2683,2596,1917,0,0,0,0,0,0
$GC,9095,0.58,244.2,371.5,13.5,564,9099,0.00,2.28,0.00,0.000,4,0.000,0.054,2684,1195,1916,0,0,0,0,0,0
$GC,9140,0.62,244.2,365.6,12.0,567,9147,0.00,2.28,0.00,0.000,6,0.000,0.055,2684,2583,1916,0,0,0,0,0,0
$GC,9466,0.62,244.2,323.6,12.7,598,9467,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2583,1915,0,0,0,0,0,0
$GC,9788,0.62,244.2,284.6,12.3,628,9792,0.00,2.25,0.00,0.000,4,0.000,0.054,2684,1193,1915,0,0,0,0,0,0
$GC,9829,0.67,244.2,279.6,11.5,631,9833,0.00,2.30,0.00,0.000,6,0.000,0.056,2684,2581,1915,0,0,0,0,0,0
$GC,10155,0.67,244.2,240.6,11.9,661,10156,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2581,1914,0,0,0,0,0,0
$GC,10477,0.69,244.2,202.2,12.3,691,10481,0.00,2.30,0.00,0.000,4,0.000,0.068,2683,3934,1914,0,0,0,0,0,0
$GC,10521,0.69,244.2,195.8,13.3,694,10528,0.00,2.22,0.00,0.000,6,0.000,0.045,2684,2575,1912,0,0,0,0,0,0
$GC,10847,0.73,244.2,158.8,11.8,725,10851,0.00,2.28,0.00,0.000,4,0.000,0.054,2684,1184,1912,0,0,0,0,0,0
$GC,10899,0.81,244.2,153.2,10.2,729,10903,0.15,2.33,0.00,0.000,6,0.093,0.057,2746,2581,1912,0,0,0,0,0,0
$GC,11230,0.76,244.2,111.5,10.9,760,11231,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2580,1912,0,0,0,0,0,0
$GC,11561,0.73,244.2,73.9,11.2,809,11568,0.15,2.33,0.00,0.000,4,0.178,0.070,2706,3925,1912,0,0,0,0,0,0
$GC,11604,0.73,255.6,69.6,9.5,816,11618,0.00,2.20,9.10,0.669,6,0.000,0.047,2706,2570,1880,0,0,0,0,0,0
$GC,11960,0.82,302.7,44.2,7.8,878,12008,0.00,2.35,41.53,0.663,4,0.000,0.056,2706,1187,1686,0,0,0,0,0,0
$GC,12028,0.92,312.6,37.7,9.5,889,12044,0.17,2.30,9.38,0.621,6,0.083,0.057,2777,2576,1648,0,0,0,0,0,0
$FREEZE,8.59,-1.755,-1.765,2,30,2
$FREEZE,7.81,-1.755,-1.764,2,30,2
$FREEZE,7.09,-1.756,-1.764,2,30,2
$FREEZE,6.38,-1.757,-1.763,2,30,2
$FREEZE,5.82,-1.757,-1.763,2,30,2
$FREEZE,5.30,-1.757,-1.763,2,30,2
$FREEZE,4.61,-1.756,-1.762,2,30,2
$FREEZE,3.86,-1.756,-1.761,2,30,2
$FREEZE,3.08,-1.755,-1.761,2,30,2
$FREEZE,2.47,-1.756,-1.760,2,30,2
$STATE,12271,end climb,SURFACE_DEPTH_REACHED
$STATE,12271,begin surface coast
$FREEZE,1.66,-1.756,-1.760,2,30,2
$FREEZE,1.27,-1.758,-1.760,2,30,2
$FREEZE,1.52,-1.758,-1.759,2,30,2
$FREEZE,1.23,-1.757,-1.759,2,30,2
$FINISH,1.2,1.025846
$STATE,12295,end surface coast,CONTROL_FINISHED_OK
$STATE,12295,begin surface
$SM_CCo,12314,230.52,0.597,1,0,440,609.08
$SM_GC,1.86,0.00,0.00,230.52,0.000,0.000,0.597,288,2791,440,-6.84,0.31,609.08
$RAFOS_CLK,729
$RAFOS,6,1295758158,4.833333,4.821667,184,52,46,46,46,44,706,846,1212,1594,1764,444
$RAFOS,5,1295757669,4.700000,4.685833,77,50,48,46,44,43,863,294,1110,985,1793,477
$RAFOS,4,1295757204,4.566667,4.556667,106,58,54,46,44,43,559,1298,1499,493,1170,1809
$RAFOS,3,1295756715,4.433333,4.420833,111,45,41,40,39,39,671,1303,796,25,914,1364
$RAFOS,2,1295756225,4.300000,4.284722,149,45,43,41,40,39,615,1939,1540,860,393,978
$RAFOS,1,1295755745,4.166667,4.151389,121,46,43,42,40,40,562,205,843,1549,563,1024
$RAFOS,0,1295755268,4.033333,4.018889,93,49,48,44,43,42,661,250,1330,1552,432,1908
$RAFOS_FIX,6642.619141,-5951.184570,230111,040434,7,120,0.32
$IRIDIUM_FIX,6636.54,-5836.58,180111,000051
$TT8_MAMPS,0.029211
$HUMID,48.50
$INTERNAL_PRESSURE,8.41676
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,999.0
$ALTIM_BOTTOM_PING,652.2,12.3
$24V_AH,21.1,91.808
$10V_AH,9.6,62.585
$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,10.400,117.450,403.975,230.525,0.000,0.000,0.000,0.000,2.750,0.000,0.000,2441.494,7550.690,658.500,1717.542,266.477,0.000,1602.952,0.000,1698.790,2520.000,22.494,0.000
$DEVICE_MAMPS,196.605,74.970,1013.625,597.465,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,654.797,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151684
$DATA_FILE_SIZE,33410,936
$CAP_FILE_SIZE,130335,0
$CFSIZE,260165632,196542464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.7
$GPS,230111,042734,6642.619,-5951.185,0,7120.1,0,-38.2