version: 66.08
glider: 183
mission: 3
dive: 817
start: 1 23 111 21 42 8
data:
$ID,183
$MISSION,3
$DIVE,817
$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,-13322.154
$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,21
$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
$GPS1,230111,203117,6642.895,-5933.625,0,6107.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.49
$_SM_ANGLEo,-2.7
$GPS2,230111,203117,6642.895,-5933.625,0,6107.0,0,-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,110.9,125268,-17.5,-10.000
$D_GRID,862
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.47,0.000,2,0.000,0.000,2494,2583,2837,0,0,0,0,0,0
$GC,28,-0.57,-146.0,9.9,-0.0,1,52,0.55,2.38,-16.70,0.000,4,0.095,0.086,2288,3933,3521,0,0,0,0,0,0
$GC,147,-0.57,-146.0,22.9,-16.7,21,154,0.00,1.85,0.00,0.000,6,0.000,0.049,2288,2781,3521,0,0,0,0,0,0
$GC,493,-0.54,-146.0,67.9,-11.4,82,500,0.00,2.30,0.00,0.000,4,0.000,0.052,2287,1369,3521,0,0,0,0,0,0
$GC,554,-0.57,-146.0,74.6,-10.7,92,561,0.00,2.38,0.00,0.000,6,0.000,0.064,2287,2781,3521,0,0,0,0,0,0
$GC,895,-0.57,-146.0,112.1,-10.5,143,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2781,3521,0,0,0,0,0,0
$GC,1215,-0.60,-146.0,141.7,-9.7,173,1219,0.00,1.98,0.00,0.000,4,0.000,0.076,2284,3928,3521,0,0,0,0,0,0
$GC,1242,-0.64,-146.0,145.0,-10.7,175,1249,0.00,1.90,0.00,0.000,6,0.000,0.050,2284,2777,3521,0,0,0,0,0,0
$GC,1569,-0.68,-146.0,173.7,-7.7,206,1573,0.00,2.28,0.00,0.000,4,0.000,0.053,2284,1371,3520,0,0,0,0,0,0
$GC,1614,-0.74,-146.0,177.1,-7.3,209,1621,0.12,2.40,0.00,0.000,6,0.099,0.063,2223,2781,3520,0,0,0,0,0,0
$GC,1940,-0.68,-146.0,217.4,-13.5,240,1945,0.12,2.33,0.00,0.000,4,0.175,0.053,2256,1373,3520,0,0,0,0,0,0
$GC,2004,-0.72,-146.0,224.8,-11.2,245,2009,0.00,2.38,0.00,0.000,6,0.000,0.065,2252,2777,3520,0,0,0,0,0,0
$GC,2332,-0.72,-146.0,260.9,-10.4,275,2335,0.00,1.98,0.00,0.000,4,0.000,0.075,2247,3928,3519,0,0,0,0,0,0
$GC,2381,-0.72,-146.0,266.6,-10.9,279,2388,0.00,1.90,0.00,0.000,6,0.000,0.050,2247,2766,3519,0,0,0,0,0,0
$GC,2707,-0.72,-146.0,299.6,-10.4,310,2712,0.00,2.25,0.00,0.000,4,0.000,0.051,2247,1372,3519,0,0,0,0,0,0
$GC,2731,-0.72,-146.0,302.2,-11.1,312,2735,0.00,2.38,0.00,0.000,6,0.000,0.064,2247,2776,3519,0,0,0,0,0,0
$GC,3056,-0.72,-146.0,337.0,-10.6,342,3060,0.00,2.03,0.00,0.000,4,0.000,0.074,2247,3925,3519,0,0,0,0,0,0
$GC,3084,-0.72,-146.0,340.2,-10.2,344,3091,0.00,1.90,0.00,0.000,6,0.000,0.049,2247,2762,3519,0,0,0,0,0,0
$GC,3410,-0.72,-146.0,373.2,-10.5,375,3414,0.00,2.25,0.00,0.000,4,0.000,0.051,2247,1369,3519,0,0,0,0,0,0
$GC,3443,-0.74,-146.0,376.7,-10.6,377,3450,0.00,2.38,0.00,0.000,6,0.000,0.063,2247,2776,3519,0,0,0,0,0,0
$GC,3791,-0.74,-146.0,409.1,-9.0,404,3795,0.00,2.00,0.00,0.000,4,0.000,0.074,2247,3936,3519,0,0,0,0,0,0
$GC,3831,-0.74,-146.0,413.3,-9.3,405,3834,0.00,1.90,0.00,0.000,6,0.000,0.048,2247,2772,3519,0,0,0,0,0,0
$GC,4167,-0.74,-146.0,440.5,-8.1,416,4171,0.00,2.28,0.00,0.000,4,0.000,0.050,2247,1365,3520,0,0,0,0,0,0
$GC,4218,-0.78,-146.0,444.7,-7.9,417,4222,0.00,2.38,0.00,0.000,6,0.000,0.062,2247,2774,3519,0,0,0,0,0,0
$GC,4532,-0.78,-146.0,468.3,-7.5,427,4535,0.00,1.98,0.00,0.000,4,0.000,0.073,2247,3928,3520,0,0,0,0,0,0
$GC,4578,-0.80,-146.0,471.9,-7.8,428,4581,0.00,1.88,0.00,0.000,6,0.000,0.048,2247,2777,3520,0,0,0,0,0,0
$GC,4908,-0.80,-146.0,497.7,-7.9,439,4912,0.00,2.28,0.00,0.000,4,0.000,0.050,2247,1370,3520,0,0,0,0,0,0
$GC,4937,-0.83,-146.0,500.2,-8.5,439,4944,0.12,2.38,0.00,0.000,6,0.094,0.062,2189,2781,3520,0,0,0,0,0,0
$GC,5251,-0.74,-146.0,537.5,-12.0,450,5255,0.17,2.00,0.00,0.000,4,0.173,0.072,2230,3929,3521,0,0,0,0,0,0
$GC,5278,-0.71,-146.0,541.0,-10.7,450,5285,0.00,1.90,0.00,0.000,6,0.000,0.047,2230,2774,3521,0,0,0,0,0,0
$GC,5591,-0.71,-146.0,572.8,-10.1,461,5595,0.00,2.28,0.00,0.000,4,0.000,0.049,2230,1370,3521,0,0,0,0,0,0
$GC,5631,-0.71,-146.0,576.9,-10.0,462,5635,0.00,2.38,0.00,0.000,6,0.000,0.062,2230,2780,3521,0,0,0,0,0,0
$STATE,5863,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5863,begin apogee
$GC,5870,-0.14,0.0,600.1,9.9,470,6002,0.60,0.00,123.88,0.984,4,0.133,0.000,2421,2598,2923,0,0,0,0,0,0
$STATE,6002,end apogee,CONTROL_FINISHED_OK
$STATE,6002,begin climb
$GC,6005,0.57,146.0,605.0,0.0,474,6146,0.70,2.42,131.93,0.958,4,0.067,0.050,2666,1185,2326,0,0,0,0,0,0
$GC,6314,0.57,146.0,580.8,10.5,483,6321,0.00,2.47,0.00,0.000,6,0.000,0.056,2666,2605,2317,0,0,0,0,0,0
$GC,6627,0.52,146.0,544.9,11.7,494,6632,0.00,2.30,0.00,0.000,4,0.000,0.053,2668,1184,2315,0,0,0,0,0,0
$GC,6841,0.52,146.0,521.5,10.8,500,6846,0.00,2.33,0.00,0.000,6,0.000,0.056,2668,2607,2315,0,0,0,0,0,0
$GC,7162,0.47,146.0,484.4,11.9,511,7167,0.15,2.25,0.00,0.000,4,0.187,0.067,2629,3933,2314,0,0,0,0,0,0
$GC,7217,0.45,146.0,477.5,11.4,512,7224,0.00,2.17,0.00,0.000,6,0.000,0.045,2629,2601,2312,0,0,0,0,0,0
$GC,7531,0.48,157.2,448.0,9.5,523,7542,0.00,0.00,8.55,0.819,6,0.000,0.000,2628,2602,2282,0,0,0,0,0,0
$GC,7839,0.52,171.9,419.3,9.3,533,7855,0.00,0.00,14.48,0.847,6,0.000,0.000,2629,2601,2222,0,0,0,0,0,0
$GC,8146,0.59,202.0,392.3,8.6,547,8176,0.10,0.00,27.38,0.844,6,0.114,0.000,2678,2602,2100,0,0,0,0,0,0
$GC,8494,0.59,202.0,352.0,11.7,580,8495,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2601,2093,0,0,0,0,0,0
$GC,8813,0.59,202.0,315.3,11.5,610,8814,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2601,2092,0,0,0,0,0,0
$GC,9134,0.59,202.0,280.7,11.1,640,9138,0.00,2.28,0.00,0.000,4,0.000,0.069,2678,3925,2092,0,0,0,0,0,0
$GC,9164,0.54,202.0,276.8,12.6,642,9169,0.12,2.12,0.00,0.000,6,0.189,0.045,2649,2618,2090,0,0,0,0,0,0
$GC,9490,0.60,223.0,246.9,9.0,672,9510,0.00,0.00,18.17,0.761,6,0.000,0.000,2649,2616,2014,0,0,0,0,0,0
$GC,9829,0.66,223.0,213.9,10.3,704,9833,0.12,2.33,0.00,0.000,4,0.099,0.054,2702,1186,2011,0,0,0,0,0,0
$GC,9857,0.66,223.0,210.4,13.3,706,9862,0.00,2.38,0.00,0.000,6,0.000,0.056,2702,2622,2011,0,0,0,0,0,0
$GC,10183,0.66,223.0,169.5,11.3,736,10187,0.00,2.33,0.00,0.000,4,0.000,0.054,2704,1191,2010,0,0,0,0,0,0
$GC,10194,0.66,223.0,168.1,11.1,736,10201,0.00,2.40,0.00,0.000,6,0.000,0.055,2704,2639,2010,0,0,0,0,0,0
$GC,10520,0.66,223.0,132.9,11.2,767,10525,0.00,2.35,0.00,0.000,4,0.000,0.054,2704,1196,2009,0,0,0,0,0,0
$GC,10554,0.69,223.0,129.0,11.1,769,10561,0.00,2.33,0.00,0.000,6,0.000,0.056,2704,2612,2009,0,0,0,0,0,0
$GC,10883,0.69,223.0,93.7,10.8,805,10890,0.00,2.30,0.00,0.000,4,0.000,0.054,2705,1196,2009,0,0,0,0,0,0
$GC,10931,0.74,223.0,88.1,10.8,813,10938,0.00,2.30,0.00,0.000,6,0.000,0.057,2705,2582,2009,0,0,0,0,0,0
$GC,11280,0.77,265.1,56.2,8.1,874,11322,0.00,2.38,36.75,0.669,4,0.000,0.056,2705,1197,1841,0,0,0,0,0,0
$GC,11419,0.86,265.1,44.5,10.8,898,11426,0.12,2.20,0.00,0.000,6,0.100,0.056,2759,2538,1836,0,0,0,0,0,0
$FREEZE,8.87,-1.743,-1.775,3,35,1
$FREEZE,7.80,-1.745,-1.775,3,35,1
$FREEZE,6.80,-1.745,-1.771,3,35,1
$STATE,11765,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,11765,begin subsurface finish
$FINISH1,6.8,1.025956,76
$GC,11773,0.05,75.7,6.8,-11.0,959,11810,0.73,2.28,-27.58,0.000,4,0.083,0.086,2493,3921,2615,0,0,0,0,0,0
$FINISH2,5.3
$STATE,11811,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11811,begin surface
$RAFOS_CLK,689
$RAFOS,6,1295830146,0.833333,0.818333,67,47,44,44,41,41,770,135,156,444,1726,485
$RAFOS,5,1295829667,0.700000,0.685278,45,43,43,41,41,41,618,974,1005,1847,1273,1694
$RAFOS,4,1295829190,0.566667,0.552778,129,46,46,41,39,39,588,574,814,1188,1465,1940
$RAFOS,3,1295828711,0.433333,0.419722,94,46,44,44,42,37,638,1254,315,153,759,1557
$RAFOS,2,1295828224,0.300000,0.284444,120,50,46,43,43,42,626,1058,921,1459,238,305
$RAFOS,1,1295827749,0.166667,0.152500,155,43,42,42,40,40,605,806,1050,1758,932,1338
$RAFOS,0,1295827271,0.033333,0.019722,48,45,45,45,41,40,162,639,296,419,526,1008
$RAFOS_FIX,6641.038574,-5929.654785,240111,000000,5,113,0.32
$IRIDIUM_FIX,6636.54,-5836.58,180111,000051
$TT8_MAMPS,0.028462
$HUMID,50.23
$INTERNAL_PRESSURE,8.61208
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,16.9
$ALTIM_BOTTOM_PING,600.1,11.9
$24V_AH,21.2,92.339
$10V_AH,9.6,62.909
$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,3.750,109.100,361.125,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2395.549,7131.042,424.494,1683.111,249.573,0.000,1338.185,0.000,1667.544,2520.000,17.688,0.000
$DEVICE_MAMPS,188.955,117.045,983.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,674.093,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33426,965
$CAP_FILE_SIZE,122673,0
$CFSIZE,260165632,196239360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.7
$GPS,240111,002900,6641.039,-5929.655,0,5113.0,0,-38.2