version: 66.08
glider: 183
mission: 3
dive: 825
start: 1 25 111 7 1 48
data:
$ID,183
$MISSION,3
$DIVE,825
$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,-13323.409
$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,31
$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
$GPS1,250111,043056,6640.489,-5857.078,0,2064.5,0,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.47
$_SM_ANGLEo,0.8
$GPS2,250111,043056,6640.489,-5857.078,0,2064.5,0,-37.7
$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,103.6,102112,-17.5,-10.000
$D_GRID,833
$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,-5.62,0.000,2,0.000,0.000,2494,1177,2916,0,0,0,0,0,0
$GC,28,-0.57,-146.0,7.6,-0.0,1,53,0.57,0.30,-17.48,0.000,4,0.105,0.160,2292,1373,3520,0,0,0,0,0,0
$GC,133,-0.57,-146.0,17.4,-16.7,19,140,0.00,2.38,0.00,0.000,6,0.000,0.064,2292,2779,3521,0,0,0,0,0,0
$GC,481,-0.57,-146.0,52.0,-8.7,80,487,0.00,2.30,0.00,0.000,4,0.000,0.054,2292,1370,3521,0,0,0,0,0,0
$GC,520,-0.61,-146.0,56.3,-11.1,86,527,0.00,2.40,0.00,0.000,6,0.000,0.063,2292,2784,3521,0,0,0,0,0,0
$GC,867,-0.64,-146.0,92.0,-13.2,147,874,0.00,2.00,0.00,0.000,4,0.000,0.074,2286,3936,3521,0,0,0,0,0,0
$GC,938,-0.69,-146.0,100.5,-10.6,159,942,0.10,1.88,0.00,0.000,6,0.113,0.049,2237,2781,3520,0,0,0,0,0,0
$GC,1269,-0.64,-146.0,144.9,-13.7,190,1274,0.12,2.35,0.00,0.000,4,0.177,0.052,2270,1362,3520,0,0,0,0,0,0
$GC,1291,-0.64,-146.0,148.0,-12.9,191,1297,0.00,2.40,0.00,0.000,6,0.000,0.063,2270,2773,3520,0,0,0,0,0,0
$GC,1618,-0.66,-146.0,180.5,-9.6,222,1622,0.00,2.30,0.00,0.000,4,0.000,0.052,2270,1365,3520,0,0,0,0,0,0
$GC,1652,-0.70,-146.0,184.4,-10.3,224,1659,0.00,2.38,0.00,0.000,6,0.000,0.063,2270,2771,3520,0,0,0,0,0,0
$GC,1980,-0.73,-146.0,217.0,-9.7,255,1984,0.00,2.05,0.00,0.000,4,0.000,0.075,2270,3947,3519,0,0,0,0,0,0
$GC,2018,-0.78,-146.0,221.2,-10.3,258,2026,0.12,1.98,0.00,0.000,6,0.103,0.049,2216,2757,3518,0,0,0,0,0,0
$GC,2346,-0.71,-146.0,261.4,-11.5,289,2348,0.12,0.00,0.00,0.000,6,0.181,0.000,2248,2757,3518,0,0,0,0,0,0
$GC,2663,-0.71,-146.0,289.7,-9.0,319,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2757,3519,0,0,0,0,0,0
$GC,2985,-0.71,-146.0,319.1,-9.6,349,2989,0.00,2.08,0.00,0.000,4,0.000,0.076,2247,3934,3518,0,0,0,0,0,0
$GC,3024,-0.71,-146.0,323.4,-10.0,352,3030,0.00,1.92,0.00,0.000,6,0.000,0.048,2247,2770,3518,0,0,0,0,0,0
$GC,3349,-0.71,-146.0,356.2,-10.2,383,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2770,3518,0,0,0,0,0,0
$GC,3670,-0.71,-146.0,390.1,-10.3,413,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2770,3518,0,0,0,0,0,0
$GC,3988,-0.71,-146.0,419.5,-8.8,430,3993,0.00,2.28,0.00,0.000,4,0.000,0.050,2247,1362,3518,0,0,0,0,0,0
$GC,4011,-0.71,-146.0,421.8,-8.6,430,4018,0.00,2.40,0.00,0.000,6,0.000,0.062,2247,2770,3519,0,0,0,0,0,0
$GC,4324,-0.71,-146.0,447.8,-8.4,441,4328,0.00,2.00,0.00,0.000,4,0.000,0.073,2247,3930,3519,0,0,0,0,0,0
$GC,4354,-0.71,-146.0,450.3,-8.0,441,4361,0.00,1.92,0.00,0.000,6,0.000,0.047,2247,2759,3519,0,0,0,0,0,0
$GC,4668,-0.71,-146.0,477.3,-8.5,452,4672,0.00,2.25,0.00,0.000,4,0.000,0.050,2247,1364,3519,0,0,0,0,0,0
$GC,4701,-0.74,-146.0,480.4,-8.4,453,4706,0.00,2.35,0.00,0.000,6,0.000,0.061,2247,2758,3519,0,0,0,0,0,0
$GC,5033,-0.74,-146.0,507.2,-8.2,464,5036,0.00,2.05,0.00,0.000,4,0.000,0.072,2245,3938,3519,0,0,0,0,0,0
$GC,5078,-0.74,-146.0,511.2,-8.6,465,5081,0.00,1.95,0.00,0.000,6,0.000,0.047,2245,2758,3519,0,0,0,0,0,0
$GC,5409,-0.74,-146.0,537.8,-8.2,476,5413,0.00,2.25,0.00,0.000,4,0.000,0.050,2244,1369,3520,0,0,0,0,0,0
$GC,5437,-0.77,-146.0,540.3,-8.5,476,5444,0.00,2.35,0.00,0.000,6,0.000,0.062,2242,2765,3520,0,0,0,0,0,0
$GC,5750,-0.77,-146.0,566.1,-8.4,487,5754,0.00,2.00,0.00,0.000,4,0.000,0.072,2235,3928,3520,0,0,0,0,0,0
$GC,5796,-0.77,-146.0,570.5,-10.1,488,5800,0.00,1.90,0.00,0.000,6,0.000,0.047,2235,2761,3520,0,0,0,0,0,0
$GC,6126,-0.77,-146.0,600.0,-9.0,499,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2761,3520,0,0,0,0,0,0
$STATE,6157,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6157,begin apogee
$GC,6164,-0.14,0.0,602.8,9.0,500,6295,0.60,0.00,123.72,0.982,4,0.131,0.000,2427,2599,2922,0,0,0,0,0,0
$STATE,6296,end apogee,CONTROL_FINISHED_OK
$STATE,6296,begin climb
$GC,6299,0.57,146.0,607.1,0.0,504,6438,0.62,0.00,131.55,0.954,6,0.067,0.000,2662,2599,2326,0,0,0,0,0,0
$GC,6752,0.53,146.0,563.3,11.9,519,6756,0.00,2.30,0.00,0.000,4,0.000,0.069,2662,3935,2317,0,0,0,0,0,0
$GC,6775,0.45,146.0,560.3,12.6,519,6782,0.15,2.17,0.00,0.000,6,0.200,0.045,2626,2604,2316,0,0,0,0,0,0
$GC,7089,0.47,147.6,528.5,9.9,530,7091,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2604,2315,0,0,0,0,0,0
$GC,7395,0.50,150.5,497.8,9.9,540,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2604,2315,0,0,0,0,0,0
$GC,7702,0.53,166.8,468.8,9.2,550,7721,0.00,0.00,17.00,0.872,6,0.000,0.000,2626,2604,2243,0,0,0,0,0,0
$GC,8007,0.58,192.4,441.7,8.8,560,8040,0.12,2.38,23.52,0.864,4,0.099,0.054,2681,1190,2138,0,0,0,0,0,0
$GC,8076,0.58,192.4,433.9,11.8,562,8080,0.00,2.35,0.00,0.000,6,0.000,0.056,2681,2605,2136,0,0,0,0,0,0
$GC,8394,0.54,192.4,392.8,13.1,575,8399,0.12,2.28,0.00,0.000,4,0.190,0.068,2649,3928,2133,0,0,0,0,0,0
$GC,8428,0.52,192.4,387.8,13.5,577,8435,0.00,2.17,0.00,0.000,6,0.000,0.044,2649,2597,2131,0,0,0,0,0,0
$GC,8754,0.52,192.4,352.0,11.1,608,8758,0.00,2.25,0.00,0.000,4,0.000,0.053,2649,1194,2131,0,0,0,0,0,0
$GC,8809,0.58,192.4,345.8,11.0,612,8816,0.00,2.33,0.00,0.000,6,0.000,0.056,2648,2600,2132,0,0,0,0,0,0
$GC,9135,0.60,192.4,310.4,10.7,643,9139,0.00,2.30,0.00,0.000,4,0.000,0.067,2649,3935,2131,0,0,0,0,0,0
$GC,9169,0.60,192.4,306.0,12.6,645,9175,0.00,2.15,0.00,0.000,6,0.000,0.044,2652,2603,2130,0,0,0,0,0,0
$GC,9494,0.60,192.4,272.4,10.0,676,9495,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2603,2130,0,0,0,0,0,0
$GC,9817,0.62,192.4,239.7,10.6,706,9824,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2603,2130,0,0,0,0,0,0
$GC,10148,0.64,192.4,206.1,10.6,737,10152,0.00,2.28,0.00,0.000,4,0.000,0.053,2652,1189,2130,0,0,0,0,0,0
$GC,10170,0.69,194.2,203.3,9.9,738,10178,0.12,2.33,0.00,0.000,6,0.099,0.056,2706,2602,2130,0,0,0,0,0,0
$GC,10496,0.63,194.2,160.8,13.0,769,10500,0.00,2.25,0.00,0.000,4,0.000,0.067,2707,3926,2130,0,0,0,0,0,0
$GC,10599,0.53,194.2,147.2,13.3,778,10604,0.22,2.12,0.00,0.000,6,0.179,0.045,2648,2614,2129,0,0,0,0,0,0
$GC,10926,0.61,232.7,121.2,8.2,808,10965,0.00,0.00,34.60,0.695,6,0.000,0.000,2647,2614,1973,0,0,0,0,0,0
$GC,11293,0.74,289.3,88.1,7.4,854,11348,0.20,2.42,48.50,0.669,4,0.083,0.054,2727,1186,1742,0,0,0,0,0,0
$GC,11402,0.77,289.3,75.6,12.2,872,11409,0.00,2.35,0.00,0.000,6,0.000,0.057,2727,2613,1736,0,0,0,0,0,0
$GC,11747,0.77,289.3,32.7,16.6,933,11753,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2613,1731,0,0,0,0,0,0
$FREEZE,8.80,-1.729,-1.810,3,3,0
$STATE,11915,end climb,FINISH_DEPTH_REACHED
$STATE,11915,begin subsurface finish
$FINISH1,8.8,1.026489,50
$GC,11923,0.03,49.6,8.8,-10.4,962,11976,0.77,2.40,-42.83,0.000,4,0.153,0.065,2491,1185,2722,0,0,0,0,0,0
$FINISH2,2.9
$STATE,11977,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11977,begin surface
$RAFOS_CLK,697
$RAFOS,6,1295945344,8.833333,8.817778,74,44,43,43,42,42,731,996,1577,1633,1672,149
$RAFOS,5,1295944878,8.700000,8.688334,47,41,41,41,40,39,1889,478,1034,516,154,1491
$RAFOS,4,1295944410,8.566667,8.558333,117,44,44,43,42,39,459,871,26,1209,1007,1910
$RAFOS,3,1295943906,8.433333,8.418333,49,46,44,43,42,42,1500,57,1074,73,972,396
$RAFOS,2,1295943450,8.300000,8.291667,46,45,44,43,41,41,26,1062,1043,1374,262,44
$RAFOS,1,1295942954,8.166667,8.153889,50,45,45,42,42,41,1365,144,838,314,1004,471
$RAFOS,0,1295942467,8.033334,8.018611,45,45,45,42,41,40,170,286,791,1216,26,1539
$RAFOS_FIX,6644.569336,-5843.502441,250111,080844,2,96,0.82
$IRIDIUM_FIX,6636.54,-5836.58,180111,000051
$TT8_MAMPS,0.028462
$HUMID,49.76
$INTERNAL_PRESSURE,8.62185
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,999.0
$ALTIM_BOTTOM_PING,602.8,11.9
$24V_AH,21.3,93.262
$10V_AH,9.7,63.452
$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,4.000,93.475,378.900,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2385.031,7341.957,455.068,1610.740,249.576,0.000,1350.513,0.000,1598.533,2520.000,17.897,0.000
$DEVICE_MAMPS,199.665,159.885,982.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,676.986,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151704
$DATA_FILE_SIZE,36677,971
$CAP_FILE_SIZE,119503,0
$CFSIZE,260165632,195706880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.2
$GPS,250111,084344,6644.569,-5843.502,0,2095.5,0,-37.7