version: 66.08
glider: 183
mission: 3
dive: 827
start: 1 25 111 14 36 8
data:
$ID,183
$MISSION,3
$DIVE,827
$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,20
$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
$GPS1,250111,084344,6644.569,-5843.502,0,2095.5,0,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.35
$_SM_ANGLEo,-3.4
$GPS2,250111,084344,6644.569,-5843.502,0,2095.5,0,-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,105.4,90124,-17.5,-10.000
$D_GRID,793
$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,12,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.53,0.000,2,0.000,0.000,2489,1179,2986,0,0,0,0,0,0
$GC,27,-0.57,-146.0,13.4,-0.0,1,47,0.52,4.75,-11.02,0.000,4,0.086,0.069,2288,3936,3521,0,0,0,0,0,0
$GC,236,-0.59,-146.0,35.9,-11.1,37,243,0.00,1.90,0.00,0.000,6,0.000,0.047,2287,2778,3521,0,0,0,0,0,0
$GC,583,-0.62,-146.0,73.9,-10.0,98,590,0.00,2.30,0.00,0.000,4,0.000,0.053,2288,1372,3521,0,0,0,0,0,0
$GC,633,-0.66,-146.0,78.9,-7.8,106,639,0.00,2.35,0.00,0.000,6,0.000,0.062,2288,2758,3521,0,0,0,0,0,0
$GC,979,-0.70,-146.0,112.8,-11.6,157,984,0.10,2.28,0.00,0.000,4,0.119,0.051,2242,1372,3521,0,0,0,0,0,0
$GC,1012,-0.67,-146.0,117.5,-13.8,159,1019,0.00,2.33,0.00,0.000,6,0.000,0.063,2234,2752,3520,0,0,0,0,0,0
$GC,1338,-0.61,-146.0,160.7,-13.1,190,1340,0.15,0.00,0.00,0.000,6,0.178,0.000,2275,2752,3520,0,0,0,0,0,0
$GC,1656,-0.65,-146.0,190.9,-9.0,220,1660,0.00,2.28,0.00,0.000,4,0.000,0.052,2276,1363,3520,0,0,0,0,0,0
$GC,1693,-0.71,-146.0,194.4,-9.5,223,1697,0.00,2.35,0.00,0.000,6,0.000,0.062,2276,2752,3520,0,0,0,0,0,0
$GC,2025,-0.76,-146.0,226.1,-9.5,254,2030,0.12,2.08,0.00,0.000,4,0.103,0.074,2215,3936,3519,0,0,0,0,0,0
$GC,2061,-0.70,-146.0,230.3,-13.2,257,2066,0.08,1.98,0.00,0.000,6,0.147,0.047,2247,2755,3519,0,0,0,0,0,0
$GC,2394,-0.70,-146.0,265.0,-9.8,288,2398,0.00,2.28,0.00,0.000,4,0.000,0.051,2248,1361,3520,0,0,0,0,0,0
$GC,2447,-0.73,-146.0,270.4,-9.7,292,2451,0.00,2.35,0.00,0.000,6,0.000,0.063,2248,2754,3519,0,0,0,0,0,0
$GC,2773,-0.73,-146.0,303.6,-10.2,322,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2754,3519,0,0,0,0,0,0
$GC,3096,-0.73,-146.0,334.1,-9.0,352,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2754,3519,0,0,0,0,0,0
$GC,3425,-0.73,-146.0,363.7,-9.4,383,3429,0.00,2.25,0.00,0.000,4,0.000,0.051,2248,1369,3519,0,0,0,0,0,0
$GC,3449,-0.73,-146.0,366.4,-9.7,384,3456,0.00,2.33,0.00,0.000,6,0.000,0.062,2247,2748,3519,0,0,0,0,0,0
$GC,3775,-0.73,-146.0,396.4,-9.3,415,3779,0.00,2.05,0.00,0.000,4,0.000,0.073,2248,3934,3519,0,0,0,0,0,0
$GC,3826,-0.75,-146.0,401.4,-9.9,419,3830,0.00,1.95,0.00,0.000,6,0.000,0.047,2247,2754,3520,0,0,0,0,0,0
$GC,4151,-0.75,-146.0,433.1,-10.3,430,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2753,3519,0,0,0,0,0,0
$GC,4458,-0.75,-146.0,463.8,-9.8,440,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2753,3519,0,0,0,0,0,0
$GC,4764,-0.75,-146.0,491.1,-8.9,450,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2753,3520,0,0,0,0,0,0
$GC,5070,-0.77,-146.0,518.3,-8.9,460,5074,0.00,2.05,0.00,0.000,4,0.000,0.073,2241,3935,3520,0,0,0,0,0,0
$GC,5101,-0.77,-146.0,521.1,-9.7,460,5107,0.00,1.95,0.00,0.000,6,0.000,0.047,2240,2754,3520,0,0,0,0,0,0
$GC,5416,-0.77,-146.0,551.5,-9.8,471,5420,0.00,2.25,0.00,0.000,4,0.000,0.050,2240,1359,3519,0,0,0,0,0,0
$GC,5455,-0.81,-146.0,555.7,-10.1,472,5459,0.00,2.38,0.00,0.000,6,0.000,0.061,2235,2769,3520,0,0,0,0,0,0
$GC,5780,-0.81,-146.0,588.3,-10.0,483,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2769,3520,0,0,0,0,0,0
$STATE,5901,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5901,begin apogee
$GC,5908,-0.14,0.0,600.3,9.8,487,6037,0.60,0.00,122.88,0.976,4,0.131,0.000,2427,2599,2923,0,0,0,0,0,0
$STATE,6037,end apogee,CONTROL_FINISHED_OK
$STATE,6037,begin climb
$GC,6040,0.57,146.0,605.4,0.0,491,6179,0.68,2.42,131.23,0.949,4,0.063,0.050,2667,1187,2327,0,0,0,0,0,0
$GC,6343,0.57,146.0,583.0,10.6,500,6347,0.00,2.45,0.00,0.000,6,0.000,0.056,2667,2606,2318,0,0,0,0,0,0
$GC,6662,0.51,146.0,549.2,10.6,511,6666,0.00,2.33,0.00,0.000,4,0.000,0.052,2670,1185,2315,0,0,0,0,0,0
$GC,6876,0.52,155.8,528.1,9.5,517,6893,0.00,2.35,7.85,0.820,6,0.000,0.057,2670,2606,2287,0,0,0,0,0,0
$GC,7202,0.47,155.8,492.3,11.4,528,7207,0.15,2.28,0.00,0.000,4,0.190,0.069,2631,3929,2285,0,0,0,0,0,0
$GC,7241,0.45,155.8,487.4,11.5,529,7245,0.00,2.15,0.00,0.000,6,0.000,0.044,2631,2604,2284,0,0,0,0,0,0
$GC,7576,0.46,178.9,457.3,8.9,540,7600,0.00,0.00,21.55,0.870,6,0.000,0.000,2631,2603,2192,0,0,0,0,0,0
$GC,7886,0.52,205.2,430.1,8.8,550,7918,0.00,2.35,23.67,0.853,4,0.000,0.053,2632,1199,2085,0,0,0,0,0,0
$GC,7936,0.61,234.2,425.3,8.7,551,7971,0.12,2.33,26.90,0.838,6,0.098,0.057,2688,2610,1967,0,0,0,0,0,0
$GC,8286,0.58,234.2,377.3,14.8,572,8287,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2610,1959,0,0,0,0,0,0
$GC,8604,0.56,234.2,330.2,14.4,602,8609,0.12,2.30,0.00,0.000,4,0.193,0.054,2656,1195,1957,0,0,0,0,0,0
$GC,8620,0.56,234.2,327.9,13.6,603,8627,0.00,2.33,0.00,0.000,6,0.000,0.056,2656,2603,1957,0,0,0,0,0,0
$GC,8947,0.60,234.2,292.9,10.9,634,8949,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2603,1956,0,0,0,0,0,0
$GC,9269,0.64,234.2,257.5,11.6,664,9275,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2603,1955,0,0,0,0,0,0
$GC,9598,0.69,234.2,217.8,12.3,695,9602,0.12,2.30,0.00,0.000,4,0.102,0.054,2711,1193,1955,0,0,0,0,0,0
$GC,9614,0.71,234.2,215.1,12.8,696,9621,0.00,2.33,0.00,0.000,6,0.000,0.056,2711,2609,1956,0,0,0,0,0,0
$GC,9941,0.68,234.2,165.6,14.8,727,9945,0.00,2.33,0.00,0.000,4,0.000,0.054,2711,1188,1956,0,0,0,0,0,0
$GC,10004,0.68,234.2,156.6,13.7,732,10008,0.00,2.33,0.00,0.000,6,0.000,0.057,2711,2599,1956,0,0,0,0,0,0
$GC,10331,0.65,234.2,111.8,13.0,762,10335,0.00,2.28,0.00,0.000,4,0.000,0.070,2712,3928,1955,0,0,0,0,0,0
$GC,10347,0.61,234.2,109.1,14.2,763,10354,0.15,2.20,0.00,0.000,6,0.185,0.045,2674,2586,1954,0,0,0,0,0,0
$GC,10688,0.68,264.2,76.1,8.6,816,10718,0.00,2.40,24.90,0.673,4,0.000,0.069,2674,3933,1844,0,0,0,0,0,0
$GC,10749,0.70,264.2,70.2,10.3,826,10755,0.00,2.20,0.00,0.000,6,0.000,0.046,2674,2594,1842,0,0,0,0,0,0
$GC,11098,0.78,264.2,39.3,11.0,887,11105,0.15,2.28,0.00,0.000,4,0.093,0.052,2736,1188,1839,0,0,0,0,0,0
$GC,11159,0.81,297.7,34.0,8.5,897,11195,0.00,2.33,29.05,0.646,6,0.000,0.058,2736,2585,1708,0,0,0,0,0,0
$FREEZE,8.27,-1.606,-1.811,3,5,0
$FREEZE,7.44,-1.591,-1.811,3,5,0
$FREEZE,6.71,-1.579,-1.810,3,5,0
$FREEZE,5.95,-1.595,-1.810,3,5,0
$FREEZE,5.08,-1.588,-1.809,3,5,0
$FREEZE,4.52,-1.593,-1.809,3,5,0
$FREEZE,3.68,-1.592,-1.808,3,5,0
$FREEZE,2.68,-1.587,-1.807,3,5,0
$STATE,11391,end climb,SURFACE_DEPTH_REACHED
$STATE,11391,begin surface coast
$FREEZE,1.72,-1.609,-1.806,3,5,0
$FINISH,1.7,1.026510
$STATE,11401,end surface coast,FINISH_DEPTH_REACHED
$STATE,11401,begin surface
$SM_CCo,11419,205.82,0.585,1,0,439,609.08
$SM_GC,1.34,0.00,0.00,205.82,0.000,0.000,0.585,293,2788,439,-6.81,0.23,609.08
$RAFOS_CLK,679
$RAFOS,6,1295974143,16.833334,16.817499,56,46,45,45,43,41,727,863,26,255,1891,227
$RAFOS,5,1295973680,16.700001,16.688889,56,47,42,42,41,40,627,672,266,1050,1450,1577
$RAFOS,4,1295973211,16.566668,16.558611,83,51,45,42,41,41,463,1134,1654,974,1754,1309
$RAFOS,3,1295972704,16.433332,16.417778,54,44,43,43,42,42,691,1577,1411,1713,1022,144
$RAFOS,2,1295972222,16.299999,16.283890,54,46,44,43,39,38,1650,1493,1028,909,578,887
$RAFOS,1,1295971760,16.166666,16.155556,44,43,42,42,41,41,1619,597,284,154,1735,145
$RAFOS,0,1295971264,16.033333,16.017778,52,43,43,42,42,41,715,442,1454,828,1561,1644
$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,47.91
$INTERNAL_PRESSURE,8.4363
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.5
$ALTIM_BOTTOM_PING,600.3,12.0
$24V_AH,21.3,93.504
$10V_AH,9.7,63.578
$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,9.775,93.225,388.025,205.825,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2351.629,6859.163,615.282,1618.641,251.105,0.000,1498.332,0.000,1601.463,2520.000,17.701,0.000
$DEVICE_MAMPS,192.780,74.205,976.140,585.225,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,656.120,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33388,939
$CAP_FILE_SIZE,118299,0
$CFSIZE,260165632,195579904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.5
$GPS,250111,175136,6642.492,-5839.451,39,1.1,45,-37.6