version: 66.08
glider: 183
mission: 3
dive: 840
start: 1 27 111 8 20 9
data:
$ID,183
$MISSION,3
$DIVE,840
$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,-3
$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,-13329.788
$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,34
$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
$GPS1,270111,080519,6641.940,-5803.204,34,1.5,46,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-59.5
$GPS2,270111,081938,6642.018,-5803.337,11,1.6,11,-37.4
$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,91.9,66857,-17.5,-10.000
$D_GRID,635
$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,16,-0.57,-146.0,0.0,0.0,0,176,0.00,0.00,-153.30,0.000,2,0.000,0.000,298,2770,3475,0,0,0,0,0,0
$GC,179,-0.57,-146.0,5.6,-11.3,27,194,8.43,2.33,-0.90,0.000,4,0.246,0.060,2285,1369,3521,0,0,0,0,0,0
$GC,421,-0.57,-146.0,49.5,-11.9,69,428,0.00,2.40,0.00,0.000,6,0.000,0.062,2279,2783,3524,0,0,0,0,0,0
$GC,768,-0.57,-146.0,86.1,-10.5,130,776,0.00,1.98,0.00,0.000,4,0.000,0.073,2275,3932,3523,0,0,0,0,0,0
$GC,812,-0.57,-146.0,90.9,-10.3,137,819,0.00,1.95,0.00,0.000,6,0.000,0.049,2275,2769,3522,0,0,0,0,0,0
$GC,1147,-0.57,-146.0,123.0,-10.0,176,1151,0.00,2.28,0.00,0.000,4,0.000,0.050,2275,1367,3522,0,0,0,0,0,0
$GC,1186,-0.60,-146.0,127.4,-10.4,179,1194,0.00,2.38,0.00,0.000,6,0.000,0.062,2275,2763,3523,0,0,0,0,0,0
$GC,1513,-0.60,-146.0,159.1,-8.8,210,1517,0.00,2.28,0.00,0.000,4,0.000,0.050,2275,1366,3522,0,0,0,0,0,0
$GC,1558,-0.65,-146.0,163.5,-8.7,213,1565,0.00,2.35,0.00,0.000,6,0.000,0.062,2274,2757,3522,0,0,0,0,0,0
$GC,1885,-0.68,-146.0,190.0,-8.2,244,1889,0.00,2.03,0.00,0.000,4,0.000,0.073,2275,3931,3522,0,0,0,0,0,0
$GC,1921,-0.72,-146.0,193.2,-8.6,247,1925,0.00,1.95,0.00,0.000,6,0.000,0.048,2275,2738,3521,0,0,0,0,0,0
$GC,2255,-0.75,-146.0,220.1,-8.2,278,2261,0.12,0.00,0.00,0.000,6,0.096,0.000,2216,2738,3521,0,0,0,0,0,0
$GC,2581,-0.67,-146.0,262.0,-13.0,309,2586,0.15,2.10,0.00,0.000,4,0.174,0.073,2250,3931,3521,0,0,0,0,0,0
$GC,2633,-0.67,-146.0,268.3,-11.4,313,2637,0.00,1.95,0.00,0.000,6,0.000,0.047,2249,2753,3521,0,0,0,0,0,0
$GC,2965,-0.67,-146.0,302.1,-9.9,344,2969,0.00,2.25,0.00,0.000,4,0.000,0.050,2249,1362,3522,0,0,0,0,0,0
$GC,3023,-0.70,-146.0,307.8,-10.2,348,3030,0.00,2.38,0.00,0.000,6,0.000,0.061,2247,2756,3521,0,0,0,0,0,0
$GC,3349,-0.70,-146.0,338.6,-9.2,379,3353,0.00,2.03,0.00,0.000,4,0.000,0.072,2248,3932,3522,0,0,0,0,0,0
$GC,3386,-0.70,-146.0,341.9,-9.7,382,3390,0.00,1.92,0.00,0.000,6,0.000,0.047,2247,2754,3521,0,0,0,0,0,0
$GC,3718,-0.70,-146.0,370.9,-9.1,413,3722,0.00,2.25,0.00,0.000,4,0.000,0.049,2247,1361,3522,0,0,0,0,0,0
$GC,3741,-0.70,-146.0,373.1,-9.0,414,3748,0.00,2.38,0.00,0.000,6,0.000,0.060,2247,2759,3522,0,0,0,0,0,0
$GC,4087,-0.70,-146.0,403.6,-9.1,445,4091,0.00,2.00,0.00,0.000,4,0.000,0.070,2247,3927,3523,0,0,0,0,0,0
$GC,4123,-0.70,-146.0,406.9,-9.4,446,4127,0.00,1.95,0.00,0.000,6,0.000,0.047,2247,2746,3523,0,0,0,0,0,0
$GC,4466,-0.70,-146.0,437.9,-9.2,457,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2746,3523,0,0,0,0,0,0
$GC,4771,-0.70,-146.0,465.0,-9.0,467,4772,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2746,3524,0,0,0,0,0,0
$GC,5077,-0.70,-146.0,491.5,-8.7,477,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2746,3524,0,0,0,0,0,0
$GC,5384,-0.70,-146.0,518.6,-8.9,487,5388,0.00,2.05,0.00,0.000,4,0.000,0.071,2247,3928,3524,0,0,0,0,0,0
$GC,5420,-0.70,-146.0,521.9,-9.2,488,5423,0.00,1.90,0.00,0.000,6,0.000,0.046,2247,2759,3524,0,0,0,0,0,0
$GC,5763,-0.70,-146.0,550.7,-8.4,499,5767,0.00,2.25,0.00,0.000,4,0.000,0.049,2247,1365,3524,0,0,0,0,0,0
$GC,5786,-0.70,-146.0,553.1,-8.9,499,5792,0.00,2.35,0.00,0.000,6,0.000,0.060,2245,2761,3524,0,0,0,0,0,0
$GC,6099,-0.70,-146.0,579.7,-8.7,510,6103,0.00,2.00,0.00,0.000,4,0.000,0.070,2236,3931,3524,0,0,0,0,0,0
$GC,6139,-0.70,-146.0,583.2,-8.8,511,6142,0.00,1.95,0.00,0.000,6,0.000,0.046,2236,2750,3524,0,0,0,0,0,0
$GC,6476,-0.70,-146.0,613.4,-8.7,522,6480,0.00,2.22,0.00,0.000,4,0.000,0.049,2236,1370,3525,0,0,0,0,0,0
$GC,6498,-0.70,-146.0,615.8,-9.0,522,6505,0.00,2.38,0.00,0.000,6,0.000,0.059,2235,2769,3525,0,0,0,0,0,0
$STATE,6717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6717,begin apogee
$GC,6725,-0.14,0.0,637.2,9.7,530,6856,0.60,0.00,125.03,0.998,4,0.132,0.000,2427,2599,2923,0,0,0,0,0,0
$STATE,6857,end apogee,CONTROL_FINISHED_OK
$STATE,6857,begin climb
$GC,6860,0.57,146.0,641.3,0.0,534,7002,0.68,2.45,132.75,0.971,4,0.065,0.048,2665,1180,2326,0,0,0,0,0,0
$GC,7172,0.57,146.0,616.4,10.2,543,7179,0.00,2.47,0.00,0.000,6,0.000,0.054,2665,2602,2318,0,0,0,0,0,0
$GC,7486,0.52,146.0,580.5,11.2,554,7490,0.00,2.30,0.00,0.000,4,0.000,0.050,2666,1180,2315,0,0,0,0,0,0
$GC,7671,0.52,146.0,561.1,11.2,559,7675,0.00,2.35,0.00,0.000,6,0.000,0.054,2666,2618,2315,0,0,0,0,0,0
$GC,7986,0.47,146.0,526.3,11.3,569,7990,0.15,2.22,0.00,0.000,4,0.190,0.065,2626,3932,2313,0,0,0,0,0,0
$GC,8024,0.45,146.0,521.5,11.4,570,8029,0.00,2.15,0.00,0.000,6,0.000,0.044,2626,2596,2313,0,0,0,0,0,0
$GC,8351,0.49,166.6,491.6,9.0,581,8369,0.00,0.00,16.90,0.882,6,0.000,0.000,2626,2595,2242,0,0,0,0,0,0
$GC,8656,0.54,192.3,464.2,8.8,591,8689,0.00,2.35,23.15,0.874,4,0.000,0.051,2626,1187,2138,0,0,0,0,0,0
$GC,8708,0.63,217.6,459.4,8.8,592,8739,0.15,2.38,23.23,0.859,6,0.088,0.054,2691,2619,2037,0,0,0,0,0,0
$GC,9066,0.59,217.6,410.2,14.5,604,9068,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2619,2030,0,0,0,0,0,0
$GC,9380,0.54,217.6,365.5,14.1,628,9382,0.15,0.00,0.00,0.000,6,0.186,0.000,2650,2619,2028,0,0,0,0,0,0
$GC,9698,0.57,217.6,330.5,10.6,658,9702,0.00,2.33,0.00,0.000,4,0.000,0.052,2651,1194,2027,0,0,0,0,0,0
$GC,9727,0.64,221.9,327.6,9.8,660,9737,0.00,2.35,3.90,0.588,6,0.000,0.054,2650,2615,2019,0,0,0,0,0,0
$GC,10064,0.68,232.7,294.1,9.5,692,10081,0.12,2.22,11.40,0.767,4,0.099,0.063,2703,3927,1973,0,0,0,0,0,0
$GC,10096,0.63,232.7,290.5,13.4,694,10100,0.00,2.12,0.00,0.000,6,0.000,0.044,2706,2605,1972,0,0,0,0,0,0
$GC,10428,0.58,232.7,245.6,13.1,725,10432,0.15,2.33,0.00,0.000,4,0.187,0.051,2666,1184,1970,0,0,0,0,0,0
$GC,10470,0.66,267.8,241.4,8.4,728,10507,0.00,2.33,30.52,0.754,6,0.000,0.054,2665,2609,1833,0,0,0,0,0,0
$GC,10833,0.71,267.8,204.3,10.7,762,10838,0.10,2.22,0.00,0.000,4,0.116,0.066,2711,3924,1826,0,0,0,0,0,0
$GC,10864,0.67,267.8,200.2,14.9,764,10868,0.00,2.12,0.00,0.000,6,0.000,0.044,2711,2605,1825,0,0,0,0,0,0
$GC,11197,0.64,267.8,150.7,14.9,795,11201,0.00,2.28,0.00,0.000,4,0.000,0.051,2712,1188,1824,0,0,0,0,0,0
$GC,11274,0.64,267.8,139.4,13.8,801,11281,0.00,2.30,0.00,0.000,6,0.000,0.054,2712,2601,1824,0,0,0,0,0,0
$GC,11602,0.64,267.8,96.1,12.9,834,11609,0.00,2.28,0.00,0.000,4,0.000,0.051,2712,1194,1824,0,0,0,0,0,0
$GC,11656,0.68,267.8,89.3,11.2,843,11663,0.00,2.25,0.00,0.000,6,0.000,0.054,2713,2574,1824,0,0,0,0,0,0
$GC,12003,0.68,267.8,46.8,11.0,904,12010,0.00,2.25,0.00,0.000,4,0.000,0.052,2713,1183,1823,0,0,0,0,0,0
$GC,12029,0.68,267.8,43.9,10.9,908,12035,0.00,2.25,0.00,0.000,6,0.000,0.054,2712,2547,1823,0,0,0,0,0,0
$FREEZE,8.65,-1.645,-1.821,2,1,0
$FREEZE,7.88,-1.640,-1.821,2,1,0
$FREEZE,7.45,-1.641,-1.820,2,1,0
$FREEZE,6.72,-1.643,-1.820,2,1,0
$FREEZE,6.17,-1.643,-1.819,2,1,0
$FREEZE,5.62,-1.658,-1.819,2,1,0
$FREEZE,4.87,-1.665,-1.818,2,1,0
$FREEZE,4.21,-1.663,-1.818,2,1,0
$GC,12375,0.68,267.8,4.2,11.7,969,12382,0.00,2.35,0.00,0.000,4,0.000,0.066,2713,3924,1823,0,0,0,0,0,0
$FREEZE,2.69,-1.668,-1.817,2,1,0
$STATE,12387,end climb,SURFACE_DEPTH_REACHED
$STATE,12387,begin surface coast
$FREEZE,1.90,-1.678,-1.816,2,1,0
$FINISH,1.9,1.026649
$STATE,12394,end surface coast,CONTROL_FINISHED_OK
$STATE,12394,begin surface
$SM_CCo,12415,211.62,0.085,0,0,440,609.08
$SM_GC,1.62,0.00,0.00,211.62,0.000,0.000,0.085,300,2777,440,-6.80,-0.08,609.08
$RAFOS_CLK,667
$RAFOS,6,1296118141,8.833333,8.816944,84,46,45,44,43,42,779,244,1347,346,727,1613
$RAFOS,5,1296117663,8.700000,8.684167,91,47,46,45,43,43,658,988,1481,1674,486,1336
$RAFOS,4,1296117182,8.566667,8.550555,62,49,48,45,43,42,717,398,1096,427,1326,1495
$RAFOS,3,1296116703,8.433333,8.417500,51,50,48,47,44,40,892,778,1343,1890,1215,891
$RAFOS_FIX,6643.961426,-5804.027832,270111,080840,3,79,2.64
$IRIDIUM_FIX,6614.97,-5807.17,270111,040455
$TT8_MAMPS,0.029211
$HUMID,46.88
$INTERNAL_PRESSURE,8.42653
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.3
$24V_AH,21.1,94.767
$10V_AH,9.6,64.375
$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,17.425,115.025,366.875,211.625,0.000,24.920,17.957,501.768,2.000,0.000,14.315,2423.476,7569.586,726.758,2200.970,575.337,0.000,1695.393,0.000,1702.425,1440.000,15.008,0.000
$DEVICE_MAMPS,245.565,73.440,998.325,84.915,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,676.859,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151640
$DATA_FILE_SIZE,33443,972
$CAP_FILE_SIZE,138035,0
$CFSIZE,260165632,194756608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.0
$GPS,270111,115207,6642.970,-5759.997,32,1.1,32,-37.4