version: 66.08
glider: 183
mission: 3
dive: 841
start: 1 27 111 12 13 6
data:
$ID,183
$MISSION,3
$DIVE,841
$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,-13331.046
$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,36
$R_STBD_OVSHOOT,24
$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
$GPS1,270111,115207,6642.970,-5759.997,32,1.1,32,-37.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-63.8
$GPS2,270111,121233,6642.949,-5759.475,13,1.3,14,-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,91.7,63586,-17.5,-10.000
$D_GRID,646
$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,-146.0,0.0,0.0,0,175,0.00,0.00,-152.45,0.000,2,0.000,0.000,299,2778,3398,0,0,0,0,0,0
$GC,178,-0.57,-146.0,5.0,-11.8,27,198,8.43,2.30,-2.65,0.000,4,0.246,0.062,2284,1373,3522,0,0,0,0,0,0
$GC,454,-0.55,-146.0,50.5,-12.1,75,460,0.00,2.38,0.00,0.000,6,0.000,0.062,2276,2783,3524,0,0,0,0,0,0
$GC,800,-0.55,-146.0,90.0,-10.9,136,806,0.00,2.33,0.00,0.000,4,0.000,0.050,2276,1369,3524,0,0,0,0,0,0
$GC,934,-0.57,-146.0,103.7,-9.6,156,940,0.00,2.38,0.00,0.000,6,0.000,0.063,2275,2765,3524,0,0,0,0,0,0
$GC,1260,-0.57,-146.0,135.9,-9.6,187,1263,0.00,2.00,0.00,0.000,4,0.000,0.074,2275,3927,3523,0,0,0,0,0,0
$GC,1296,-0.59,-146.0,139.5,-9.9,190,1299,0.00,1.90,0.00,0.000,6,0.000,0.048,2275,2778,3523,0,0,0,0,0,0
$GC,1628,-0.61,-146.0,169.8,-8.6,221,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2779,3523,0,0,0,0,0,0
$GC,1949,-0.65,-146.0,197.8,-8.7,251,1953,0.00,2.28,0.00,0.000,4,0.000,0.050,2275,1373,3522,0,0,0,0,0,0
$GC,1971,-0.69,-146.0,200.1,-8.4,252,1978,0.00,2.40,0.00,0.000,6,0.000,0.062,2275,2783,3522,0,0,0,0,0,0
$GC,2299,-0.72,-146.0,228.2,-9.0,283,2303,0.00,2.00,0.00,0.000,4,0.000,0.073,2275,3936,3522,0,0,0,0,0,0
$GC,2338,-0.79,-146.0,232.0,-9.5,286,2345,0.15,1.92,0.00,0.000,6,0.089,0.048,2210,2775,3522,0,0,0,0,0,0
$GC,2665,-0.71,-146.0,275.3,-13.4,317,2670,0.12,2.33,0.00,0.000,4,0.179,0.049,2242,1363,3522,0,0,0,0,0,0
$GC,2715,-0.71,-146.0,281.3,-10.5,321,2721,0.00,2.40,0.00,0.000,6,0.000,0.061,2236,2776,3522,0,0,0,0,0,0
$GC,3041,-0.68,-146.0,317.6,-11.3,352,3044,0.00,1.98,0.00,0.000,4,0.000,0.072,2229,3929,3522,0,0,0,0,0,0
$GC,3080,-0.64,-146.0,322.6,-12.3,355,3089,0.15,1.90,0.00,0.000,6,0.156,0.047,2269,2775,3523,0,0,0,0,0,0
$GC,3408,-0.69,-146.0,349.6,-7.8,386,3412,0.00,2.28,0.00,0.000,4,0.000,0.050,2270,1368,3523,0,0,0,0,0,0
$GC,3436,-0.74,-146.0,352.1,-7.2,388,3443,0.10,2.40,0.00,0.000,6,0.108,0.061,2224,2777,3523,0,0,0,0,0,0
$GC,3762,-0.70,-146.0,386.5,-11.2,419,3765,0.00,1.98,0.00,0.000,4,0.000,0.071,2222,3929,3524,0,0,0,0,0,0
$GC,3790,-0.65,-146.0,390.0,-12.0,421,3797,0.15,1.90,0.00,0.000,6,0.158,0.046,2262,2776,3524,0,0,0,0,0,0
$GC,4121,-0.68,-146.0,419.8,-9.3,439,4125,0.00,2.28,0.00,0.000,4,0.000,0.049,2263,1372,3524,0,0,0,0,0,0
$GC,4178,-0.75,-146.0,425.5,-9.0,440,4182,0.00,2.35,0.00,0.000,6,0.000,0.061,2261,2766,3524,0,0,0,0,0,0
$GC,4493,-0.78,-146.0,452.1,-8.2,450,4498,0.10,2.05,0.00,0.000,4,0.116,0.070,2205,3932,3524,0,0,0,0,0,0
$GC,4529,-0.71,-146.0,455.9,-12.1,451,4534,0.15,1.90,0.00,0.000,6,0.166,0.047,2244,2765,3524,0,0,0,0,0,0
$GC,4872,-0.82,-146.0,483.5,-7.6,462,4876,0.00,2.28,0.00,0.000,4,0.000,0.048,2244,1368,3525,0,0,0,0,0,0
$GC,5076,-0.84,-146.0,500.4,-8.6,468,5081,0.10,2.60,0.00,0.000,6,0.103,0.061,2188,2888,3525,0,0,0,0,0,0
$GC,5407,-0.74,-146.0,542.4,-13.0,479,5412,0.17,2.53,0.00,0.000,4,0.175,0.048,2234,1363,3525,0,0,0,0,0,0
$GC,5458,-0.74,-146.0,547.9,-9.3,480,5462,0.00,2.58,0.00,0.000,6,0.000,0.060,2234,2873,3525,0,0,0,0,0,0
$GC,5772,-0.74,-146.0,577.3,-9.4,490,5776,0.00,2.45,0.00,0.000,4,0.000,0.047,2234,1368,3525,0,0,0,0,0,0
$GC,5810,-0.74,-146.0,581.3,-10.0,491,5814,0.00,2.53,0.00,0.000,6,0.000,0.060,2234,2852,3525,0,0,0,0,0,0
$STATE,6012,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6012,begin apogee
$GC,6020,-0.14,0.0,600.6,9.9,498,6152,0.60,0.00,124.50,0.973,4,0.132,0.000,2426,2595,2923,0,0,0,0,0,0
$STATE,6153,end apogee,CONTROL_FINISHED_OK
$STATE,6153,begin climb
$GC,6155,0.57,146.0,605.0,0.0,502,6293,0.62,0.00,131.48,0.947,6,0.071,0.000,2658,2595,2327,0,0,0,0,0,0
$GC,6609,0.53,146.0,563.6,10.9,517,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2595,2316,0,0,0,0,0,0
$GC,6915,0.49,146.0,530.2,11.0,527,6916,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2595,2315,0,0,0,0,0,0
$GC,7221,0.46,146.0,497.1,10.8,537,7226,0.12,2.28,0.00,0.000,4,0.200,0.067,2626,3932,2314,0,0,0,0,0,0
$GC,7261,0.44,146.0,492.7,10.8,538,7265,0.00,2.17,0.00,0.000,6,0.000,0.044,2626,2597,2313,0,0,0,0,0,0
$GC,7585,0.47,169.5,463.8,8.9,549,7610,0.00,2.30,19.40,0.870,4,0.000,0.051,2626,1181,2231,0,0,0,0,0,0
$GC,7646,0.57,189.6,458.3,9.1,550,7671,0.00,2.33,18.83,0.855,6,0.000,0.054,2626,2602,2149,0,0,0,0,0,0
$GC,7993,0.62,198.6,425.4,9.6,562,8008,0.15,2.28,8.40,0.791,4,0.091,0.067,2690,3921,2113,0,0,0,0,0,0
$GC,8027,0.54,198.6,420.8,14.5,563,8032,0.15,2.15,0.00,0.000,6,0.190,0.044,2655,2599,2111,0,0,0,0,0,0
$GC,8352,0.54,198.6,383.7,11.3,582,8356,0.00,2.25,0.00,0.000,4,0.000,0.051,2655,1191,2109,0,0,0,0,0,0
$GC,8404,0.59,198.6,377.8,10.2,586,8408,0.00,2.30,0.00,0.000,6,0.000,0.054,2655,2590,2110,0,0,0,0,0,0
$GC,8729,0.59,198.6,343.4,10.4,616,8733,0.00,2.28,0.00,0.000,4,0.000,0.065,2655,3931,2108,0,0,0,0,0,0
$GC,8763,0.57,198.6,339.5,11.3,618,8771,0.00,2.20,0.00,0.000,6,0.000,0.043,2655,2581,2108,0,0,0,0,0,0
$GC,9088,0.57,198.6,306.0,10.5,649,9092,0.00,2.22,0.00,0.000,4,0.000,0.050,2655,1192,2108,0,0,0,0,0,0
$GC,9118,0.61,198.6,303.0,10.2,651,9122,0.00,2.30,0.00,0.000,6,0.000,0.054,2655,2594,2108,0,0,0,0,0,0
$GC,9449,0.61,198.6,267.1,10.9,682,9453,0.00,2.25,0.00,0.000,4,0.000,0.065,2655,3929,2108,0,0,0,0,0,0
$GC,9485,0.59,198.6,262.8,12.4,685,9489,0.00,2.17,0.00,0.000,6,0.000,0.043,2658,2590,2107,0,0,0,0,0,0
$GC,9817,0.59,198.6,227.4,10.5,716,9821,0.00,2.25,0.00,0.000,4,0.000,0.051,2659,1188,2108,0,0,0,0,0,0
$GC,9892,0.65,217.0,220.1,9.2,722,9916,0.00,2.30,16.70,0.741,6,0.000,0.054,2659,2579,2038,0,0,0,0,0,0
$GC,10234,0.68,217.0,184.5,10.2,754,10239,0.10,2.30,0.00,0.000,4,0.117,0.067,2704,3932,2034,0,0,0,0,0,0
$GC,10290,0.59,217.0,176.3,15.3,758,10298,0.15,2.17,0.00,0.000,6,0.187,0.044,2667,2588,2032,0,0,0,0,0,0
$GC,10616,0.61,217.0,141.6,10.3,789,10618,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2588,2032,0,0,0,0,0,0
$GC,10937,0.64,217.0,109.8,10.2,819,10941,0.00,2.25,0.00,0.000,4,0.000,0.051,2667,1182,2032,0,0,0,0,0,0
$GC,10972,0.73,238.1,106.2,9.0,821,11002,0.12,2.30,18.98,0.680,6,0.100,0.053,2719,2587,1951,0,0,0,0,0,0
$GC,11340,0.71,238.1,60.6,12.4,881,11346,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2588,1947,0,0,0,0,0,0
$GC,11687,0.68,238.1,20.6,10.8,942,11695,0.00,2.25,0.00,0.000,4,0.000,0.053,2719,1194,1946,0,0,0,0,0,0
$GC,11764,0.71,238.1,12.1,10.8,955,11771,0.00,2.28,0.00,0.000,6,0.000,0.055,2720,2579,1946,0,0,0,0,0,0
$FREEZE,8.57,-1.623,-1.820,2,1,0
$FREEZE,7.98,-1.623,-1.820,2,1,0
$FREEZE,7.53,-1.625,-1.819,2,1,0
$FREEZE,6.88,-1.630,-1.819,2,1,0
$FREEZE,6.38,-1.633,-1.818,2,1,0
$FREEZE,5.78,-1.633,-1.818,2,1,0
$FREEZE,5.19,-1.638,-1.818,2,1,0
$FREEZE,4.54,-1.635,-1.817,2,1,0
$FREEZE,3.82,-1.634,-1.816,2,1,0
$FREEZE,3.29,-1.638,-1.816,2,1,0
$FREEZE,2.73,-1.636,-1.816,2,1,0
$STATE,11850,end climb,SURFACE_DEPTH_REACHED
$STATE,11850,begin surface coast
$FREEZE,1.50,-1.643,-1.815,2,1,0
$FREEZE,0.93,-1.646,-1.814,2,1,0
$FREEZE,0.79,-1.831,-0.921,2,1,0
$FINISH,0.8,1.013564
$STATE,11867,end surface coast,FINISH_DEPTH_REACHED
$STATE,11867,begin surface
$SM_CCo,11885,226.98,0.083,0,0,440,609.08
$SM_GC,1.53,0.00,0.00,226.98,0.000,0.000,0.083,301,2783,440,-6.80,0.08,609.08
$RAFOS_CLK,645
$RAFOS,6,1296132542,12.833333,12.817223,85,49,42,41,41,39,780,1748,26,1020,1789,535
$RAFOS,5,1296132063,12.700000,12.684167,75,53,50,48,46,44,648,390,663,1923,839,778
$RAFOS,4,1296131590,12.566667,12.552778,97,46,44,43,41,40,684,921,1885,657,1224,926
$RAFOS,3,1296131104,12.433333,12.417778,117,48,47,45,42,42,776,820,1769,427,543,665
$RAFOS,2,1296130622,12.300000,12.283889,47,45,45,43,42,42,624,260,213,1539,410,1860
$RAFOS_FIX,6644.087891,-5801.104492,270111,121256,4,94,1.54
$IRIDIUM_FIX,6620.33,-5758.52,270111,111125
$TT8_MAMPS,0.028462
$HUMID,47.28
$INTERNAL_PRESSURE,8.42653
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.1
$ALTIM_BOTTOM_PING,600.6,11.9
$24V_AH,21.2,94.903
$10V_AH,9.7,64.452
$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,18.375,112.875,338.275,226.975,0.000,47.963,35.910,610.991,2.500,0.000,17.085,2434.335,7134.022,710.121,2343.899,731.233,0.000,1672.817,0.000,1695.972,1800.000,20.513,0.000
$DEVICE_MAMPS,246.330,74.205,973.080,83.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,678.005,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151592
$DATA_FILE_SIZE,33303,973
$CAP_FILE_SIZE,144192,0
$CFSIZE,260165632,194682880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.4
$GPS,270111,153656,6642.949,-5755.699,33,3.2,52,-37.4