version: 66.08
glider: 183
mission: 3
dive: 850
start: 1 28 111 21 21 15
data:
$ID,183
$MISSION,3
$DIVE,850
$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,1
$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,-13522.884
$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,35
$R_STBD_OVSHOOT,25
$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
$GPS1,280111,205527,6649.130,-5732.507,31,99.0,50,-37.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-65.3
$GPS2,280111,212044,6649.070,-5731.662,12,1.9,12,-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,88.1,40740,-17.5,-10.000
$D_GRID,717
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,175,0.00,0.00,-154.50,0.000,6,0.000,0.000,286,2792,3519,0,0,0,0,0,0
$GC,179,-0.57,-146.0,5.9,-12.4,27,193,8.40,1.98,0.00,0.000,4,0.243,0.060,2276,3932,3522,0,0,0,0,0,0
$GC,358,-0.57,-146.0,40.6,-11.4,58,364,0.00,1.88,0.00,0.000,6,0.000,0.050,2276,2781,3523,0,0,0,0,0,0
$GC,705,-0.57,-146.0,75.3,-8.7,119,712,0.00,2.30,0.00,0.000,4,0.000,0.050,2276,1368,3523,0,0,0,0,0,0
$GC,913,-0.61,-146.0,95.1,-9.6,155,920,0.00,2.35,0.00,0.000,6,0.000,0.062,2275,2751,3523,0,0,0,0,0,0
$GC,1245,-0.63,-146.0,125.9,-8.8,190,1248,0.00,2.03,0.00,0.000,4,0.000,0.073,2275,3930,3523,0,0,0,0,0,0
$GC,1273,-0.66,-146.0,128.7,-8.7,192,1280,0.00,1.95,0.00,0.000,6,0.000,0.049,2275,2751,3522,0,0,0,0,0,0
$GC,1600,-0.69,-146.0,156.7,-8.8,223,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2751,3522,0,0,0,0,0,0
$GC,1921,-0.73,-146.0,186.7,-9.2,253,1926,0.10,2.25,0.00,0.000,4,0.109,0.050,2225,1366,3523,0,0,0,0,0,0
$GC,1986,-0.70,-146.0,194.1,-11.5,258,1990,0.00,2.33,0.00,0.000,6,0.000,0.061,2222,2752,3523,0,0,0,0,0,0
$GC,2312,-0.64,-146.0,232.0,-11.2,288,2314,0.15,0.00,0.00,0.000,6,0.171,0.000,2263,2753,3522,0,0,0,0,0,0
$GC,2631,-0.67,-146.0,258.8,-8.3,318,2635,0.00,2.03,0.00,0.000,4,0.000,0.071,2257,3934,3522,0,0,0,0,0,0
$GC,2659,-0.69,-146.0,261.3,-8.9,320,2666,0.00,1.95,0.00,0.000,6,0.000,0.047,2257,2732,3522,0,0,0,0,0,0
$GC,2986,-0.69,-146.0,293.0,-10.5,351,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2732,3523,0,0,0,0,0,0
$GC,3307,-0.69,-146.0,325.6,-9.7,381,3313,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2732,3524,0,0,0,0,0,0
$GC,3638,-0.71,-146.0,356.4,-9.2,412,3642,0.00,2.17,0.00,0.000,4,0.000,0.048,2257,1371,3524,0,0,0,0,0,0
$GC,3661,-0.74,-146.0,359.1,-9.3,413,3668,0.00,2.30,0.00,0.000,6,0.000,0.060,2249,2733,3524,0,0,0,0,0,0
$GC,3987,-0.74,-146.0,390.9,-9.8,444,3991,0.00,2.05,0.00,0.000,4,0.000,0.070,2247,3930,3525,0,0,0,0,0,0
$GC,4015,-0.74,-146.0,393.9,-10.2,446,4022,0.00,1.98,0.00,0.000,6,0.000,0.047,2247,2728,3525,0,0,0,0,0,0
$GC,4331,-0.74,-146.0,425.3,-9.9,461,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2729,3525,0,0,0,0,0,0
$GC,4638,-0.74,-146.0,455.0,-9.7,471,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2729,3525,0,0,0,0,0,0
$GC,4943,-0.74,-146.0,483.7,-9.5,481,4947,0.00,2.08,0.00,0.000,4,0.000,0.072,2247,3926,3525,0,0,0,0,0,0
$GC,4971,-0.74,-146.0,486.7,-9.6,481,4978,0.00,1.95,0.00,0.000,6,0.000,0.047,2247,2738,3525,0,0,0,0,0,0
$GC,5286,-0.74,-146.0,515.4,-9.3,492,5290,0.00,2.22,0.00,0.000,4,0.000,0.049,2247,1364,3525,0,0,0,0,0,0
$GC,5313,-0.74,-146.0,518.2,-9.7,492,5320,0.00,2.33,0.00,0.000,6,0.000,0.060,2247,2738,3525,0,0,0,0,0,0
$GC,5627,-0.74,-146.0,546.2,-8.9,503,5631,0.00,2.05,0.00,0.000,4,0.000,0.071,2247,3930,3525,0,0,0,0,0,0
$GC,5663,-0.74,-146.0,549.4,-9.2,504,5670,0.00,1.98,0.00,0.000,6,0.000,0.047,2246,2731,3525,0,0,0,0,0,0
$GC,6007,-0.74,-146.0,580.1,-8.9,515,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2731,3525,0,0,0,0,0,0
$STATE,6251,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6251,begin apogee
$GC,6259,-0.14,0.0,601.6,8.6,523,6390,0.55,0.00,124.18,0.969,4,0.131,0.000,2424,2600,2923,0,0,0,0,0,0
$STATE,6391,end apogee,CONTROL_FINISHED_OK
$STATE,6391,begin climb
$GC,6394,0.57,146.0,606.5,0.0,527,6536,0.68,2.42,130.88,0.944,4,0.069,0.049,2661,1177,2326,0,0,0,0,0,0
$GC,6699,0.57,146.0,582.4,11.2,536,6703,0.00,2.42,0.00,0.000,6,0.000,0.054,2661,2600,2318,0,0,0,0,0,0
$GC,7014,0.52,146.0,546.9,11.6,546,7018,0.00,2.30,0.00,0.000,4,0.000,0.052,2662,1188,2315,0,0,0,0,0,0
$GC,7228,0.52,146.0,523.3,10.8,552,7232,0.00,2.35,0.00,0.000,6,0.000,0.057,2662,2608,2315,0,0,0,0,0,0
$GC,7546,0.48,146.0,487.3,11.5,563,7548,0.12,0.00,0.00,0.000,6,0.197,0.000,2630,2608,2313,0,0,0,0,0,0
$GC,7853,0.49,162.2,458.5,9.3,573,7872,0.00,2.30,12.93,0.848,4,0.000,0.068,2631,3928,2261,0,0,0,0,0,0
$GC,7902,0.47,162.2,453.6,11.2,574,7906,0.00,2.15,0.00,0.000,6,0.000,0.044,2631,2594,2259,0,0,0,0,0,0
$GC,8221,0.51,172.5,423.3,9.5,585,8236,0.00,2.28,10.32,0.819,4,0.000,0.050,2631,1180,2218,0,0,0,0,0,0
$GC,8266,0.59,181.9,419.0,9.6,586,8284,0.10,2.33,9.77,0.796,6,0.112,0.055,2676,2603,2181,0,0,0,0,0,0
$GC,8596,0.54,181.9,378.5,12.5,607,8600,0.00,2.22,0.00,0.000,4,0.000,0.067,2677,3926,2177,0,0,0,0,0,0
$GC,8641,0.46,181.9,371.8,15.3,610,8648,0.20,2.12,0.00,0.000,6,0.187,0.044,2628,2605,2176,0,0,0,0,0,0
$GC,8967,0.51,201.8,341.0,9.1,641,8990,0.00,2.38,18.10,0.806,4,0.000,0.052,2628,1185,2100,0,0,0,0,0,0
$GC,9016,0.62,228.1,336.7,8.8,645,9050,0.15,2.38,24.15,0.793,6,0.089,0.055,2690,2622,1991,0,0,0,0,0,0
$GC,9369,0.58,228.1,285.9,15.2,678,9370,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2622,1985,0,0,0,0,0,0
$GC,9690,0.54,228.1,237.3,15.0,708,9697,0.15,0.00,0.00,0.000,6,0.185,0.000,2651,2622,1982,0,0,0,0,0,0
$GC,10017,0.58,228.1,199.1,11.6,739,10022,0.00,2.30,0.00,0.000,4,0.000,0.051,2651,1195,1983,0,0,0,0,0,0
$GC,10040,0.64,228.1,196.3,11.4,740,10047,0.00,2.35,0.00,0.000,6,0.000,0.054,2651,2618,1982,0,0,0,0,0,0
$GC,10367,0.69,228.1,157.3,12.0,771,10372,0.12,2.33,0.00,0.000,4,0.099,0.050,2706,1188,1982,0,0,0,0,0,0
$GC,10402,0.69,228.1,152.7,14.4,774,10406,0.00,2.33,0.00,0.000,6,0.000,0.054,2705,2602,1982,0,0,0,0,0,0
$GC,10734,0.65,228.1,106.5,14.3,805,10738,0.00,2.25,0.00,0.000,4,0.000,0.066,2706,3933,1982,0,0,0,0,0,0
$GC,10764,0.58,228.1,101.5,17.8,807,10769,0.17,2.15,0.00,0.000,6,0.180,0.044,2660,2610,1982,0,0,0,0,0,0
$GC,11113,0.63,228.1,60.9,11.5,866,11119,0.00,2.30,0.00,0.000,4,0.000,0.051,2660,1187,1982,0,0,0,0,0,0
$GC,11161,0.75,242.7,55.8,9.3,874,11180,0.15,2.33,12.15,0.633,6,0.089,0.054,2723,2593,1932,0,0,0,0,0,0
$GC,11521,0.71,242.7,9.4,13.5,937,11528,0.00,2.28,0.00,0.000,4,0.000,0.051,2724,1191,1929,0,0,0,0,0,0
$FREEZE,7.42,-0.654,-1.834,2,2,0
$FREEZE,6.83,-0.657,-1.834,2,2,0
$FREEZE,6.26,-0.663,-1.834,2,2,0
$FREEZE,5.67,-0.662,-1.833,2,2,0
$FREEZE,4.90,-0.659,-1.832,2,2,0
$FREEZE,4.21,-0.662,-1.832,2,2,0
$FREEZE,3.65,-0.689,-1.832,2,2,0
$FREEZE,3.08,-0.692,-1.831,2,2,0
$FREEZE,2.64,-0.700,-1.831,2,2,0
$STATE,11574,end climb,SURFACE_DEPTH_REACHED
$STATE,11574,begin surface coast
$FREEZE,1.99,-0.696,-1.830,2,2,0
$FREEZE,1.16,-0.701,-1.830,2,2,0
$FINISH,1.2,1.026821
$STATE,11587,end surface coast,CONTROL_FINISHED_OK
$STATE,11588,begin surface
$SM_CCo,11608,217.40,0.084,0,0,440,609.08
$SM_GC,1.56,0.00,0.00,217.40,0.000,0.000,0.084,296,2779,440,-6.80,-0.03,609.08
$RAFOS_CLK,613
$RAFOS,3,1296260701,0.433333,0.416944,50,45,44,44,44,43,1488,922,1415,1532,145,771
$RAFOS,2,1296260225,0.300000,0.284722,50,48,47,44,43,42,946,1231,145,1614,1683,353
$RAFOS,1,1296259751,0.166667,0.153056,47,44,44,43,42,41,1746,602,910,1816,399,26
$RAFOS,0,1296259264,0.033333,0.017778,46,43,42,41,40,39,1443,1097,1495,1112,1911,705
$RAFOS,6,1296247742,20.833334,20.817223,50,47,46,42,40,40,1792,277,1072,517,710,1295
$RAFOS_FIX,6648.625977,-5735.714355,280111,202013,3,75,0.08
$IRIDIUM_FIX,6548.42,-6540.00,280111,212139
$TT8_MAMPS,0.030709
$HUMID,45.70
$INTERNAL_PRESSURE,8.46559
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.8
$ALTIM_BOTTOM_PING,601.6,11.9
$24V_AH,21.4,96.023
$10V_AH,9.7,65.114
$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,17.650,93.250,342.475,217.400,0.000,88.206,103.227,661.648,2.250,0.000,15.415,2319.468,7112.846,701.295,2498.472,715.226,0.000,1613.258,0.000,1617.441,1800.000,17.694,0.000
$DEVICE_MAMPS,243.270,73.440,969.255,84.150,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,657.937,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151644
$DATA_FILE_SIZE,33356,949
$CAP_FILE_SIZE,136518,0
$CFSIZE,260165632,194109440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.6
$GPS,290111,003954,6649.666,-5728.902,23,1.1,40,-37.4