version: 66.08
glider: 183
mission: 3
dive: 854
start: 1 29 111 10 9 27
data:
$ID,183
$MISSION,3
$DIVE,854
$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,-13527.917
$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,22
$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
$GPS1,290111,100236,6650.307,-5724.454,24,1.2,24,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-61.4
$GPS2,290111,100856,6650.256,-5724.365,14,1.3,14,-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,85.5,35309,-17.5,-10.000
$D_GRID,731
$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,14,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,174,0.00,0.00,-148.32,0.000,6,0.000,0.000,286,2777,3521,0,0,0,0,0,0
$GC,177,-0.57,-146.0,6.7,-18.0,27,191,8.43,2.35,0.00,0.000,4,0.243,0.047,2282,1364,3523,0,0,0,0,0,0
$GC,232,-0.50,-146.0,27.4,-16.2,36,240,0.15,2.40,0.00,0.000,6,0.163,0.060,2316,2787,3524,0,0,0,0,0,0
$GC,581,-0.58,-146.0,55.0,-6.9,97,588,0.00,2.30,0.00,0.000,4,0.000,0.050,2315,1366,3524,0,0,0,0,0,0
$GC,665,-0.67,-146.0,60.3,-6.1,111,673,0.15,2.33,0.00,0.000,6,0.085,0.060,2244,2759,3523,0,0,0,0,0,0
$GC,1013,-0.62,-146.0,98.4,-10.5,172,1021,0.10,2.28,0.00,0.000,4,0.181,0.050,2269,1368,3523,0,0,0,0,0,0
$GC,1088,-0.66,-146.0,105.6,-8.7,179,1095,0.00,2.33,0.00,0.000,6,0.000,0.060,2263,2760,3523,0,0,0,0,0,0
$GC,1415,-0.66,-146.0,137.7,-10.0,210,1419,0.00,2.25,0.00,0.000,4,0.000,0.050,2263,1365,3523,0,0,0,0,0,0
$GC,1460,-0.70,-146.0,142.5,-9.8,213,1467,0.00,2.35,0.00,0.000,6,0.000,0.060,2261,2755,3523,0,0,0,0,0,0
$GC,1786,-0.70,-146.0,173.2,-9.2,244,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2755,3522,0,0,0,0,0,0
$GC,2108,-0.70,-146.0,203.2,-9.4,274,2112,0.00,2.00,0.00,0.000,4,0.000,0.072,2261,3927,3523,0,0,0,0,0,0
$GC,2160,-0.73,-146.0,208.6,-10.1,278,2167,0.00,1.90,0.00,0.000,6,0.000,0.048,2261,2759,3523,0,0,0,0,0,0
$GC,2486,-0.73,-146.0,238.2,-8.7,309,2490,0.00,2.22,0.00,0.000,4,0.000,0.049,2261,1370,3524,0,0,0,0,0,0
$GC,2517,-0.76,-146.0,240.9,-8.6,311,2521,0.00,2.33,0.00,0.000,6,0.000,0.060,2261,2760,3524,0,0,0,0,0,0
$GC,2843,-0.78,-146.0,269.0,-8.2,341,2847,0.12,2.03,0.00,0.000,4,0.101,0.070,2192,3935,3523,0,0,0,0,0,0
$GC,2890,-0.67,-146.0,274.5,-12.3,345,2895,0.22,1.90,0.00,0.000,6,0.152,0.047,2255,2758,3523,0,0,0,0,0,0
$GC,3222,-0.67,-146.0,303.0,-8.0,376,3226,0.00,2.22,0.00,0.000,4,0.000,0.048,2254,1366,3523,0,0,0,0,0,0
$GC,3253,-0.69,-146.0,305.4,-8.3,378,3257,0.00,2.33,0.00,0.000,6,0.000,0.059,2248,2760,3523,0,0,0,0,0,0
$GC,3579,-0.69,-146.0,333.6,-8.8,408,3583,0.00,2.00,0.00,0.000,4,0.000,0.070,2241,3926,3523,0,0,0,0,0,0
$GC,3614,-0.69,-146.0,336.8,-9.8,411,3618,0.00,1.88,0.00,0.000,6,0.000,0.047,2241,2767,3523,0,0,0,0,0,0
$GC,3948,-0.69,-146.0,365.3,-8.4,442,3952,0.00,2.22,0.00,0.000,4,0.000,0.048,2240,1370,3523,0,0,0,0,0,0
$GC,3981,-0.69,-146.0,368.4,-8.2,444,3988,0.00,2.33,0.00,0.000,6,0.000,0.060,2235,2763,3523,0,0,0,0,0,0
$GC,4307,-0.69,-146.0,395.8,-8.6,475,4309,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2763,3524,0,0,0,0,0,0
$GC,4636,-0.69,-146.0,425.8,-9.2,489,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2763,3524,0,0,0,0,0,0
$GC,4943,-0.69,-146.0,452.7,-8.7,499,4947,0.00,2.28,0.00,0.000,4,0.000,0.048,2235,1367,3525,0,0,0,0,0,0
$GC,4967,-0.69,-146.0,454.9,-9.0,499,4973,0.00,2.35,0.00,0.000,6,0.000,0.059,2235,2759,3524,0,0,0,0,0,0
$GC,5280,-0.69,-146.0,482.6,-8.9,510,5284,0.00,2.00,0.00,0.000,4,0.000,0.070,2235,3932,3525,0,0,0,0,0,0
$GC,5332,-0.69,-146.0,487.3,-9.4,511,5336,0.00,1.90,0.00,0.000,6,0.000,0.047,2235,2760,3525,0,0,0,0,0,0
$GC,5657,-0.69,-146.0,516.0,-8.9,522,5661,0.00,2.22,0.00,0.000,4,0.000,0.050,2235,1371,3525,0,0,0,0,0,0
$GC,5690,-0.69,-146.0,519.3,-9.8,523,5694,0.00,2.35,0.00,0.000,6,0.000,0.060,2235,2769,3525,0,0,0,0,0,0
$GC,6021,-0.69,-146.0,549.1,-9.2,534,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2769,3525,0,0,0,0,0,0
$GC,6326,-0.69,-146.0,577.7,-9.3,544,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2769,3525,0,0,0,0,0,0
$STATE,6572,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6573,begin apogee
$GC,6581,-0.14,0.0,600.9,9.5,552,6711,0.60,0.00,123.65,0.963,4,0.131,0.000,2427,2601,2923,0,0,0,0,0,0
$STATE,6712,end apogee,CONTROL_FINISHED_OK
$STATE,6712,begin climb
$GC,6715,0.57,146.0,605.6,0.0,556,6856,0.65,2.42,130.12,0.938,4,0.063,0.050,2661,1183,2326,0,0,0,0,0,0
$GC,7033,0.57,146.0,580.6,10.6,566,7038,0.00,2.40,0.00,0.000,6,0.000,0.056,2661,2600,2318,0,0,0,0,0,0
$GC,7370,0.53,146.0,542.6,11.3,577,7374,0.00,2.30,0.00,0.000,4,0.000,0.053,2662,1187,2315,0,0,0,0,0,0
$GC,7563,0.53,146.0,521.9,11.1,582,7570,0.00,2.33,0.00,0.000,6,0.000,0.057,2662,2608,2314,0,0,0,0,0,0
$GC,7877,0.48,146.0,485.1,11.7,593,7882,0.12,2.22,0.00,0.000,4,0.196,0.067,2630,3925,2313,0,0,0,0,0,0
$GC,7910,0.45,146.0,480.9,12.1,594,7914,0.00,2.15,0.00,0.000,6,0.000,0.044,2630,2601,2312,0,0,0,0,0,0
$GC,8241,0.46,159.5,449.3,9.4,605,8253,0.00,0.00,10.48,0.828,6,0.000,0.000,2630,2600,2271,0,0,0,0,0,0
$GC,8547,0.49,168.1,419.9,9.6,615,8557,0.00,0.00,8.98,0.802,6,0.000,0.000,2630,2600,2237,0,0,0,0,0,0
$GC,8859,0.52,170.8,389.5,9.9,631,8863,0.00,2.28,0.00,0.000,4,0.000,0.069,2630,3926,2234,0,0,0,0,0,0
$GC,8911,0.52,170.8,383.3,11.8,635,8915,0.00,2.12,0.00,0.000,6,0.000,0.045,2632,2618,2234,0,0,0,0,0,0
$GC,9239,0.53,188.8,351.8,9.2,665,9264,0.00,2.38,18.92,0.808,4,0.000,0.053,2633,1190,2153,0,0,0,0,0,0
$GC,9310,0.62,200.5,344.8,9.5,671,9329,0.12,2.35,11.50,0.770,6,0.096,0.056,2689,2610,2105,0,0,0,0,0,0
$GC,9647,0.54,200.5,297.2,14.6,703,9652,0.15,2.25,0.00,0.000,4,0.188,0.067,2649,3926,2100,0,0,0,0,0,0
$GC,9675,0.50,200.5,293.0,14.5,705,9681,0.00,2.12,0.00,0.000,6,0.000,0.044,2652,2603,2099,0,0,0,0,0,0
$GC,10000,0.50,200.5,256.3,11.2,736,10002,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2602,2099,0,0,0,0,0,0
$GC,10324,0.50,200.5,222.7,10.3,766,10330,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2602,2099,0,0,0,0,0,0
$GC,10654,0.52,201.8,188.9,9.9,797,10658,0.00,2.25,0.00,0.000,4,0.000,0.051,2652,1193,2100,0,0,0,0,0,0
$GC,10685,0.58,216.0,185.6,9.3,799,10708,0.00,2.35,13.90,0.692,6,0.000,0.054,2652,2626,2042,0,0,0,0,0,0
$GC,11026,0.62,216.0,149.7,11.3,831,11030,0.00,2.20,0.00,0.000,4,0.000,0.066,2652,3928,2039,0,0,0,0,0,0
$GC,11049,0.62,216.0,146.7,12.2,832,11055,0.00,2.12,0.00,0.000,6,0.000,0.043,2652,2612,2038,0,0,0,0,0,0
$GC,11375,0.65,216.0,111.7,10.2,863,11376,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2613,2038,0,0,0,0,0,0
$GC,11706,0.70,216.0,76.7,10.5,912,11714,0.12,2.30,0.00,0.000,4,0.103,0.050,2707,1188,2038,0,0,0,0,0,0
$GC,11761,0.70,216.0,69.8,13.1,921,11768,0.00,2.38,0.00,0.000,6,0.000,0.054,2707,2630,2038,0,0,0,0,0,0
$GC,12109,0.68,216.0,22.1,12.2,982,12116,0.00,2.33,0.00,0.000,4,0.000,0.050,2707,1196,2038,0,0,0,0,0,0
$GC,12153,0.68,216.0,17.1,11.8,989,12160,0.00,2.35,0.00,0.000,6,0.000,0.054,2707,2636,2038,0,0,0,0,0,0
$FREEZE,8.94,1.322,-1.839,3,1,0
$FREEZE,8.23,1.322,-1.839,3,1,0
$FREEZE,7.76,1.326,-1.838,3,1,0
$FREEZE,7.18,1.320,-1.838,3,1,0
$FREEZE,6.64,1.321,-1.838,3,1,0
$FREEZE,6.07,1.323,-1.837,3,1,0
$FREEZE,5.46,1.326,-1.836,3,1,0
$FREEZE,4.81,1.328,-1.836,3,1,0
$FREEZE,3.95,1.327,-1.835,3,1,0
$FREEZE,3.37,1.321,-1.835,3,1,0
$FREEZE,2.82,1.316,-1.835,3,1,0
$STATE,12274,end climb,SURFACE_DEPTH_REACHED
$STATE,12274,begin surface coast
$FREEZE,2.03,1.321,-1.834,3,1,0
$FREEZE,1.30,1.320,-1.833,3,1,0
$FREEZE,0.91,1.319,-1.834,3,1,0
$FREEZE,0.80,1.183,-0.942,3,1,0
$FREEZE,0.73,1.046,-0.954,3,1,0
$FINISH,0.7,1.014090
$STATE,12302,end surface coast,CONTROL_FINISHED_OK
$STATE,12302,begin surface
$SM_CCo,12321,219.88,0.081,0,0,440,609.08
$SM_GC,1.42,0.00,0.00,219.88,0.000,0.000,0.081,295,2793,440,-6.81,0.37,609.08
$RAFOS_CLK,638
$RAFOS,6,1296305347,12.833333,12.818611,65,46,46,44,42,42,773,860,930,1688,26,1288
$RAFOS,5,1296304863,12.700000,12.684167,96,50,46,46,43,42,608,1713,303,1052,765,1351
$RAFOS,4,1296304402,12.566667,12.556111,97,52,48,43,42,41,702,145,1597,1359,1773,1336
$RAFOS,3,1296303912,12.433333,12.420000,87,49,43,43,42,41,842,1220,1132,1175,1253,835
$RAFOS,2,1296303426,12.300000,12.285000,50,48,44,44,44,41,416,1308,1430,145,686,1823
$RAFOS,1,1296302950,12.166667,12.152778,45,45,44,41,40,40,858,1298,769,555,1804,1552
$RAFOS,0,1296302464,12.033333,12.017777,42,39,39,39,37,37,944,1166,1853,25,144,1882
$RAFOS_FIX,6651.520996,-5725.358887,290111,121228,4,86,0.27
$IRIDIUM_FIX,6620.33,-5714.58,290111,070729
$TT8_MAMPS,0.028462
$HUMID,46.45
$INTERNAL_PRESSURE,8.51442
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.5
$ALTIM_BOTTOM_PING,600.9,11.9
$24V_AH,21.6,96.453
$10V_AH,9.7,65.383
$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,17.475,103.150,317.550,219.875,0.000,28.197,21.744,153.332,2.250,0.000,16.609,2528.093,7388.976,694.151,1945.559,380.361,0.000,1654.123,0.000,1728.689,2520.000,17.708,0.000
$DEVICE_MAMPS,242.505,73.440,963.135,81.090,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,703.161,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36689,1016
$CAP_FILE_SIZE,133759,0
$CFSIZE,260165632,193916928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.3
$GPS,290111,134014,6651.389,-5722.217,33,1.5,41,-37.4