version: 66.08
glider: 183
mission: 3
dive: 696
start: 1 6 111 12 2 39
data:
$ID,183
$MISSION,3
$DIVE,696
$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,-11365.625
$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,39
$R_STBD_OVSHOOT,46
$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
$GPS1,060111,114500,6702.122,-5655.037,39,1.2,39,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-56.6
$GPS2,060111,120206,6702.234,-5655.222,13,1.1,29,-37.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,112.3,5405,-17.5,-10.000
$D_GRID,610
$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,-146.0,0.0,0.0,0,163,0.00,0.00,-141.43,0.000,6,0.000,0.000,273,2814,3520,0,0,0,0,0,0
$GC,166,-0.57,-146.0,5.9,-11.5,25,180,8.45,2.35,0.00,0.000,4,0.243,0.041,2285,1364,3523,0,0,0,0,0,0
$GC,272,-0.62,-146.0,29.7,-9.2,43,279,0.00,2.28,0.00,0.000,6,0.000,0.057,2284,2758,3523,0,0,0,0,0,0
$GC,619,-0.64,-146.0,68.0,-10.9,104,625,0.00,1.98,0.00,0.000,4,0.000,0.068,2275,3928,3522,0,0,0,0,0,0
$GC,719,-0.67,-146.0,76.6,-8.2,121,726,0.00,1.80,0.00,0.000,6,0.000,0.045,2275,2795,3522,0,0,0,0,0,0
$GC,1067,-0.69,-146.0,111.5,-11.1,174,1071,0.00,2.25,0.00,0.000,4,0.000,0.047,2275,1372,3522,0,0,0,0,0,0
$GC,1150,-0.74,-146.0,120.8,-10.6,181,1157,0.12,2.33,0.00,0.000,6,0.093,0.058,2214,2787,3521,0,0,0,0,0,0
$GC,1476,-0.65,-146.0,160.6,-12.9,212,1480,0.17,1.95,0.00,0.000,4,0.164,0.068,2257,3938,3522,0,0,0,0,0,0
$GC,1533,-0.65,-146.0,166.8,-9.9,217,1536,0.00,1.80,0.00,0.000,6,0.000,0.045,2257,2802,3522,0,0,0,0,0,0
$GC,1864,-0.65,-146.0,195.8,-9.2,248,1868,0.00,2.25,0.00,0.000,4,0.000,0.047,2257,1370,3522,0,0,0,0,0,0
$GC,1916,-0.69,-146.0,200.6,-9.2,252,1920,0.00,2.35,0.00,0.000,6,0.000,0.058,2250,2804,3522,0,0,0,0,0,0
$GC,2242,-0.69,-146.0,232.1,-10.0,282,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2803,3523,0,0,0,0,0,0
$GC,2563,-0.69,-146.0,263.3,-9.3,312,2567,0.00,2.28,0.00,0.000,4,0.000,0.046,2249,1364,3523,0,0,0,0,0,0
$GC,2637,-0.71,-146.0,269.9,-8.3,318,2642,0.00,2.35,0.00,0.000,6,0.000,0.057,2247,2797,3523,0,0,0,0,0,0
$GC,2963,-0.71,-146.0,298.3,-9.2,348,2967,0.00,1.88,0.00,0.000,4,0.000,0.068,2247,3929,3523,0,0,0,0,0,0
$GC,3021,-0.71,-146.0,303.5,-9.3,353,3025,0.00,1.83,0.00,0.000,6,0.000,0.044,2247,2775,3523,0,0,0,0,0,0
$GC,3355,-0.71,-146.0,332.1,-9.4,384,3358,0.00,1.95,0.00,0.000,4,0.000,0.068,2247,3934,3524,0,0,0,0,0,0
$GC,3390,-0.71,-146.0,335.7,-10.0,387,3394,0.00,1.83,0.00,0.000,6,0.000,0.044,2247,2795,3524,0,0,0,0,0,0
$GC,3721,-0.71,-146.0,363.1,-7.5,418,3725,0.00,2.25,0.00,0.000,4,0.000,0.044,2247,1369,3524,0,0,0,0,0,0
$GC,3766,-0.74,-146.0,366.8,-7.9,421,3773,0.00,2.33,0.00,0.000,6,0.000,0.057,2246,2794,3524,0,0,0,0,0,0
$GC,4092,-0.74,-146.0,392.4,-8.4,452,4096,0.00,2.25,0.00,0.000,4,0.000,0.044,2247,1363,3524,0,0,0,0,0,0
$GC,4137,-0.79,-146.0,396.3,-8.7,455,4143,0.00,2.33,0.00,0.000,6,0.000,0.055,2247,2787,3525,0,0,0,0,0,0
$GC,4462,-0.81,-146.0,422.1,-7.9,469,4463,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2787,3525,0,0,0,0,0,0
$GC,4769,-0.83,-146.0,446.1,-7.9,479,4771,0.12,0.00,0.00,0.000,6,0.101,0.000,2181,2787,3526,0,0,0,0,0,0
$GC,5074,-0.72,-146.0,481.8,-11.6,489,5079,0.20,1.92,0.00,0.000,4,0.159,0.063,2230,3933,3526,0,0,0,0,0,0
$GC,5144,-0.72,-146.0,488.7,-9.5,491,5147,0.00,1.83,0.00,0.000,6,0.000,0.043,2230,2775,3526,0,0,0,0,0,0
$GC,5485,-0.72,-146.0,516.8,-8.0,502,5489,0.00,1.95,0.00,0.000,4,0.000,0.066,2223,3928,3527,0,0,0,0,0,0
$GC,5524,-0.70,-146.0,520.4,-9.8,503,5528,0.00,1.85,0.00,0.000,6,0.000,0.042,2223,2769,3527,0,0,0,0,0,0
$GC,5863,-0.68,-146.0,551.3,-9.4,514,5865,0.12,0.00,0.00,0.000,6,0.171,0.000,2258,2770,3528,0,0,0,0,0,0
$GC,6166,-0.73,-146.0,574.8,-7.2,524,6170,0.00,2.20,0.00,0.000,4,0.000,0.045,2258,1363,3528,0,0,0,0,0,0
$GC,6201,-0.80,-146.0,577.4,-7.0,525,6206,0.12,2.33,0.00,0.000,6,0.096,0.056,2196,2787,3528,0,0,0,0,0,0
$GC,6531,-1.05,-146.0,590.5,0.1,536,6536,0.17,1.92,0.00,0.000,4,0.087,0.066,2124,3933,3528,0,0,0,0,0,0
$STATE,6589,end dive,NO_VERTICAL_VELOCITY
$STATE,6589,begin apogee
$GC,6598,-0.14,0.0,590.6,0.0,537,6731,0.85,0.00,123.20,0.929,4,0.090,0.000,2425,2595,2923,0,0,0,0,0,0
$STATE,6731,end apogee,CONTROL_FINISHED_OK
$STATE,6732,begin climb
$GC,6734,0.57,146.0,590.5,0.0,542,6871,0.68,2.38,126.22,0.914,4,0.083,0.065,2657,3933,2326,0,0,0,0,0,0
$GC,6877,0.44,146.0,580.6,13.6,546,6882,0.17,2.30,0.00,0.000,6,0.184,0.038,2622,2598,2324,0,0,0,0,0,0
$GC,7197,0.46,146.0,547.4,10.3,557,7201,0.00,2.22,0.00,0.000,4,0.000,0.047,2622,1192,2318,0,0,0,0,0,0
$GC,7219,0.50,146.0,544.9,10.1,557,7226,0.00,2.30,0.00,0.000,6,0.000,0.050,2621,2600,2318,0,0,0,0,0,0
$GC,7532,0.53,146.0,513.1,10.3,568,7536,0.00,2.20,0.00,0.000,4,0.000,0.063,2621,3925,2316,0,0,0,0,0,0
$GC,7611,0.50,146.0,503.6,12.0,570,7615,0.00,2.10,0.00,0.000,6,0.000,0.040,2622,2603,2315,0,0,0,0,0,0
$GC,7936,0.52,149.5,471.1,9.8,581,7940,0.00,2.20,0.00,0.000,4,0.000,0.063,2622,3929,2315,0,0,0,0,0,0
$GC,8009,0.49,149.5,462.4,12.3,583,8013,0.00,2.08,0.00,0.000,6,0.000,0.041,2624,2623,2314,0,0,0,0,0,0
$GC,8339,0.49,149.5,428.2,10.3,594,8343,0.00,2.17,0.00,0.000,4,0.000,0.063,2624,3935,2314,0,0,0,0,0,0
$GC,8361,0.49,149.5,425.6,10.9,594,8368,0.00,2.05,0.00,0.000,6,0.000,0.040,2624,2638,2314,0,0,0,0,0,0
$GC,8676,0.49,149.5,393.7,10.4,607,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2637,2314,0,0,0,0,0,0
$GC,8996,0.52,153.7,361.5,9.8,637,9006,0.00,2.30,5.75,0.662,4,0.000,0.047,2624,1194,2296,0,0,0,0,0,0
$GC,9018,0.55,155.3,358.9,9.9,639,9025,0.00,2.33,0.00,0.000,6,0.000,0.050,2624,2645,2296,0,0,0,0,0,0
$GC,9344,0.58,165.2,327.8,9.5,670,9362,0.10,2.12,11.75,0.735,4,0.113,0.060,2676,3929,2248,0,0,0,0,0,0
$GC,9449,0.47,165.2,313.0,15.2,678,9456,0.17,2.05,0.00,0.000,6,0.187,0.040,2634,2638,2246,0,0,0,0,0,0
$GC,9775,0.50,165.2,278.0,10.8,709,9776,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2637,2246,0,0,0,0,0,0
$GC,10097,0.53,165.2,245.2,10.3,739,10101,0.00,2.25,0.00,0.000,4,0.000,0.046,2634,1197,2246,0,0,0,0,0,0
$GC,10133,0.60,180.2,241.4,9.3,741,10154,0.10,2.35,13.95,0.696,6,0.106,0.050,2680,2651,2188,0,0,0,0,0,0
$GC,10480,0.55,180.2,197.3,12.7,774,10481,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2651,2185,0,0,0,0,0,0
$GC,10802,0.51,180.2,156.9,12.7,804,10806,0.15,2.12,0.00,0.000,4,0.186,0.061,2639,3935,2185,0,0,0,0,0,0
$GC,10868,0.51,180.2,148.2,12.6,809,10875,0.00,2.00,0.00,0.000,6,0.000,0.039,2639,2662,2184,0,0,0,0,0,0
$GC,11194,0.55,180.2,114.2,10.4,840,11198,0.00,2.30,0.00,0.000,4,0.000,0.046,2640,1195,2184,0,0,0,0,0,0
$GC,11291,0.66,204.2,105.6,8.9,848,11320,0.12,2.35,20.95,0.627,6,0.096,0.049,2694,2667,2090,0,0,0,0,0,0
$GC,11655,0.63,204.2,63.4,11.9,908,11662,0.00,2.08,0.00,0.000,4,0.000,0.061,2695,3925,2086,0,0,0,0,0,0
$GC,11682,0.58,204.2,60.2,12.2,912,11689,0.12,1.98,0.00,0.000,6,0.190,0.038,2666,2656,2085,0,0,0,0,0,0
$GC,12031,0.65,232.7,27.5,8.7,973,12062,0.00,2.33,23.98,0.585,4,0.000,0.045,2666,1191,1975,0,0,0,0,0,0
$GC,12086,0.76,245.7,22.3,9.4,982,12106,0.15,2.38,12.70,0.563,6,0.091,0.050,2730,2656,1920,0,0,0,0,0,0
$FREEZE,8.75,2.279,-1.824,0,1,0
$FREEZE,8.09,2.328,-1.825,0,1,0
$FREEZE,7.64,2.215,-1.825,0,1,0
$FREEZE,6.90,2.216,-1.824,0,1,0
$FREEZE,6.31,2.140,-1.821,0,1,0
$FREEZE,5.63,2.250,-1.823,0,1,0
$FREEZE,4.86,2.174,-1.819,0,1,0
$FREEZE,3.92,2.258,-1.823,0,1,0
$FREEZE,3.22,2.372,-1.821,0,1,0
$FREEZE,2.58,2.364,-1.821,0,1,0
$STATE,12231,end climb,SURFACE_DEPTH_REACHED
$STATE,12231,begin surface coast
$FREEZE,2.06,2.352,-1.821,0,1,0
$FREEZE,1.44,2.385,-1.820,0,1,0
$FREEZE,1.23,2.376,-1.077,0,1,0
$FREEZE,1.46,2.349,-1.821,0,1,0
$FINISH,1.5,1.026513
$STATE,12254,end surface coast,CONTROL_FINISHED_OK
$STATE,12254,begin surface
$SM_CCo,12271,220.30,0.081,0,0,440,609.08
$SM_GC,1.75,0.00,0.00,220.30,0.000,0.000,0.081,282,2784,440,-6.84,0.08,609.08
$RAFOS_CLK,549
$RAFOS,6,1294318150,12.833333,12.819445,82,53,44,44,43,41,792,1556,1669,272,1527,760
$RAFOS,5,1294317661,12.700000,12.683611,110,43,42,41,41,40,671,1238,1211,594,26,1099
$RAFOS,4,1294317188,12.566667,12.552222,76,50,48,43,41,41,862,1232,582,1158,1114,1256
$RAFOS,3,1294316704,12.433333,12.417778,46,44,44,40,39,39,499,994,1631,398,455,1336
$RAFOS,2,1294316224,12.300000,12.284445,50,46,46,44,42,41,775,1721,1777,186,1341,1402
$RAFOS,1,1294315744,12.166667,12.151111,49,46,45,43,40,39,924,1186,1622,1430,1256,1857
$RAFOS_FIX,6706.175293,-5658.980957,060111,121244,3,89,3.12
$IRIDIUM_FIX,6636.54,-5658.34,060111,111154
$TT8_MAMPS,0.028462
$HUMID,45.31
$INTERNAL_PRESSURE,8.54372
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.3
$24V_AH,22.1,80.052
$10V_AH,9.8,55.023
$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,18.600,111.875,338.500,220.300,0.000,62.079,99.516,424.174,1.750,0.000,32.578,2516.699,7426.902,696.455,2312.991,583.473,0.000,1669.910,0.000,1742.684,2160.000,13.249,0.000
$DEVICE_MAMPS,242.505,83.385,929.475,81.090,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,697.099,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151696
$DATA_FILE_SIZE,36726,1012
$CAP_FILE_SIZE,144299,0
$CFSIZE,260165632,203706368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.0
$GPS,060111,153231,6704.416,-5654.118,37,1.2,37,-37.6