version: 66.08
glider: 183
mission: 3
dive: 815
start: 1 23 111 13 54 8
data:
$ID,183
$MISSION,3
$DIVE,815
$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,-2
$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,-13322.154
$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,30
$R_STBD_OVSHOOT,34
$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
$GPS1,230111,122249,6641.674,-5941.650,0,5103.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.08
$_SM_ANGLEo,-8.7
$GPS2,230111,122249,6641.674,-5941.650,0,5103.0,0,-38.2
$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,110.7,131473,-17.5,-10.000
$D_GRID,831
$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,17,-0.57,-146.0,0.0,0.0,0,25,0.00,0.00,-5.55,0.000,2,0.000,0.000,2479,3913,2757,0,0,0,0,0,0
$GC,28,-0.57,-146.0,5.1,-0.0,1,65,0.50,4.35,-23.58,0.000,4,0.092,0.057,2295,1369,3521,0,0,0,0,0,0
$GC,247,-0.57,-146.0,30.3,-13.8,39,254,0.00,2.38,0.00,0.000,6,0.000,0.065,2293,2771,3523,0,0,0,0,0,0
$GC,594,-0.57,-146.0,72.1,-10.3,100,601,0.00,2.28,0.00,0.000,4,0.000,0.052,2293,1372,3522,0,0,0,0,0,0
$GC,609,-0.57,-146.0,74.2,-11.3,102,616,0.00,2.35,0.00,0.000,6,0.000,0.064,2289,2764,3523,0,0,0,0,0,0
$GC,947,-0.57,-146.0,116.5,-8.4,149,951,0.00,2.28,0.00,0.000,4,0.000,0.051,2290,1366,3521,0,0,0,0,0,0
$GC,1060,-0.60,-146.0,125.8,-8.0,158,1067,0.00,2.35,0.00,0.000,6,0.000,0.064,2287,2742,3522,0,0,0,0,0,0
$GC,1386,-0.63,-146.0,158.8,-8.9,189,1390,0.00,2.05,0.00,0.000,4,0.000,0.075,2281,3928,3521,0,0,0,0,0,0
$GC,1426,-0.65,-146.0,162.7,-9.2,192,1433,0.00,1.95,0.00,0.000,6,0.000,0.050,2281,2738,3521,0,0,0,0,0,0
$GC,1752,-0.68,-146.0,193.6,-10.2,223,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2738,3521,0,0,0,0,0,0
$GC,2073,-0.72,-146.0,227.0,-9.7,253,2080,0.10,0.00,0.00,0.000,6,0.112,0.000,2236,2738,3521,0,0,0,0,0,0
$GC,2399,-0.67,-146.0,262.9,-10.5,284,2403,0.00,2.22,0.00,0.000,4,0.000,0.052,2235,1367,3520,0,0,0,0,0,0
$GC,2435,-0.65,-146.0,266.6,-10.4,287,2439,0.00,2.35,0.00,0.000,6,0.000,0.065,2235,2743,3520,0,0,0,0,0,0
$GC,2768,-0.62,-146.0,304.3,-12.1,318,2773,0.15,2.08,0.00,0.000,4,0.174,0.074,2270,3928,3520,0,0,0,0,0,0
$GC,2797,-0.62,-146.0,307.6,-10.0,320,2801,0.00,2.00,0.00,0.000,6,0.000,0.050,2270,2717,3520,0,0,0,0,0,0
$GC,3129,-0.66,-146.0,337.5,-8.5,351,3133,0.00,2.20,0.00,0.000,4,0.000,0.052,2270,1361,3520,0,0,0,0,0,0
$GC,3169,-0.72,-146.0,341.0,-8.4,354,3176,0.00,2.33,0.00,0.000,6,0.000,0.063,2265,2738,3520,0,0,0,0,0,0
$GC,3495,-0.75,-146.0,365.5,-7.3,385,3499,0.00,2.05,0.00,0.000,4,0.000,0.073,2256,3928,3520,0,0,0,0,0,0
$GC,3520,-0.78,-146.0,367.3,-7.3,387,3523,0.00,1.98,0.00,0.000,6,0.000,0.049,2256,2722,3520,0,0,0,0,0,0
$GC,3852,-0.80,-146.0,395.8,-9.2,418,3854,0.12,0.00,0.00,0.000,6,0.102,0.000,2195,2722,3520,0,0,0,0,0,0
$GC,4169,-0.71,-146.0,436.9,-12.9,431,4174,0.17,2.12,0.00,0.000,4,0.168,0.073,2236,3928,3521,0,0,0,0,0,0
$GC,4197,-0.67,-146.0,440.3,-11.4,431,4204,0.00,1.95,0.00,0.000,6,0.000,0.047,2235,2733,3521,0,0,0,0,0,0
$GC,4511,-0.67,-146.0,470.4,-9.4,442,4515,0.00,2.22,0.00,0.000,4,0.000,0.050,2235,1368,3521,0,0,0,0,0,0
$GC,4532,-0.67,-146.0,472.7,-10.1,442,4540,0.00,2.35,0.00,0.000,6,0.000,0.063,2235,2745,3521,0,0,0,0,0,0
$GC,4849,-0.67,-146.0,502.8,-9.9,453,4853,0.00,2.08,0.00,0.000,4,0.000,0.074,2235,3933,3522,0,0,0,0,0,0
$GC,4885,-0.67,-146.0,506.7,-9.9,454,4889,0.00,1.95,0.00,0.000,6,0.000,0.047,2235,2735,3522,0,0,0,0,0,0
$GC,5227,-0.67,-146.0,541.8,-10.3,465,5231,0.00,2.20,0.00,0.000,4,0.000,0.050,2235,1370,3522,0,0,0,0,0,0
$GC,5263,-0.67,-146.0,545.5,-10.3,466,5267,0.00,2.30,0.00,0.000,6,0.000,0.062,2234,2735,3522,0,0,0,0,0,0
$GC,5599,-0.67,-146.0,579.3,-9.8,477,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2735,3522,0,0,0,0,0,0
$GC,5905,-0.67,-146.0,608.6,-9.5,487,5909,0.00,2.05,0.00,0.000,4,0.000,0.073,2234,3928,3523,0,0,0,0,0,0
$GC,5956,-0.67,-146.0,613.7,-9.8,488,5960,0.00,1.95,0.00,0.000,6,0.000,0.047,2234,2731,3523,0,0,0,0,0,0
$GC,6281,-0.67,-146.0,643.9,-9.3,499,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2731,3523,0,0,0,0,0,0
$STATE,6374,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6374,begin apogee
$GC,6381,-0.14,0.0,652.6,9.4,502,6514,0.60,0.00,125.40,1.014,4,0.133,0.000,2425,2601,2923,0,0,0,0,0,0
$STATE,6515,end apogee,CONTROL_FINISHED_OK
$STATE,6515,begin climb
$GC,6518,0.57,146.0,657.1,0.0,506,6659,0.68,2.45,134.02,0.987,4,0.067,0.050,2661,1187,2327,0,0,0,0,0,0
$GC,6817,0.57,146.0,634.8,10.0,515,6821,0.00,2.50,0.00,0.000,6,0.000,0.056,2661,2607,2318,0,0,0,0,0,0
$GC,7142,0.53,146.0,599.7,10.7,526,7146,0.00,2.33,0.00,0.000,4,0.000,0.053,2662,1188,2315,0,0,0,0,0,0
$GC,7366,0.53,146.0,576.5,10.2,532,7373,0.00,2.35,0.00,0.000,6,0.000,0.057,2662,2607,2314,0,0,0,0,0,0
$GC,7681,0.49,146.0,542.8,10.9,543,7685,0.00,2.22,0.00,0.000,4,0.000,0.069,2662,3928,2314,0,0,0,0,0,0
$GC,7710,0.41,146.0,539.3,11.4,544,7715,0.20,2.15,0.00,0.000,6,0.190,0.045,2611,2597,2312,0,0,0,0,0,0
$GC,8049,0.50,197.7,512.5,7.6,555,8100,0.00,2.30,43.75,0.916,4,0.000,0.051,2610,1192,2115,0,0,0,0,0,0
$GC,8119,0.65,251.9,507.0,7.5,557,8178,0.22,2.38,48.65,0.899,6,0.073,0.056,2700,2610,1895,0,0,0,0,0,0
$GC,8486,0.62,251.9,455.1,14.3,569,8487,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2610,1884,0,0,0,0,0,0
$GC,8790,0.58,251.9,412.2,13.6,579,8792,0.12,0.00,0.00,0.000,6,0.191,0.000,2668,2610,1882,0,0,0,0,0,0
$GC,9107,0.62,251.9,376.1,11.8,601,9111,0.00,2.30,0.00,0.000,4,0.000,0.054,2668,1189,1881,0,0,0,0,0,0
$GC,9128,0.67,251.9,373.1,11.3,602,9135,0.00,2.35,0.00,0.000,6,0.000,0.056,2668,2608,1881,0,0,0,0,0,0
$GC,9454,0.71,251.9,332.9,12.8,633,9456,0.10,0.00,0.00,0.000,6,0.116,0.000,2711,2608,1881,0,0,0,0,0,0
$GC,9772,0.67,251.9,283.3,15.8,663,9776,0.00,2.30,0.00,0.000,4,0.000,0.054,2712,1189,1880,0,0,0,0,0,0
$GC,9814,0.67,251.9,277.3,14.6,666,9818,0.00,2.33,0.00,0.000,6,0.000,0.056,2712,2604,1880,0,0,0,0,0,0
$GC,10140,0.64,251.9,230.1,14.0,696,10144,0.00,2.30,0.00,0.000,4,0.000,0.054,2714,1193,1880,0,0,0,0,0,0
$GC,10170,0.64,251.9,226.1,13.7,698,10175,0.12,2.30,0.00,0.000,6,0.172,0.056,2683,2593,1880,0,0,0,0,0,0
$GC,10496,0.68,251.9,187.8,11.0,728,10501,0.00,2.22,0.00,0.000,4,0.000,0.068,2683,3925,1880,0,0,0,0,0,0
$GC,10532,0.68,251.9,183.4,12.6,731,10536,0.00,2.20,0.00,0.000,6,0.000,0.046,2683,2581,1878,0,0,0,0,0,0
$GC,10858,0.72,251.9,145.9,11.4,761,10862,0.00,2.25,0.00,0.000,4,0.000,0.055,2684,1188,1878,0,0,0,0,0,0
$GC,10892,0.79,251.9,142.3,10.5,763,10899,0.12,2.33,0.00,0.000,6,0.101,0.056,2737,2587,1878,0,0,0,0,0,0
$GC,11218,0.77,251.9,98.5,11.8,795,11225,0.00,2.28,0.00,0.000,4,0.000,0.054,2738,1191,1878,0,0,0,0,0,0
$GC,11268,0.79,251.9,93.2,11.3,803,11274,0.00,2.28,0.00,0.000,6,0.000,0.057,2738,2559,1878,0,0,0,0,0,0
$GC,11614,0.80,267.9,56.3,9.3,864,11633,0.00,2.35,12.35,0.673,4,0.000,0.069,2738,3932,1829,0,0,0,0,0,0
$GC,11776,0.81,315.3,39.5,7.8,892,11823,0.00,2.20,41.78,0.656,6,0.000,0.046,2743,2588,1636,0,0,0,0,0,0
$FREEZE,8.81,-1.734,-1.772,3,33,0
$STATE,12054,end climb,FINISH_DEPTH_REACHED
$STATE,12054,begin subsurface finish
$FINISH1,8.8,1.025950,76
$GC,12064,0.05,76.0,8.8,-12.2,941,12106,0.80,2.35,-31.15,0.000,4,0.150,0.066,2500,1185,2616,0,0,0,0,0,0
$FINISH2,6.8
$STATE,12107,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12107,begin surface
$RAFOS_CLK,703
$RAFOS,6,1295801348,16.833334,16.818890,131,48,46,43,42,39,737,1114,1064,828,1865,1802
$RAFOS,5,1295800868,16.700001,16.685556,72,43,43,41,39,38,832,762,1862,841,947,1335
$RAFOS,4,1295800384,16.566668,16.551111,101,51,45,43,42,42,627,488,1329,1089,956,995
$RAFOS,3,1295799906,16.433332,16.418333,98,43,41,41,40,40,698,1254,446,257,180,1862
$RAFOS,2,1295799451,16.299999,16.291945,141,46,43,41,41,40,483,741,836,748,940,427
$RAFOS,1,1295798942,16.166666,16.150555,125,42,42,41,39,39,604,1086,1696,1381,1159,1811
$RAFOS,0,1295798463,16.033333,16.017500,138,49,46,43,43,39,717,1700,414,396,1248,1447
$RAFOS_FIX,6643.122559,-5938.033203,230111,161607,7,115,0.26
$IRIDIUM_FIX,6636.54,-5836.58,180111,000051
$TT8_MAMPS,0.029211
$HUMID,49.84
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.3
$ALTIM_BOTTOM_PING,652.6,12.0
$24V_AH,21.0,92.114
$10V_AH,9.6,62.781
$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,4.025,111.550,405.950,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2370.373,7416.534,452.446,1689.163,255.355,0.000,1392.470,0.000,1667.551,2520.000,19.469,0.000
$DEVICE_MAMPS,191.250,74.970,1013.625,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,662.003,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151708
$DATA_FILE_SIZE,33374,948
$CAP_FILE_SIZE,124701,0
$CFSIZE,260165632,196362240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.8
$GPS,230111,162707,6643.123,-5938.033,0,7115.1,0,-38.2