version: 66.08
glider: 183
mission: 3
dive: 836
start: 1 26 111 18 29 51
data:
$ID,183
$MISSION,3
$DIVE,836
$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,-13325.923
$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,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
$GPS1,260111,181208,6642.163,-5814.870,27,1.2,27,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-62.3
$GPS2,260111,182920,6642.221,-5814.799,9,1.8,9,-37.5
$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,96.0,73552,-17.5,-10.000
$D_GRID,666
$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,-146.0,0.0,0.0,0,173,0.00,0.00,-150.60,0.000,2,0.000,0.000,266,2784,3386,0,0,0,0,0,0
$GC,176,-0.57,-146.0,5.4,-13.1,27,196,8.68,2.33,-2.85,0.000,4,0.249,0.062,2284,1366,3522,0,0,0,0,0,0
$GC,339,-0.57,-146.0,38.2,-12.7,55,346,0.00,2.40,0.00,0.000,6,0.000,0.063,2278,2778,3524,0,0,0,0,0,0
$GC,686,-0.57,-146.0,79.4,-10.1,116,693,0.00,1.98,0.00,0.000,4,0.000,0.074,2270,3928,3524,0,0,0,0,0,0
$GC,758,-0.57,-146.0,87.3,-11.0,128,764,0.00,1.88,0.00,0.000,6,0.000,0.049,2270,2799,3523,0,0,0,0,0,0
$GC,1092,-0.57,-146.0,123.3,-10.6,169,1096,0.00,2.35,0.00,0.000,4,0.000,0.052,2270,1362,3523,0,0,0,0,0,0
$GC,1185,-0.59,-146.0,133.2,-10.9,177,1189,0.00,2.45,0.00,0.000,6,0.000,0.063,2261,2798,3523,0,0,0,0,0,0
$GC,1512,-0.59,-146.0,171.7,-11.5,207,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2797,3524,0,0,0,0,0,0
$GC,1831,-0.59,-146.0,202.6,-8.1,237,1835,0.00,1.95,0.00,0.000,4,0.000,0.074,2253,3928,3523,0,0,0,0,0,0
$GC,1868,-0.59,-146.0,205.9,-9.2,240,1872,0.12,1.90,0.00,0.000,6,0.165,0.050,2286,2782,3523,0,0,0,0,0,0
$GC,2199,-0.66,-146.0,229.7,-7.8,271,2204,0.00,2.30,0.00,0.000,4,0.000,0.051,2286,1366,3523,0,0,0,0,0,0
$GC,2234,-0.73,-146.0,232.6,-7.9,273,2242,0.15,2.42,0.00,0.000,6,0.086,0.063,2222,2782,3522,0,0,0,0,0,0
$GC,2561,-0.67,-146.0,269.6,-11.5,304,2563,0.12,0.00,0.00,0.000,6,0.174,0.000,2255,2782,3523,0,0,0,0,0,0
$GC,2879,-0.67,-146.0,295.8,-8.8,334,2883,0.00,2.33,0.00,0.000,4,0.000,0.050,2255,1369,3523,0,0,0,0,0,0
$GC,2935,-0.71,-146.0,301.1,-9.3,338,2942,0.00,2.40,0.00,0.000,6,0.000,0.063,2249,2777,3523,0,0,0,0,0,0
$GC,3261,-0.71,-146.0,333.6,-9.8,369,3265,0.00,2.30,0.00,0.000,4,0.000,0.050,2249,1366,3524,0,0,0,0,0,0
$GC,3295,-0.71,-146.0,337.2,-9.8,371,3302,0.00,2.40,0.00,0.000,6,0.000,0.062,2248,2771,3524,0,0,0,0,0,0
$GC,3621,-0.71,-146.0,368.4,-9.4,402,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2771,3524,0,0,0,0,0,0
$GC,3942,-0.71,-146.0,398.2,-9.4,432,3946,0.00,2.28,0.00,0.000,4,0.000,0.049,2247,1370,3525,0,0,0,0,0,0
$GC,3966,-0.71,-146.0,400.8,-9.4,433,3972,0.00,2.38,0.00,0.000,6,0.000,0.063,2247,2774,3525,0,0,0,0,0,0
$GC,4279,-0.71,-146.0,429.7,-9.2,444,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2774,3525,0,0,0,0,0,0
$GC,4585,-0.71,-146.0,457.8,-9.2,454,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2774,3525,0,0,0,0,0,0
$GC,4893,-0.71,-146.0,485.1,-8.9,464,4897,0.00,2.28,0.00,0.000,4,0.000,0.050,2247,1371,3525,0,0,0,0,0,0
$GC,4915,-0.71,-146.0,487.3,-8.7,464,4919,0.00,2.38,0.00,0.000,6,0.000,0.062,2248,2764,3526,0,0,0,0,0,0
$GC,5229,-0.71,-146.0,515.9,-9.4,474,5233,0.00,2.00,0.00,0.000,4,0.000,0.073,2247,3928,3526,0,0,0,0,0,0
$GC,5252,-0.71,-146.0,518.3,-9.7,474,5256,0.00,1.95,0.00,0.000,6,0.000,0.047,2247,2765,3526,0,0,0,0,0,0
$GC,5572,-0.71,-146.0,548.7,-9.7,485,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2765,3526,0,0,0,0,0,0
$GC,5878,-0.71,-146.0,576.8,-9.0,495,5882,0.00,2.28,0.00,0.000,4,0.000,0.049,2247,1369,3526,0,0,0,0,0,0
$GC,5918,-0.74,-146.0,580.4,-9.2,496,5922,0.00,2.40,0.00,0.000,6,0.000,0.061,2247,2777,3526,0,0,0,0,0,0
$STATE,6161,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6161,begin apogee
$GC,6169,-0.14,0.0,601.7,9.0,504,6301,0.55,0.00,125.03,0.976,4,0.134,0.000,2423,2596,2923,0,0,0,0,0,0
$STATE,6302,end apogee,CONTROL_FINISHED_OK
$STATE,6302,begin climb
$GC,6305,0.57,146.0,605.5,0.0,508,6445,0.70,2.42,131.93,0.951,4,0.072,0.050,2665,1184,2329,0,0,0,0,0,0
$GC,6647,0.57,146.0,578.4,10.2,518,6654,0.00,2.45,0.00,0.000,6,0.000,0.056,2665,2605,2319,0,0,0,0,0,0
$GC,6962,0.52,146.0,543.8,11.4,529,6966,0.00,2.30,0.00,0.000,4,0.000,0.053,2666,1184,2316,0,0,0,0,0,0
$GC,7169,0.53,153.9,522.2,9.6,535,7182,0.00,2.38,6.55,0.787,6,0.000,0.056,2666,2617,2295,0,0,0,0,0,0
$GC,7500,0.49,153.9,487.0,10.7,546,7502,0.12,0.00,0.00,0.000,6,0.197,0.000,2635,2617,2293,0,0,0,0,0,0
$GC,7805,0.51,184.4,460.4,8.6,556,7835,0.00,0.00,28.02,0.877,6,0.000,0.000,2635,2617,2171,0,0,0,0,0,0
$GC,8141,0.54,186.4,428.3,9.9,567,8145,0.00,2.35,0.00,0.000,4,0.000,0.052,2635,1177,2165,0,0,0,0,0,0
$GC,8171,0.62,205.4,425.4,9.1,568,8196,0.12,2.33,18.95,0.847,6,0.097,0.055,2691,2597,2085,0,0,0,0,0,0
$GC,8517,0.57,205.4,378.2,13.8,587,8522,0.12,2.25,0.00,0.000,4,0.184,0.067,2659,3926,2079,0,0,0,0,0,0
$GC,8550,0.55,205.4,373.2,14.0,589,8557,0.00,2.17,0.00,0.000,6,0.000,0.044,2662,2592,2078,0,0,0,0,0,0
$GC,8876,0.55,205.4,335.6,11.4,620,8880,0.00,2.25,0.00,0.000,4,0.000,0.053,2662,1194,2078,0,0,0,0,0,0
$GC,8923,0.60,205.4,330.7,11.1,624,8927,0.00,2.30,0.00,0.000,6,0.000,0.055,2661,2598,2078,0,0,0,0,0,0
$GC,9250,0.60,205.4,295.9,10.9,654,9251,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2599,2077,0,0,0,0,0,0
$GC,9569,0.60,205.4,259.7,11.3,684,9573,0.00,2.25,0.00,0.000,4,0.000,0.067,2661,3928,2077,0,0,0,0,0,0
$GC,9591,0.60,205.4,256.4,12.0,685,9597,0.00,2.17,0.00,0.000,6,0.000,0.044,2662,2595,2075,0,0,0,0,0,0
$GC,9917,0.60,210.2,223.2,9.8,716,9929,0.00,2.28,4.45,0.605,4,0.000,0.053,2662,1194,2065,0,0,0,0,0,0
$GC,9965,0.67,224.2,218.6,9.4,720,9988,0.00,2.30,13.77,0.732,6,0.000,0.054,2662,2586,2008,0,0,0,0,0,0
$GC,10307,0.70,224.2,179.9,12.4,752,10309,0.12,0.00,0.00,0.000,6,0.103,0.000,2717,2587,2005,0,0,0,0,0,0
$GC,10625,0.64,224.2,134.2,13.3,782,10630,0.12,2.30,0.00,0.000,4,0.177,0.053,2684,1194,2004,0,0,0,0,0,0
$GC,10643,0.62,224.2,131.9,13.0,783,10647,0.00,2.28,0.00,0.000,6,0.000,0.054,2684,2581,2004,0,0,0,0,0,0
$GC,10970,0.62,225.0,98.8,10.0,814,10977,0.00,2.28,0.00,0.000,4,0.000,0.067,2684,3926,2003,0,0,0,0,0,0
$GC,11074,0.59,225.0,87.4,11.3,832,11081,0.00,2.12,0.00,0.000,6,0.000,0.044,2690,2606,2002,0,0,0,0,0,0
$GC,11421,0.62,266.5,55.5,8.1,893,11462,0.00,0.00,36.65,0.655,6,0.000,0.000,2690,2606,1835,0,0,0,0,0,0
$GC,11806,0.68,273.3,16.7,9.7,960,11819,0.00,2.30,6.18,0.579,4,0.000,0.051,2689,1183,1806,0,0,0,0,0,0
$GC,11845,0.76,273.3,12.5,10.5,966,11852,0.00,2.40,0.00,0.000,6,0.000,0.056,2689,2633,1806,0,0,0,0,0,0
$FREEZE,8.94,-1.368,-1.817,3,1,0
$FREEZE,8.51,-1.369,-1.817,3,1,0
$FREEZE,8.03,-1.372,-1.816,3,1,0
$FREEZE,7.54,-1.377,-1.816,3,1,0
$FREEZE,6.91,-1.354,-1.815,3,1,0
$FREEZE,6.45,-1.355,-1.815,3,1,0
$FREEZE,5.70,-1.350,-1.814,3,1,0
$FREEZE,5.36,-1.365,-1.814,3,1,0
$FREEZE,4.79,-1.361,-1.814,3,1,0
$FREEZE,4.40,-1.364,-1.814,3,1,0
$FREEZE,3.93,-1.371,-1.813,3,1,0
$FREEZE,3.25,-1.351,-1.812,3,1,0
$FREEZE,2.72,-1.358,-1.812,3,1,0
$STATE,11942,end climb,SURFACE_DEPTH_REACHED
$STATE,11942,begin surface coast
$FREEZE,2.30,-1.354,-1.812,3,1,0
$FREEZE,1.76,-1.356,-1.811,3,1,0
$FREEZE,1.18,-1.360,-1.811,3,1,0
$FREEZE,0.78,-1.358,-1.810,3,1,0
$FREEZE,0.83,-1.543,-0.924,3,1,0
$FINISH,0.8,1.013621
$STATE,11969,end surface coast,FINISH_DEPTH_REACHED
$STATE,11969,begin surface
$SM_CCo,11988,210.30,0.087,0,0,440,609.08
$SM_GC,1.53,0.00,0.00,210.30,0.000,0.000,0.087,292,2779,440,-6.82,0.00,609.08
$RAFOS_CLK,647
$RAFOS,6,1296074945,20.833334,20.818056,47,46,46,46,43,42,1601,1898,348,727,1118,738
$RAFOS,5,1296074483,20.700001,20.689722,48,45,44,41,41,41,1587,1368,1931,366,1703,1806
$RAFOS,4,1296073994,20.566668,20.553888,57,45,43,42,42,41,622,1244,1532,1098,1244,1080
$RAFOS,3,1296073518,20.433332,20.421667,52,51,50,47,41,41,654,664,1646,674,1232,1246
$RAFOS,2,1296073021,20.299999,20.283611,55,49,49,46,45,41,821,312,973,1201,611,460
$RAFOS,1,1296072566,20.166666,20.157223,57,45,44,43,41,41,713,814,302,1179,1200,1713
$RAFOS,0,1296072068,20.033333,20.018888,47,42,40,40,39,39,1645,1239,1358,148,1447,1540
$RAFOS_FIX,6642.805664,-5834.522949,260111,000041,3,71,0.27
$IRIDIUM_FIX,6548.42,-5824.60,250111,181835
$TT8_MAMPS,0.028462
$HUMID,47.36
$INTERNAL_PRESSURE,8.42653
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.1
$ALTIM_BOTTOM_PING,601.7,11.9
$24V_AH,21.2,94.296
$10V_AH,9.6,64.102
$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,17.450,95.725,371.525,210.300,0.000,25.252,54.054,501.942,2.250,0.000,11.771,2423.881,7174.469,713.118,2214.027,713.171,0.000,1656.467,0.000,1683.562,2520.000,19.753,0.000
$DEVICE_MAMPS,248.625,87.210,976.140,87.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,688.682,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151656
$DATA_FILE_SIZE,36747,989
$CAP_FILE_SIZE,134170,0
$CFSIZE,260165632,194945024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.0
$GPS,260111,215436,6642.484,-5810.909,31,1.5,31,-37.5