version: 66.08
glider: 183
mission: 3
dive: 389
start: 11 24 110 14 48 30
data:
$ID,183
$MISSION,3
$DIVE,389
$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,-8271.1582
$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,32
$R_STBD_OVSHOOT,24
$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,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$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
$GPS1,241110,122734,6646.675,-5951.715,0,7088.0,0,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.51
$_SM_ANGLEo,-7.5
$GPS2,241110,122734,6646.675,-5951.715,0,7088.0,0,-38.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,296.9,25566,-17.5,-10.000
$D_GRID,751
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-7.03,0.000,2,0.000,0.000,2504,1192,2722,0,0,0,0,0,0
$GC,27,-0.57,-146.0,10.0,-0.0,1,52,0.57,0.30,-18.88,0.000,4,0.076,0.180,2284,1374,3521,0,0,0,0,0,0
$GC,205,-0.53,-146.0,36.1,-16.3,32,212,0.00,2.33,0.00,0.000,6,0.000,0.063,2278,2779,3524,0,0,0,0,0,0
$GC,551,-0.51,-146.0,86.0,-12.1,93,558,0.12,2.30,0.00,0.000,4,0.187,0.052,2310,1370,3522,0,0,0,0,0,0
$GC,606,-0.59,-146.0,91.6,-9.6,102,612,0.00,2.35,0.00,0.000,6,0.000,0.063,2307,2779,3523,0,0,0,0,0,0
$GC,944,-0.64,-146.0,122.4,-8.8,141,949,0.12,1.98,0.00,0.000,4,0.104,0.074,2248,3927,3523,0,0,0,0,0,0
$GC,982,-0.58,-146.0,127.4,-14.1,144,990,0.10,1.88,0.00,0.000,6,0.148,0.048,2296,2782,3522,0,0,0,0,0,0
$GC,1308,-0.63,-146.0,156.3,-7.8,175,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2782,3522,0,0,0,0,0,0
$GC,1628,-0.69,-146.0,183.3,-8.8,205,1632,0.12,2.00,0.00,0.000,4,0.105,0.076,2244,3933,3522,0,0,0,0,0,0
$GC,1677,-0.64,-146.0,189.4,-12.2,209,1684,0.00,1.88,0.00,0.000,6,0.000,0.048,2244,2775,3521,0,0,0,0,0,0
$GC,2003,-0.60,-146.0,228.0,-11.1,240,2005,0.12,0.00,0.00,0.000,6,0.182,0.000,2276,2775,3522,0,0,0,0,0,0
$GC,2322,-0.63,-146.0,255.4,-8.5,270,2325,0.00,1.95,0.00,0.000,4,0.000,0.075,2272,3928,3522,0,0,0,0,0,0
$GC,2349,-0.66,-146.0,258.0,-8.3,272,2356,0.00,1.83,0.00,0.000,6,0.000,0.049,2272,2784,3522,0,0,0,0,0,0
$GC,2675,-0.68,-146.0,286.5,-8.6,303,2679,0.00,2.25,0.00,0.000,4,0.000,0.051,2272,1363,3521,0,0,0,0,0,0
$GC,2696,-0.71,-146.0,288.7,-9.3,304,2703,0.00,2.35,0.00,0.000,6,0.000,0.063,2272,2788,3521,0,0,0,0,0,0
$GC,3022,-0.74,-146.0,318.4,-9.1,335,3024,0.10,0.00,0.00,0.000,6,0.121,0.000,2228,2788,3521,0,0,0,0,0,0
$GC,3341,-0.69,-146.0,354.0,-11.2,365,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2788,3522,0,0,0,0,0,0
$GC,3660,-0.65,-146.0,389.1,-11.7,395,3662,0.12,0.00,0.00,0.000,6,0.171,0.000,2262,2788,3522,0,0,0,0,0,0
$GC,3977,-0.68,-146.0,418.3,-8.9,425,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2788,3521,0,0,0,0,0,0
$GC,4297,-0.71,-146.0,445.5,-8.6,455,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2787,3522,0,0,0,0,0,0
$GC,4615,-0.74,-146.0,471.2,-8.2,485,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2788,3522,0,0,0,0,0,0
$GC,4934,-0.78,-146.0,497.6,-8.1,515,4936,0.12,0.00,0.00,0.000,6,0.106,0.000,2209,2787,3522,0,0,0,0,0,0
$GC,5240,-0.71,-146.0,532.9,-11.7,527,5242,0.12,0.00,0.00,0.000,6,0.186,0.000,2241,2788,3522,0,0,0,0,0,0
$GC,5546,-0.71,-146.0,561.7,-9.3,537,5550,0.00,2.25,0.00,0.000,4,0.000,0.050,2241,1370,3523,0,0,0,0,0,0
$GC,5575,-0.71,-146.0,564.3,-9.2,538,5579,0.00,2.38,0.00,0.000,6,0.000,0.062,2237,2797,3522,0,0,0,0,0,0
$GC,5910,-0.71,-146.0,594.5,-8.8,549,5914,0.00,2.28,0.00,0.000,4,0.000,0.050,2237,1366,3522,0,0,0,0,0,0
$GC,5943,-0.71,-146.0,597.7,-9.3,550,5947,0.00,2.35,0.00,0.000,6,0.000,0.061,2235,2791,3522,0,0,0,0,0,0
$GC,6272,-0.71,-146.0,629.5,-9.7,561,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2791,3522,0,0,0,0,0,0
$GC,6578,-0.71,-146.0,657.0,-8.9,571,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2791,3522,0,0,0,0,0,0
$GC,6885,-0.71,-146.0,685.8,-9.3,581,6889,0.00,2.25,0.00,0.000,4,0.000,0.050,2235,1370,3523,0,0,0,0,0,0
$GC,6916,-0.71,-146.0,689.4,-10.4,582,6921,0.00,2.38,0.00,0.000,6,0.000,0.062,2235,2785,3523,0,0,0,0,0,0
$GC,7256,-0.71,-146.0,720.4,-9.5,593,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2785,3523,0,0,0,0,0,0
$GC,7559,-0.71,-146.0,748.6,-8.9,603,7562,0.00,1.95,0.00,0.000,4,0.000,0.071,2228,3938,3524,0,0,0,0,0,0
$STATE,7578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7579,begin apogee
$GC,7585,-0.14,0.0,751.0,10.4,603,7713,0.60,0.00,123.07,1.078,4,0.139,0.000,2421,2597,2923,0,0,0,0,0,0
$STATE,7714,end apogee,CONTROL_FINISHED_OK
$STATE,7714,begin climb
$GC,7716,0.57,146.0,754.3,0.0,607,7855,0.70,2.42,130.82,1.050,4,0.076,0.050,2659,1194,2327,0,0,0,0,0,0
$GC,7983,0.54,146.0,732.9,10.8,616,7987,0.00,2.47,0.00,0.000,6,0.000,0.054,2659,2600,2318,0,0,0,0,0,0
$GC,8320,0.48,146.0,693.7,12.0,627,8324,0.00,2.33,0.00,0.000,4,0.000,0.054,2663,1193,2314,0,0,0,0,0,0
$GC,8525,0.45,146.0,670.2,11.0,633,8530,0.15,2.35,0.00,0.000,6,0.199,0.056,2626,2606,2314,0,0,0,0,0,0
$GC,8855,0.45,146.7,637.7,10.0,644,8859,0.00,2.20,0.00,0.000,4,0.000,0.067,2626,3926,2312,0,0,0,0,0,0
$GC,8904,0.40,146.7,632.0,12.0,645,8908,0.00,2.12,0.00,0.000,6,0.000,0.044,2626,2612,2312,0,0,0,0,0,0
$GC,9228,0.41,151.9,600.0,9.8,656,9237,0.00,2.33,3.97,0.680,4,0.000,0.054,2626,1185,2303,0,0,0,0,0,0
$GC,9263,0.45,166.0,596.7,9.4,657,9283,0.00,2.35,13.93,0.935,6,0.000,0.055,2626,2622,2245,0,0,0,0,0,0
$GC,9602,0.45,166.0,562.5,10.2,668,9603,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2622,2243,0,0,0,0,0,0
$GC,9909,0.45,173.1,532.9,9.7,678,9918,0.00,0.00,7.40,0.843,6,0.000,0.000,2626,2622,2218,0,0,0,0,0,0
$GC,10214,0.46,183.1,504.1,9.5,688,10227,0.00,0.00,10.50,0.877,6,0.000,0.000,2626,2622,2176,0,0,0,0,0,0
$GC,10533,0.49,200.3,475.0,9.2,714,10551,0.00,0.00,16.02,0.886,6,0.000,0.000,2626,2622,2106,0,0,0,0,0,0
$GC,10870,0.55,213.9,442.5,9.4,746,10889,0.00,0.00,12.85,0.856,6,0.000,0.000,2626,2622,2050,0,0,0,0,0,0
$GC,11208,0.60,221.1,409.8,9.7,778,11219,0.12,0.00,7.47,0.786,6,0.107,0.000,2678,2622,2021,0,0,0,0,0,0
$GC,11537,0.57,221.1,364.5,13.7,809,11541,0.00,2.20,0.00,0.000,4,0.000,0.067,2679,3933,2018,0,0,0,0,0,0
$GC,11569,0.50,221.1,359.4,15.8,811,11577,0.17,2.12,0.00,0.000,6,0.194,0.044,2636,2609,2018,0,0,0,0,0,0
$GC,11896,0.55,221.1,325.1,10.2,842,11900,0.00,2.28,0.00,0.000,4,0.000,0.054,2636,1185,2018,0,0,0,0,0,0
$GC,11939,0.65,221.1,320.6,10.4,845,11947,0.15,2.28,0.00,0.000,6,0.096,0.055,2695,2596,2018,0,0,0,0,0,0
$GC,12265,0.60,221.1,276.7,13.4,876,12269,0.00,2.20,0.00,0.000,4,0.000,0.067,2695,3927,2017,0,0,0,0,0,0
$GC,12305,0.51,221.1,270.5,14.9,879,12310,0.22,2.15,0.00,0.000,6,0.190,0.044,2642,2590,2016,0,0,0,0,0,0
$GC,12632,0.57,226.1,238.4,9.8,909,12641,0.00,0.00,5.40,0.671,6,0.000,0.000,2641,2589,2001,0,0,0,0,0,0
$GC,12960,0.64,232.6,206.5,9.7,940,12973,0.12,2.33,7.43,0.710,4,0.106,0.069,2691,3930,1974,0,0,0,0,0,0
$GC,13009,0.57,232.6,200.0,14.8,944,13013,0.12,2.12,0.00,0.000,6,0.203,0.045,2663,2606,1973,0,0,0,0,0,0
$GC,13334,0.61,237.4,165.2,9.8,974,13344,0.00,0.00,5.50,0.649,6,0.000,0.000,2663,2606,1955,0,0,0,0,0,0
$GC,13663,0.67,259.8,133.3,9.0,1005,13689,0.00,2.25,20.70,0.725,4,0.000,0.070,2663,3929,1862,0,0,0,0,0,0
$GC,13712,0.72,259.8,128.4,10.0,1009,13720,0.12,2.12,0.00,0.000,6,0.110,0.046,2710,2617,1860,0,0,0,0,0,0
$GC,14041,0.72,259.8,90.8,11.2,1047,14048,0.00,2.30,0.00,0.000,4,0.000,0.056,2711,1190,1857,0,0,0,0,0,0
$GC,14084,0.75,259.8,86.6,10.3,1054,14090,0.00,2.35,0.00,0.000,6,0.000,0.057,2711,2622,1856,0,0,0,0,0,0
$GC,14429,0.75,259.8,48.0,11.3,1115,14436,0.00,2.33,0.00,0.000,4,0.000,0.056,2711,1185,1856,0,0,0,0,0,0
$GC,14471,0.80,259.8,43.4,10.4,1122,14478,0.00,2.30,0.00,0.000,6,0.000,0.057,2711,2603,1855,0,0,0,0,0,0
$GC,14818,0.92,322.6,14.4,7.1,1183,14877,0.17,2.30,52.15,0.656,4,0.094,0.069,2781,3935,1606,0,0,0,0,0,0
$FREEZE,7.72,-1.623,-1.692,2,3,0
$STATE,14885,end climb,FINISH_DEPTH_REACHED
$STATE,14885,begin subsurface finish
$FINISH1,7.7,1.024809,132
$GC,14893,0.09,132.1,7.7,-10.7,1194,14929,0.95,2.30,-27.25,0.000,4,0.171,0.085,2508,3925,2387,0,0,0,0,0,0
$FINISH2,5.9
$STATE,14930,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14930,begin surface
$RAFOS_CLK,866
$RAFOS,6,1290617360,16.833334,16.822222,92,46,46,43,43,42,683,1047,289,1337,1850,787
$RAFOS,5,1290616870,16.700001,16.686111,76,44,42,42,40,38,874,153,173,1111,1073,1547
$RAFOS,4,1290616410,16.566668,16.558332,99,43,43,43,42,41,533,724,35,831,854,1235
$RAFOS,3,1290615925,16.433332,16.423611,67,50,46,41,41,40,653,644,925,1893,1215,186
$RAFOS,2,1290615440,16.299999,16.288889,97,51,48,41,39,38,571,580,714,1230,1714,1912
$RAFOS,1,1290614945,16.166666,16.151388,124,46,42,41,39,37,542,952,26,1109,90,1392
$RAFOS,0,1290614468,16.033333,16.018888,67,53,43,43,43,40,653,788,376,452,26,677
$RAFOS_FIX,6647.718750,-5955.102051,241110,161625,7,89,0.22
$IRIDIUM_FIX,6620.33,-5936.77,241110,010130
$TT8_MAMPS,0.028462
$HUMID,48.89
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.1
$ALTIM_BOTTOM_PING,750.4,37.1
$24V_AH,21.9,47.395
$10V_AH,10.0,36.112
$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,5.275,98.150,417.225,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,2960.173,9388.398,471.174,1999.106,189.113,0.000,1532.996,0.000,1980.424,2520.000,24.101,0.000
$DEVICE_MAMPS,202.725,179.775,1077.885,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,838.421,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151720
$DATA_FILE_SIZE,43323,1200
$CAP_FILE_SIZE,146358,0
$CFSIZE,260165632,221880320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.0
$GPS,241110,162725,6647.719,-5955.102,0,7088.9,0,-38.1