version: 66.08
glider: 183
mission: 3
dive: 430
start: 11 30 110 20 19 38
data:
$ID,183
$MISSION,3
$DIVE,430
$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,-8292.8994
$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,35
$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,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
$GPS1,301110,201036,6656.510,-5726.582,30,1.0,30,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-60.6
$GPS2,301110,201907,6656.484,-5726.600,8,1.2,13,-37.6
$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,104.2,30375,-17.5,-10.000
$D_GRID,773
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,157,0.00,0.00,-136.25,0.000,2,0.000,0.000,275,2781,3369,0,0,0,0,0,0
$GC,160,-0.57,-146.0,5.9,-13.3,24,179,8.57,2.28,-3.05,0.000,4,0.256,0.060,2282,1369,3522,0,0,0,0,0,0
$GC,304,-0.57,-146.0,35.9,-9.2,49,311,0.00,2.35,0.00,0.000,6,0.000,0.061,2279,2778,3524,0,0,0,0,0,0
$GC,649,-0.57,-146.0,74.6,-9.6,110,655,0.00,1.95,0.00,0.000,4,0.000,0.070,2272,3935,3523,0,0,0,0,0,0
$GC,679,-0.57,-146.0,78.2,-11.3,115,686,0.00,1.88,0.00,0.000,6,0.000,0.046,2272,2771,3522,0,0,0,0,0,0
$GC,1024,-0.57,-146.0,111.6,-9.5,166,1028,0.00,2.20,0.00,0.000,4,0.000,0.048,2272,1367,3522,0,0,0,0,0,0
$GC,1086,-0.61,-146.0,117.7,-8.9,171,1090,0.00,2.30,0.00,0.000,6,0.000,0.060,2272,2775,3522,0,0,0,0,0,0
$GC,1412,-0.63,-146.0,143.6,-7.8,201,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2776,3522,0,0,0,0,0,0
$GC,1731,-0.65,-146.0,168.1,-7.2,231,1734,0.00,1.90,0.00,0.000,4,0.000,0.069,2272,3928,3524,0,0,0,0,0,0
$GC,1776,-0.68,-146.0,171.6,-7.3,235,1780,0.00,1.85,0.00,0.000,6,0.000,0.044,2272,2766,3524,0,0,0,0,0,0
$GC,2108,-0.70,-146.0,197.2,-8.4,266,2112,0.00,2.17,0.00,0.000,4,0.000,0.047,2272,1368,3525,0,0,0,0,0,0
$GC,2141,-0.74,-146.0,200.1,-8.5,268,2148,0.10,2.30,0.00,0.000,6,0.114,0.059,2222,2782,3524,0,0,0,0,0,0
$GC,2466,-0.66,-146.0,239.7,-13.0,299,2471,0.12,1.92,0.00,0.000,4,0.181,0.067,2251,3933,3526,0,0,0,0,0,0
$GC,2522,-0.66,-146.0,246.2,-10.9,304,2526,0.00,1.83,0.00,0.000,6,0.000,0.044,2251,2771,3526,0,0,0,0,0,0
$GC,2853,-0.66,-146.0,280.4,-9.8,335,2857,0.00,1.92,0.00,0.000,4,0.000,0.070,2244,3929,3526,0,0,0,0,0,0
$GC,2898,-0.66,-146.0,285.1,-11.0,339,2902,0.00,1.83,0.00,0.000,6,0.000,0.044,2244,2769,3526,0,0,0,0,0,0
$GC,3229,-0.66,-146.0,316.5,-9.1,370,3233,0.00,1.95,0.00,0.000,4,0.000,0.070,2236,3937,3525,0,0,0,0,0,0
$GC,3253,-0.63,-146.0,318.8,-9.7,372,3257,0.12,1.83,0.00,0.000,6,0.173,0.044,2270,2777,3525,0,0,0,0,0,0
$GC,3584,-0.67,-146.0,343.1,-7.3,403,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2777,3526,0,0,0,0,0,0
$GC,3905,-0.71,-146.0,364.7,-6.9,433,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2777,3526,0,0,0,0,0,0
$GC,4234,-0.76,-146.0,387.9,-6.8,464,4240,0.12,0.00,0.00,0.000,6,0.100,0.000,2215,2777,3526,0,0,0,0,0,0
$GC,4559,-0.69,-146.0,422.9,-11.0,495,4564,0.12,1.95,0.00,0.000,4,0.181,0.070,2241,3929,3526,0,0,0,0,0,0
$GC,4616,-0.69,-146.0,428.6,-10.4,500,4620,0.00,1.83,0.00,0.000,6,0.000,0.045,2241,2784,3526,0,0,0,0,0,0
$GC,4947,-0.69,-146.0,459.3,-9.4,531,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2784,3525,0,0,0,0,0,0
$GC,5269,-0.69,-146.0,489.2,-9.4,561,5275,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2785,3525,0,0,0,0,0,0
$GC,5596,-0.69,-146.0,520.1,-9.3,579,5597,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2784,3525,0,0,0,0,0,0
$GC,5903,-0.69,-146.0,548.1,-9.0,589,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2784,3525,0,0,0,0,0,0
$GC,6208,-0.69,-146.0,575.4,-8.9,599,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2784,3525,0,0,0,0,0,0
$GC,6516,-0.69,-146.0,602.3,-8.7,609,6520,0.00,2.25,0.00,0.000,4,0.000,0.048,2241,1364,3525,0,0,0,0,0,0
$GC,6538,-0.69,-146.0,604.6,-8.9,609,6544,0.00,2.38,0.00,0.000,6,0.000,0.060,2241,2797,3525,0,0,0,0,0,0
$GC,6851,-0.69,-146.0,631.8,-8.8,620,6852,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2797,3525,0,0,0,0,0,0
$GC,7157,-0.69,-146.0,660.5,-9.6,630,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2797,3525,0,0,0,0,0,0
$GC,7464,-0.69,-146.0,689.7,-9.6,640,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2797,3525,0,0,0,0,0,0
$GC,7769,-0.69,-146.0,718.6,-9.2,650,7773,0.00,2.28,0.00,0.000,4,0.000,0.048,2241,1370,3525,0,0,0,0,0,0
$GC,7798,-0.69,-146.0,721.3,-9.7,651,7802,0.00,2.35,0.00,0.000,6,0.000,0.061,2241,2796,3525,0,0,0,0,0,0
$GC,8141,-0.69,-146.0,751.5,-9.0,662,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2796,3525,0,0,0,0,0,0
$STATE,8382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8382,begin apogee
$GC,8387,-0.14,0.0,773.2,8.8,670,8518,0.57,0.00,124.30,1.086,4,0.135,0.000,2428,2609,2923,0,0,0,0,0,0
$STATE,8519,end apogee,CONTROL_FINISHED_OK
$STATE,8519,begin climb
$GC,8521,0.57,146.0,776.9,0.0,674,8660,0.68,2.45,131.05,1.063,4,0.067,0.049,2663,1186,2327,0,0,0,0,0,0
$GC,8785,0.54,146.0,754.7,12.1,682,8790,0.00,2.47,0.00,0.000,6,0.000,0.054,2663,2601,2318,0,0,0,0,0,0
$GC,9104,0.47,146.0,713.7,13.2,693,9109,0.15,2.33,0.00,0.000,4,0.197,0.051,2628,1181,2314,0,0,0,0,0,0
$GC,9302,0.50,157.7,693.6,9.5,699,9316,0.00,2.35,8.73,0.916,6,0.000,0.055,2628,2620,2282,0,0,0,0,0,0
$GC,9641,0.50,157.7,656.2,11.1,710,9645,0.00,2.17,0.00,0.000,4,0.000,0.067,2629,3930,2280,0,0,0,0,0,0
$GC,9673,0.45,157.7,652.0,12.9,711,9677,0.00,2.12,0.00,0.000,6,0.000,0.044,2633,2594,2279,0,0,0,0,0,0
$GC,10009,0.45,157.7,615.4,10.8,722,10010,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2593,2279,0,0,0,0,0,0
$GC,10315,0.45,157.7,582.8,10.7,732,10319,0.00,2.25,0.00,0.000,4,0.000,0.067,2633,3932,2278,0,0,0,0,0,0
$GC,10359,0.39,157.7,577.2,12.2,733,10364,0.08,2.12,0.00,0.000,6,0.187,0.044,2599,2614,2277,0,0,0,0,0,0
$GC,10689,0.48,197.9,549.9,8.1,744,10730,0.00,2.33,35.53,0.943,4,0.000,0.053,2599,1186,2115,0,0,0,0,0,0
$GC,10747,0.61,243.9,545.4,7.9,745,10794,0.22,2.38,41.12,0.927,6,0.080,0.054,2687,2617,1928,0,0,0,0,0,0
$GC,11110,0.56,243.9,492.4,15.0,759,11112,0.12,0.00,0.00,0.000,6,0.191,0.000,2656,2618,1917,0,0,0,0,0,0
$GC,11427,0.56,243.9,452.7,12.7,789,11431,0.00,2.17,0.00,0.000,4,0.000,0.067,2656,3925,1914,0,0,0,0,0,0
$GC,11445,0.56,243.9,450.4,13.0,790,11449,0.00,2.10,0.00,0.000,6,0.000,0.044,2657,2606,1913,0,0,0,0,0,0
$GC,11769,0.56,243.9,408.7,12.3,820,11773,0.00,2.22,0.00,0.000,4,0.000,0.053,2657,1194,1913,0,0,0,0,0,0
$GC,11802,0.60,243.9,404.6,11.3,822,11809,0.00,2.28,0.00,0.000,6,0.000,0.056,2657,2608,1913,0,0,0,0,0,0
$GC,12127,0.60,243.9,362.4,13.2,853,12131,0.00,2.20,0.00,0.000,4,0.000,0.067,2657,3925,1913,0,0,0,0,0,0
$GC,12156,0.60,243.9,358.3,14.7,855,12160,0.00,2.10,0.00,0.000,6,0.000,0.044,2661,2597,1912,0,0,0,0,0,0
$GC,12481,0.60,243.9,314.9,13.0,885,12482,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2597,1912,0,0,0,0,0,0
$GC,12801,0.60,243.9,273.5,12.4,915,12802,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2597,1912,0,0,0,0,0,0
$GC,13122,0.60,243.9,234.0,12.0,945,13128,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2597,1912,0,0,0,0,0,0
$GC,13448,0.60,243.9,194.6,12.0,976,13452,0.00,2.20,0.00,0.000,4,0.000,0.052,2662,1195,1911,0,0,0,0,0,0
$GC,13481,0.66,243.9,190.7,10.7,978,13488,0.00,2.30,0.00,0.000,6,0.000,0.055,2661,2624,1911,0,0,0,0,0,0
$GC,13806,0.66,243.9,152.0,11.6,1009,13810,0.00,2.28,0.00,0.000,4,0.000,0.052,2662,1190,1911,0,0,0,0,0,0
$GC,13828,0.69,243.9,149.4,11.7,1010,13835,0.10,2.30,0.00,0.000,6,0.123,0.054,2704,2608,1911,0,0,0,0,0,0
$GC,14154,0.62,243.9,96.7,15.6,1042,14160,0.00,2.17,0.00,0.000,4,0.000,0.064,2703,3933,1909,0,0,0,0,0,0
$GC,14196,0.51,243.9,89.2,18.3,1049,14204,0.22,2.10,0.00,0.000,6,0.184,0.043,2646,2616,1909,0,0,0,0,0,0
$GC,14545,0.60,267.1,51.8,8.9,1110,14570,0.00,2.25,17.38,0.634,4,0.000,0.049,2646,1192,1832,0,0,0,0,0,0
$GC,14628,0.73,269.9,43.9,9.9,1124,14642,0.17,2.30,4.15,0.489,6,0.086,0.053,2717,2621,1821,0,0,0,0,0,0
$FREEZE,8.83,0.212,-1.785,0,1,0
$FREEZE,8.12,0.208,-1.783,0,1,0
$FREEZE,7.42,0.240,-1.782,0,1,0
$FREEZE,6.83,0.217,-1.781,0,1,0
$FREEZE,6.03,0.170,-1.780,0,1,0
$FREEZE,5.49,0.193,-1.779,0,1,0
$FREEZE,4.80,0.184,-1.779,0,1,0
$FREEZE,4.23,0.190,-1.778,0,1,0
$FREEZE,3.73,0.195,-1.778,0,1,0
$FREEZE,3.35,0.191,-1.777,0,1,0
$FREEZE,2.90,0.196,-1.777,0,1,0
$STATE,14945,end climb,SURFACE_DEPTH_REACHED
$STATE,14945,begin surface coast
$FREEZE,2.55,0.190,-1.777,0,1,0
$FREEZE,2.02,0.177,-1.776,0,1,0
$FREEZE,1.65,0.171,-1.776,0,1,0
$FREEZE,1.15,0.172,-1.775,0,1,0
$FREEZE,1.23,0.308,-0.623,0,1,0
$FREEZE,1.23,0.467,-1.143,0,1,0
$FINISH,1.2,1.016876
$STATE,14978,end surface coast,CONTROL_FINISHED_OK
$STATE,14978,begin surface
$SM_CCo,14993,203.40,0.082,0,0,439,609.08
$SM_GC,1.90,0.00,0.00,203.40,0.000,0.000,0.082,297,2790,439,-6.79,0.28,609.08
$RAFOS_CLK,795
$RAFOS,2,1291162621,0.300000,0.283611,52,50,46,46,41,41,1005,191,332,857,912,1688
$RAFOS,1,1291162150,0.166667,0.152778,44,40,39,39,39,39,332,1510,1078,1197,26,417
$RAFOS,0,1291161663,0.033333,0.017500,45,44,42,42,41,41,1616,26,1569,1232,1345,1068
$RAFOS,6,1291150141,20.833334,20.816944,83,44,43,42,41,41,773,1139,415,1017,1188,1738
$RAFOS,5,1291149670,20.700001,20.686111,92,54,49,45,43,43,538,502,1802,748,392,736
$RAFOS,4,1291149186,20.566668,20.551666,51,45,42,42,42,38,780,1245,90,1832,26,1839
$RAFOS,3,1291148704,20.433332,20.417778,44,44,41,40,39,38,267,162,1519,967,502,900
$RAFOS,0,1291147265,20.033333,20.018055,47,43,43,43,42,42,1061,943,223,1083,1684,1806
$RAFOS_FIX,6702.202637,-5729.521484,301110,202056,2,88,6.48
$IRIDIUM_FIX,6625.71,-5746.88,301110,111113
$TT8_MAMPS,0.028462
$HUMID,45.27
$INTERNAL_PRESSURE,8.51442
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.4
$24V_AH,21.9,52.507
$10V_AH,10.0,38.772
$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,17.950,100.000,362.250,203.400,0.000,30.877,41.330,246.074,2.750,0.000,15.685,2915.591,9468.281,690.394,2317.891,328.582,0.000,1777.318,0.000,1982.572,2880.000,20.316,0.000
$DEVICE_MAMPS,256.275,81.090,1086.300,81.855,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,823.598,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151660
$DATA_FILE_SIZE,43298,1187
$CAP_FILE_SIZE,151581,0
$CFSIZE,260165632,219299840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.4
$GPS,011210,003436,6657.155,-5721.624,40,1.1,40,-37.6