version: 66.08
glider: 183
mission: 3
dive: 436
start: 12 1 110 20 18 34
data:
$ID,183
$MISSION,3
$DIVE,436
$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,-8294.2529
$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,40
$R_STBD_OVSHOOT,26
$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
$GPS1,011210,164656,6703.313,-5701.014,0,2068.0,0,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,23.06
$_SM_ANGLEo,1.8
$GPS2,011210,164656,6703.313,-5701.014,0,2068.0,0,-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,131.1,9416,-17.5,-10.000
$D_GRID,633
$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,-6.78,0.000,2,0.000,0.000,2494,2639,3117,0,0,0,0,0,0
$GC,27,-0.57,-146.0,23.9,-0.0,1,40,0.57,0.00,-5.82,0.000,6,0.111,0.000,2294,2639,3518,0,0,0,0,0,0
$GC,379,-0.71,-146.0,50.7,-6.3,63,386,0.12,2.17,0.00,0.000,4,0.099,0.065,2231,3927,3520,0,0,0,0,0,0
$GC,483,-0.62,-146.0,62.7,-13.4,81,490,0.15,1.77,0.00,0.000,6,0.169,0.041,2273,2777,3520,0,0,0,0,0,0
$GC,828,-0.62,-146.0,97.5,-10.0,142,835,0.00,2.20,0.00,0.000,4,0.000,0.044,2272,1367,3519,0,0,0,0,0,0
$GC,880,-0.66,-146.0,102.5,-9.5,149,887,0.00,2.28,0.00,0.000,6,0.000,0.055,2273,2766,3520,0,0,0,0,0,0
$GC,1207,-0.68,-146.0,133.3,-9.9,180,1211,0.00,1.95,0.00,0.000,4,0.000,0.066,2273,3927,3519,0,0,0,0,0,0
$GC,1280,-0.73,-146.0,140.2,-8.0,186,1287,0.00,1.80,0.00,0.000,6,0.000,0.041,2272,2779,3519,0,0,0,0,0,0
$GC,1606,-0.76,-146.0,166.8,-7.8,217,1608,0.12,0.00,0.00,0.000,6,0.100,0.000,2216,2778,3519,0,0,0,0,0,0
$GC,1923,-0.69,-146.0,202.7,-11.6,247,1925,0.12,0.00,0.00,0.000,6,0.174,0.000,2250,2778,3518,0,0,0,0,0,0
$GC,2242,-0.69,-146.0,232.3,-9.0,277,2246,0.00,1.95,0.00,0.000,4,0.000,0.065,2247,3931,3518,0,0,0,0,0,0
$GC,2269,-0.69,-146.0,235.2,-9.8,279,2276,0.00,1.80,0.00,0.000,6,0.000,0.040,2247,2793,3518,0,0,0,0,0,0
$GC,2594,-0.69,-146.0,265.9,-10.1,310,2598,0.00,2.17,0.00,0.000,4,0.000,0.042,2247,1375,3518,0,0,0,0,0,0
$GC,2626,-0.69,-146.0,269.3,-10.1,312,2633,0.00,2.33,0.00,0.000,6,0.000,0.054,2247,2789,3518,0,0,0,0,0,0
$GC,2952,-0.69,-146.0,299.6,-8.6,343,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2789,3519,0,0,0,0,0,0
$GC,3272,-0.69,-146.0,325.9,-8.7,373,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2789,3519,0,0,0,0,0,0
$GC,3591,-0.69,-146.0,354.0,-8.2,403,3594,0.00,1.85,0.00,0.000,4,0.000,0.064,2247,3930,3519,0,0,0,0,0,0
$GC,3625,-0.69,-146.0,357.2,-8.9,406,3629,0.00,1.77,0.00,0.000,6,0.000,0.040,2247,2780,3519,0,0,0,0,0,0
$GC,3956,-0.69,-146.0,386.5,-8.5,437,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2780,3520,0,0,0,0,0,0
$GC,4278,-0.69,-146.0,413.3,-7.9,467,4281,0.00,1.92,0.00,0.000,4,0.000,0.065,2247,3935,3520,0,0,0,0,0,0
$GC,4328,-0.69,-146.0,417.9,-8.5,471,4334,0.00,1.77,0.00,0.000,6,0.000,0.040,2247,2785,3520,0,0,0,0,0,0
$GC,4653,-0.69,-146.0,444.8,-7.9,502,4657,0.00,2.17,0.00,0.000,4,0.000,0.043,2246,1369,3520,0,0,0,0,0,0
$GC,4688,-0.71,-146.0,447.6,-8.1,504,4695,0.00,2.30,0.00,0.000,6,0.000,0.054,2247,2787,3520,0,0,0,0,0,0
$GC,5013,-0.71,-146.0,473.1,-7.8,535,5017,0.00,1.85,0.00,0.000,4,0.000,0.064,2245,3926,3521,0,0,0,0,0,0
$GC,5071,-0.71,-146.0,477.9,-8.5,540,5075,0.00,1.75,0.00,0.000,6,0.000,0.041,2245,2792,3520,0,0,0,0,0,0
$GC,5399,-0.71,-146.0,505.7,-9.0,567,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2792,3521,0,0,0,0,0,0
$GC,5706,-0.71,-146.0,532.4,-8.4,577,5710,0.00,2.20,0.00,0.000,4,0.000,0.044,2245,1375,3521,0,0,0,0,0,0
$GC,5750,-0.75,-146.0,536.3,-8.6,578,5754,0.00,2.28,0.00,0.000,6,0.000,0.056,2244,2783,3521,0,0,0,0,0,0
$GC,6068,-0.75,-146.0,561.0,-7.6,589,6072,0.00,1.92,0.00,0.000,4,0.000,0.065,2244,3929,3521,0,0,0,0,0,0
$GC,6129,-0.77,-146.0,565.6,-7.4,590,6136,0.00,1.80,0.00,0.000,6,0.000,0.041,2243,2786,3521,0,0,0,0,0,0
$GC,6442,-0.77,-146.0,588.6,-7.7,601,6446,0.00,2.20,0.00,0.000,4,0.000,0.044,2244,1364,3520,0,0,0,0,0,0
$GC,6475,-0.79,-146.0,591.4,-8.5,602,6479,0.00,2.30,0.00,0.000,6,0.000,0.055,2243,2788,3521,0,0,0,0,0,0
$GC,6805,-0.79,-146.0,619.0,-8.3,613,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2788,3520,0,0,0,0,0,0
$STATE,6985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6986,begin apogee
$GC,6991,-0.14,0.0,633.3,7.7,619,7118,0.55,0.00,119.78,0.975,4,0.129,0.000,2426,2606,2923,0,0,0,0,0,0
$STATE,7119,end apogee,CONTROL_FINISHED_OK
$STATE,7119,begin climb
$GC,7121,0.57,146.0,636.2,0.0,623,7252,0.62,0.00,125.03,0.953,6,0.066,0.000,2662,2606,2327,0,0,0,0,0,0
$GC,7583,0.49,146.0,585.2,13.1,638,7587,0.00,2.22,0.00,0.000,4,0.000,0.063,2662,3928,2317,0,0,0,0,0,0
$GC,7621,0.37,146.0,579.2,15.1,639,7626,0.25,2.12,0.00,0.000,6,0.185,0.041,2600,2594,2315,0,0,0,0,0,0
$GC,7952,0.43,170.1,549.4,8.9,650,7977,0.00,2.30,19.70,0.891,4,0.000,0.064,2600,3937,2229,0,0,0,0,0,0
$GC,7999,0.46,170.1,544.7,10.2,650,8003,0.00,2.12,0.00,0.000,6,0.000,0.041,2601,2613,2226,0,0,0,0,0,0
$GC,8319,0.52,185.2,514.7,9.3,661,8337,0.12,0.00,14.07,0.864,6,0.103,0.000,2657,2613,2167,0,0,0,0,0,0
$GC,8655,0.48,185.2,472.0,13.7,685,8659,0.00,2.17,0.00,0.000,4,0.000,0.064,2657,3928,2162,0,0,0,0,0,0
$GC,8695,0.40,185.2,466.1,14.9,688,8700,0.20,2.08,0.00,0.000,6,0.183,0.041,2608,2607,2162,0,0,0,0,0,0
$GC,9020,0.47,193.1,433.9,9.6,718,9032,0.00,0.00,7.15,0.760,6,0.000,0.000,2609,2606,2135,0,0,0,0,0,0
$GC,9351,0.53,205.1,402.7,9.4,749,9365,0.12,0.00,11.73,0.802,6,0.098,0.000,2666,2606,2087,0,0,0,0,0,0
$GC,9681,0.48,205.1,356.3,14.5,780,9686,0.12,2.20,0.00,0.000,4,0.188,0.063,2635,3928,2082,0,0,0,0,0,0
$GC,9744,0.46,205.1,347.5,13.7,785,9747,0.00,2.08,0.00,0.000,6,0.000,0.041,2635,2614,2082,0,0,0,0,0,0
$GC,10075,0.46,205.1,308.1,12.3,816,10076,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2613,2081,0,0,0,0,0,0
$GC,10394,0.46,205.1,270.9,11.6,846,10398,0.00,2.20,0.00,0.000,4,0.000,0.047,2636,1192,2081,0,0,0,0,0,0
$GC,10437,0.53,205.1,265.8,10.5,849,10444,0.00,2.30,0.00,0.000,6,0.000,0.050,2636,2629,2081,0,0,0,0,0,0
$GC,10763,0.56,208.8,231.5,9.8,880,10773,0.00,0.00,4.38,0.553,6,0.000,0.000,2636,2629,2070,0,0,0,0,0,0
$GC,11092,0.59,211.1,200.0,9.9,911,11096,0.00,2.12,0.00,0.000,4,0.000,0.062,2636,3925,2070,0,0,0,0,0,0
$GC,11154,0.59,211.1,192.8,11.8,916,11158,0.00,2.08,0.00,0.000,6,0.000,0.040,2638,2599,2069,0,0,0,0,0,0
$GC,11484,0.63,211.1,157.6,10.7,947,11486,0.10,0.00,0.00,0.000,6,0.115,0.000,2686,2598,2068,0,0,0,0,0,0
$GC,11803,0.58,211.1,114.3,14.4,977,11807,0.00,2.17,0.00,0.000,4,0.000,0.060,2686,3932,2069,0,0,0,0,0,0
$GC,11821,0.52,211.1,111.6,14.7,978,11826,0.17,2.08,0.00,0.000,6,0.180,0.038,2646,2600,2069,0,0,0,0,0,0
$GC,12160,0.57,228.3,74.9,9.2,1030,12184,0.00,2.17,17.60,0.619,4,0.000,0.060,2646,3925,1990,0,0,0,0,0,0
$GC,12203,0.61,228.3,70.6,10.1,1037,12209,0.00,2.05,0.00,0.000,6,0.000,0.038,2646,2622,1989,0,0,0,0,0,0
$GC,12549,0.68,242.3,38.0,9.4,1098,12569,0.12,2.22,12.18,0.590,4,0.099,0.044,2702,1197,1936,0,0,0,0,0,0
$GC,12690,0.71,242.3,21.3,12.1,1122,12696,0.00,2.25,0.00,0.000,6,0.000,0.049,2702,2615,1935,0,0,0,0,0,0
$FREEZE,8.81,0.518,-1.788,0,6,0
$FREEZE,8.24,0.509,-1.787,0,6,0
$FREEZE,7.70,0.517,-1.786,0,6,0
$FREEZE,7.16,0.512,-1.786,0,6,0
$STATE,12813,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,12813,begin subsurface finish
$FINISH1,7.2,1.026082,70
$GC,12819,0.05,69.5,7.2,-11.0,1144,12850,0.65,2.17,-22.33,0.000,4,0.138,0.076,2492,3929,2640,0,0,0,0,0,0
$FINISH2,5.4
$STATE,12851,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12851,begin surface
$RAFOS_CLK,612
$RAFOS,6,1291236550,20.833334,20.819445,78,44,42,41,41,41,818,1855,1266,1011,587,1941
$RAFOS,5,1291236062,20.700001,20.683889,52,47,46,43,43,42,677,691,1409,1607,287,229
$RAFOS,4,1291235587,20.566668,20.551945,58,45,44,42,40,40,862,201,1630,1528,831,1563
$RAFOS,3,1291235105,20.433332,20.418056,48,44,43,42,41,41,1824,447,154,1154,172,971
$RAFOS_FIX,1710.104004,1726.181641,071104,040443,16776,18,0.00
$IRIDIUM_FIX,6625.71,-5722.48,011210,000045
$TT8_MAMPS,0.028462
$HUMID,46.57
$INTERNAL_PRESSURE,8.77811
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.1
$24V_AH,22.3,53.023
$10V_AH,10.1,39.174
$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,4.150,89.925,331.600,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2788.256,7688.199,374.103,1881.138,174.776,0.000,1368.551,0.000,1865.136,1440.000,16.135,0.000
$DEVICE_MAMPS,188.190,75.735,974.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,794.524,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151684
$DATA_FILE_SIZE,39997,1149
$CAP_FILE_SIZE,130823,0
$CFSIZE,260165632,218931200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.5
$GPS,011210,164656,6703.313,-5701.014,0,2068.0,0,-37.6