version: 66.08
glider: 183
mission: 3
dive: 437
start: 12 1 110 23 54 40
data:
$ID,183
$MISSION,3
$DIVE,437
$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,41
$R_STBD_OVSHOOT,27
$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,8.52
$_SM_ANGLEo,1.7
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-6.22,0.000,2,0.000,0.000,2492,3929,2878,0,0,0,0,0,0
$GC,26,-0.57,-146.0,8.0,-0.0,1,51,0.55,4.07,-16.38,0.000,4,0.096,0.047,2292,1365,3520,0,0,0,0,0,0
$GC,97,-0.57,-146.0,14.3,-11.9,13,104,0.00,2.30,0.00,0.000,6,0.000,0.053,2292,2786,3522,0,0,0,0,0,0
$GC,443,-0.59,-146.0,50.4,-9.9,74,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2786,3522,0,0,0,0,0,0
$GC,787,-0.65,-146.0,83.1,-8.8,135,794,0.00,2.20,0.00,0.000,4,0.000,0.044,2292,1370,3521,0,0,0,0,0,0
$GC,836,-0.73,-146.0,87.2,-8.3,143,843,0.15,2.28,0.00,0.000,6,0.089,0.054,2223,2772,3521,0,0,0,0,0,0
$GC,1174,-0.64,-146.0,131.7,-13.3,183,1178,0.15,1.92,0.00,0.000,4,0.168,0.064,2258,3929,3520,0,0,0,0,0,0
$GC,1246,-0.64,-146.0,140.2,-10.8,189,1253,0.00,1.83,0.00,0.000,6,0.000,0.040,2258,2762,3520,0,0,0,0,0,0
$GC,1571,-0.64,-146.0,174.4,-11.0,220,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2762,3520,0,0,0,0,0,0
$GC,1890,-0.64,-146.0,204.8,-9.0,250,1894,0.00,1.98,0.00,0.000,4,0.000,0.065,2251,3932,3520,0,0,0,0,0,0
$GC,1958,-0.64,-146.0,211.1,-9.6,256,1961,0.00,1.80,0.00,0.000,6,0.000,0.040,2251,2767,3520,0,0,0,0,0,0
$GC,2289,-0.64,-146.0,240.8,-9.2,287,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2767,3520,0,0,0,0,0,0
$GC,2610,-0.64,-146.0,268.1,-8.1,317,2614,0.00,1.90,0.00,0.000,4,0.000,0.065,2247,3927,3519,0,0,0,0,0,0
$GC,2647,-0.64,-146.0,271.2,-8.5,320,2650,0.00,1.80,0.00,0.000,6,0.000,0.040,2247,2763,3520,0,0,0,0,0,0
$GC,2978,-0.64,-146.0,297.5,-7.9,351,2982,0.00,1.92,0.00,0.000,4,0.000,0.064,2247,3934,3520,0,0,0,0,0,0
$GC,3014,-0.64,-146.0,300.2,-8.0,354,3017,0.00,1.77,0.00,0.000,6,0.000,0.040,2247,2782,3520,0,0,0,0,0,0
$GC,3347,-0.64,-146.0,327.0,-8.1,385,3351,0.00,2.17,0.00,0.000,4,0.000,0.042,2247,1367,3520,0,0,0,0,0,0
$GC,3381,-0.64,-146.0,330.2,-8.2,387,3388,0.00,2.30,0.00,0.000,6,0.000,0.054,2247,2786,3520,0,0,0,0,0,0
$GC,3707,-0.64,-146.0,356.5,-7.5,418,3711,0.00,1.85,0.00,0.000,4,0.000,0.063,2247,3929,3521,0,0,0,0,0,0
$GC,3752,-0.64,-146.0,360.0,-7.4,422,3756,0.00,1.77,0.00,0.000,6,0.000,0.040,2247,2778,3520,0,0,0,0,0,0
$GC,4084,-0.64,-146.0,386.3,-8.2,453,4088,0.00,2.15,0.00,0.000,4,0.000,0.042,2247,1372,3521,0,0,0,0,0,0
$GC,4111,-0.64,-146.0,388.9,-8.3,455,4118,0.00,2.28,0.00,0.000,6,0.000,0.054,2247,2790,3521,0,0,0,0,0,0
$GC,4436,-0.64,-146.0,416.4,-8.5,486,4440,0.00,1.85,0.00,0.000,4,0.000,0.063,2247,3929,3521,0,0,0,0,0,0
$GC,4472,-0.64,-146.0,419.5,-9.1,489,4476,0.00,1.77,0.00,0.000,6,0.000,0.039,2247,2777,3521,0,0,0,0,0,0
$GC,4803,-0.64,-146.0,448.7,-8.4,520,4806,0.00,1.90,0.00,0.000,4,0.000,0.064,2247,3934,3521,0,0,0,0,0,0
$GC,4842,-0.67,-146.0,452.3,-9.4,523,4849,0.00,1.75,0.00,0.000,6,0.000,0.039,2247,2800,3521,0,0,0,0,0,0
$GC,5167,-0.67,-146.0,478.5,-8.2,554,5171,0.00,2.20,0.00,0.000,4,0.000,0.041,2247,1364,3521,0,0,0,0,0,0
$GC,5198,-0.69,-146.0,480.9,-8.2,556,5202,0.00,2.33,0.00,0.000,6,0.000,0.054,2247,2808,3521,0,0,0,0,0,0
$GC,5526,-0.71,-146.0,507.8,-8.3,581,5530,0.00,1.85,0.00,0.000,4,0.000,0.063,2247,3933,3521,0,0,0,0,0,0
$GC,5577,-0.74,-146.0,512.5,-8.7,582,5581,0.00,1.73,0.00,0.000,6,0.000,0.040,2247,2817,3521,0,0,0,0,0,0
$GC,5902,-0.77,-146.0,538.9,-8.0,593,5906,0.00,2.22,0.00,0.000,4,0.000,0.042,2246,1368,3522,0,0,0,0,0,0
$GC,5940,-0.80,-146.0,542.1,-8.1,594,5944,0.00,2.35,0.00,0.000,6,0.000,0.054,2246,2817,3522,0,0,0,0,0,0
$GC,6270,-0.83,-146.0,566.0,-7.4,605,6275,0.12,1.83,0.00,0.000,4,0.101,0.064,2179,3928,3522,0,0,0,0,0,0
$GC,6309,-0.70,-146.0,570.1,-11.0,606,6313,0.17,1.77,0.00,0.000,6,0.147,0.038,2249,2808,3522,0,0,0,0,0,0
$GC,6646,-0.73,-146.0,594.8,-7.3,617,6650,0.00,2.20,0.00,0.000,4,0.000,0.042,2249,1373,3522,0,0,0,0,0,0
$GC,6702,-0.78,-146.0,599.3,-7.3,618,6709,0.00,2.33,0.00,0.000,6,0.000,0.054,2247,2803,3522,0,0,0,0,0,0
$GC,7016,-0.78,-146.0,621.5,-7.1,629,7020,0.00,2.22,0.00,0.000,4,0.000,0.043,2247,1368,3522,0,0,0,0,0,0
$GC,7079,-0.81,-146.0,626.8,-8.3,631,7083,0.00,2.30,0.00,0.000,6,0.000,0.054,2247,2785,3522,0,0,0,0,0,0
$STATE,7166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7166,begin apogee
$GC,7172,-0.14,0.0,633.3,7.1,634,7300,0.52,0.00,119.03,0.963,4,0.129,0.000,2421,2603,2923,0,0,0,0,0,0
$STATE,7301,end apogee,CONTROL_FINISHED_OK
$STATE,7301,begin climb
$GC,7303,0.57,146.0,635.8,0.0,638,7438,0.70,2.33,123.80,0.944,4,0.081,0.063,2663,3925,2327,0,0,0,0,0,0
$GC,7583,0.44,146.0,601.9,16.2,646,7588,0.17,2.17,0.00,0.000,6,0.194,0.039,2625,2600,2319,0,0,0,0,0,0
$GC,7902,0.44,146.0,568.7,10.1,657,7906,0.00,2.25,0.00,0.000,4,0.000,0.063,2624,3935,2317,0,0,0,0,0,0
$GC,8099,0.39,146.0,544.2,13.3,662,8106,0.00,2.10,0.00,0.000,6,0.000,0.041,2624,2599,2315,0,0,0,0,0,0
$GC,8412,0.39,146.0,510.0,10.8,673,8413,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2599,2314,0,0,0,0,0,0
$GC,8726,0.39,146.0,476.7,10.4,695,8730,0.00,2.17,0.00,0.000,4,0.000,0.063,2624,3924,2313,0,0,0,0,0,0
$GC,8798,0.33,146.0,467.9,12.3,701,8806,0.15,2.05,0.00,0.000,6,0.188,0.041,2587,2612,2312,0,0,0,0,0,0
$GC,9124,0.43,187.2,441.9,8.1,732,9162,0.00,2.20,32.65,0.842,4,0.000,0.061,2587,3925,2161,0,0,0,0,0,0
$GC,9187,0.51,197.2,436.6,9.5,737,9203,0.15,2.08,10.23,0.774,6,0.092,0.040,2649,2613,2119,0,0,0,0,0,0
$GC,9529,0.48,197.2,390.6,13.9,769,9532,0.00,2.20,0.00,0.000,4,0.000,0.047,2652,1201,2112,0,0,0,0,0,0
$GC,9574,0.48,197.2,384.4,13.8,773,9578,0.00,2.28,0.00,0.000,6,0.000,0.050,2652,2615,2113,0,0,0,0,0,0
$GC,9899,0.46,197.2,340.4,13.0,803,9903,0.00,2.12,0.00,0.000,4,0.000,0.061,2652,3925,2111,0,0,0,0,0,0
$GC,9934,0.40,197.2,335.3,15.2,806,9939,0.17,2.08,0.00,0.000,6,0.185,0.040,2607,2609,2110,0,0,0,0,0,0
$GC,10259,0.47,197.2,301.6,10.1,836,10263,0.00,2.15,0.00,0.000,4,0.000,0.061,2607,3925,2110,0,0,0,0,0,0
$GC,10310,0.52,197.2,295.9,10.8,840,10317,0.10,2.05,0.00,0.000,6,0.111,0.039,2651,2615,2110,0,0,0,0,0,0
$GC,10635,0.52,197.2,254.9,12.7,871,10638,0.00,2.15,0.00,0.000,4,0.000,0.060,2651,3927,2110,0,0,0,0,0,0
$GC,10692,0.46,197.2,246.8,14.8,876,10697,0.00,2.00,0.00,0.000,6,0.000,0.039,2653,2643,2110,0,0,0,0,0,0
$GC,11023,0.46,197.2,206.1,11.6,907,11024,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2642,2110,0,0,0,0,0,0
$GC,11343,0.46,197.2,169.2,11.3,937,11344,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2642,2109,0,0,0,0,0,0
$GC,11661,0.46,197.2,134.0,11.0,967,11665,0.00,2.12,0.00,0.000,4,0.000,0.060,2653,3932,2110,0,0,0,0,0,0
$GC,11707,0.42,197.2,128.1,13.1,971,11712,0.15,2.00,0.00,0.000,6,0.184,0.037,2614,2649,2110,0,0,0,0,0,0
$GC,12038,0.55,248.7,101.1,7.6,1002,12090,0.12,2.35,42.17,0.627,4,0.098,0.045,2677,1193,1906,0,0,0,0,0,0
$GC,12110,0.58,248.7,93.0,12.6,1012,12117,0.00,2.35,0.00,0.000,6,0.000,0.048,2677,2656,1904,0,0,0,0,0,0
$GC,12455,0.58,248.7,49.0,11.6,1073,12462,0.00,2.28,0.00,0.000,4,0.000,0.044,2679,1198,1900,0,0,0,0,0,0
$GC,12486,0.62,248.7,45.3,11.8,1078,12493,0.00,2.33,0.00,0.000,6,0.000,0.049,2679,2647,1900,0,0,0,0,0,0
$FREEZE,8.77,0.355,-1.786,0,7,0
$FREEZE,8.37,0.387,-1.785,0,7,0
$FREEZE,7.74,0.372,-1.786,0,7,0
$FREEZE,7.07,0.389,-1.784,0,7,0
$STATE,12828,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,12829,begin subsurface finish
$FINISH1,7.1,1.026058,71
$GC,12834,0.05,70.7,7.1,-10.1,1139,12860,0.57,0.00,-22.12,0.000,6,0.137,0.000,2493,2647,2636,0,0,0,0,0,0
$FINISH2,6.3
$STATE,12860,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12860,begin surface
$RAFOS_CLK,567
$RAFOS,6,1291250948,0.833333,0.818889,91,46,46,46,42,42,842,556,445,1521,1694,1886
$RAFOS,5,1291250464,0.700000,0.684444,80,50,50,45,45,43,678,1495,1900,760,1235,1935
$RAFOS,4,1291249987,0.566667,0.551944,60,49,48,42,41,38,882,1118,1724,1288,538,1838
$RAFOS,3,1291249504,0.433333,0.417778,57,45,42,42,41,41,974,1780,170,26,855,1134
$RAFOS,2,1291249026,0.300000,0.285000,47,43,43,42,41,40,1060,638,1709,1290,396,573
$RAFOS,1,1291248545,0.166667,0.151389,45,44,44,42,41,40,1809,1494,1195,649,1900,524
$RAFOS,0,1291248064,0.033333,0.017778,48,48,45,42,40,39,1777,1803,517,666,145,1612
$RAFOS_FIX,6701.095215,-5648.407227,021210,000022,3,77,0.35
$IRIDIUM_FIX,6625.71,-5722.48,011210,000045
$TT8_MAMPS,0.028462
$HUMID,47.08
$INTERNAL_PRESSURE,8.78787
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.6
$24V_AH,22.5,53.107
$10V_AH,10.1,39.242
$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,3.975,118.975,327.875,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2873.796,7487.476,388.498,1986.535,192.200,0.000,1444.863,0.000,1964.552,2520.000,17.654,0.000
$DEVICE_MAMPS,193.545,65.025,963.135,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,789.054,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151652
$DATA_FILE_SIZE,39988,1143
$CAP_FILE_SIZE,139078,0
$CFSIZE,260165632,218849280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1475.9
$GPS,021210,004322,6701.095,-5648.407,0,3077.0,0,-37.6