version: 66.08
glider: 183
mission: 3
dive: 448
start: 12 3 110 8 16 50
data:
$ID,183
$MISSION,3
$DIVE,448
$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,-8303.0068
$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,44
$R_STBD_OVSHOOT,31
$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,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
$GPS1,031210,080920,6705.763,-5706.033,38,3.2,57,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-65.0
$GPS2,031210,081619,6705.792,-5706.060,9,1.3,14,-37.7
$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,292.3,151734,-17.5,-10.000
$D_GRID,626
$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,-146.0,0.0,0.0,0,151,0.00,0.00,-131.40,0.000,2,0.000,0.000,282,2786,3328,0,0,0,0,0,0
$GC,154,-0.57,-146.0,5.0,-10.8,23,173,8.18,2.22,-4.03,0.000,4,0.243,0.054,2283,1374,3519,0,0,0,0,0,0
$GC,259,-0.57,-146.0,28.5,-11.7,41,266,0.00,2.28,0.00,0.000,6,0.000,0.056,2275,2779,3522,0,0,0,0,0,0
$GC,604,-0.55,-146.0,69.1,-11.2,102,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2779,3520,0,0,0,0,0,0
$GC,951,-0.55,-146.0,104.1,-9.0,160,955,0.00,1.88,0.00,0.000,4,0.000,0.066,2268,3927,3520,0,0,0,0,0,0
$GC,979,-0.55,-146.0,106.8,-9.2,162,985,0.00,1.80,0.00,0.000,6,0.000,0.042,2268,2771,3520,0,0,0,0,0,0
$GC,1304,-0.55,-146.0,136.8,-9.0,193,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2771,3519,0,0,0,0,0,0
$GC,1622,-0.55,-146.0,166.4,-9.6,223,1626,0.00,1.92,0.00,0.000,4,0.000,0.067,2259,3927,3520,0,0,0,0,0,0
$GC,1661,-0.55,-146.0,170.6,-10.9,226,1668,0.10,1.85,0.00,0.000,6,0.133,0.042,2294,2769,3520,0,0,0,0,0,0
$GC,1987,-0.63,-146.0,196.3,-7.1,257,1991,0.00,2.17,0.00,0.000,4,0.000,0.044,2295,1370,3520,0,0,0,0,0,0
$GC,2008,-0.72,-146.0,198.1,-7.6,258,2016,0.15,2.28,0.00,0.000,6,0.087,0.055,2221,2771,3520,0,0,0,0,0,0
$GC,2334,-0.66,-146.0,234.9,-11.4,289,2338,0.12,1.90,0.00,0.000,4,0.173,0.065,2249,3928,3520,0,0,0,0,0,0
$GC,2360,-0.66,-146.0,238.0,-10.4,291,2367,0.00,1.85,0.00,0.000,6,0.000,0.041,2249,2763,3520,0,0,0,0,0,0
$GC,2686,-0.66,-146.0,268.1,-9.0,322,2690,0.00,2.15,0.00,0.000,4,0.000,0.043,2248,1374,3521,0,0,0,0,0,0
$GC,2747,-0.66,-146.0,274.3,-9.7,327,2754,0.00,2.25,0.00,0.000,6,0.000,0.055,2247,2772,3521,0,0,0,0,0,0
$GC,3073,-0.66,-146.0,303.1,-8.5,358,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2772,3522,0,0,0,0,0,0
$GC,3394,-0.66,-146.0,330.6,-8.9,388,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2772,3523,0,0,0,0,0,0
$GC,3723,-0.66,-146.0,358.1,-8.2,419,3727,0.00,2.20,0.00,0.000,4,0.000,0.043,2247,1361,3523,0,0,0,0,0,0
$GC,3752,-0.66,-146.0,360.9,-8.9,421,3756,0.00,2.25,0.00,0.000,6,0.000,0.054,2247,2753,3523,0,0,0,0,0,0
$GC,4082,-0.66,-146.0,388.1,-8.7,452,4086,0.00,1.92,0.00,0.000,4,0.000,0.064,2247,3933,3523,0,0,0,0,0,0
$GC,4121,-0.66,-146.0,391.9,-9.6,455,4128,0.00,1.88,0.00,0.000,6,0.000,0.041,2247,2749,3524,0,0,0,0,0,0
$GC,4458,-0.66,-146.0,422.7,-8.8,472,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2748,3524,0,0,0,0,0,0
$GC,4764,-0.66,-146.0,449.1,-8.2,482,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2749,3524,0,0,0,0,0,0
$GC,5070,-0.66,-146.0,475.4,-8.9,492,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2749,3525,0,0,0,0,0,0
$GC,5378,-0.66,-146.0,500.8,-8.5,502,5382,0.00,1.98,0.00,0.000,4,0.000,0.066,2247,3930,3525,0,0,0,0,0,0
$GC,5428,-0.69,-146.0,505.6,-9.4,503,5431,0.00,1.83,0.00,0.000,6,0.000,0.042,2247,2757,3525,0,0,0,0,0,0
$GC,5752,-0.69,-146.0,532.8,-8.3,514,5756,0.00,1.98,0.00,0.000,4,0.000,0.067,2247,3920,3525,0,0,0,0,0,0
$GC,5787,-0.69,-146.0,535.7,-8.8,515,5790,0.00,1.80,0.00,0.000,6,0.000,0.044,2247,2764,3525,0,0,0,0,0,0
$GC,6128,-0.69,-146.0,562.5,-7.6,526,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2763,3525,0,0,0,0,0,0
$GC,6435,-0.69,-146.0,587.3,-8.5,536,6438,0.00,1.98,0.00,0.000,4,0.000,0.068,2247,3936,3524,0,0,0,0,0,0
$GC,6462,-0.69,-146.0,589.9,-8.5,536,6469,0.00,1.88,0.00,0.000,6,0.000,0.043,2247,2766,3524,0,0,0,0,0,0
$GC,6775,-0.71,-146.0,613.4,-7.4,547,6777,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2766,3523,0,0,0,0,0,0
$STATE,6956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6956,begin apogee
$GC,6963,-0.14,0.0,627.7,7.9,553,7089,0.52,0.00,120.07,0.971,4,0.130,0.000,2421,2596,2923,0,0,0,0,0,0
$STATE,7090,end apogee,CONTROL_FINISHED_OK
$STATE,7090,begin climb
$GC,7092,0.57,146.0,630.0,0.0,557,7228,0.68,2.35,125.00,0.946,4,0.067,0.046,2664,1180,2326,0,0,0,0,0,0
$GC,7413,0.57,146.0,598.0,12.2,566,7420,0.00,2.38,0.00,0.000,6,0.000,0.050,2663,2599,2318,0,0,0,0,0,0
$GC,7727,0.51,146.0,557.2,13.0,577,7731,0.00,2.25,0.00,0.000,4,0.000,0.049,2666,1180,2315,0,0,0,0,0,0
$GC,7934,0.48,146.0,533.6,11.0,583,7940,0.12,2.30,0.00,0.000,6,0.190,0.051,2636,2616,2314,0,0,0,0,0,0
$GC,8258,0.48,146.0,499.1,10.7,594,8262,0.00,2.15,0.00,0.000,4,0.000,0.063,2636,3933,2313,0,0,0,0,0,0
$GC,8297,0.43,146.0,494.3,12.7,595,8301,0.00,2.10,0.00,0.000,6,0.000,0.041,2639,2603,2312,0,0,0,0,0,0
$GC,8633,0.43,146.0,458.0,11.0,606,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2601,2312,0,0,0,0,0,0
$GC,8938,0.43,146.0,423.9,11.2,616,8939,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2602,2311,0,0,0,0,0,0
$GC,9247,0.43,146.0,390.5,11.0,630,9248,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2602,2311,0,0,0,0,0,0
$GC,9569,0.43,146.0,355.8,10.3,660,9573,0.00,2.22,0.00,0.000,4,0.000,0.049,2640,1184,2310,0,0,0,0,0,0
$GC,9613,0.47,162.1,350.9,9.3,663,9631,0.00,2.28,11.98,0.769,6,0.000,0.050,2640,2613,2261,0,0,0,0,0,0
$GC,9949,0.47,162.1,316.3,10.2,695,9950,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2612,2260,0,0,0,0,0,0
$GC,10269,0.47,162.1,283.1,10.7,725,10270,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2613,2259,0,0,0,0,0,0
$GC,10588,0.47,162.1,249.9,10.5,755,10592,0.00,2.25,0.00,0.000,4,0.000,0.048,2642,1187,2259,0,0,0,0,0,0
$GC,10633,0.52,163.4,245.2,9.9,758,10639,0.00,2.28,0.00,0.000,6,0.000,0.050,2642,2603,2259,0,0,0,0,0,0
$GC,10958,0.52,163.4,210.8,10.6,789,10962,0.00,2.22,0.00,0.000,4,0.000,0.048,2642,1194,2258,0,0,0,0,0,0
$GC,11002,0.56,168.6,206.2,9.8,792,11013,0.00,2.25,6.62,0.634,6,0.000,0.050,2642,2609,2235,0,0,0,0,0,0
$GC,11333,0.56,168.6,171.1,10.1,823,11334,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2610,2235,0,0,0,0,0,0
$GC,11653,0.56,168.6,137.2,10.8,853,11657,0.00,2.15,0.00,0.000,4,0.000,0.061,2642,3928,2234,0,0,0,0,0,0
$GC,11721,0.53,168.6,128.9,12.3,859,11725,0.00,2.08,0.00,0.000,6,0.000,0.039,2646,2603,2234,0,0,0,0,0,0
$GC,12049,0.54,186.6,98.0,9.2,891,12067,0.00,0.00,16.40,0.626,6,0.000,0.000,2646,2602,2162,0,0,0,0,0,0
$GC,12408,0.62,229.4,67.3,8.0,954,12450,0.00,2.20,35.45,0.609,4,0.000,0.060,2646,3925,1987,0,0,0,0,0,0
$GC,12485,0.67,229.4,59.9,10.2,967,12493,0.12,2.08,0.00,0.000,6,0.102,0.038,2697,2613,1983,0,0,0,0,0,0
$GC,12834,0.67,229.4,18.1,10.5,1028,12840,0.00,2.22,0.00,0.000,4,0.000,0.047,2701,1197,1981,0,0,0,0,0,0
$FREEZE,8.62,0.947,-1.794,0,1,0
$FREEZE,8.13,0.955,-1.793,0,1,0
$FREEZE,7.71,0.946,-1.793,0,1,0
$FREEZE,7.04,0.948,-1.792,0,1,0
$FREEZE,6.52,0.957,-1.792,0,1,0
$FREEZE,6.01,0.969,-1.791,0,1,0
$GC,12960,0.71,229.4,6.0,10.5,1050,12967,0.00,2.25,0.00,0.000,6,0.000,0.050,2701,2596,1981,0,0,0,0,0,0
$FREEZE,4.20,0.967,-1.790,0,1,0
$FREEZE,3.80,0.961,-1.790,0,1,0
$FREEZE,3.25,0.958,-1.790,0,1,0
$FREEZE,2.57,0.947,-1.789,0,1,0
$STATE,12988,end climb,SURFACE_DEPTH_REACHED
$STATE,12989,begin surface coast
$FREEZE,2.16,0.949,-1.789,0,1,0
$FREEZE,1.48,0.946,-1.788,0,1,0
$FREEZE,0.99,0.950,-1.787,0,1,0
$FREEZE,0.93,0.982,-0.947,0,1,0
$FREEZE,0.89,0.979,-1.778,0,1,0
$FINISH,0.9,1.026013
$STATE,13018,end surface coast,CONTROL_FINISHED_OK
$STATE,13018,begin surface
$SM_CCo,13033,222.88,0.078,0,0,440,609.08
$SM_GC,1.77,0.00,0.00,222.88,0.000,0.000,0.078,291,2792,440,-6.81,0.34,609.08
$RAFOS_CLK,575
$RAFOS,6,1291366141,8.833333,8.816944,60,45,41,41,41,41,794,145,531,559,706,26
$RAFOS,5,1291365671,8.700000,8.686389,53,45,44,42,42,41,592,154,718,1215,1699,1560
$RAFOS,4,1291365182,8.566667,8.550555,58,49,45,42,39,38,857,1927,881,573,1130,112
$RAFOS,3,1291364704,8.433333,8.417778,65,43,42,39,36,36,980,993,26,1629,448,545
$RAFOS,2,1291364239,8.300000,8.288611,54,53,47,41,41,39,98,1239,985,97,1471,1064
$RAFOS,0,1291363262,8.033334,8.017222,51,45,44,43,42,40,516,1190,1290,1301,26,1734
$RAFOS_FIX,6707.672852,-5713.784180,031210,080828,2,62,4.73
$IRIDIUM_FIX,6636.54,-5655.33,031210,020200
$TT8_MAMPS,0.028462
$HUMID,45.62
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.2
$24V_AH,22.5,54.122
$10V_AH,10.1,39.933
$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,16.275,84.775,315.525,222.875,0.000,28.644,16.671,199.559,2.000,0.000,16.718,2596.654,8082.169,668.909,2040.550,306.820,0.000,1640.922,0.000,1784.139,1800.000,15.022,0.000
$DEVICE_MAMPS,243.270,68.085,970.785,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,730.419,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151736
$DATA_FILE_SIZE,40040,1060
$CAP_FILE_SIZE,132696,0
$CFSIZE,260165632,218198016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1472.3
$GPS,031210,115924,6706.393,-5711.267,24,1.5,41,-37.7