version: 66.08
glider: 183
mission: 3
dive: 450
start: 12 3 110 15 46 18
data:
$ID,183
$MISSION,3
$DIVE,450
$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,-8304.2617
$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,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,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
$GPS1,031210,124800,6707.229,-5718.345,0,2076.0,0,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,28.18
$_SM_ANGLEo,1.3
$GPS2,031210,124800,6707.229,-5718.345,0,2076.0,0,-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,290.3,143864,-17.5,-10.000
$D_GRID,740
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-6.00,0.000,2,0.000,0.000,2495,1184,3135,0,0,0,0,0,0
$GC,26,-0.57,-146.0,29.0,-0.0,1,40,0.57,4.57,-5.12,0.000,4,0.116,0.064,2286,3925,3522,0,0,0,0,0,0
$GC,139,-0.57,-146.0,39.1,-9.4,20,146,0.00,1.80,0.00,0.000,6,0.000,0.041,2286,2771,3524,0,0,0,0,0,0
$GC,484,-0.61,-146.0,77.2,-10.3,81,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2771,3524,0,0,0,0,0,0
$GC,825,-0.66,-146.0,109.5,-9.7,133,829,0.00,2.17,0.00,0.000,4,0.000,0.044,2286,1365,3524,0,0,0,0,0,0
$GC,866,-0.73,-146.0,113.6,-10.5,136,871,0.12,2.30,0.00,0.000,6,0.099,0.055,2229,2787,3524,0,0,0,0,0,0
$GC,1192,-0.67,-146.0,152.9,-11.8,166,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2788,3524,0,0,0,0,0,0
$GC,1510,-0.63,-146.0,190.5,-11.3,196,1515,0.15,1.95,0.00,0.000,4,0.159,0.065,2268,3928,3524,0,0,0,0,0,0
$GC,1582,-0.69,-146.0,197.3,-8.9,202,1589,0.00,1.77,0.00,0.000,6,0.000,0.041,2268,2786,3524,0,0,0,0,0,0
$GC,1908,-0.73,-146.0,223.2,-7.8,233,1912,0.00,2.20,0.00,0.000,4,0.000,0.043,2268,1364,3525,0,0,0,0,0,0
$GC,1955,-0.79,-146.0,226.6,-7.8,237,1960,0.12,2.30,0.00,0.000,6,0.096,0.054,2206,2789,3525,0,0,0,0,0,0
$GC,2281,-0.70,-146.0,263.7,-12.3,267,2283,0.15,0.00,0.00,0.000,6,0.174,0.000,2247,2789,3525,0,0,0,0,0,0
$GC,2599,-0.70,-146.0,293.0,-8.4,297,2603,0.00,2.22,0.00,0.000,4,0.000,0.044,2247,1374,3525,0,0,0,0,0,0
$GC,2620,-0.70,-146.0,295.0,-8.8,298,2627,0.00,2.33,0.00,0.000,6,0.000,0.056,2247,2793,3525,0,0,0,0,0,0
$GC,2947,-0.70,-146.0,322.5,-8.3,329,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2793,3525,0,0,0,0,0,0
$GC,3264,-0.70,-146.0,348.7,-8.2,359,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2793,3525,0,0,0,0,0,0
$GC,3582,-0.70,-146.0,374.9,-8.1,389,3586,0.00,2.22,0.00,0.000,4,0.000,0.044,2247,1374,3525,0,0,0,0,0,0
$GC,3638,-0.73,-146.0,379.6,-7.6,393,3645,0.00,2.30,0.00,0.000,6,0.000,0.056,2247,2792,3525,0,0,0,0,0,0
$GC,3971,-0.73,-146.0,405.8,-8.2,421,3975,0.00,2.20,0.00,0.000,4,0.000,0.043,2247,1375,3526,0,0,0,0,0,0
$GC,4010,-0.77,-146.0,409.1,-8.2,422,4014,0.00,2.30,0.00,0.000,6,0.000,0.056,2247,2782,3525,0,0,0,0,0,0
$GC,4334,-0.77,-146.0,436.2,-8.4,433,4338,0.00,1.92,0.00,0.000,4,0.000,0.065,2246,3926,3526,0,0,0,0,0,0
$GC,4373,-0.79,-146.0,439.8,-8.5,434,4377,0.00,1.80,0.00,0.000,6,0.000,0.042,2247,2786,3527,0,0,0,0,0,0
$GC,4708,-0.79,-146.0,467.9,-8.5,445,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2786,3526,0,0,0,0,0,0
$GC,5014,-0.79,-146.0,494.1,-8.6,455,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2786,3526,0,0,0,0,0,0
$GC,5320,-0.79,-146.0,520.5,-8.6,465,5324,0.00,1.95,0.00,0.000,4,0.000,0.069,2246,3925,3526,0,0,0,0,0,0
$GC,5355,-0.79,-146.0,523.4,-8.6,466,5359,0.00,1.77,0.00,0.000,6,0.000,0.044,2247,2793,3526,0,0,0,0,0,0
$GC,5697,-0.79,-146.0,551.0,-8.0,477,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2793,3526,0,0,0,0,0,0
$GC,6002,-0.79,-146.0,574.3,-7.5,487,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2793,3526,0,0,0,0,0,0
$GC,6309,-0.79,-146.0,597.8,-7.8,497,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2793,3525,0,0,0,0,0,0
$GC,6615,-0.81,-146.0,621.5,-7.8,507,6616,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2793,3524,0,0,0,0,0,0
$GC,6921,-0.84,-146.0,645.8,-8.0,517,6923,0.12,0.00,0.00,0.000,6,0.103,0.000,2188,2793,3523,0,0,0,0,0,0
$GC,7228,-0.74,-146.0,680.6,-11.5,527,7230,0.17,0.00,0.00,0.000,6,0.168,0.000,2236,2792,3523,0,0,0,0,0,0
$GC,7533,-0.74,-146.0,707.9,-8.6,537,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2793,3522,0,0,0,0,0,0
$GC,7839,-0.74,-146.0,734.8,-8.9,547,7843,0.00,1.92,0.00,0.000,4,0.000,0.071,2230,3936,3521,0,0,0,0,0,0
$GC,7866,-0.74,-146.0,737.6,-10.3,547,7873,0.00,1.80,0.00,0.000,6,0.000,0.046,2229,2796,3521,0,0,0,0,0,0
$STATE,7901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7901,begin apogee
$GC,7906,-0.14,0.0,740.9,9.2,549,8036,0.60,0.00,123.65,1.047,4,0.132,0.000,2424,2598,2923,0,0,0,0,0,0
$STATE,8037,end apogee,CONTROL_FINISHED_OK
$STATE,8037,begin climb
$GC,8039,0.57,146.0,744.0,0.0,553,8175,0.62,0.00,129.48,1.024,6,0.065,0.000,2663,2597,2327,0,0,0,0,0,0
$GC,8500,0.57,146.0,693.3,30260.5,568,8504,0.00,2.28,0.00,0.000,4,0.000,0.066,2663,3929,2316,0,0,0,0,0,0
$GC,8566,0.57,146.0,683.4,30260.5,570,8570,0.00,2.17,0.00,0.000,6,0.000,0.041,2665,2603,2314,0,0,0,0,0,0
$GC,8901,0.57,146.0,641.4,30260.5,581,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2602,2313,0,0,0,0,0,0
$GC,9208,0.57,146.0,603.5,30260.5,591,9209,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2602,2312,0,0,0,0,0,0
$GC,9513,0.57,146.0,564.7,30260.5,601,9514,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2602,2312,0,0,0,0,0,0
$GC,9819,0.57,146.0,526.8,30260.5,611,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2603,2311,0,0,0,0,0,0
$GC,10127,0.57,146.0,490.0,30260.5,621,10131,0.00,2.25,0.00,0.000,4,0.000,0.067,2665,3933,2310,0,0,0,0,0,0
$GC,10159,0.57,146.0,485.4,30260.5,622,10163,0.00,2.12,0.00,0.000,6,0.000,0.043,2665,2602,2310,0,0,0,0,0,0
$GC,10495,0.57,146.0,446.0,30260.5,633,10496,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2601,2310,0,0,0,0,0,0
$GC,10802,0.57,146.0,410.1,30260.5,643,10803,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2601,2310,0,0,0,0,0,0
$GC,11116,0.57,146.0,372.3,30260.5,667,11120,0.00,2.22,0.00,0.000,4,0.000,0.052,2666,1191,2310,0,0,0,0,0,0
$GC,11166,0.57,146.0,366.1,30260.5,671,11172,0.00,2.30,0.00,0.000,6,0.000,0.054,2666,2619,2310,0,0,0,0,0,0
$GC,11491,0.57,146.0,324.6,30260.5,702,11495,0.00,2.15,0.00,0.000,4,0.000,0.065,2666,3925,2309,0,0,0,0,0,0
$GC,11524,0.57,146.0,319.8,30260.5,704,11532,0.00,2.10,0.00,0.000,6,0.000,0.043,2666,2607,2308,0,0,0,0,0,0
$GC,11850,0.57,146.0,277.9,30260.5,735,11854,0.00,2.25,0.00,0.000,4,0.000,0.050,2666,1186,2308,0,0,0,0,0,0
$GC,11900,0.57,146.0,271.3,30260.5,739,11906,0.00,2.30,0.00,0.000,6,0.000,0.053,2666,2604,2309,0,0,0,0,0,0
$GC,12225,0.57,146.0,230.2,30260.5,770,12229,0.00,2.17,0.00,0.000,4,0.000,0.064,2666,3925,2309,0,0,0,0,0,0
$GC,12266,0.57,146.0,224.5,30260.5,773,12269,0.00,2.12,0.00,0.000,6,0.000,0.042,2666,2590,2308,0,0,0,0,0,0
$GC,12597,0.57,146.0,183.7,30260.5,804,12598,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2589,2309,0,0,0,0,0,0
$GC,12917,0.57,146.0,149.1,30260.5,834,12918,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2589,2310,0,0,0,0,0,0
$GC,13234,0.57,146.0,119.1,30260.5,864,13238,0.00,2.20,0.00,0.000,4,0.000,0.049,2666,1193,2311,0,0,0,0,0,0
$GC,13279,0.57,146.0,114.8,30260.5,867,13286,0.00,2.28,0.00,0.000,6,0.000,0.052,2666,2613,2311,0,0,0,0,0,0
$GC,13615,0.57,146.0,83.6,30260.5,914,13622,0.00,2.28,0.00,0.000,4,0.000,0.049,2666,1188,2311,0,0,0,0,0,0
$GC,13674,0.57,146.0,79.0,30260.5,924,13680,0.00,2.25,0.00,0.000,6,0.000,0.052,2666,2592,2311,0,0,0,0,0,0
$GC,14019,0.57,146.0,51.5,30260.5,985,14026,0.00,2.22,0.00,0.000,4,0.000,0.063,2666,3933,2311,0,0,0,0,0,0
$GC,14100,0.57,146.0,43.5,30260.5,999,14107,0.00,2.12,0.00,0.000,6,0.000,0.041,2666,2590,2311,0,0,0,0,0,0
$STATE,14354,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,14354,begin subsurface finish
$FINISH1,22.7,1.026287,59
$GC,14360,0.04,59.5,22.7,-30260.5,1044,14374,0.55,2.25,-5.90,0.000,4,0.154,0.077,2495,3925,2684,0,0,0,0,0,0
$FINISH2,21.9
$STATE,14374,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14375,begin surface
$RAFOS_CLK,743
$RAFOS,6,1291394948,16.833334,16.818890,95,47,41,41,41,40,742,925,811,1682,494,1062
$RAFOS,5,1291394463,16.700001,16.684166,63,55,49,47,41,41,613,602,655,1598,1673,1910
$RAFOS,4,1291393983,16.566668,16.550833,43,42,41,41,40,39,1496,1564,1705,26,260,1863
$RAFOS,3,1291393509,16.433332,16.419167,47,41,41,40,39,39,935,557,902,1873,978,1831
$RAFOS,2,1291393021,16.299999,16.283611,47,43,43,43,42,39,1220,1805,154,165,1318,1288
$RAFOS,1,1291392548,16.166666,16.152222,46,45,44,44,43,41,198,1035,1012,1596,535,896
$RAFOS,0,1291392070,16.033333,16.019444,48,45,44,42,41,40,1836,136,718,154,545,25
$RAFOS_FIX,6708.033691,-5720.368652,031210,161656,2,79,0.15
$IRIDIUM_FIX,6636.54,-5707.59,031210,080856
$TT8_MAMPS,0.028462
$HUMID,51.10
$INTERNAL_PRESSURE,8.74881
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,15.7,3.9
$ALTIM_BOTTOM_PING,18.1,17.5
$24V_AH,22.1,54.278
$10V_AH,10.1,40.063
$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,3.200,86.175,253.125,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2613.680,9626.837,293.922,1721.446,180.967,0.000,1210.309,0.000,1710.284,2520.000,16.922,0.000
$DEVICE_MAMPS,174.420,77.265,1046.520,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,725.838,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151672
$DATA_FILE_SIZE,36652,1046
$CAP_FILE_SIZE,125917,0
$CFSIZE,260165632,218079232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.4
$GPS,031210,164656,6708.034,-5720.369,0,2079.0,0,-37.7