version: 66.08
glider: 183
mission: 3
dive: 483
start: 12 10 110 13 53 14
data:
$ID,183
$MISSION,3
$DIVE,483
$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,-2
$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,-8321.8584
$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,20
$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
$GPS1,101210,133724,6645.065,-5956.645,24,0.8,41,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-41.4
$GPS2,101210,135243,6644.843,-5956.601,14,1.6,19,-38.0
$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,303.8,21564,-17.5,-10.000
$D_GRID,679
$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,14,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,178,0.00,0.00,-157.70,0.000,2,0.000,0.000,299,2787,3318,0,0,0,0,0,0
$GC,181,-0.57,-146.0,5.5,-16.4,28,201,8.50,1.98,-4.20,0.000,4,0.253,0.083,2279,3937,3520,0,0,0,0,0,0
$GC,365,-0.49,-146.0,48.4,-17.1,60,373,0.12,1.90,0.00,0.000,6,0.176,0.049,2311,2778,3523,0,0,0,0,0,0
$GC,712,-0.52,-146.0,87.6,-10.1,121,718,0.00,2.25,0.00,0.000,4,0.000,0.052,2311,1371,3522,0,0,0,0,0,0
$GC,771,-0.59,-146.0,93.6,-9.8,131,778,0.00,2.38,0.00,0.000,6,0.000,0.065,2311,2779,3522,0,0,0,0,0,0
$GC,1107,-0.64,-146.0,124.2,-9.1,168,1112,0.12,2.30,0.00,0.000,4,0.104,0.053,2256,1364,3521,0,0,0,0,0,0
$GC,1148,-0.61,-146.0,128.8,-12.3,171,1152,0.00,2.35,0.00,0.000,6,0.000,0.063,2250,2764,3522,0,0,0,0,0,0
$GC,1474,-0.54,-146.0,170.3,-12.9,201,1476,0.17,0.00,0.00,0.000,6,0.174,0.000,2299,2764,3522,0,0,0,0,0,0
$GC,1793,-0.60,-146.0,197.5,-8.0,231,1797,0.00,2.25,0.00,0.000,4,0.000,0.053,2299,1371,3521,0,0,0,0,0,0
$GC,1828,-0.67,-146.0,200.5,-8.5,234,1833,0.12,2.35,0.00,0.000,6,0.099,0.065,2248,2771,3521,0,0,0,0,0,0
$GC,2153,-0.63,-146.0,238.8,-12.0,264,2157,0.00,2.00,0.00,0.000,4,0.000,0.076,2248,3933,3521,0,0,0,0,0,0
$GC,2203,-0.61,-146.0,245.2,-12.6,268,2210,0.12,1.90,0.00,0.000,6,0.173,0.050,2281,2768,3521,0,0,0,0,0,0
$GC,2529,-0.65,-146.0,277.3,-8.9,299,2533,0.00,2.03,0.00,0.000,4,0.000,0.076,2275,3936,3521,0,0,0,0,0,0
$GC,2613,-0.69,-146.0,285.2,-9.3,306,2620,0.00,1.85,0.00,0.000,6,0.000,0.051,2275,2794,3521,0,0,0,0,0,0
$GC,2939,-0.73,-146.0,315.9,-9.3,337,2944,0.10,2.30,0.00,0.000,4,0.116,0.053,2229,1367,3521,0,0,0,0,0,0
$GC,3002,-0.73,-146.0,323.0,-11.4,342,3006,0.00,2.38,0.00,0.000,6,0.000,0.064,2222,2780,3521,0,0,0,0,0,0
$GC,3328,-0.67,-146.0,362.2,-12.7,372,3333,0.12,2.30,0.00,0.000,4,0.189,0.052,2255,1362,3521,0,0,0,0,0,0
$GC,3356,-0.67,-146.0,365.7,-11.3,374,3360,0.00,2.38,0.00,0.000,6,0.000,0.063,2251,2775,3521,0,0,0,0,0,0
$GC,3682,-0.67,-146.0,399.2,-9.3,404,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2775,3522,0,0,0,0,0,0
$GC,3998,-0.67,-146.0,429.3,-9.4,415,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2775,3522,0,0,0,0,0,0
$GC,4305,-0.67,-146.0,457.8,-9.4,425,4309,0.00,2.25,0.00,0.000,4,0.000,0.051,2251,1368,3522,0,0,0,0,0,0
$GC,4360,-0.70,-146.0,463.3,-9.0,426,4367,0.00,2.35,0.00,0.000,6,0.000,0.063,2250,2768,3522,0,0,0,0,0,0
$GC,4673,-0.70,-146.0,490.9,-8.4,437,4677,0.00,2.25,0.00,0.000,4,0.000,0.050,2250,1367,3523,0,0,0,0,0,0
$GC,4719,-0.72,-146.0,494.9,-8.8,438,4723,0.00,2.33,0.00,0.000,6,0.000,0.063,2248,2758,3523,0,0,0,0,0,0
$GC,5048,-0.72,-146.0,522.4,-8.3,449,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2758,3523,0,0,0,0,0,0
$GC,5355,-0.72,-146.0,546.6,-7.9,459,5359,0.00,2.22,0.00,0.000,4,0.000,0.050,2248,1363,3523,0,0,0,0,0,0
$GC,5377,-0.72,-146.0,548.6,-8.6,459,5384,0.00,2.33,0.00,0.000,6,0.000,0.062,2247,2753,3523,0,0,0,0,0,0
$GC,5690,-0.72,-146.0,574.9,-8.6,470,5694,0.00,2.03,0.00,0.000,4,0.000,0.073,2247,3946,3524,0,0,0,0,0,0
$GC,5735,-0.74,-146.0,578.8,-9.2,471,5739,0.00,1.98,0.00,0.000,6,0.000,0.048,2247,2751,3524,0,0,0,0,0,0
$GC,6065,-0.74,-146.0,607.3,-8.7,482,6069,0.00,2.20,0.00,0.000,4,0.000,0.051,2247,1364,3524,0,0,0,0,0,0
$GC,6086,-0.74,-146.0,609.4,-8.7,482,6093,0.00,2.33,0.00,0.000,6,0.000,0.062,2247,2755,3525,0,0,0,0,0,0
$GC,6400,-0.74,-146.0,636.0,-8.4,493,6404,0.00,1.98,0.00,0.000,4,0.000,0.073,2247,3928,3525,0,0,0,0,0,0
$GC,6456,-0.77,-146.0,640.9,-8.6,494,6460,0.00,1.92,0.00,0.000,6,0.000,0.048,2247,2760,3525,0,0,0,0,0,0
$GC,6774,-0.77,-146.0,667.1,-8.3,505,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2760,3525,0,0,0,0,0,0
$STATE,6924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6925,begin apogee
$GC,6931,-0.14,0.0,680.1,8.4,510,7061,0.55,0.00,124.55,1.027,4,0.135,0.000,2424,2598,2923,0,0,0,0,0,0
$STATE,7062,end apogee,CONTROL_FINISHED_OK
$STATE,7062,begin climb
$GC,7064,0.57,146.0,684.0,0.0,514,7203,0.68,2.42,131.57,1.004,4,0.067,0.050,2660,1187,2327,0,0,0,0,0,0
$GC,7340,0.57,146.0,662.3,11.4,522,7344,0.00,2.50,0.00,0.000,6,0.000,0.055,2660,2604,2318,0,0,0,0,0,0
$GC,7678,0.51,146.0,622.5,12.0,533,7682,0.00,2.33,0.00,0.000,4,0.000,0.052,2661,1190,2314,0,0,0,0,0,0
$GC,7861,0.51,146.0,601.9,10.9,538,7866,0.00,2.38,0.00,0.000,6,0.000,0.056,2661,2605,2314,0,0,0,0,0,0
$GC,8181,0.45,146.0,564.8,11.8,549,8183,0.15,0.00,0.00,0.000,6,0.196,0.000,2624,2605,2314,0,0,0,0,0,0
$GC,8487,0.45,156.9,535.1,9.5,559,8501,0.00,2.28,8.35,0.854,4,0.000,0.069,2623,3922,2282,0,0,0,0,0,0
$GC,8554,0.43,156.9,527.8,11.4,561,8558,0.00,2.12,0.00,0.000,6,0.000,0.045,2623,2605,2281,0,0,0,0,0,0
$GC,8894,0.43,162.3,493.9,9.7,572,8905,0.00,2.28,6.40,0.792,4,0.000,0.051,2623,1192,2261,0,0,0,0,0,0
$GC,8964,0.51,184.1,487.5,9.0,574,8991,0.00,2.35,20.58,0.892,6,0.000,0.057,2623,2620,2171,0,0,0,0,0,0
$GC,9299,0.56,188.7,454.9,9.8,585,9308,0.00,2.20,4.97,0.710,4,0.000,0.069,2623,3925,2152,0,0,0,0,0,0
$GC,9330,0.56,188.7,451.3,10.8,586,9334,0.00,2.12,0.00,0.000,6,0.000,0.045,2623,2598,2151,0,0,0,0,0,0
$GC,9661,0.61,200.3,420.0,9.5,597,9678,0.15,2.25,11.23,0.834,4,0.093,0.051,2690,1185,2106,0,0,0,0,0,0
$GC,9717,0.59,200.3,413.1,12.6,598,9724,0.00,2.33,0.00,0.000,6,0.000,0.055,2690,2597,2106,0,0,0,0,0,0
$GC,10040,0.52,200.3,370.1,13.1,623,10042,0.17,0.00,0.00,0.000,6,0.184,0.000,2643,2597,2105,0,0,0,0,0,0
$GC,10357,0.54,202.1,337.3,9.9,653,10359,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2597,2104,0,0,0,0,0,0
$GC,10676,0.57,202.1,305.0,10.5,683,10680,0.00,2.25,0.00,0.000,4,0.000,0.053,2643,1193,2103,0,0,0,0,0,0
$GC,10705,0.63,202.1,302.0,10.2,685,10710,0.10,2.28,0.00,0.000,6,0.116,0.056,2684,2596,2103,0,0,0,0,0,0
$GC,11032,0.60,202.1,260.1,12.7,715,11036,0.00,2.22,0.00,0.000,4,0.000,0.067,2684,3935,2103,0,0,0,0,0,0
$GC,11065,0.50,202.1,255.3,13.5,717,11072,0.20,2.15,0.00,0.000,6,0.190,0.045,2638,2596,2102,0,0,0,0,0,0
$GC,11391,0.56,212.9,222.7,9.5,748,11408,0.00,2.28,12.10,0.741,4,0.000,0.067,2638,3934,2054,0,0,0,0,0,0
$GC,11501,0.58,212.9,210.6,11.5,757,11505,0.00,2.10,0.00,0.000,6,0.000,0.045,2637,2628,2051,0,0,0,0,0,0
$GC,11832,0.67,250.6,182.4,8.3,788,11871,0.15,2.33,33.10,0.733,4,0.096,0.053,2698,1194,1900,0,0,0,0,0,0
$GC,11918,0.70,250.6,173.0,11.0,795,11922,0.00,2.38,0.00,0.000,6,0.000,0.057,2698,2625,1897,0,0,0,0,0,0
$GC,12249,0.70,250.6,133.7,11.3,826,12253,0.00,2.20,0.00,0.000,4,0.000,0.069,2698,3926,1893,0,0,0,0,0,0
$GC,12311,0.66,250.6,125.8,12.6,831,12315,0.00,2.12,0.00,0.000,6,0.000,0.046,2700,2613,1892,0,0,0,0,0,0
$GC,12642,0.66,250.6,89.1,10.6,869,12649,0.00,2.30,0.00,0.000,4,0.000,0.054,2700,1184,1892,0,0,0,0,0,0
$GC,12718,0.71,250.6,80.9,10.5,882,12724,0.00,2.35,0.00,0.000,6,0.000,0.057,2700,2617,1892,0,0,0,0,0,0
$GC,13065,0.75,284.2,45.8,8.4,943,13101,0.00,2.25,28.27,0.669,4,0.000,0.070,2701,3926,1762,0,0,0,0,0,0
$GC,13259,0.77,284.2,24.9,10.4,977,13266,0.00,2.12,0.00,0.000,6,0.000,0.047,2701,2622,1757,0,0,0,0,0,0
$FREEZE,8.56,-1.661,-1.763,2,1,0
$FREEZE,8.18,-1.665,-1.762,2,1,0
$STATE,13445,end climb,FINISH_DEPTH_REACHED
$STATE,13445,begin subsurface finish
$FINISH1,8.2,1.025808,83
$GC,13451,0.05,83.0,8.2,-8.1,1010,13488,0.65,2.38,-25.40,0.000,4,0.145,0.066,2495,1188,2588,0,0,0,0,0,0
$FINISH2,7.4
$STATE,13489,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13489,begin surface
$RAFOS_CLK,726
$RAFOS,6,1291999751,16.833334,16.819723,53,45,44,41,41,40,741,754,295,1163,1282,1055
$RAFOS,5,1291999262,16.700001,16.683889,63,43,42,40,38,37,922,1682,150,1345,1751,1935
$RAFOS,4,1291998791,16.566668,16.553055,73,46,42,41,41,39,647,265,1736,26,1900,600
$RAFOS,3,1291998305,16.433332,16.418056,67,44,41,41,41,41,762,144,807,1278,1467,1215
$RAFOS,2,1291997841,16.299999,16.289167,111,51,47,43,40,40,550,1514,144,1190,795,954
$RAFOS,1,1291997342,16.166666,16.150555,64,55,45,42,39,39,544,835,1714,1114,144,1699
$RAFOS,0,1291996866,16.033333,16.018333,71,40,40,39,38,38,654,1162,1737,946,25,1398
$RAFOS_FIX,6645.447754,-5958.699219,101210,161628,6,75,0.21
$IRIDIUM_FIX,6614.97,-5939.52,101210,050521
$TT8_MAMPS,0.028462
$HUMID,49.05
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.9
$24V_AH,21.7,58.695
$10V_AH,9.9,42.616
$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,12.200,122.525,381.125,0.000,0.000,30.761,15.983,523.307,2.250,0.000,21.927,2542.976,8451.668,537.868,2385.611,507.599,0.000,1568.781,0.000,1820.341,2520.000,16.777,0.000
$DEVICE_MAMPS,253.215,82.620,1027.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,707.598,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151636
$DATA_FILE_SIZE,36699,1016
$CAP_FILE_SIZE,152324,0
$CFSIZE,260165632,215617536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.3
$GPS,101210,162328,6645.448,-5958.699,0,6074.8,0,-38.0