version: 66.08
glider: 183
mission: 3
dive: 495
start: 12 12 110 2 8 39
data:
$ID,183
$MISSION,3
$DIVE,495
$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,-8691.0098
$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,32
$R_STBD_OVSHOOT,21
$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
$GPS1,121210,002725,6644.190,-6002.628,0,7109.0,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.69
$_SM_ANGLEo,0.5
$GPS2,121210,002725,6644.190,-6002.628,0,7109.0,0,-38.0
$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,114.1,144803,-17.5,-10.000
$D_GRID,641
$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,-6.47,0.000,2,0.000,0.000,2503,3936,2821,0,0,0,0,0,0
$GC,27,-0.57,-146.0,9.2,-0.0,1,53,0.60,4.20,-17.38,0.000,4,0.109,0.056,2296,1372,3522,0,0,0,0,0,0
$GC,127,-0.57,-146.0,19.1,-11.7,18,134,0.00,2.35,0.00,0.000,6,0.000,0.063,2293,2779,3523,0,0,0,0,0,0
$GC,473,-0.57,-146.0,62.6,-11.6,79,479,0.00,1.95,0.00,0.000,4,0.000,0.075,2289,3927,3523,0,0,0,0,0,0
$GC,635,-0.60,-146.0,80.6,-10.8,107,642,0.00,1.80,0.00,0.000,6,0.000,0.049,2289,2802,3523,0,0,0,0,0,0
$GC,979,-0.60,-146.0,115.6,-10.0,155,983,0.00,2.28,0.00,0.000,4,0.000,0.053,2289,1372,3523,0,0,0,0,0,0
$GC,1046,-0.66,-146.0,122.6,-9.6,160,1053,0.00,2.38,0.00,0.000,6,0.000,0.063,2289,2803,3523,0,0,0,0,0,0
$GC,1372,-0.69,-146.0,153.1,-9.0,191,1374,0.10,0.00,0.00,0.000,6,0.125,0.000,2246,2803,3522,0,0,0,0,0,0
$GC,1690,-0.66,-146.0,189.7,-11.8,221,1694,0.00,2.30,0.00,0.000,4,0.000,0.053,2245,1368,3522,0,0,0,0,0,0
$GC,1730,-0.66,-146.0,194.0,-10.9,224,1734,0.00,2.38,0.00,0.000,6,0.000,0.063,2242,2800,3522,0,0,0,0,0,0
$GC,2055,-0.62,-146.0,230.2,-11.1,254,2060,0.12,2.33,0.00,0.000,4,0.187,0.053,2275,1368,3522,0,0,0,0,0,0
$GC,2096,-0.68,-146.0,234.1,-8.8,257,2100,0.00,2.38,0.00,0.000,6,0.000,0.064,2274,2797,3522,0,0,0,0,0,0
$GC,2422,-0.72,-146.0,263.0,-8.3,287,2426,0.00,1.90,0.00,0.000,4,0.000,0.074,2270,3929,3522,0,0,0,0,0,0
$GC,2448,-0.76,-146.0,264.9,-7.8,289,2453,0.12,1.85,0.00,0.000,6,0.110,0.048,2216,2775,3521,0,0,0,0,0,0
$GC,2779,-0.68,-146.0,306.2,-13.0,320,2784,0.15,2.25,0.00,0.000,4,0.175,0.053,2257,1373,3521,0,0,0,0,0,0
$GC,2812,-0.68,-146.0,310.2,-10.9,322,2819,0.00,2.38,0.00,0.000,6,0.000,0.064,2253,2789,3521,0,0,0,0,0,0
$GC,3137,-0.68,-146.0,343.8,-10.4,353,3141,0.00,1.92,0.00,0.000,4,0.000,0.075,2253,3929,3521,0,0,0,0,0,0
$GC,3207,-0.71,-146.0,350.9,-10.3,359,3211,0.00,1.83,0.00,0.000,6,0.000,0.049,2253,2790,3521,0,0,0,0,0,0
$GC,3538,-0.71,-146.0,382.4,-8.9,390,3542,0.00,2.28,0.00,0.000,4,0.000,0.053,2253,1364,3521,0,0,0,0,0,0
$GC,3611,-0.74,-146.0,389.0,-8.8,396,3618,0.00,2.40,0.00,0.000,6,0.000,0.063,2252,2796,3521,0,0,0,0,0,0
$GC,3929,-0.74,-146.0,416.3,-8.7,415,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2796,3522,0,0,0,0,0,0
$GC,4235,-0.74,-146.0,442.8,-8.6,425,4239,0.00,1.90,0.00,0.000,4,0.000,0.073,2253,3928,3521,0,0,0,0,0,0
$GC,4275,-0.77,-146.0,446.3,-8.6,426,4279,0.00,1.83,0.00,0.000,6,0.000,0.048,2253,2789,3521,0,0,0,0,0,0
$GC,4611,-0.79,-146.0,475.1,-8.8,437,4613,0.10,0.00,0.00,0.000,6,0.125,0.000,2208,2788,3521,0,0,0,0,0,0
$GC,4917,-0.73,-146.0,512.0,-12.1,447,4919,0.12,0.00,0.00,0.000,6,0.181,0.000,2240,2788,3522,0,0,0,0,0,0
$GC,5223,-0.73,-146.0,542.1,-9.7,457,5227,0.00,2.25,0.00,0.000,4,0.000,0.051,2240,1371,3522,0,0,0,0,0,0
$GC,5252,-0.73,-146.0,544.9,-9.4,458,5256,0.00,2.35,0.00,0.000,6,0.000,0.063,2238,2789,3522,0,0,0,0,0,0
$GC,5587,-0.73,-146.0,576.4,-9.2,469,5591,0.00,1.92,0.00,0.000,4,0.000,0.073,2238,3932,3522,0,0,0,0,0,0
$GC,5615,-0.73,-146.0,579.2,-9.5,469,5622,0.00,1.88,0.00,0.000,6,0.000,0.047,2238,2776,3522,0,0,0,0,0,0
$GC,5928,-0.73,-146.0,607.1,-9.1,480,5932,0.00,2.22,0.00,0.000,4,0.000,0.050,2239,1371,3523,0,0,0,0,0,0
$GC,5957,-0.73,-146.0,609.7,-9.3,481,5961,0.00,2.35,0.00,0.000,6,0.000,0.061,2238,2791,3523,0,0,0,0,0,0
$GC,6292,-0.73,-146.0,640.5,-9.6,492,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2791,3523,0,0,0,0,0,0
$STATE,6320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6320,begin apogee
$GC,6326,-0.14,0.0,643.5,9.3,493,6456,0.57,0.00,123.00,1.011,4,0.138,0.000,2423,2602,2922,0,0,0,0,0,0
$STATE,6457,end apogee,CONTROL_FINISHED_OK
$STATE,6457,begin climb
$GC,6459,0.57,146.0,648.0,0.0,497,6600,0.70,2.45,130.48,0.984,4,0.073,0.051,2663,1181,2326,0,0,0,0,0,0
$GC,6735,0.57,146.0,624.3,22239.1,505,6739,0.00,2.50,0.00,0.000,6,0.000,0.055,2663,2604,2319,0,0,0,0,0,0
$GC,7049,0.57,146.0,588.1,22239.1,515,7053,0.00,2.33,0.00,0.000,4,0.000,0.054,2664,1187,2315,0,0,0,0,0,0
$GC,7301,0.57,146.0,560.9,22239.1,522,7305,0.00,2.35,0.00,0.000,6,0.000,0.056,2664,2610,2315,0,0,0,0,0,0
$GC,7615,0.57,146.0,524.9,22239.1,532,7619,0.00,2.20,0.00,0.000,4,0.000,0.067,2664,3931,2313,0,0,0,0,0,0
$GC,7648,0.57,146.0,520.2,22239.1,533,7652,0.00,2.15,0.00,0.000,6,0.000,0.044,2666,2597,2312,0,0,0,0,0,0
$GC,7985,0.57,146.0,480.9,22239.1,544,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2597,2312,0,0,0,0,0,0
$GC,8290,0.57,146.0,446.1,22239.1,554,8294,0.00,2.22,0.00,0.000,4,0.000,0.067,2666,3926,2312,0,0,0,0,0,0
$GC,8367,0.57,146.0,435.4,22239.1,556,8371,0.00,2.10,0.00,0.000,6,0.000,0.043,2666,2601,2312,0,0,0,0,0,0
$GC,8696,0.57,146.0,398.8,22239.1,567,8700,0.00,2.22,0.00,0.000,4,0.000,0.067,2666,3930,2312,0,0,0,0,0,0
$GC,8827,0.57,146.0,381.4,22239.1,578,8831,0.00,2.08,0.00,0.000,6,0.000,0.043,2666,2633,2311,0,0,0,0,0,0
$GC,9156,0.57,146.0,346.2,22239.1,608,9160,0.00,2.28,0.00,0.000,4,0.000,0.053,2666,1194,2311,0,0,0,0,0,0
$GC,9264,0.57,146.0,335.5,22239.1,617,9269,0.00,2.33,0.00,0.000,6,0.000,0.054,2666,2624,2312,0,0,0,0,0,0
$GC,9590,0.57,146.0,302.9,22239.1,647,9594,0.00,2.28,0.00,0.000,4,0.000,0.053,2666,1195,2312,0,0,0,0,0,0
$GC,9645,0.57,146.0,297.5,22239.1,651,9652,0.00,2.33,0.00,0.000,6,0.000,0.054,2666,2623,2312,0,0,0,0,0,0
$GC,9970,0.57,146.0,263.8,22239.1,682,9971,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2622,2312,0,0,0,0,0,0
$GC,10289,0.57,146.0,233.7,22239.1,712,10290,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2623,2312,0,0,0,0,0,0
$GC,10610,0.57,146.0,204.4,22239.1,742,10614,0.00,2.28,0.00,0.000,4,0.000,0.053,2666,1195,2312,0,0,0,0,0,0
$GC,10643,0.57,146.0,201.0,22239.1,744,10649,0.00,2.30,0.00,0.000,6,0.000,0.054,2666,2620,2313,0,0,0,0,0,0
$GC,10968,0.57,146.0,173.4,22239.1,775,10969,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2620,2313,0,0,0,0,0,0
$GC,11290,0.57,146.0,148.0,22239.1,805,11294,0.00,2.17,0.00,0.000,4,0.000,0.067,2666,3928,2313,0,0,0,0,0,0
$GC,11359,0.57,146.0,141.4,22239.1,811,11363,0.00,2.10,0.00,0.000,6,0.000,0.044,2666,2606,2312,0,0,0,0,0,0
$GC,11690,0.57,146.0,116.3,22239.1,842,11694,0.00,2.25,0.00,0.000,4,0.000,0.068,2666,3925,2312,0,0,0,0,0,0
$GC,11754,0.57,146.0,110.9,22239.1,847,11758,0.00,2.08,0.00,0.000,6,0.000,0.044,2666,2632,2312,0,0,0,0,0,0
$GC,12090,0.62,230.3,88.6,6.1,893,12166,0.00,2.38,68.62,0.676,4,0.000,0.053,2666,1183,1982,0,0,0,0,0,0
$GC,12209,0.76,281.3,80.1,7.6,913,12263,0.15,2.35,43.30,0.662,6,0.103,0.054,2724,2606,1774,0,0,0,0,0,0
$GC,12602,0.76,284.0,36.3,9.9,982,12608,0.00,2.30,0.00,0.000,4,0.000,0.055,2725,1185,1762,0,0,0,0,0,0
$GC,12622,0.79,285.4,34.4,9.9,985,12628,0.00,2.33,0.00,0.000,6,0.000,0.055,2724,2608,1761,0,0,0,0,0,0
$FREEZE,8.71,-1.619,-1.759,2,13,0
$FREEZE,8.15,-1.620,-1.758,2,13,0
$FREEZE,7.53,-1.620,-1.758,2,13,0
$FREEZE,6.78,-1.624,-1.757,2,13,0
$FREEZE,6.18,-1.626,-1.757,2,13,0
$FREEZE,5.66,-1.625,-1.756,2,13,0
$FREEZE,4.97,-1.630,-1.756,2,13,0
$FREEZE,4.57,-1.629,-1.755,2,13,0
$FREEZE,4.03,-1.643,-1.755,2,13,0
$FREEZE,3.47,-1.644,-1.755,2,13,0
$FREEZE,2.74,-1.636,-1.754,2,13,0
$STATE,12918,end climb,SURFACE_DEPTH_REACHED
$STATE,12918,begin surface coast
$FREEZE,1.91,-1.648,-1.753,2,13,0
$FREEZE,1.53,-1.652,-1.753,2,13,0
$FREEZE,1.03,-1.657,-1.753,2,13,0
$FINISH,1.0,1.025755
$STATE,12935,end surface coast,FINISH_DEPTH_REACHED
$STATE,12935,begin surface
$SM_CCo,12951,213.70,0.086,0,0,440,609.08
$SM_GC,1.54,0.00,0.00,213.70,0.000,0.000,0.086,300,2781,440,-6.80,0.06,609.08
$RAFOS_CLK,764
$RAFOS,6,1292129346,4.833333,4.818333,130,47,42,42,37,36,778,180,764,1408,1629,1790
$RAFOS,5,1292128869,4.700000,4.685833,140,43,43,42,41,40,885,127,274,380,602,1219
$RAFOS,4,1292128408,4.566667,4.557778,137,48,44,44,43,40,549,1600,1820,144,1140,1650
$RAFOS,3,1292127915,4.433333,4.420833,105,45,43,41,40,39,690,1823,639,748,1801,384
$RAFOS,2,1292127425,4.300000,4.284722,103,51,47,45,44,42,625,301,1417,104,961,785
$RAFOS,1,1292126945,4.166667,4.151389,84,47,43,42,40,40,538,843,26,898,489,1546
$RAFOS,0,1292126489,4.033333,4.024722,111,44,41,41,39,39,514,900,1684,1770,910,193
$RAFOS_FIX,6644.353027,-5959.573242,121210,040434,7,116,0.16
$IRIDIUM_FIX,6614.97,-6003.82,101210,131352
$TT8_MAMPS,0.029211
$HUMID,47.63
$INTERNAL_PRESSURE,8.407
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,20.3
$24V_AH,21.7,59.730
$10V_AH,9.9,43.295
$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,9.225,112.725,365.400,213.700,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2668.402,7918.325,612.338,1851.623,197.172,0.000,1604.881,0.000,1835.403,2520.000,16.952,0.000
$DEVICE_MAMPS,186.660,78.030,1011.330,86.445,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,727.905,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36765,1041
$CAP_FILE_SIZE,134351,0
$CFSIZE,260165632,214949888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.6
$GPS,121210,042734,6644.353,-5959.573,0,7115.7,0,-38.0