version: 66.08
glider: 183
mission: 3
dive: 496
start: 12 12 110 6 5 54
data:
$ID,183
$MISSION,3
$DIVE,496
$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,-9060.1611
$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,25
$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
$GPS1,121210,042734,6644.353,-5959.573,0,7115.7,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-32.4
$GPS2,121210,042734,6644.353,-5959.573,181,99.0,181,-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,114.0,142589,-17.5,-10.000
$D_GRID,671
$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,-146.0,0.0,0.0,0,162,0.00,0.00,-142.23,0.000,2,0.000,0.000,300,2782,3341,0,0,0,0,0,0
$GC,165,-0.57,-146.0,6.1,-16.7,25,185,8.52,2.30,-3.50,0.000,4,0.253,0.062,2282,1368,3521,0,0,0,0,0,0
$GC,283,-0.57,-146.0,36.7,-14.2,45,290,0.00,2.35,0.00,0.000,6,0.000,0.063,2279,2781,3524,0,0,0,0,0,0
$GC,628,-0.54,-146.0,84.3,-12.4,106,635,0.00,2.28,0.00,0.000,4,0.000,0.052,2279,1366,3522,0,0,0,0,0,0
$GC,688,-0.54,-146.0,91.2,-10.9,116,695,0.00,2.35,0.00,0.000,6,0.000,0.063,2277,2782,3523,0,0,0,0,0,0
$GC,1026,-0.54,-146.0,128.3,-11.0,154,1029,0.00,1.95,0.00,0.000,4,0.000,0.073,2272,3938,3522,0,0,0,0,0,0
$GC,1076,-0.54,-146.0,134.3,-10.7,158,1083,0.00,1.85,0.00,0.000,6,0.000,0.049,2272,2797,3523,0,0,0,0,0,0
$GC,1401,-0.54,-146.0,167.1,-9.8,189,1405,0.00,2.28,0.00,0.000,4,0.000,0.052,2272,1371,3523,0,0,0,0,0,0
$GC,1435,-0.56,-146.0,170.7,-9.8,191,1442,0.00,2.35,0.00,0.000,6,0.000,0.064,2272,2784,3523,0,0,0,0,0,0
$GC,1760,-0.56,-146.0,202.6,-9.5,222,1764,0.00,1.98,0.00,0.000,4,0.000,0.074,2272,3946,3523,0,0,0,0,0,0
$GC,1799,-0.56,-146.0,206.5,-9.5,225,1806,0.00,1.88,0.00,0.000,6,0.000,0.050,2272,2778,3523,0,0,0,0,0,0
$GC,2125,-0.58,-146.0,235.1,-8.7,256,2129,0.00,2.25,0.00,0.000,4,0.000,0.052,2272,1366,3523,0,0,0,0,0,0
$GC,2156,-0.61,-146.0,237.8,-8.9,258,2160,0.00,2.35,0.00,0.000,6,0.000,0.063,2272,2781,3522,0,0,0,0,0,0
$GC,2482,-0.64,-146.0,267.6,-9.6,288,2485,0.00,1.95,0.00,0.000,4,0.000,0.074,2272,3936,3523,0,0,0,0,0,0
$GC,2510,-0.67,-146.0,270.4,-9.4,290,2517,0.00,1.88,0.00,0.000,6,0.000,0.049,2272,2767,3523,0,0,0,0,0,0
$GC,2836,-0.71,-146.0,298.6,-8.8,321,2840,0.00,2.22,0.00,0.000,4,0.000,0.052,2272,1368,3523,0,0,0,0,0,0
$GC,2914,-0.76,-146.0,305.7,-9.1,327,2922,0.12,2.30,0.00,0.000,6,0.103,0.063,2217,2756,3523,0,0,0,0,0,0
$GC,3240,-0.70,-146.0,344.6,-11.7,358,3245,0.12,2.25,0.00,0.000,4,0.185,0.051,2249,1367,3523,0,0,0,0,0,0
$GC,3307,-0.73,-146.0,351.3,-9.4,363,3314,0.00,2.30,0.00,0.000,6,0.000,0.062,2247,2743,3523,0,0,0,0,0,0
$GC,3633,-0.73,-146.0,380.9,-9.0,394,3637,0.00,2.03,0.00,0.000,4,0.000,0.073,2243,3932,3523,0,0,0,0,0,0
$GC,3717,-0.73,-146.0,389.2,-9.5,401,3723,0.00,1.90,0.00,0.000,6,0.000,0.047,2243,2750,3523,0,0,0,0,0,0
$GC,4054,-0.73,-146.0,422.4,-10.2,420,4058,0.00,2.03,0.00,0.000,4,0.000,0.073,2238,3929,3523,0,0,0,0,0,0
$GC,4157,-0.73,-146.0,433.2,-10.2,423,4161,0.00,1.88,0.00,0.000,6,0.000,0.047,2238,2758,3523,0,0,0,0,0,0
$GC,4498,-0.73,-146.0,469.9,-11.0,434,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2758,3524,0,0,0,0,0,0
$GC,4804,-0.73,-146.0,504.3,-11.3,444,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2758,3524,0,0,0,0,0,0
$GC,5111,-0.73,-146.0,538.3,-10.9,454,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2758,3525,0,0,0,0,0,0
$GC,5416,-0.73,-146.0,570.3,-10.2,464,5420,0.00,2.22,0.00,0.000,4,0.000,0.051,2238,1368,3525,0,0,0,0,0,0
$GC,5467,-0.76,-146.0,575.6,-10.0,465,5471,0.00,2.33,0.00,0.000,6,0.000,0.061,2238,2775,3525,0,0,0,0,0,0
$GC,5786,-0.76,-146.0,606.8,-9.9,476,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2775,3525,0,0,0,0,0,0
$GC,6091,-0.76,-146.0,637.3,-10.0,486,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2774,3526,0,0,0,0,0,0
$GC,6397,-0.76,-146.0,666.1,-10.0,496,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2775,3526,0,0,0,0,0,0
$STATE,6456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6456,begin apogee
$GC,6462,-0.14,0.0,672.3,9.9,498,6593,0.57,0.00,124.70,1.023,4,0.135,0.000,2424,2599,2922,0,0,0,0,0,0
$STATE,6594,end apogee,CONTROL_FINISHED_OK
$STATE,6594,begin climb
$GC,6596,0.57,146.0,676.4,0.0,502,6737,0.68,2.45,131.40,1.000,4,0.068,0.049,2659,1179,2326,0,0,0,0,0,0
$GC,6850,0.57,146.0,657.4,10.5,510,6854,0.00,2.47,0.00,0.000,6,0.000,0.051,2660,2601,2318,0,0,0,0,0,0
$GC,7180,0.51,146.0,617.4,12.4,521,7184,0.00,2.33,0.00,0.000,4,0.000,0.051,2661,1181,2314,0,0,0,0,0,0
$GC,7412,0.51,146.0,590.8,11.5,528,7416,0.00,2.35,0.00,0.000,6,0.000,0.055,2662,2607,2314,0,0,0,0,0,0
$GC,7747,0.46,146.0,550.5,12.3,539,7749,0.15,0.00,0.00,0.000,6,0.200,0.000,2624,2607,2313,0,0,0,0,0,0
$GC,8053,0.46,155.6,520.7,9.6,549,8062,0.00,0.00,7.18,0.825,6,0.000,0.000,2624,2607,2288,0,0,0,0,0,0
$GC,8363,0.49,169.9,491.5,9.3,559,8382,0.00,2.35,13.98,0.882,4,0.000,0.052,2624,1185,2230,0,0,0,0,0,0
$GC,8399,0.55,185.3,487.5,9.3,560,8419,0.00,2.30,15.18,0.868,6,0.000,0.054,2625,2601,2167,0,0,0,0,0,0
$GC,8731,0.60,185.3,455.0,10.1,570,8733,0.12,0.00,0.00,0.000,6,0.102,0.000,2678,2601,2162,0,0,0,0,0,0
$GC,9033,0.54,185.3,414.8,13.2,580,9034,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2601,2161,0,0,0,0,0,0
$GC,9349,0.48,185.3,374.2,13.0,602,9354,0.17,2.22,0.00,0.000,4,0.183,0.067,2632,3930,2160,0,0,0,0,0,0
$GC,9377,0.48,185.3,370.4,12.3,604,9381,0.00,2.17,0.00,0.000,6,0.000,0.044,2632,2575,2159,0,0,0,0,0,0
$GC,9702,0.51,185.3,339.9,10.1,634,9707,0.00,2.28,0.00,0.000,4,0.000,0.067,2632,3932,2159,0,0,0,0,0,0
$GC,9776,0.51,185.3,331.0,12.9,640,9780,0.00,2.12,0.00,0.000,6,0.000,0.044,2635,2605,2158,0,0,0,0,0,0
$GC,10107,0.55,185.3,295.6,10.7,671,10111,0.00,2.22,0.00,0.000,4,0.000,0.053,2635,1192,2158,0,0,0,0,0,0
$GC,10131,0.61,191.3,293.3,9.7,672,10142,0.10,2.30,5.38,0.679,6,0.115,0.055,2677,2605,2143,0,0,0,0,0,0
$GC,10462,0.57,191.3,253.0,11.9,703,10463,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2605,2142,0,0,0,0,0,0
$GC,10783,0.54,191.3,218.1,10.7,733,10787,0.00,2.28,0.00,0.000,4,0.000,0.053,2680,1181,2142,0,0,0,0,0,0
$GC,10805,0.54,191.3,215.5,10.4,735,10809,0.00,2.28,0.00,0.000,6,0.000,0.054,2679,2584,2142,0,0,0,0,0,0
$GC,11131,0.52,201.1,182.4,9.5,765,11144,0.12,0.00,10.25,0.715,6,0.200,0.000,2648,2584,2103,0,0,0,0,0,0
$GC,11460,0.59,226.4,153.6,8.8,796,11487,0.00,2.25,22.65,0.718,4,0.000,0.066,2647,3925,1999,0,0,0,0,0,0
$GC,11516,0.62,226.4,148.1,10.4,800,11523,0.00,2.20,0.00,0.000,6,0.000,0.044,2648,2557,1996,0,0,0,0,0,0
$GC,11841,0.73,269.7,119.2,8.0,831,11884,0.17,0.00,37.40,0.698,6,0.093,0.000,2717,2557,1822,0,0,0,0,0,0
$GC,12214,0.73,269.7,75.2,11.9,883,12220,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2557,1813,0,0,0,0,0,0
$GC,12559,0.74,288.8,37.2,9.1,944,12584,0.00,2.38,15.70,0.660,4,0.000,0.069,2717,3924,1744,0,0,0,0,0,0
$GC,12677,0.74,288.8,24.5,11.0,964,12684,0.00,2.22,0.00,0.000,6,0.000,0.046,2718,2554,1741,0,0,0,0,0,0
$FREEZE,8.85,-1.727,-1.755,2,14,0
$STATE,12834,end climb,FINISH_DEPTH_REACHED
$STATE,12835,begin subsurface finish
$FINISH1,8.8,1.025703,88
$GC,12841,0.06,88.2,8.8,-9.6,992,12873,0.70,2.38,-24.58,0.000,4,0.148,0.065,2500,1186,2566,0,0,0,0,0,0
$FINISH2,7.7
$STATE,12874,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12874,begin surface
$RAFOS_CLK,787
$RAFOS,6,1292143751,8.833333,8.819722,124,50,48,41,39,39,737,445,477,1126,357,570
$RAFOS,5,1292143267,8.700000,8.685278,114,45,42,41,41,40,876,1916,1328,508,1841,438
$RAFOS,4,1292142801,8.566667,8.555833,135,45,44,43,42,41,574,1613,1818,1421,1612,1197
$RAFOS,3,1292142311,8.433333,8.419723,153,44,41,41,41,40,698,1603,1472,26,105,943
$RAFOS,2,1292141851,8.300000,8.291945,100,50,48,46,44,43,474,1156,880,807,1804,1201
$RAFOS,1,1292141346,8.166667,8.151667,115,52,45,43,43,40,543,1936,1184,921,145,417
$RAFOS,0,1292140886,8.033334,8.023889,141,47,42,41,41,40,541,1645,1132,1230,1520,1699
$RAFOS_FIX,6644.665039,-5954.769043,121210,080825,7,126,0.25
$IRIDIUM_FIX,6614.97,-6003.82,101210,131352
$TT8_MAMPS,0.029211
$HUMID,48.93
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.1
$24V_AH,21.6,59.834
$10V_AH,9.9,43.373
$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,11.575,95.350,383.800,0.000,0.000,98.761,17.420,0.000,2.250,0.000,183.577,2471.716,8155.290,522.927,2044.398,495.452,0.000,1485.607,0.000,1724.125,2520.000,16.775,0.000
$DEVICE_MAMPS,253.215,113.220,1022.805,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,694.473,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151616
$DATA_FILE_SIZE,36771,997
$CAP_FILE_SIZE,130787,0
$CFSIZE,260165632,214892544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.7
$GPS,121210,082725,6644.665,-5954.769,0,7126.0,0,-38.0