version: 66.08
glider: 183
mission: 3
dive: 497
start: 12 12 110 9 42 48
data:
$ID,183
$MISSION,3
$DIVE,497
$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,34
$R_STBD_OVSHOOT,28
$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
$GPS1,121210,082725,6644.665,-5954.769,0,7126.0,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.54
$_SM_ANGLEo,-2.1
$GPS2,121210,082725,6644.665,-5954.769,0,7126.0,0,-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,113.9,139084,-17.5,-10.000
$D_GRID,716
$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,-5.82,0.000,2,0.000,0.000,2500,1185,2825,0,0,0,0,0,0
$GC,26,-0.57,-146.0,12.0,-0.0,1,52,0.57,4.65,-15.18,0.000,4,0.103,0.071,2292,3920,3523,0,0,0,0,0,0
$GC,284,-0.57,-146.0,43.5,-11.7,46,290,0.00,1.83,0.00,0.000,6,0.000,0.047,2292,2778,3523,0,0,0,0,0,0
$GC,629,-0.57,-146.0,82.2,-10.2,107,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2778,3522,0,0,0,0,0,0
$GC,965,-0.60,-146.0,115.8,-9.4,153,969,0.00,2.25,0.00,0.000,4,0.000,0.050,2292,1373,3521,0,0,0,0,0,0
$GC,1029,-0.66,-146.0,122.1,-9.3,158,1033,0.00,2.33,0.00,0.000,6,0.000,0.060,2292,2786,3522,0,0,0,0,0,0
$GC,1361,-0.71,-146.0,152.2,-8.8,189,1365,0.12,1.98,0.00,0.000,4,0.108,0.073,2238,3936,3521,0,0,0,0,0,0
$GC,1429,-0.67,-146.0,160.1,-11.8,195,1433,0.00,1.80,0.00,0.000,6,0.000,0.048,2238,2806,3522,0,0,0,0,0,0
$GC,1761,-0.62,-146.0,199.4,-11.7,226,1766,0.12,2.30,0.00,0.000,4,0.182,0.051,2271,1372,3522,0,0,0,0,0,0
$GC,1850,-0.67,-146.0,208.2,-9.2,233,1857,0.00,2.35,0.00,0.000,6,0.000,0.063,2271,2793,3521,0,0,0,0,0,0
$GC,2176,-0.70,-146.0,237.1,-8.9,264,2179,0.00,1.92,0.00,0.000,4,0.000,0.074,2271,3935,3521,0,0,0,0,0,0
$GC,2237,-0.75,-146.0,242.9,-8.9,269,2244,0.12,1.83,0.00,0.000,6,0.107,0.048,2218,2797,3522,0,0,0,0,0,0
$GC,2562,-0.68,-146.0,283.8,-12.7,300,2567,0.12,2.30,0.00,0.000,4,0.181,0.051,2250,1365,3521,0,0,0,0,0,0
$GC,2590,-0.68,-146.0,287.2,-11.0,302,2594,0.00,2.38,0.00,0.000,6,0.000,0.062,2250,2800,3521,0,0,0,0,0,0
$GC,2915,-0.68,-146.0,318.5,-8.8,332,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2800,3521,0,0,0,0,0,0
$GC,3237,-0.68,-146.0,346.8,-8.9,362,3241,0.00,1.92,0.00,0.000,4,0.000,0.073,2250,3931,3521,0,0,0,0,0,0
$GC,3352,-0.71,-146.0,357.0,-9.0,372,3356,0.00,1.85,0.00,0.000,6,0.000,0.049,2251,2805,3520,0,0,0,0,0,0
$GC,3683,-0.71,-146.0,384.5,-7.8,403,3687,0.00,2.28,0.00,0.000,4,0.000,0.050,2250,1370,3521,0,0,0,0,0,0
$GC,3784,-0.75,-146.0,392.7,-8.2,411,3791,0.00,2.38,0.00,0.000,6,0.000,0.062,2250,2793,3521,0,0,0,0,0,0
$GC,4121,-0.75,-146.0,419.4,-7.7,428,4125,0.00,2.28,0.00,0.000,4,0.000,0.050,2251,1367,3521,0,0,0,0,0,0
$GC,4155,-0.79,-146.0,422.1,-7.6,429,4159,0.00,2.38,0.00,0.000,6,0.000,0.061,2250,2789,3521,0,0,0,0,0,0
$GC,4485,-0.81,-146.0,446.6,-7.6,440,4487,0.10,0.00,0.00,0.000,6,0.122,0.000,2207,2789,3521,0,0,0,0,0,0
$GC,4791,-0.74,-146.0,477.7,-10.2,450,4795,0.00,2.28,0.00,0.000,4,0.000,0.050,2206,1364,3521,0,0,0,0,0,0
$GC,4854,-0.70,-146.0,484.3,-10.3,452,4859,0.15,2.33,0.00,0.000,6,0.177,0.060,2242,2776,3521,0,0,0,0,0,0
$GC,5189,-0.70,-146.0,511.6,-8.1,463,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2776,3522,0,0,0,0,0,0
$GC,5496,-0.70,-146.0,536.4,-8.4,473,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2776,3522,0,0,0,0,0,0
$GC,5802,-0.70,-146.0,562.0,-8.6,483,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2776,3522,0,0,0,0,0,0
$GC,6108,-0.70,-146.0,587.9,-8.3,493,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2776,3523,0,0,0,0,0,0
$GC,6414,-0.70,-146.0,614.3,-8.5,503,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2776,3523,0,0,0,0,0,0
$GC,6720,-0.70,-146.0,639.3,-8.2,513,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2776,3523,0,0,0,0,0,0
$GC,7027,-0.70,-146.0,663.0,-7.8,523,7028,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2776,3523,0,0,0,0,0,0
$GC,7333,-0.70,-146.0,688.6,-8.4,533,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2776,3523,0,0,0,0,0,0
$GC,7639,-0.70,-146.0,714.0,-8.1,543,7643,0.00,2.22,0.00,0.000,4,0.000,0.047,2242,1370,3523,0,0,0,0,0,0
$STATE,7658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7658,begin apogee
$GC,7665,-0.14,0.0,716.0,8.7,543,7798,0.57,0.00,124.40,1.047,4,0.135,0.000,2424,2606,2923,0,0,0,0,0,0
$STATE,7799,end apogee,CONTROL_FINISHED_OK
$STATE,7799,begin climb
$GC,7801,0.57,146.0,719.7,0.0,548,7942,0.70,2.47,131.80,1.022,4,0.070,0.048,2666,1179,2328,0,0,0,0,0,0
$GC,8038,0.54,146.0,700.1,11.4,555,8043,0.00,2.50,0.00,0.000,6,0.000,0.053,2666,2596,2320,0,0,0,0,0,0
$GC,8363,0.47,146.0,659.7,12.4,566,8368,0.15,2.33,0.00,0.000,4,0.197,0.052,2629,1187,2316,0,0,0,0,0,0
$GC,8549,0.52,160.9,642.1,9.3,571,8569,0.00,2.35,12.57,0.931,6,0.000,0.055,2629,2608,2266,0,0,0,0,0,0
$GC,8901,0.52,165.7,607.1,9.8,583,8911,0.00,2.22,5.18,0.768,4,0.000,0.066,2629,3933,2248,0,0,0,0,0,0
$GC,8933,0.49,165.7,603.3,11.1,584,8937,0.00,2.15,0.00,0.000,6,0.000,0.044,2629,2602,2247,0,0,0,0,0,0
$GC,9272,0.50,175.2,570.8,9.6,595,9285,0.00,0.00,10.60,0.900,6,0.000,0.000,2629,2601,2208,0,0,0,0,0,0
$GC,9575,0.52,180.0,541.0,9.8,605,9582,0.00,0.00,5.50,0.771,6,0.000,0.000,2629,2601,2188,0,0,0,0,0,0
$GC,9881,0.53,184.4,511.1,9.8,615,9891,0.00,2.25,5.55,0.767,4,0.000,0.052,2629,1192,2171,0,0,0,0,0,0
$GC,9914,0.59,197.5,507.9,9.4,616,9935,0.10,2.33,12.90,0.882,6,0.116,0.055,2674,2611,2117,0,0,0,0,0,0
$GC,10249,0.54,197.5,464.1,13.5,627,10251,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2611,2114,0,0,0,0,0,0
$GC,10555,0.50,197.5,422.4,13.6,637,10560,0.15,2.30,0.00,0.000,4,0.190,0.054,2635,1189,2113,0,0,0,0,0,0
$GC,10584,0.54,197.5,419.0,10.9,638,10588,0.00,2.25,0.00,0.000,6,0.000,0.056,2636,2593,2113,0,0,0,0,0,0
$GC,10911,0.57,197.5,385.4,10.3,657,10912,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2592,2112,0,0,0,0,0,0
$GC,11228,0.61,203.7,354.5,9.7,687,11241,0.10,2.28,6.60,0.744,4,0.118,0.052,2682,1181,2092,0,0,0,0,0,0
$GC,11269,0.61,203.7,349.6,11.8,690,11276,0.00,2.28,0.00,0.000,6,0.000,0.054,2683,2593,2091,0,0,0,0,0,0
$GC,11595,0.56,203.7,309.2,12.5,721,11599,0.00,2.22,0.00,0.000,4,0.000,0.066,2682,3926,2090,0,0,0,0,0,0
$GC,11635,0.47,203.7,303.6,15.6,724,11640,0.20,2.12,0.00,0.000,6,0.186,0.044,2632,2600,2089,0,0,0,0,0,0
$GC,11962,0.52,204.1,270.9,10.0,754,11966,0.00,2.25,0.00,0.000,4,0.000,0.067,2632,3932,2089,0,0,0,0,0,0
$GC,11990,0.55,204.1,267.4,11.8,756,11994,0.00,2.10,0.00,0.000,6,0.000,0.044,2632,2607,2089,0,0,0,0,0,0
$GC,12322,0.61,210.2,234.3,9.7,787,12334,0.12,0.00,7.15,0.706,6,0.105,0.000,2686,2607,2066,0,0,0,0,0,0
$GC,12652,0.58,210.2,194.4,11.7,818,12656,0.00,2.22,0.00,0.000,4,0.000,0.068,2686,3935,2064,0,0,0,0,0,0
$GC,12685,0.51,210.2,190.0,13.5,820,12693,0.17,2.12,0.00,0.000,6,0.187,0.044,2644,2613,2063,0,0,0,0,0,0
$GC,13011,0.59,242.8,161.5,8.5,851,13045,0.00,2.38,28.92,0.723,4,0.000,0.054,2645,1182,1932,0,0,0,0,0,0
$GC,13121,0.74,285.5,152.9,8.0,860,13164,0.20,2.30,37.15,0.707,6,0.085,0.054,2725,2597,1758,0,0,0,0,0,0
$GC,13490,0.74,285.5,103.7,13.5,895,13494,0.00,2.28,0.00,0.000,4,0.000,0.056,2725,1188,1748,0,0,0,0,0,0
$GC,13524,0.76,285.5,99.0,13.2,898,13531,0.00,2.30,0.00,0.000,6,0.000,0.055,2725,2599,1748,0,0,0,0,0,0
$GC,13870,0.76,285.5,56.1,11.5,959,13876,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2600,1745,0,0,0,0,0,0
$GC,14214,0.76,285.5,21.3,10.2,1020,14221,0.00,2.22,0.00,0.000,4,0.000,0.069,2725,3926,1744,0,0,0,0,0,0
$FREEZE,8.57,-1.712,-1.752,2,15,0
$STATE,14329,end climb,FINISH_DEPTH_REACHED
$STATE,14329,begin subsurface finish
$FINISH1,8.6,1.025658,90
$GC,14338,0.06,90.4,8.6,-10.0,1040,14369,0.73,0.00,-25.88,0.000,6,0.157,0.000,2502,2601,2556,0,0,0,0,0,0
$FINISH2,6.7
$STATE,14369,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14369,begin surface
$RAFOS_CLK,834
$RAFOS,6,1292158150,12.833333,12.819445,99,45,44,42,41,38,742,648,1138,630,1855,368
$RAFOS,5,1292157675,12.700000,12.687500,143,46,41,41,39,39,822,150,1571,1930,186,1897
$RAFOS,4,1292157183,12.566667,12.550834,161,49,44,44,42,41,662,1383,322,1117,1477,834
$RAFOS,3,1292156724,12.433333,12.423333,120,44,43,42,41,41,614,1169,1565,586,1414,1110
$RAFOS,2,1292156234,12.300000,12.287222,116,45,44,42,41,37,566,1557,144,287,1139,1286
$RAFOS,1,1292155743,12.166667,12.150833,140,45,44,43,42,42,575,144,1812,195,763,26
$RAFOS,0,1292155267,12.033333,12.018611,117,48,43,42,40,39,660,302,363,1626,1911,1877
$RAFOS_FIX,6644.093750,-5949.706055,121210,121234,7,128,0.27
$IRIDIUM_FIX,6614.97,-6003.82,101210,131352
$TT8_MAMPS,0.028462
$HUMID,49.29
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.3
$24V_AH,21.6,59.938
$10V_AH,9.9,43.438
$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,4.525,104.275,388.325,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2653.422,9319.790,427.186,1841.884,204.430,0.000,1423.243,0.000,1825.180,2520.000,18.542,0.000
$DEVICE_MAMPS,196.605,74.205,1047.285,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,731.096,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151660
$DATA_FILE_SIZE,36657,1045
$CAP_FILE_SIZE,135337,0
$CFSIZE,260165632,214814720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.7
$GPS,121210,122734,6644.094,-5949.706,0,7128.0,0,-38.0