version: 66.08
glider: 183
mission: 3
dive: 522
start: 12 17 110 9 2 45
data:
$ID,183
$MISSION,3
$DIVE,522
$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,-9808.0088
$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,36
$R_STBD_OVSHOOT,23
$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
$GPS1,171210,084637,6659.150,-5719.363,31,1.5,31,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-66.0
$GPS2,171210,090214,6659.175,-5719.177,14,2.0,26,-37.6
$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,110.1,23602,-17.5,-10.000
$D_GRID,787
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.57,-146.0,0.0,0.0,0,157,0.00,0.00,-136.25,0.000,2,0.000,0.000,289,2786,3316,0,0,0,0,0,0
$GC,161,-0.57,-146.0,6.2,-14.4,24,181,8.45,2.33,-4.05,0.000,4,0.249,0.063,2284,1365,3521,0,0,0,0,0,0
$GC,267,-0.57,-146.0,34.4,-13.5,42,274,0.00,2.38,0.00,0.000,6,0.000,0.064,2278,2783,3524,0,0,0,0,0,0
$GC,612,-0.57,-146.0,78.1,-11.6,103,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2782,3523,0,0,0,0,0,0
$GC,950,-0.57,-146.0,113.4,-10.0,152,954,0.00,2.28,0.00,0.000,4,0.000,0.054,2277,1371,3522,0,0,0,0,0,0
$GC,994,-0.61,-146.0,118.2,-10.1,155,1001,0.00,2.35,0.00,0.000,6,0.000,0.066,2275,2766,3522,0,0,0,0,0,0
$GC,1320,-0.61,-146.0,150.9,-9.7,186,1323,0.00,1.98,0.00,0.000,4,0.000,0.076,2269,3931,3522,0,0,0,0,0,0
$GC,1355,-0.61,-146.0,154.7,-10.8,189,1359,0.00,1.90,0.00,0.000,6,0.000,0.051,2269,2770,3522,0,0,0,0,0,0
$GC,1686,-0.61,-146.0,188.2,-9.8,220,1690,0.00,2.00,0.00,0.000,4,0.000,0.077,2263,3935,3522,0,0,0,0,0,0
$GC,1735,-0.61,-146.0,193.6,-10.1,224,1743,0.00,1.90,0.00,0.000,6,0.000,0.051,2262,2786,3522,0,0,0,0,0,0
$GC,2061,-0.61,-146.0,225.2,-9.2,255,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2786,3522,0,0,0,0,0,0
$GC,2382,-0.61,-146.0,254.6,-9.4,285,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2786,3522,0,0,0,0,0,0
$GC,2700,-0.63,-146.0,283.9,-9.3,315,2704,0.00,2.30,0.00,0.000,4,0.000,0.053,2262,1356,3522,0,0,0,0,0,0
$GC,2752,-0.68,-146.0,288.9,-9.3,319,2756,0.00,2.40,0.00,0.000,6,0.000,0.064,2261,2788,3522,0,0,0,0,0,0
$GC,3078,-0.70,-146.0,318.9,-9.1,349,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2788,3523,0,0,0,0,0,0
$GC,3399,-0.72,-146.0,346.3,-8.6,379,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2788,3523,0,0,0,0,0,0
$GC,3726,-0.75,-146.0,374.8,-8.6,410,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2788,3523,0,0,0,0,0,0
$GC,4056,-0.79,-146.0,403.3,-8.5,439,4060,0.12,2.30,0.00,0.000,4,0.106,0.051,2202,1362,3524,0,0,0,0,0,0
$GC,4090,-0.73,-146.0,407.5,-11.7,440,4095,0.17,2.38,0.00,0.000,6,0.164,0.063,2239,2794,3524,0,0,0,0,0,0
$GC,4420,-0.73,-146.0,439.6,-9.5,451,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2794,3524,0,0,0,0,0,0
$GC,4726,-0.73,-146.0,468.1,-9.1,461,4730,0.00,1.95,0.00,0.000,4,0.000,0.073,2233,3924,3525,0,0,0,0,0,0
$GC,4753,-0.73,-146.0,471.0,-9.5,461,4760,0.00,1.83,0.00,0.000,6,0.000,0.049,2233,2785,3525,0,0,0,0,0,0
$GC,5069,-0.73,-146.0,502.2,-10.1,472,5073,0.00,2.28,0.00,0.000,4,0.000,0.050,2233,1364,3526,0,0,0,0,0,0
$GC,5097,-0.73,-146.0,505.5,-11.1,473,5101,0.00,2.40,0.00,0.000,6,0.000,0.063,2229,2801,3526,0,0,0,0,0,0
$GC,5439,-0.71,-146.0,540.8,-10.4,484,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2801,3526,0,0,0,0,0,0
$GC,5745,-0.69,-146.0,571.1,-9.7,494,5749,0.00,2.30,0.00,0.000,4,0.000,0.050,2229,1372,3527,0,0,0,0,0,0
$GC,5779,-0.69,-146.0,574.7,-10.0,495,5784,0.12,2.35,0.00,0.000,6,0.180,0.062,2253,2789,3527,0,0,0,0,0,0
$GC,6116,-0.72,-146.0,602.1,-8.0,506,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2789,3527,0,0,0,0,0,0
$GC,6421,-0.76,-146.0,626.0,-7.7,516,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2789,3527,0,0,0,0,0,0
$GC,6728,-0.80,-146.0,650.3,-8.1,526,6730,0.10,0.00,0.00,0.000,6,0.119,0.000,2208,2789,3528,0,0,0,0,0,0
$GC,7034,-0.75,-146.0,683.6,-10.9,536,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2789,3528,0,0,0,0,0,0
$GC,7340,-0.69,-146.0,717.6,-11.0,546,7341,0.15,0.00,0.00,0.000,6,0.171,0.000,2248,2789,3528,0,0,0,0,0,0
$GC,7647,-0.73,-146.0,743.0,-8.0,556,7648,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2789,3528,0,0,0,0,0,0
$GC,7952,-0.76,-146.0,766.8,-7.6,566,7956,0.00,2.30,0.00,0.000,4,0.000,0.050,2249,1364,3528,0,0,0,0,0,0
$GC,7974,-0.80,-146.0,768.7,-8.2,566,7980,0.00,2.38,0.00,0.000,6,0.000,0.062,2248,2782,3529,0,0,0,0,0,0
$STATE,8223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8223,begin apogee
$GC,8229,-0.14,0.0,788.1,7.9,575,8364,0.55,0.00,127.20,1.091,4,0.129,0.000,2427,2599,2922,0,0,0,0,0,0
$STATE,8365,end apogee,CONTROL_FINISHED_OK
$STATE,8365,begin climb
$GC,8367,0.57,146.0,791.5,0.0,579,8508,0.68,2.45,133.27,1.065,4,0.062,0.050,2666,1186,2327,0,0,0,0,0,0
$GC,8623,0.54,146.0,769.8,11.8,587,8627,0.00,2.47,0.00,0.000,6,0.000,0.056,2666,2600,2319,0,0,0,0,0,0
$GC,8953,0.47,146.0,727.8,12.9,598,8958,0.15,2.35,0.00,0.000,4,0.200,0.055,2630,1179,2315,0,0,0,0,0,0
$GC,9161,0.53,182.6,708.0,8.3,604,9198,0.00,2.35,31.40,1.011,6,0.000,0.057,2630,2612,2177,0,0,0,0,0,0
$GC,9518,0.53,182.6,670.2,10.7,616,9519,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2611,2170,0,0,0,0,0,0
$GC,9822,0.53,182.6,637.7,10.8,626,9823,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2611,2169,0,0,0,0,0,0
$GC,10129,0.53,182.6,605.1,10.8,636,10133,0.00,2.30,0.00,0.000,4,0.000,0.055,2632,1178,2169,0,0,0,0,0,0
$GC,10162,0.58,182.6,601.4,10.4,637,10167,0.00,2.30,0.00,0.000,6,0.000,0.057,2631,2598,2168,0,0,0,0,0,0
$GC,10493,0.58,182.6,566.6,10.5,648,10494,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2598,2168,0,0,0,0,0,0
$GC,10798,0.58,182.6,535.0,10.4,658,10799,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2598,2168,0,0,0,0,0,0
$GC,11104,0.58,182.6,503.1,10.3,668,11108,0.00,2.25,0.00,0.000,4,0.000,0.055,2632,1187,2168,0,0,0,0,0,0
$GC,11126,0.62,182.6,500.8,10.3,668,11134,0.12,2.28,0.00,0.000,6,0.100,0.057,2685,2592,2168,0,0,0,0,0,0
$GC,11440,0.54,182.6,455.8,14.7,679,11442,0.15,0.00,0.00,0.000,6,0.193,0.000,2647,2592,2167,0,0,0,0,0,0
$GC,11745,0.54,182.6,421.2,11.2,689,11749,0.00,2.25,0.00,0.000,4,0.000,0.069,2647,3929,2167,0,0,0,0,0,0
$GC,11761,0.54,182.6,419.3,11.0,689,11765,0.00,2.17,0.00,0.000,6,0.000,0.046,2650,2577,2166,0,0,0,0,0,0
$GC,12085,0.54,182.6,382.6,10.9,708,12089,0.00,2.22,0.00,0.000,4,0.000,0.054,2651,1190,2166,0,0,0,0,0,0
$GC,12107,0.54,182.6,379.9,10.7,709,12114,0.00,2.28,0.00,0.000,6,0.000,0.057,2652,2581,2167,0,0,0,0,0,0
$GC,12432,0.54,182.6,343.8,10.9,740,12433,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2581,2166,0,0,0,0,0,0
$GC,12752,0.54,182.6,307.1,11.4,770,12756,0.00,2.28,0.00,0.000,4,0.000,0.069,2651,3929,2167,0,0,0,0,0,0
$GC,12784,0.49,182.6,302.7,12.3,772,12791,0.00,2.17,0.00,0.000,6,0.000,0.044,2653,2574,2165,0,0,0,0,0,0
$GC,13111,0.49,182.6,266.6,10.8,803,13112,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2574,2166,0,0,0,0,0,0
$GC,13430,0.49,182.6,232.4,10.1,833,13431,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2574,2166,0,0,0,0,0,0
$GC,13747,0.50,197.4,200.2,9.3,863,13760,0.00,0.00,12.07,0.714,6,0.000,0.000,2653,2574,2118,0,0,0,0,0,0
$GC,14075,0.50,197.4,166.9,10.4,894,14079,0.00,2.20,0.00,0.000,4,0.000,0.054,2653,1184,2115,0,0,0,0,0,0
$GC,14109,0.55,197.4,163.6,10.0,896,14116,0.00,2.33,0.00,0.000,6,0.000,0.057,2653,2601,2115,0,0,0,0,0,0
$GC,14435,0.59,214.9,132.4,9.2,927,14455,0.00,0.00,16.00,0.692,6,0.000,0.000,2653,2600,2047,0,0,0,0,0,0
$GC,14774,0.65,216.7,99.5,9.9,959,14780,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2601,2044,0,0,0,0,0,0
$GC,15119,0.73,258.3,70.4,8.1,1020,15167,0.15,2.33,37.33,0.664,4,0.099,0.070,2716,3929,1868,0,0,0,0,0,0
$GC,15212,0.67,258.3,59.2,14.4,1035,15219,0.00,2.20,0.00,0.000,6,0.000,0.047,2719,2587,1865,0,0,0,0,0,0
$GC,15559,0.67,258.3,15.3,10.2,1096,15566,0.00,2.28,0.00,0.000,4,0.000,0.055,2719,1182,1861,0,0,0,0,0,0
$FREEZE,8.62,-1.699,-1.766,0,1,0
$FREEZE,8.13,-1.699,-1.766,0,1,0
$FREEZE,7.71,-1.699,-1.765,0,1,0
$FREEZE,7.18,-1.699,-1.764,0,1,0
$FREEZE,6.58,-1.698,-1.764,0,1,0
$FREEZE,6.28,-1.698,-1.763,0,1,0
$FREEZE,5.71,-1.698,-1.763,0,1,0
$FREEZE,5.51,-1.698,-1.763,0,1,0
$FREEZE,4.82,-1.698,-1.762,0,1,0
$FREEZE,4.27,-1.698,-1.761,0,1,0
$FREEZE,3.51,-1.698,-1.761,0,1,0
$FREEZE,2.84,-1.698,-1.760,0,1,0
$GC,15679,0.73,291.1,4.8,8.5,1117,15703,0.00,2.28,19.40,0.633,2,0.000,0.057,2718,2567,1775,0,0,0,0,0,0
$STATE,15704,end climb,SURFACE_DEPTH_REACHED
$STATE,15704,begin surface coast
$FREEZE,1.57,-1.699,-1.759,0,1,0
$FREEZE,1.34,-1.587,-1.752,0,1,0
$FREEZE,1.27,-1.612,-1.754,0,1,0
$FINISH,1.3,1.025767
$STATE,15721,end surface coast,CONTROL_FINISHED_OK
$STATE,15721,begin surface
$SM_CCo,15738,220.65,0.085,0,0,440,609.08
$SM_GC,2.11,0.00,0.00,220.65,0.000,0.000,0.085,293,2780,440,-6.82,0.00,609.08
$RAFOS_CLK,852
$RAFOS,6,1292590150,12.833333,12.819445,68,49,46,42,40,38,737,1051,166,749,1417,1405
$RAFOS,5,1292589662,12.700000,12.683888,116,50,44,43,41,39,607,946,1507,1881,26,1309
$RAFOS,4,1292589186,12.566667,12.551666,78,46,45,44,42,40,811,1360,1876,537,252,333
$RAFOS,3,1292588708,12.433333,12.418889,81,49,47,46,44,39,918,918,713,1149,1157,1351
$RAFOS,2,1292588247,12.300000,12.290833,66,49,46,40,39,38,884,1673,1933,1701,1080,370
$RAFOS,1,1292587757,12.166667,12.154722,90,44,41,40,39,37,924,1454,381,931,25,1188
$RAFOS,0,1292587269,12.033333,12.019167,50,49,46,45,44,40,327,1089,358,1923,1471,1050
$RAFOS_FIX,6702.265625,-5721.087891,171210,121238,6,83,0.47
$IRIDIUM_FIX,6604.29,-5518.63,171210,040453
$TT8_MAMPS,0.029211
$HUMID,45.82
$INTERNAL_PRESSURE,8.44606
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,17.3
$24V_AH,21.5,63.373
$10V_AH,9.9,45.387
$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,17.375,90.625,376.675,220.650,0.000,31.262,41.534,509.864,2.750,0.000,28.750,2783.886,10432.643,727.636,2446.995,524.580,0.000,1756.777,0.000,1866.503,2520.000,20.312,0.000
$DEVICE_MAMPS,248.625,77.265,1090.890,84.915,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,781.098,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151608
$DATA_FILE_SIZE,40095,1123
$CAP_FILE_SIZE,150518,0
$CFSIZE,260165632,213020672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.7
$GPS,171210,133030,6700.809,-5716.209,38,1.6,38,-37.6